Page 73 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Sample ProgramOperation SummaryApply sealant to a plate along the path shown in the figure below.Continuous movement is performed along a path from position 1 to position 9, without stopping.P1 P8P5 P9P4P7 P6P2 P3Operation Sequence* Move from P1 to P9 without stoppingP10P1Z-axisY-axisTop View of PlaceY-axisSide View of PlatePosition DataX-axisY-axisZ-axisP11015050P24015050P3407050P4107050P5109050P6209050P72013050P81013050P91015050P10101500ProgramStepExtension ConditionInput ConditionCommandOperation 1Operation 2Output ConditionComment1HOME100Homing on Z-axis only2HOME11Homing on XY axes3VEL100Set speed to 100mm/sec4ACC0.3Set acceleration to 0.3G5TAG1Destination of GOTO1 in step 116WTON16Stop until input 16 from the start button7MOVP10Move to space above Position 1 (i.e. Position 10)8MOVP1Move down to Position 19PATH29With position 1 as base point, move continuously to position 910MOVP10Move to space above Position 1 (i.e. Position 10)11GOTO1Jump to TAG1Appendix: - 17 Technical Reference/InformationX-axis