//Pick and Place Pallet defined by distance //between pallet points. //For demonstration purposes only //Lines starting with " * " are comments ,,,,,,, ,,,HOME,11,,,INC systems only ,,,VEL,200,,, ,,,,,,, ,,,TAG,2,,, ,,,PSET,1,1,,Pallet start point ,,,WTON,12,,,Cycle start wait ,,,TAG,1,,, ,,,MOVL,10,,,Move Pick position ,,,BTON,304,,,Bring z-axis down ,,,WTON,11,,,wait for z extend ,,,BTON,303,,,Gripper on ,,,TIMW,0.03,,,wait 0.03 sec ,,,BTOF,304,,,bring z axis up ,,,PMVL,1,,,Move to pallet 1 ,,,BTON,304,,,Z axis down ,,,WTON,11,,,Wait for z retract ,,,BTOF,303,,,Turn off gripper ,,,PINC,1,,900,Increment pallet ,,,TIMW,0.03,,,wait 0.03 sec ,,,BTOF,304,,,Z axis up ,,,WTOF,11,,,Wait z axis up ,,900,GOTO,1,,,Pallet not done ,,,GOTO,2,,,New pallet ,,,,,,, //BGPA- Begin Pallet Definition ,,,BGPA,1,,, ,,,PASE,2,1,,Axis selection ,,,PAPN,0,,,Pallet Pattern ,,,PAPI,4,4,,4 x 4 pallet ,,,PAPT,3.15,2.25,,Distance of points ,,,PAST,2,,,First pallet point ,,,EDPA,,,,end pallet defini.