FANUC: Example picking program

The .ls-file for a this program is also provided a .zip-folder in the Downloads.

Example program vacuum

 1:  !Init
 2:  UFRAME_NUM=0
 3:  UTOOL_NUM=1
 4:  PAYLOAD [1:EOAT w/o part]
 5:  !Insert routine for gripper open
 6:  DO[101:Vacuum pump]=OFF
 7:
 8:  !Pick loop
 9:  LBL[1]
10:
11:  !Move to capture pose
12:J  PR[1:Capture_pose] 100% FINE
13:
14:  !Set Skill-ID and Workspace-ID 
15:  SR[2:Workspace-ID]=SR[6]  
16:  SR[3:Skill-ID]=SR[8]
17:  
18:  !Take capture
19:  CALL RB_VISION(CONNECT)
20:  CALL RB_VISION(GET PICK POSE)
21:  CALL RB_VISION(CLOSE)
22:
23:  !Pick part
24:  IF (F[16:RBV_HAS_RESULT]=ON) THEN  
25:J  PR[16:rb_pickpose] 100% CNT100 Tool_Offset, PR[17:pre_pick_offset]
26:
27:  !Sensitive move to pick position 
28:  CALL -INST_TOUCHSKIP_CRX(1,PR[16:rb_pickpose],50,10,10,0,0,0,0,0)
29:
30:  !Pick Part/Glose gripper/Vacuum on
31:  DO[101:Vacuum pump]=ON
32:  WAIT  .5(sec)
33:
34:  !Remove part from bin
35:L  PR[16:rb_pickpose] 100mm/sec CNT100 Tool_Offset, PR[17:pre_pick_offset]
36:
37:  !Check pick success with vacuum sensor
38:  R[1]=AI[1:Vacuum sensor]
39:  IF R[1]<300, JMP LBL [2]
40:    
41:
42:  !Place Part
43:J  PR[2:Place_position] 100% CNT100 Tool_Offset, PR[22:Place_offset]
44:  CALL -INST_TOUCHSKIP_CRX(1,PR[21:place position],30,10,10,0,0,0,0,0)
45:  DO[101:Vacuum_pump]=OFF
46:  WAIT  .5(sec)
47:L  PR[2:Place position] 100mm/sec CNT100 Tool_Offset, PR[22: Place offset]
48:  ENDIF
49:  
50:  LBL[2]
51:  DO[101:Vacuum pump]=OFF  
52:  
53:  JMP LBL[1]
[END]