Festo Кабели и принадлежности - Manual (Page 349)

7. Description of the commands
7−83
Festo P.BE−SPC200−EN en 0901d
Program 0
...
N003 G28 @1 X200 ;Load top row of pallets
N004 G28 @2 X50 ;Load distance between rows
N005 #LR0=6 ;Initialize number of rows
N006 L1 ;Access program 1
N007 #AR0=–1 ;Update counter
N008 #TR0=0 10 ;Gap filled?
N009 E05 6 ;Jump to N006
... ;further commands
...
N080 M30 ;Program end
Subroutine 1: Fill pallet gap
N000 #TNI0.0 0 ;Wait for part
N001 G00 X0 ;Fetch part, position 0 mm
N002 #SQ0.0 ;Close gripper
N003 G00 X@1 ;Move to pallet position
N004 #RQ0.0 ;Open gripper, place part
N005 G29 @1 X@2 ;Calculate next position
... ;further commands
...
N016 M02 ;Subroutine end
Position register @1 contains the current pallet position.
Position register @2 contains the distance between the rows.
These position registers are initialized in lines N003 and
N004 (program 0).
Register R0 serves as loop counter and is initialized with the
number of rows. Subroutine 1 is accessed 6 times and the
current pallet gap is then filled.