Programs: Difference between revisions
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Teach pendant programs are generally simplistic, following much of the same structure as other programming languages. |
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Program structure for Fanuc robots is top down. That is, the instructions will run in order. Jumps will continue right after their destination LBL, CALLs will run from top to bottom and continue once they reach the called program's END with the line after the original CALL. |
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It's a good idea to break your program into sections as listed below, to help organize your code. |
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'''C P[8] 222mm/s Fine OFFSET PR[10] ...P[6] R[11] Fine OFFSET PR[10]''' |
'''C P[8] 222mm/s Fine OFFSET PR[10] ...P[6] R[11] Fine OFFSET PR[10]''' |
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==== Notes ==== |
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The program listed above could have been done much more simply with a group input and a SELECT instruction. It was left as IF statements for simplicity. |
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Revision as of 15:04, 25 May 2019
Teach pendant programs are generally simplistic, following much of the same structure as other programming languages.
It's a good idea to break your program into sections as listed below, to help organize your code.
Setup Section
The first lines of a program should be your setup instructions. This often means zeroing registers and setting constants to be used later. It's also a good idea to set all your outputs to ideal conditions. We can do this quickly using a single register instruction.
Examples:
PR[5]=PR[5]-PR[5]
Intro Motion
It can be useful to include motion instructions that take your robot to a known position, in case of power failure or a prior program leaving off in a weird place. Use a Joint move to ensure you don't enter singularity.
J P[1:Home] 20% FINE
Inputs
While inputs can be read anywhere in your program, it can be helpful to organize them into a small section that can be run through at points where it really matters.
IF DI[101] = ON JMP LBL[4]
IF DI[102] = ON JMP LBL[5]
IF DI[103] = ON JMP LBL[6]
IF DI[104] = ON JMP LBL[7]
JMP LBL[8]
Configuration
Depending on program state, input values, counts, times, and other variables - you can set up configuration data to match. This lets you run short, efficient motion instructions with few or no special sections.
LBL [4]
PR[10,3] = 5
R[12] = R [12] + 1
LBL [5]
PR[10,3] = 7
R[12] = R [12] + 2
LBL [6]
PR[10,3] = 25
R[12] = R [12] + 1
LBL [7]
PR[10,3] = 33
R[12] = R [12] + 2
Motion
Your motion lines should be efficient and minimalist. Anything that can be done with a new tool frame, user frame, offset, and registers should be, instead of having lots of similar motion lines.
J P[1] 100% Fine OFFSET PR[10]
L P[2] 222mm/s Fine OFFSET PR[10]
L P[5] R[11] Fine OFFSET PR[10]
L P[3] 222mm/s Fine OFFSET PR[10]
C P[8] 222mm/s Fine OFFSET PR[10] ...P[6] R[11] Fine OFFSET PR[10]
Notes
The program listed above could have been done much more simply with a group input and a SELECT instruction. It was left as IF statements for simplicity.