[Sylwester1]

welcome,

Does someone have this machine?
I'm looking for example program for automatic run this machinery with robot. and how programing robot.

best regards

Sylwester

[OkumaWiz]

Programming the robot is basically done using variables for each position. The positions are stored in your position registers, making for easy adjustment when tweaking in points.

N201 YV6
N202 ZV30 M308

Creating suroutines for each "function" will greatly help to simplify programming:

OLOAD
OUNLD
OPICK
ODROP

EXAMPLE:

OLOAD ( *****< BLANK LOAD >***** )
N201 YV6
N202 ZV30 M308
N203 IF[[R802 AND 8+64+128]EQ 8+64]NR10 (IF SWING HAND A AND HAND A OPEN)
N204 R98=15
NR10 IF[[R814 AND 4+8+64+128]EQ 8+128]NR20 (IF CK UNCLMP AND COVER OPEN)
N211 R98=10
NR20 IF[[R807 AND 16]EQ 16]NR30 (IF LOADER HAND ORIGIN POS)
N221 R98=13
NR30 YV31 M89 M335
N231 M88 M19
N232 ZV31 FZ=40
N000 M301 M88
N000 M300
N233 M272
G04 F.5
N236 M83
N237 G04 F0.1
N000 M301
N000 G04 F0.1
N238 ZV30 FZ=1000
N239 YV6
N240 M334
N241 ZV6 FZ=2100 M270
NRTS RTS

This code comes off of an LT15 with OGL 30 which is of an older vintage, but the theory is the same. The I/O registers may be mapped different on your machine.

Best regards,