Bosch 6000 User's Guide download pdf (Page 139)

124

6000 Series Programmer's Guide

Step 4

Define the DOPATH Subroutine.

DEF DOPATH ; Begin definition of the subroutine called DOPATH

HOM11 ; Move both axes to the home position

; (absolute counters set to zero)

A5Ø,5Ø ; Set up the acceleration

V3,3 ; Set up the velocity

DATPTR1,1,1 ; Select data program #1 (DATP1) as the current active data

; program, and set the data pointer to the first data

; element. Increment the data pointer one element after

; every data assignment with the DAT command. If you wanted

; to move only axis 1 down the taught path, you would set

; the increment (third integer) to a 2, thus accessing only

; the axis 1 stored positions.

REPEAT ; Set up a repeat/until loop

D(DAT1),(DAT1) ; The position of axis 1 and axis 2 are recalled into

; the distance command

GO11 ; Move to the position

T.5 ; Wait for 0.5 seconds

UNTIL(DPTR=1) ; Repeat the loop until the data pointer wraps around

; to data element #1 (all data elements have been read)

HOM11 ; Move both axes back to the home position

END ; End definition of the subroutine called DOPATH

Step 5

Define the MAIN Program (Include SETUP, TEACH, and DOPATH).

DEF MAIN ; Begin definition of the program called MAIN

SETUP ; Execute the subroutine called SETUP

TEACH ; Execute the subroutine called TEACH

DOPATH ; Execute the subroutine called DOPATH

END ; End definition of the program called MAIN

Step 6

Run the MAIN Program and Teach the Positions with the Joystick.

1. Enter the MAIN command to execute the teach application program and set the

joystick's axis select input to high.

2. Use the joystick to move to the position to be taught.

3. Once in position, activate the joystick release input to teach the positions. Two

positions (one for each axis) are taught each time you activate the joystick release

input.

4. Repeat steps 2 and 3 for the remaining four teach locations. After triggering the

joystick release input the fifth time, the controller will home the axes, repeat the

path that was taught, and then return both axes to the home position.

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Bosch 6000 User's Guide Page 139

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