Programming example

%pick_and_place

N010 #KIN ID[37]

N020 G0 G90 X34.9485 Y-18.0290 Z34.0535

N020 #TRAFO ON

(- Start conveyor)

N030 S1[MC_MoveVelocity Velocity=300000 (500000=30m/min) Acceleration=2000 Deceleration=2000 Jerk=750000 Direction=1]

N040 $WHILE [TRUE]

; Waiting position

N050 G01 X-100 Y0 Z-700 F350000

(- Request spindle measured value-)

N060 S1 [MC_TouchProbe Channel=1]

(- Synchronise with the current workpiece -)

N070 #SYNC IN [CONVEYOR=S1, CONV_VEL=18000 FEED_CONT=0]

(- Grip the workpiece -)

N075 G01 X-50 Y0 Z-700 F350000

N080 G01 X-50 Y0 Z-800 F350000

N090 G01 X-50 Y0 Z-750 F350000

(- Desynchronise and place the workpiece -)

N100 #SYNC OUT [FEED_CONT=5]

(- Move to place location -)

N110 X[INDP_SYN G1 G90 POS300 FEED350000 INTERRUPTIBLE] Y[INDP_SYN G1 G90 POS500 FEED350000 INTERRUPTIBLE] Z[INDP_SYN G1 G90 POS-750 FEED350000 INTERRUPTIBLE]

(- Place -)

N120 G01 Z-790 F350000

N130 G01 Z-800 F20000

N140 G01 Z-790 F350000

N150 $ENDWHILE

(-Program ended-)

N160 M30