Handshaking Robot Program

1. Remark: Loading/Unloading a Wax Block Program 2. WAIT_1: 3. If Input 1 off jump to START_1 4. Remark: If No CNC Signal, Robot Recycles to WAIT_1 5. Remark: Input 1 Defaults to On 6. Jump to WAIT_1 7. START_1: 8. Remark: CNC Moved to Load Position 9. Remark: Robot Detected Signal 10.Turn off output 1 11. Remark: Robot Signaled CNC "Closed the Gate" 12.Remark: Robot Loads Wax Block 13.Go to Position 1 fast 14.Open Gripper 15.Go to Position 2 fast 16.Go Linear to position 3 speed 5 17.Close Gripper 18.Go Linear to position 2 fast 19.Go Linear to position 4 fast 20.Go Linear to position 5 fast 21.Go Linear to position 6 speed 5 22.Open Gripper 23.Go Linear to position 5 fast 24.Go Linear to position 4 fast 25.Remark: Robot is in "Safe" Position 26.Turn on output 1 27.Remark: Robot Signaled CNC "Opened the Gate" 28.Wait 10 (10ths of seconds)

Project Lead The Way® Copyright 2006 CIM – Activities – Handshaking Robot Program – Page 1 29.Remark: Robot Gave CNC Time to Receive the Signal 30.Turn off output 1 31.Remark: Robot Signaled CNC "Closed the Gate" 32.WAIT_2: 33.If Input 1 off jump to START_2 34.Remark: If No CNC Signal, Robot Recycles to WAIT_2 35.Jump to WAIT_2 36.START_2: 37.Remark: CNC Moved to Unload Position 38.Remark: Robot Detected Signal 39.Remark: Robot Unloads Wax Block 40.Go Linear to position 5 fast 41.Go Linear to position 6 speed 5 42.Close Gripper 43.Go Linear to position 5 fast 44.Go Linear to position 4 fast 45.Go Linear to position 2 fast 46.Go Linear to position 3 speed 5 47.Open Gripper 48.Go Linear to position 2 fast 49.Go Linear to position 1 fast 50.Remark: Robot is "Homed" 51.Turn on output 1 52.Remark: Robot Signaled CNC "Opened the Gate" 53.Wait 10 (10ths of seconds) 54.Remark: Robot Waits for Signal from CNC 55.Jump to WAIT_1 56.Remark: Program is Ready to Repeat