1: UTOOL_NUM=1 ; 2: UFRAME_NUM=0 ; 3: PAYLOAD[1] ; 4: J P[1] 100% FINE ; 5: L P[2] 500mm/sec FINE ; 6: L P[3] 250mm/sec CNT50 ; 7: DO[1:GRIPPER]=ON ; 8: WAIT 0.50(sec) ; 9: L P[2] 500mm/sec CNT50 ; 10: J P[1] 80% FINE ; 11: DO[1:GRIPPER]=OFF ; 12: END ;
1: UTOOL_NUM=1 ; 2: UFRAME_NUM=0 ; 3: PAYLOAD[1] ; 4: J P[1] 100% FINE ; 5: L P[2] 500mm/sec FINE ; 6: L P[3] 250mm/sec CNT50 ; 7: DO[1:GRIPPER]=ON ; 8: WAIT 0.50(sec) ; 9: L P[2] 500mm/sec CNT50 ; 10: J P[1] 80% FINE ; 11: DO[1:GRIPPER]=OFF ; 12: END ;