PRODUCT CATALOG

AVAILABLE UPGRADES
CONTROLLERS
• Kinematic Licenses - Control complex machines including articulated, parallel and redundant axis
robots with simple Cartesian manual and program control (Kinematics for one to four axis Cartesian
robots included with GPL).
• Advanced Kinematic License (GPL0-SA-01101) - For 3 and 4 axis robots such as SCARA or
Semiconductor Wafer Handler robots. (Included with PreciseFlex robots.)
• Complex Kinematic License (GPL0-SA-01102) - For 6 axis and unusual robot geometries such
as the PUMA and Delta robots.
• Conveyor Tracking Software License (GPL0-SA-00100) - Permits a robot to pick, place or track parts
on a variable speed conveyor belt.
• Advanced Controls License (GPL0-SA-00400) - Adds support for high-speed position latching, realtime
trajectory modification, analog output controlled by robot speed, and EtherNet/IP communication.
SAMPLE GPL PROGRAM
Performs a traditional pick-and-place operation 10 times, opening and closing the gripper as appropriate.
Begins and ends by moving the robot to a safe location.
1 ‘Created: 3/29/2007 7:37:00 AM
2 Module GPL
3 Public Sub MAIN()
4 Dim ii As Integer
5 Const gripper_on As Integer = 20001 ’ Gripper DIO signal
6
7 Robot.Attached = 1 ‘ Get control of the robot
8 Signal.DIO(gripper_on) = False ’ Turn off gripper
9 Move.Loc (safe_position, slow_and_stop)
10 For ii = 1 To 10
11 ‘ Go get the part
12 Move.Approach (pickup_position, fast_motion)
13 Move.Loc (pickup_position, slow_and_stop)
14 Move.WaitForEOM ’ Synch with robot motion
15 Signal.DIO (gripper_on) = True
16 ‘ Go put the part down
17 Move.Approach (pickup_position, slow_and_go)
18 Move.Approach (placement_position, fast_motion)
19 Move.Loc (placement_position, slow_and_stop)
20 Move.WaitForEOM ’ Synch with robot motion
21 Signal.DIO (gripper_on) = False
22
23 Move.Approach (placement_position, slow_and_go)
24
25 Next ii
26 Move.Loc (safe_position, slow_and_stop)
27 End Sub
28 End Module
28
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