Information Technology Reference
In-Depth Information
2.4 Exemplary Robot Program Code
In this subsection an exemplary program code of Fanuc robot is presented. The
program code was used in the integrated remote control system to share the
resources and cooperate with the mobile devices. The detailed
Example of a Fanuc ArcMate Robot Program Code
/ATTR (...) %Automatic code generation
/MN %Program instruction start marker
1: UTOOL_NUM=8 ; %Activation of a tool coordinate system
2: UFRAME_NUM=7 ;
%Activation of a specific robot coordinate system
3: J P[1] 100% FINE ; %Move to the safe position
4: WAIT 1.00(sec) ; %Wait
5: PR[1]=P[1] ; %Initialization of position 1 registry
6: LBL[1] ; %First loop start
7: PR[1,1]=GI[1] ; %
8: PR[1,2]=GI[2] ; %
9: PR[1,3]=GI[3] ; %
10: PR[1,4]=GI[4] ; %Assignment of group variables
11: PR[1,5]=GI[5] ; %
12: PR[1,6]=GI[6] ; %
13: PR[1,7]=GI[7] ; %
14: J PR[1] 75% FINE ; %Motion execution
15: WAIT .50(sec) ; %Wait
16: IF DI[12]=OFF,JMP LBL[1] ; %Verifying control method
/END
%End of the program
(Example from Galuszka K., (2014) Wireless control system for industrial robots. Mas-
ter thesis promoted by Zolkiewski S. report. Silesian University of Technology, Gliwice)
Many scientific publications [16-23] propose detailed mathematical methods
and algorithms based on vector analysis as well as methods of signal analysis
which were used to obtain the results of the following integrated remote robot
control systems.
3 Conclusions
The use of mobile devices in the control of an industrial robot is an innovative
approach to this issue. The source of well-known solutions is the entertainment
industry. Presented remote control system can be used both in educational and
practical industry applications. Lack of wires makes the device becomes more
mobile and flexible. Apart from the Internet connection Bluetooth 2.0 was also
tested. In that case Bluetooth turned out to be worse option, due to the poorer
performance of data transfer and the limited distances of using.
Search WWH ::
Custom Search