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6. Modify the program to include robot motion commands
Insert three new Jump statements into the Main.prg program as shown below:
Function main
Print "This is my first program."
Jump P1
Jump P2
Jump P0
Fend
Run the program by pressing F5 and then click on the Start button on the Run
window. The robot should jump to each of the points you taught.
7. Modify the program to change speed of robot motion commands
Insert the Power, Speed, and Accel commands as shown in the program below:
Function main
Print "This is my first program."
Power High
Speed 20
Accel 20, 20
Jump P1
Jump P2
Jump P0
Fend
Run the program by pressing F5 and then click on the Start button on the Run
window. The robot should jump to each of the points you taught at 20% speed,
acceleration, and deceleration. The Power High statement enables your program
to run the robot at high (normal) power, which in turn allows the robot speed and
acceleration to be increased.
RC520 Safety and Installation Rev.2
3. First Step
51
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