Toshiba THL Series Instruction Manual page 175

(Program example 2)
When the hand mass is 3 kg and the gravity center offset is 30 mm, and the mass is 5 kg
and gravity center offset is 50 mm when the workpiece is grasped.
Pick-and-place operation is executed under the above conditions.
PROGRAM SAMPLE
PAYLOAD={3,30}
ACCUR=COARSE
ENABLE NOWAIT
RESET DOUT
MOVE P0
DOUT(1)
WAIT DIN (1)
LOOP:
MOVE P1+POINT(0,0,100)
IF DIN (-1)THEN GOTO FIN
MOVE P1
WAIT MOTION>=100
DOUT(213)
DELAY 1
PAYLOAD={5,50}
MOVE P1+POINT(0,0,100)
MOVE P2+POINT(0,0,100)
MOVE P2
WAIT MOTION>=100
DOUT(-213)
DELAY 1
PAYLOAD={3,30}
MOVE P2+POINT(0,0,100)
GOTO LOOP
FIN:
MOVE P0
DOUT(1)
STOP
END
TRANSPORTATION AND INSTALLATION MANUAL
175
STE 85356