Omron TJ2-MC64 - PROGRAMMING Programming Manual page 147

BASIC commands
/i
Example A machine is required to drop chemicals into test tubes. The nozzle can move
up and down and also along its rail. The most efficient motion for the nozzle is
to move in an arc between the test tubes.
BASE(0,1)
MOVEABS(0,5) 'move to position above first tube
MOVEABS(0,0) 'lower for first drop
WAIT IDLE
OP(15,ON) 'apply dropper
WA(20)
OP(15,OFF)
FOR x=0 TO 5
MOVECIRC(5,0,2.5,0,1) 'arc between the test tubes
WAIT IDLE
OP(15,ON) 'Apply dropper
WA(20)
OP(15,OFF)
NEXT x
MOVECIRC(5,5,5,0,1) 'move to rest position
See also AXIS, ENCODER_RATIO, UNITS
PROGRAMMING MANUAL
fig. 40
END
(0,5)
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