Robot Programming

Question 1

Commands for picking/releasing an object.

Answer 1

OPENI / CLOSEI
DELAY 0.5
APPRO lockpick, dz
BREAK
MOVE locpick
BREAK
CLOSEI / OPENI
DELAY 0.5
DEPARTS dz
BREAK

Question 2

Mandatory commands.

Answer 2

.program name()
attach()
TOOL TRANS(0, 0, gripper_height)
dz = x
SPEED 30 ALWAYS
….
detach()
end

Question 3

How do you write the IF ELSE statement in Adept V+?

Answer 3

IF … THEN
…
ELSE
…
END

Question 4

Continuous path for avoiding an object.

Answer 4

> Robot in A<
MOVES C
MOVES B

Increase velocity in order to cover less space.

Question 5

How to wait for a signal.

Answer 5

WAIT SIG(1001)

Question 6

How to check if a signal is strong.

Answer 6

IF SIG(1002) THEN:
….

Question 7

How to set high/low a signal.

Answer 7

SIGNAL (+/- port)

Question 8

Difference between MOVE and MOVES.

Answer 8

MOVE: causes a joint-interpolated motion. That is, intermediate set points between the initial and final robot locations are computed by interpolating between the initial and final joint positions

MOVES: causes a straight-line motion. During such a motion the tool is moved along a straight-line path and is smoothly rotated to its final orientation.