Jason Friskey
EGR 474 - Systems Integration
Dr. Hugh Jack
Term: Spring/Summer 2003
File: program_comments

The program below controls the robot positions for each command.

10 NT		; MOVE TO HOME POSITION
20 MO 10	; MOVE TO LOADER
30 MO 15	; MOVE TO LOADER
40 MO 20	; OPEN HAND AND MOVE TO GRIP PART
50 GC		; GRIP PART
60 MO 30	; LIFT PART FROM LOADER
70 MO 40	; MOVE PART TO CNC
80 MO 50	; POSITION PART IN CNC
90 MO 60	; RELEASE PART
100 MO 70	; RETRACT HAND
110 ED		; END COMMAND 1

120 MO 60	; MOVE TO GRIP FINISHED PART
130 GC		; GRIP PART
140 MO 40	; CLEAR CNC
150 MO 80	; MOVE PART TO CART
160 MO 90	; POSITION PART IN CART
170 MO 100	; POSITION PART IN CART
180 GO		; RELEASE PART
190 MO 110	; RETRACT HAND
200 ED		; END COMMAND 2