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STE 58762
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If we were to write a program in SCOL for the previous example (in which we attach a part from a
parts feeder to a workpiece on a conveyor), it would look like this:
PROGRAM ASSEMBLY
MOVE B Move to Point B.
OPEN1 Open Hand 1.
MOVE A Move to Point A.
CLOSE1 Close Hand 1.
DELAY 0.5 Wait 0.5 seconds before grabbing the part.
MOVE B Move to Point B.
MOVE C Move to Point c.
MOVE D Move to Point D.
OPEN1 Open Hand 1.
DELAY 0.5 Wait 0.5 seconds before letting go off the part.
MOVE C Move to Point c.
MOVE B Move to Point B.
END
The word PROGRAM marks the beginning of a program and the word END marks the end of a
program. The name of this particular program is ASSEMBLY. The commands should not be too
hard to understand. MOVE A means to move to Point A. OPENi and CLOSE 1 mean to,
respectively, open and close Hand 1. (There are two hands.) DELAY 0.5 means not to do
anything for 0.5 seconds. Furthermore, the locations of Points A, B, C and D are defined (taught)
beforehand by physically guiding the robot (in the teaching mode) to these points. (To put it
another way, the location of these points is not defined by the program itself.)
By arranging a series of commands in the order that you want things done, SCOL allows you, the
programmer, to express just what the robot is supposed to do in terms that the robot understands.