Pick Movement Function

Description

A pick function uses the move command in the direction of the object to be picked and the call command to close the gripper.

 

To create Pick Movement Function

  1. Cut out the first set of Move to commands, including the Call command for gripping.

  2. In alternate order, tap each command nodes and the cut icon one after the other.

    The four commands are transferred in the clipboard toolbox.

  3. In the multitask screen, tap the Pick function of Movement.

  4. Tap the add icon in the main screen and choose the Clipboard toolbox.

 

  1. In sequential order, insert the first set of commands into the Pick Movement function.

    5.1. Tap the Move to: Point_1 command.

    5.2. Tap the add icon below.

    5.3. Tap the Move to: Point_2 command.

    5.4. Tap the add icon below.

    5.5. Tap the Gripper Close function.

    5.6. Tap the add icon below.

    5.7. Tap the Move to: Point_1 (Variable) command.

  2. Tap again the Main Program to insert the Movement Pick Function into the program tree.

  3. Tap the add icon, choose the Commands toolbox, and tap the Call icon. A node with the Module and Function fields appear.

  4. Select Movement in the Module field and Pick in the Function field.