Activity 3.1.2f Variable Programming
Introduction
The concept of using a variable in a computer program is commonly used. A
variable allows data tracking flexibility within the program to control the logical flow.
Equipment
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Computer with RoboCell software
Journal
Pencil
Procedure
1. Set up the cell using the information below.
Using Cell Setup, create the following work cell:
 Table: 1000 x 1000
 Robot: Scorbot ER4
 Cylinder Size: Diameter of 40mm and Height of 40mm
 Cylinders:
C1
300,100
C2
300, 0
C3
300, -100
C4
300, -200
 Save the program as LastName_A312f.
2. Define the variables
The following variables will be used in the program:
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ATPICK: This is where the robot is in position to pick up the cylinder.
ABPICK: This is where the robot is in position above the pick-up point.
DROP: This is where the robot is in position to drop off the cylinder.
3. Program the positions
Open RoboCell Simulation, import the 3D graphics file created above, and program
the following points using the coordinates in the chart below.
© 2013 Project Lead The Way, Inc.
CIM Activity 3.1.2f Variable Programming – Page 1
Note that the positions are shown looking toward the robot
Program Construction
The program below will perform a
stacking operation with variables.
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Remark: Your Name
Remark: Class Period
Remark: Variable Stack
Remark: Set Variables
Set Variable ABPICK = 11
Set Variable ATPICK = 1
Set Variable DROP = 41
Remark: Home
Open Gripper
Go to Position 99 Fast
Remark: Stack
LOOP:
Open Gripper
Go to Position ABPICK Fast
Go Linear to Position ATPICK Speed 5
Close Gripper
Go Linear to Position ABPICK Speed 5
Go to Position 100 Fast
Go Linear to Position DROP Speed 5
Open Gripper
Go Linear to Position 100 Speed 5
Remark: Update Variables
Set Variable ATPICK = ATPICK+1
Set Variable ABPICK = ABPICK +1
Set Variable DROP = DROP +1
Remark: Looping
IF ATPICK>3, jump to END
Jump to LOOP
END:
Remark: Home
31. Go to Position 99 Fast
4. Obtain instructor approval that the assignment has been completed.
© 2013 Project Lead The Way, Inc.
CIM Activity 3.1.2f Variable Programming – Page 2
Conclusion
1. Run your program to determine whether it performs as desired.
© 2013 Project Lead The Way, Inc.
CIM Activity 3.1.2f Variable Programming – Page 3