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# put template on buffer (BFR)
PROGRAM TOBFR
DEFINE B1
SET
B1 = BFR + 10
SPEED
40@PROGLNS = MOVED
MOVED
CIM[B1]
SPEEDA 5
MOVELD CIM[BFR]
GOSUB OGRIP
SPEEDA 10
MOVELD CIM[B1]
END
CIMB[BFR]
Optionally, you may substitute your own template manipulation programs, using the
above names, in the USERn.DNL file for the station. These programs will replace the
system’s default programs when the files are downloaded during station installation.
Positions for Default Template Manipulation Programs
To use the default programs, you must first properly record the default positions; these
are the positions at which the robot holds the template on the buffer and on the pallet.
These positions must be defined at each station.
The CIM application programs use two position vectors:
CIM[500]
Positions for robot (group A);
Positions 1 through 19 are used by the default template manipulation
programs.
CIMB[100]
Positions for group B (linear slidebase, for example);
positions 1 through 9 are used by the default template manipulation
programs.
When the station controller is turned on, the AUTO program attaches these vectors to the
teach pendant. (Positions recorded from the teach pendant will be automatically assigned
to these vectors.)
9-8
Station Application Programs
ER-CIM USER’S MANUAL
9211/9502