Create the PF_Robot Callback Function

In the PF_Robot callback function, you describe the operations by which the robot picks and places the parts. This function executes the following steps. (Steps 1 through 7 are repeated in a loop.)

1. Retrieve the coordinates of parts on the platform from the parts coordinates queue.
   Use "PF_QueGet".
2. Move the robot to the part position.
   Use Jump or similar commands. (For SCARA robots)
3. Turn suction on, or grip the part using some other method.
4. Move the robot to the position where the part will be placed.
   Use Jump or similar commands. (For SCARA robots)
5. Turn suction off, or release the part using some other method.
6. Delete one data entry in the parts coordinates queue.
   Use "PF_QueRemove".
7. Check whether a stop command has been issued. If it is issued, leave the loop.
   Use "PF_IsStopRequested".
8. It returns PF_Robot = PF_CALLBACK_SUCCESS.

The following is a sample PF_Robot callback function.
As the handling of a loop and steps 1, 6, 7 are described in automatically generated PartFeeding.prg, this sample describes the handling of the rest of the steps.

The labels used in this program are as follows:
IO label: Chuck (grip part by suction), UnVacumm (release part)
Point label: PlacePos (Place coordinate)

Function PF_Robot(partID As Integer) As Integer

    Do While PF_QueLen(partID) > 0

        ' Pick
        P0 = PF_QueGet(partID)
        Jump P0 ! Wait 0.1; Off UnVacumm !
        On Chuck
        Wait 0.1

        ' Place
        Jump PlacePos
        Off Chuck
        On UnVacumm
        Wait 0.1

        ' Deque
        PF_QueRemove partID

        ' Check Cycle stop
        If PF_IsStopRequested = True Then
            Exit Do
        EndIf

    Loop
    Off UnVacumm
    PF_Robot = PF_CALLBACK_SUCCESS

Fend