Example with Application Amount Control

It is a program example when controlling the application amount depending on the robot speed.

This program can prevent amassing fluid at the start point, end point, and corners.

When using this function, a dispenser with "external input of the application amount" is required.

For adjustment procedures of application amount and connection method, refer to the manual of the dispenser to be used.

Function Main
  '------------- Robot configuration ---------------
  Motor On
  Power High
  SpeedS 30
  AccelS 300, 300
  Tool 1

  AIO_Set 1, On, RealTCPSpeed, 100, 0    ' Start the analog output of the robot speed
  ' ------------- Motion part ---------------
  Move P1                                'Move to start point
  AIO_TrackingSet 1, -1, 0, -3, 3, 0, 2  ' Sets the distance tracking function
  AIO_TrackingStart 1, 10, 0, 0          ' Starts the distance tracking function
  Move P2 !D1; On 1; D99; Off 1!         ' Move to the end point
  AIO_TrackingEnd                        ' Ends the distance tracking function
  AIO_Set 1, Off                         ' End the analog output of the robot speed
  Motor Off
Fend