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PROGRAMMER’S MANUAL I PROGRAM DESIGN AND …

ROBOTV ertical articulatedV*-D/-E SERIESH orizontal articulatedH*-D/-E SERIESC artesian coordinateXYC-4D SERIESV ision device Vision-21 SERIESPROGRAMMER S MANUAL IPROGRAM DESIGN AND COMMANDS(Ver. )Copyright DENSO WAVE INCORPORATED, 2002 All rights reserved. No part of this publication may be reproduced in any form or by any means withoutpermission in writing from the are subject to change without prior products and company names mentioned are trademarks or registered trademarks of theirrespective holdersiPrefaceThank you for purchasing this high-speed, high-accuracy assembly operating your robot, read this MANUAL carefully to safely get the maximum benefit from yourrobot in your assembling series and/or models covered by this MANUAL - Vertical articulated robotV*-D/-E series- Horizontal articulated robotH*-D/-E series- Cartesian coordinate robotXYC-4D series- Vision devaicec Vision-21 seriesRobot controller version (Note)

PART 1 PROGRAM DESIGN Chapter 1 Sample Program This chapter utilizes a simple application example to provide usage of each command. Chapter 2 Program Flow This chapter provides an explanation on the rules, which are required for creating a program, for the operation of programs in the PAC language. Chapter 3 Robot Motion

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