AML

-- Simple AML robot program
-- Pick and place operation

PROGRAM PICKPLACE;

-- Define positions
VAR homepos, pickpos, placepos: POSITION;

-- Initialize positions
homepos := POSITION(0.0, 0.0, 100.0, 0.0, 0.0, 0.0);
pickpos := POSITION(200.0, 100.0, 50.0, 0.0, 0.0, 90.0);
placepos := POSITION(-200.0, 100.0, 50.0, 0.0, 0.0, -90.0);

-- Main program logic
BEGIN
  -- Move to home position
  MOVE homepos;

  -- Open gripper
  OPEN GRIPPER;

  -- Move to pick position
  MOVE pickpos;

  -- Close gripper to grasp object
  CLOSE GRIPPER;

  -- Lift object
  MOVE POSITION(pickpos.x, pickpos.y, pickpos.z + 50.0,
                pickpos.pitch, pickpos.roll, pickpos.yaw);

  -- Move to place position
  MOVE placepos;

  -- Open gripper to release object
  OPEN GRIPPER;

  -- Return to home position
  MOVE homepos;
END;