Point-to-Point and XYZ Programs

Point-to-point programs and XYZ programs will look very similar to each other. ill. 1 shows an example of a typical point-to-point program. In this example notice that each program step is numbered. Unlike a program written in BASIC, the line numbers are only for humans to use to identify the steps. The robot controller executes the steps in the order that they occur. From this example notice that each also provides positional data either as an XYZ location or the pulse count of the encoder for each axis for a given location. Other information includes the speed, which will be called a feed rate or velocity, and the codes to energize or de-energize any outputs.