# Pick&Place programs¶

The following chapter contains variants of the Pick&Place program that build on each other:

1. Create a basic Pick&Place program,
2. Extension: Movement optimization
3. Extension: Add loop
4. Extension: Add input parameters
5. Extension: Add case distinction and user dialog

What you will learn

• Duplicate programs
• Parameterizing the movement type
• Adjusting speed and blending

## Extension: Parameterize robot movements¶

### Step-by-step Guide¶

1. The basis for the program is the Pick&Place program of the previous chapter.

2. Duplicate the first program in the program overview by clicking on the arrow next to "Edit" and then on .

3. Edit the copy of the program and rename the program.

4. Now change the waypoint of the first Home Position function block from LIN to PTP by setting the Movement Type to PTP in the Trajectory Wizard.

5. Since PTP movements are always given as a percentage, the Speed field now appears with a red frame. Determine the speed of the movement and set it to 20%.

6. Save the changed parameters.

7. In addition we now change the Blending settings of the approach positions.

8. To do this, change the Movement Type settings in PTP for all approach positions, set Speed to 30% and increase Blending to 100%.

9. These settings should now be present in all approach positions of the three Move Cartesian function blocks.

10. Repeat steps 4 and 5 for the last function block Home position.

11. Ready! (You can download the program here. At "My Programs" -> you can load external programs into drag&bot.)

### Further information:¶

LIN

The Linear (LIN) movement is a rectilinear movement. The robot moves on a straight line to a given target position.

PTP

The Point-to-Point (PTP) movement is a type of movement that is fastest for the robot to perform. The course of the path is not defined here, which is why the robot can also follow curved paths.

Blending

During looping over, a waypoint between two points is not approached exactly. By gradually swivelling into the new path, a fluid, soft movement is created.