Injection molding machine manipulator vertical programming?

Injection molding machine manipulator vertical programming needs to consider the following aspects:

1) Determine the center line of the injection molding machine and set the coordinate system of the manipulator;

2) Write the action program of the manipulator, including the starting point, end point, speed and other parameters;

3) Set the action mode of the clamps, suckers and other tools of the manipulator;

4) According to the specific operation requirements, add the corresponding conditional judgment statements and loop control statements to achieve automatic operation. In addition, it is necessary to test and debug the robot to ensure that it can accurately perform the program written.