Examples Of Robot Program (Using General-Purpose I/O) - Siemens 2D-TZ577 Instruction Manual

7 Procedure before Startup
7.4.3

Examples of Robot Program (Using General-purpose I/O)

*LBL1:If M_In(2008) = 0 Then GoTo *LBL1
M1 = M_Inb(2000)
M_Out(2009) = 1
*LBL2:If M_In(2008) = 1 Then GoTo *LBL2
M_Out(2009) = 0
Select M1
Case 1
GoSub *LOAD
break
Case 2
GoSub *UNLOAD
break
Case 3
GoSub *GOHOME
break
End Select
End
*LOAD
：
Return
*UNLOAD
：
Return
*GOHOME
：
Return
Have A Try For It 7- 38
Input No. 2008 and output No. 2009 are used as an
interlock.
For information about the interlock, see Section 3.7.1 Robot
System State Variables Relative to 2D-TZ577 Card.
If M1 is 1, a jump is made to the line labeled "*LOAD."
*1
If M1 is 2, a jump is made to the line labeled "*UNLOAD."。
*1
If M1 is 3, a jump is made to the line labeled "*GOHOME."。
*1
M1 is byte data received via PROFIBUS DP network.
*1
(See the 2nd line of the program.)
A statement on processing done in the step labeled "*LOAD."
A statement on processing done in the step labeled "*UNLOAD."
A statement on processing done in the step labeled "*GOHOME."