Mitsubishi CRn-500 Series Instruction Manual page 100

8.User Mechanism Settings, Operation, and Commands
(6) Procedure up to program execution
Procedure 1 : Program creation
<1>Program of mechanism number 1 (Program name:1)
100 GETM 1
110 M_01#=0
120 M_02#=0
130 MOV P1SF
140 *LOOP
150 M_01#=1
160 IF M_01#=1 THEN GOTO 160
170 MOV P11,-10
180 MVS P12,-10
190 MVS P12
200 M_OUT(10)=0
210 DLY 0.05
220 MVS P12,10
230 MVS P11,10
240 DLY 0.1
250 M_02#=1
260 MOV P1SF
270 GOTO *LOOP
<2>Program of mechanism number 2 (Program name:2)
100 GETM 2
110 M_OUT(11)=0
120 PMV=P_CURR(2)
130 PMV.X=P231.X
140 MOV PMV
150 DLY 0.1
160 *LOOP
170 IF M_01#=0 THEN GOTO 170
180 M_OUT(11)=1
190 IF M_IN(11)=0 THEN GOTO 190
200 M_OUT(11)=0
210 PMV=P_CURR(2)
220 PMV.X=P232.X
230 MOV PMV
240 DLY 0.1
250 M_02#=0
260 M_01#=0
270 IF M_02#=0 THEN GOTO 270
280 PMV=P_CURR(2)
290 PMV.X=P231.X
300 MOV PMV
310 GOTO *LOOP
86
' Gets mechanism 1
' Interlock variable is initialized
' Interlock variable is initialized
' Moves to safe position
' Requests for preparation of work on vertical
moving axis
' Waits for completion of preparation of work
on vertical moving axis
' Moves 10 mm below P11
' Moves 10 mm below P12
' Move to P12
' Pickup workpiece
' Waits for 0.05 sec of vacuum timer
' Moves 10 mm above P12
' Moves 10 mm above P11
' Waits for completion (static) of operation (set
values must be adjusted)
' Unloading of work from vertical moving axis
is complete.
' Move to safe position
' Gets mechanism 2
' Prohibits work transport to external location
' Reads current position
' Rewrites element of axis 1 (vertical moving
axis 1) of current position
' Moves to work transport position
' Waits for completion (static) of operation (set
values must be adjusted)
' Waits requests for request of preparation of
work on vertical moving axis 1
' Permits work transport to external location
' Waits for completion of work transport from
external location
' Prohibits work transport to external location
' Reads current position
' Rewrites element of axis 1 (vertical moving
axis 1) of current position
' Moves to the position where robot unload
work
' Waits for completion (static) of operation
(set values must be adjusted) ）
' Requests to unload the work from the
moving axis.
' Preparation of work on vertical moving axis
1 incomplete
.
' Waits for completion of unload the work from
vertical moving axis
' Reads current position
' Rewrites elements of axis 1 (vertical moving
axis 1) of current position
' Moves to work transport position