Mitsubishi CRn-500 Series Instruction Manual page 91

(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 *LOOP
130 M_01#=1
140 IF M_01#=1 THEN GOTO 140
150 MOV P11,-50
160 MVS P11
170 HCLOSE 1
180 DLY 0.5
190 MVS P11,-50
200 M_02#=1
210 MOV P12,-50
220 MVS P12
230 HOPEN 1
240 DLY 0.5
250 MVA P12,-50
260 GOTO *LOOP
<2>Program of mechanism number 2 (Program name:2)
100 GETM 2
110 M_OUT(11)=0
120 MOV P231
130 DLY 0.1
140 *LOOP
150 IF M_01#=0 THEN GOTO 150
160 M_OUT(11)=1
170 IF M_IN(11)=0 THEN GOTO 170
180 M_OUT(11)=0
190 MOV P232
200 DLY 0.1
210 M_02#=0
220 M_01#=0
230 IF M_02#=0 THEN GOTO 230
240 MOV P231
250 GOTO *LOOP
Procedure 2 : Setting the task slot parameter
Set the slot parameters as follows.
Parameters Program name
SLT1
SLT2
8.User Mechanism Settings, Operation, and Commands
Operation mode
1 REP
2 REP
' Gets mechanism 1
' Interlock variable is initialized
' Requests for preparation of work on
rotary axis
' Waits for completion of preparation of
work on rotary axis
' Moves to 50 mm above P11
' Moves to position from which work is
unloaded from rotary axis
' Pickup work piece
' Waits for 0.5 sec
' Moves to 50 mm above P11
' Unloading of work from rotary axis is
complete.
' Moves to 50 mm above P12
' Moves work placement position of
positioning device
' Places work
' Waits for 0.5 sec
' Moves to 50 mm above P12
' Gets mechanism 2
' Prohibits work transport to external
location
' Moves to work transport position
' Waits for completion (static) of operation
(set values must be adjusted)
' Waits for request of preparation of work
on rotary axis
' Permits work transport to external
location
' Waits for completion of work transport
from external location
' Prohibits work transport to external
location
' Rotates to position where robot unload
the work
' Waits for completion (static) of operation
(set values must be adjusted)
' Rotary axis requests unloading of work
' Preparation of work by rotary axis is
complete.
' Waits for completion of unloading of
work from rotary axis
' Moves to work transport position
Number of executed
Operation format
START
START
lines
1
1
77