Picking Up Workpieces Flowing On The Front Conveyor And Placing Them Sequentially On The Five Rear Conveyors - Yamaha DRCX User Manual

8-5 Sample Programs
8
36
8-
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8-5-5 Picking up workpieces flowing on the front conveyor and
placing them sequentially on the five rear conveyors
Upper end limit
switch (DI0)
Lower end limit
switch (DI1)
q
Workpiece detection
sensor (DI2)
P0
Operation
q Moves to the workpiece feed
position and picks up a workpiece.
w Moves to the workpiece mount
position and places the workpiece.
General-purpose input
DI0 Upper end limit switch 1: ON
DI1 Lower end limit switch 1: ON
DI2 Workpiece A detection sensor 1: Detected 0: No
General-purpose output
DO0 Air cylinder
DO1 Air chuck
Front conveyor
Workpiece
Rear conveyors
1st 2nd
YAMAHA 2-axis robot (Y-axis)
Air cylinder
(DO0)
Air chuck
(DO1)
P1 P2
Actuator
Horizontal direction
Vertical direction
Hold
Point
0: OFF P0 Workpiece feed position on the front conveyor
0: OFF P1 Workpiece mount position on the 1st rear conveyor
P2 Workpiece mount position on the 2nd rear conveyor
P3 Workpiece mount position on the 3rd rear conveyor
P4 Workpiece mount position on the 4th rear conveyor
1: Down 0: Up
P5 Workpiece mount position on the 5th rear conveyor
1: Close 0: Open
[TOP VIEW]
3rd 4th 5th
AC servo
[SIDE VIEW]
w
P3 P4 P5
AC servo motor
Air cylinder
Air chuck