Palletizing For Pallet Versus Pallet - Yamaha DRCX User Manual

8-5-8 Palletizing for pallet versus pallet

With this sample program, the robot picks up a workpiece from a pallet, places it in the processing
position P0, and then picks up and places the processed workpiece on a transport pallet.
Y
Point c (=P253)
Point a (=P251)
Pick-and-place sequence
point a → P0 → point A → ··· → point b → P0 → point B → ··· →
point c → P0 → point C → ··· → point d → P0 → point D
■ Teaching each point of P0 and P247 to P254 should be completed beforehand in PNT
(point) mode. (Supply pallet is defined as pallet number 0, and transport pallet as pallet
number 1 in this example.)
Program
[NO0]
001: MAT
002: MAT
003: C
004: L
005: MSEL
006: MOVM
007: CALL
008: MOVA
009: CALL
010: CALL
011: CALL
012: MSEL
013: MOVM
014: CALL
015: JMPC
016: C+
017: JMP
018: L
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Point d (=P254)
Workpiece
processing position
P0
Point b (=P252)
Comment
; 4×5 matrix definition (for supply pallet)
4, 5, 0
; 4×5 matrix definition (for transfer pallet)
4, 5, 1
; Sets counter variable to 1
1
; Label definition
0
; Matrix selection for feed pallet
0
; Moves to supply pallet
C, 100
; PICK routine call
1, 1
; Moves to processing position
0, 100
; PLACE routine call
2, 1
; Workpiece processing routine call
3, 1
; PICK routine call
1, 1
; Matrix selection for transfer pallet
1
; Moves to transfer pallet
C, 100
; PLACE routine call
2, 1
; Jumps to L1 if counter variable is 20
1, 20
; Counter variable increment
; Jumps to L0
0, 0
; Label definition
1
8-5 Sample Programs
Point B (=P248) Point D (=P250)
Point A (=P247)
Point C (=P249)
X
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