Changing The Placement Sequence For Palletizing - Yamaha DRCX User Manual

8-5 Sample Programs
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8-5-11 Changing the placement sequence for palletizing

With this sample program, the robot picks up a workpiece supplied at P0 and place it sequentially on
a 4×5 pallet with the placement sequence shown below.
Y
Pick point
P0
■ Teaching each point of P0 and P251 to P254 should be completed beforehand in PNT
(point) mode. (Matrix is defined as pallet number 0 in this example.)
Program
[NO0]
001: MAT 4,
002: C 1
003: CALL 1,
004: C 10
005: CALL 2,
006: C 11
007: CALL 1,
008: C 20
009: CALL 2,
[NO1]
001: MOVA 0,
002: CALL 3,
003: MSEL 0
004: MOVM C,
005: CALL 4,
006: C+
[NO2]
001: MOVA 0,
002: CALL 3,
003: MSEL 0
004: MOVM C,
005: CALL 4,
006: C-
Point D (=P254)
Point C (=P253)
Place points
Point A (=P251) Point B (=P252)
Comment
<<Main routine>>
; Defines 4×5 matrix as pallet number 0
5, 0
; Sets counter variable to 1
; Calls subroutine NO1 five times
5
; Sets counter variable to 10
; Calls subroutine NO2 five times
5
; Sets counter variable to 11
; Calls subroutine NO1 five times
5
; Sets counter variable to 20
; Calls subroutine NO2 five times
5
<<Execution while counting up>>
; Moves to pick point
100
; PICK routine call
1
; Specifies movement matrix
; Moves to place point (on pallet)
100
; PLACE routine call
1
; Counter variable increment
<< Execution while counting down>>
; Moves to feed source point
100
; PICK routine call
1
; Specifies movement matrix
; Moves to place point (on pallet)
100
; PLACE routine call
1
; Counter variable decrement
Placement sequence
X