Picking Up A Workpiece At P0 And Placing It At P1; Picking Up Workpieces At P0 And Placing Them Sequentially At P1, P2, P3 And P4 - Yamaha DRCX User Manual

8-5 Sample Programs
8
52
8-
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8-5-16 Picking up a workpiece at P0 and placing it at P1

Y
Program
[NO0]
001:MOVA 0,
002:CALL 1,
003:ACHI 2,
004:MOVA 1,
005:CALL 2,
8-5-17 Picking up workpieces at P0 and placing them sequentially
at P1, P2, P3 and P4
Y
Program
[NO0]
001:P 1
002:CALL 1,
[NO1]
001:ACHA 2,
002:MOVA 0,
003:CALL 2,
004:ACHA 2,
005:MOVA P,
006:CALL 3,
007:P+
50mm
P0
Comment
; Moves to P0
100
; PICK routine call
1
; Specifies arch motion to move back Y-axis by -50mm
-50
; Moves to P1 (arch motion)
100
; PLACE routine call
1
P0
Comment
; Set point variable to 1
; Calls routine NO1 four times
4
; Specifies arch motion to move back Y-axis by Y=10mm
10
; Moves to P0 (arch motion)
100
; PICK routine call
1
; Specifies arch motion to move back Y-axis by Y=10mm
10
; Moves to P1-P4 (arch motion)
100
; PLACE routine call
1
; Point variable increment
X
P1
X
Y=10mm
P1 to P4