Example Of Robot Program Creation (Using General-Purpose Input/Output) - Mitsubishi 2F-DQ535 Instruction Manual

8.3.3. Example of robot program creation (using general-purpose input/output)

*LBL1:If M_In(6008) = 0 Then GoTo *LBL1
M1 = M_Inb(6000)
M_Out(6009) = 1
*LBL2:If M_In(6008) = 1 Then GoTo *LBL2
M_Out(2009) = 0
Select M1
Case 1
GoSub *LOAD
break
Case 2
GoSub *UNLOAD
break
Case 3
GoSub *GOHOME
break
End Select
End
*LOAD
：
Return
*UNLOAD
：
Return
*GOHOME
：
Return
Input No. 6008 and output No. 6009 are used as
interlocks.
Refer to "4.5.1 Robot system status variables for
2D-DQ535 card" for details on the interlock.
When M1(*1) is 1, jumps to the label *LOAD line.
When M1(*1) is 2, jumps to the label *UNLOAD line.
When M1(*1) is 3, jumps to the label *GOHOME line.
(*1) M1 is byte data received via CC-Link IE Field.
(Refer to the second line of the program.)
Describe the process in the label *LOAD.
Describe the process in the label *UNLOAD.
Describe the process in the label *GOHOME.
Execution of robot program 8-37
8 Procedures for Starting Operation