Sample Program - Omron SCARA YRC Series User Manual

4. Sample program

4. Sample program
The YRC Controller is made by YAMAHA.
This example must be considered just as a draft guideline beacuse it uses some information about
devices that are not distributed nor supported by OMRON.
SXYx
1st unit supply position
Chapter
5
Master module
[Details of sample]
• Pick & place work is carried out using the PLC and YRC + sxYx (3 axes), YRC+MxYx
(3 axes).
• The workpieces supplied to each robot are arranged on one pallet.
• The workpiece is supplied at a rate faster than the robot operation.
• The two robots will interfere above the pallet, so data is exchanged to prevent interference.
• When handling the workpiece, the robot moves at a low speed.
• The robot controller directly exchanges the pallet.
* Refer to the robot programming manual for details on the robot program language.
* The PLC circuit is a simple circuit that executes the selected robot program when
emergency stop is canceled.
CAUTION
ExPLANATIONs ARE GIvEN BAsED ON THE CHANNELs FOR THE OMRON MAsTER
MODULE. REFER TO THE REsPECTIvE MANUALs WHEN UsING OTHER MAsTER
MODULE BRANDs.
5-16
Pallet
P100
CJIG-CPU42H
+
CJIW-DRM21
MXYx
2nd unit supply position
P101 P105
P201 P205
P102 P106
P202 P206
P103 P107
P203 P207
P104
P108
P204 P208
Slave module
YRC (1st unit)
+ SXYx (3 axes)
(MAC ID 1)
P200
Slave module
YRC (2nd unit)
+ MXYx (3 axes)
(MAC ID 25)