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[Robot program data assignment]
* Variables used
1st unit :
A
2nd unit :
B
* Points used
1st unit :
P100
P101
:
P108
P121
P122
2nd unit :
P200
P201
:
P208
P221
P222
* Bit data used
1st unit :
sI (40)
sI (41)
sI (42)
sO (23) to sO (20) : Point No. setting output group
sO (40)
sO (41)
sO (42)
DI (47)
DO (40)
DO (47)
2nd unit :
sI (23) to sI (20)
sI (40)
sI (41)
sI (42)
sO (40)
sO (41)
sO (42)
DO (40)
: Point No. in pallet
: Point No. in pallet
: Point above workpiece supply
: 1st point above pallet
:
: 8th point above pallet
: Z axis position point for workpiece supply
: Z axis position point on pallet
: Point above workpiece supply
: 1st point above pallet
:
: 8th point above pallet
: Z axis position point for workpiece supply
: Z axis position point on pallet
: Point No. reception complete input
: Movement complete response standby input
: Movement complete standby input
: Point No. setting complete output
: Movement complete output
: Movement complete response output
: Pallet change complete input
: Chuck hand open close (0: Close, 1: Open)
: Pallet exchange command output
: Point No. setting input group
: Point No. transmission complete input
: Movement complete standby input
: Movement complete response standby input
: Point No. setting reception complete output
: Movement complete response output
: Movement complete output
: Chuck hand open/close (0: Close, 1: Open)
4. Sample program
5-17
Chapter
5
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