Omron SCARA YRC Series User Manual page 84

4. Sample program
[Robot program]
1st unit's YRC
'INIT ROUTINE
REsET sO2()
REsET sO4()
REsET DO4()
A=101
'MAIN ROUTINE
MOvE P,P100,Z=0
GOsUB *PICk
*sT1:
MOvE P,P[A],Z=0
GOsUB *PLACE
MOvE P,P100,Z=0
Chapter
sO(41)=1
5
WAIT sI(41)=1
sO(41)=0
WAIT sI(41)=0
sO(23,22,21,20)=A-100
sO(40)=1
WAIT sI(40)=1
sO(40)=0
WAIT sI(40)=0
sO(23,22,21,20)=0
GOsUB *PICk
WAIT sI(42)=1
sO(42)=1
WAIT sI(42)=0
sO(42)=0
A=A+1
IF A>108 THEN
A=101
DO(47)=1
WAIT DI(47)=1
DO(47)=0
ENDIF
GOTO *sT1
HALT
'sUB ROUTINE FOR PICk
*PICk:
DO(40)=1
DRIvE(3,P121),s=20
WAIT ARM(3)
DO(40)=0
DELAY 500
RETURN
'sUB ROUTINE FOR PLACE
*PLACE:
DRIvE(3,P122),s=20
WAIT ARM(3)
DO(40)=1
DELAY 500
RETURN
5-22
2nd unit's YRC
'INIT ROUTINE
REsET sO2()
REsET sO4()
REsET DO4()
B=201
'MAIN ROUTINE
MOvE P,P200,Z=0
GOsUB *PICk
*sT2:
WAIT sI(41)=1
sO(41)=1
WAIT sI(41)=0
sO(41)=0
WAIT sI(40)=1
B=sI(23,22,21,20)
sO(40)=1
WAIT sI(40)=0
sO(40)=0
B=B+200
MOvE P,P[B],Z=0
GOsUB *PLACE
MOvE P,P200,Z=0
sO(42)=1
WAIT sI(42)=1
sO(42)=0
WAIT sI(42)=0
GOsUB *PICk
GOTO *sT2
HALT
'sUB ROUTINE FOR PICk
*PICk:
DO(40)=1
DRIvE(3,P221),s=20
WAIT ARM(3)
DO(40)=0
DELAY 500
RETURN
'sUB ROUTINE FOR PLACE
*PLACE:
DRIvE(3,P222),s=20
WAIT ARM(3)
DO(40)=1
DELAY 500
RETURN