Examples Of Use; Example Of Use Of Shift Addition/Subtraction - YASKAWA DX100 Operator's Manual

DX100

6.3.5 Examples of Use

6.3.5.1 Example of Use of Shift Addition/Subtraction

6 Convenient Functions
6.3 Parallel Shift Function
Table 6-1: Workpiece Stacking Operation
Line Instruction
0000 NOP
0001 SET B000 0
0002 SUB P000 P000
0003 *A
0004 MOVJ
0005 MOVL
0006 'Gripping workpiece
0007 MOVL
0008 MOVL
0009 SFTON P000 UF#(1)
0010 MOVL
0011 'Releasing workpiece
0012 SFTOF
0013 ADD P000 P001
0014 MOVL
0015 MOVL
0016 INC B000
0017 JUMP *A IF B00<6
0018
SFTON P000 UF#(1)
SFTOF
SUB P000 P001
1,7 3
2
6-24
Make the first shift value zero.
Step 1
Step 2
Step 3
Step 4
Shift start
Shift position Step 5
Shift end
Add the shift value for the next
operation.
Step 6
Step 7

Since the shift data is retained
in memory, the same data can
be used (with subtraction
instead of addition) to perform
a workpiece unloading
operation.

4,6
Workpiece
5
155507-1CD
RE-CSO-A037
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