Examples; Handling Window - YASKAWA DX100 Operator's Manual

For material handling, press tending, cutting, and other applications

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10.1.3.3 Examples

Handling Application

10.1 Outlines

HSEN 1 ON FOREVER

Waits until sensor 1 turns ON (OFF). At completion, the result (1: gripper

sensor 1 is ON (OFF)) is set in $B014.

Checks whether sensor 1 is turned ON at completion of HSEN instruction.

The result (0: gripper sensor 1 is OFF, 1: gripper sensor 1 is ON) is set in

HSEN 1 ON T=10.00

Waits 10 seconds for gripper sensor 1 to turn ON. Sets the result 1

(gripper sensor 1 is ON) in $B014 if the sensor input turns ON. Sets the

result 0 (gripper sensor 1 is OFF) if the sensor does not turn ON after 10

To observe the $B014 contents with an IF statement, use the GETS

instruction to read the contents to a B variable.

1. Select {ROBOT} under the main menu.

2. Select {HANDLING DIAG}.

– The HANDLING window appears.

3. Select "F1 KEY ALLOCATION" or "F2 KEY ALLOCATION," and then

– The selection dialog box appears.

– If a signal from {HAND1} to {HAND4} is selected, the key allocation

to the corresponding gripper valve signal can be modified. (In the

following example, {HAND3} is selected in the "F2 KEY

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