Robot Stands By At P0, And Moves To P1 And Then To P2 To Pick And Place A Workpiece - Yamaha SRCP User Manual

8-5 Sample Programs
8
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8-
8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to
pick and place a workpiece
Upper end limit
switch (DI0)
Lower end limit
switch (DI1)
q
Workpiece detection
sensor (DI2)
Operation
q
Moves to the workpiece feed position from the
standby position, and picks up a workpiece.
w
Moves to the workpiece mount position and places
the workpiece.
e
Returns to the standby position.
General-purpose input
DI0 Upper end limit switch
DI1 Lower end limit switch
DI2 Workpiece detection sensor 1: Detected 0: No
General-purpose output
DO0 Air cylinder
DO1 Air chuck
Program
[NO1]
001: L 1
002: MOVA 0,
003: WAIT 2,
004: MOVA 1,
005: DO 0,
006: WAIT 1,
007: DO 1,
008: TIMR 100
009: DO 0,
010: WAIT 0,
011: MOVA 2,
012: DO 0,
013: WAIT 1,
014: DO 1,
015: TIMR 100
016: DO 0,
017: WAIT 0,
018: JMP 1,
Air cylinder
(DO0)
Air chuck
(DO1)
P0
e
P1
Actuator
Horizontal direction
Vertical direction
Hold
1: ON 0: OFF
1: ON 0: OFF
Point
P0
1: Down 0: Up
P1
1: Close 0: Open
P2
Comment
; Label definition
; Moves to the standby position
100
; Waits for workpiece feed
1
; Moves to the workpiece feed position
100
; Air cylinder moves down
1
; Waits until the air cylinder moves down
1
; Chuck closes
1
; Delays for one second
; Air cylinder moves up
0
; Waits until the air cylinder moves up
1
; Moves to the workpiece mount position
100
; Air cylinder moves down
1
; Waits until the air cylinder moves down
1
; Chuck opens
0
; Delays for one second
; Air cylinder moves up
0
; Waits until the air cylinder moves up
1
; Returns to L1
1
X-axis
AC servo
w
P2
AC servo motor
Air cylinder
Air chuck
Robot standby position
Workpiece feed position
Workpiece mount position
Picks up
workpiece
Placing
workpiece