Okura Yusoki A Series Manual
Robot sequence commands
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Summary of Contents for Okura Yusoki A Series
- Page 1 Robot Manual GEN5(E)-SEQ-SUPPLEMENTAL Robot Sequence commands Supplemental Edition Okura Yusoki Co., Ltd.
- Page 2 History Version Content Page (Date) 01 (2012.10.30) First edition...
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Page 3: Safety Instructions
Thank you for purchasing a model from the Okura Robot Palletizer A series. This manual is a guidebook to help you safely and correctly use your A Series Robot Palletizer. It should be useful not only to beginners who are using an Okura Palletizer for the first time, but also to experienced users, who can use this Manual to reconfirm their knowledge. - Page 4 ROBOT SEQUENCE 1. Sequence commands which are changed / improved partially AMSPS: Check height + rotation (including AMSSC to be abolished) HMOV: Format HMOV 1. HMOV D1000 WTAOC: (2)-Argues are possible (example) WTAOC X0 | X2 WTTMR: Format WTTMR 10, WTTMR D1000 WTMSP: Format WTMSP 10, WTMSP D1000 2.
- Page 5 (5) IFJPL Descriptions: Conditional jump Format: IFJPL relay label Example: jump to label 1 if X0 is ON. IFJPL X0 1 (6) RTOFT Descriptions: Command to turn a specified relay ON for designated period of time (unrelated to motor power and operation. Mainly for hand jog open) Format: RTOFT M ‘Y) constant (mS unit: 10ms) (7) MOVRT Descriptions: Move to position specified by step No.
- Page 6 In subroutine with AMSPS, when robot moves only to lower position in height than setup value, the subroutine stops where it is. In order to solve this problem, for instance, MOV 4 SUBP 1 LBL 1 AMSPS MOV 5 Station loading enable = 1 WTARM Station loading enable = 1 CLRSB...
- Page 7 2. Other parts that are changed / improved (1) Process at R-axis reversing If R-axis may possibly reverse when arm moves from one station to another in multi-station layout. Conventionally: Step 1 used to need to change overlapping to ZRO to protect R-axis gear reducer from damaged.
- Page 8 Step 13, step command SP2 HX: (7) + 100 HY: copy (7) HT: copy (7) HZ: copy (7) Instructing like the above allows controller to automatically calculate position data of step 12 and 13. In the background, the calculation is executed following the below data. (step No.
- Page 9 CLOOP [Functional Classification] Loop Control [ Outline of processing ] It repeats processing until next ENDLP while value in data memory specified by argue is not less than ‘1’. In case of less than ‘1’, it executes sequence on and after ENDLP. [ Format ] CLOOP Dn (Dn: Data memory No.)
- Page 10 CLRSB [ Functional Classification ] System [ Outline of processing ] It forces to terminate subroutine specified by SUBP. [ Format ] CLRSB [ Example ] The signal of “Station loading enable” is wanted to be turned on inside subroutine. But it may have to wait until AMSPS command comes in due to height too short.
- Page 11 IFCNT [ Functional Classification ] Conditional Branch [ Outline of processing ] Upon maturing the condition, perform through until end of commands grouped by either one of ELSIF, ELSE or ENDIF. If no maturing, operation will not be performed to such commands. [ Format ] IFCNT (Layer count) &...
- Page 12 IFRDT [ Functional Classification ] Condition Branch [ Outline of processing ] If [Data 1] in step auxiliary data is equal to argue (or data memory specified by argue), perform through until end of commands grouped by either one of ELSIF, ELSE or ENDIF. If not equal, operation will not be performed through until one of ELSIF, ELSE or ENDIF .
- Page 13 IFJPL [ Functional Classification ] Condition Branch [ Outline of processing ] Upon maturing the condition, jump to label line specified by argue. Upon not maturing, execute next commands. [ Format ] IFJPL (condition 1) (n: label No.) [ Example ] Move to label 1 when input relay X0 is turned on.
- Page 14 MOVRT [ Functional Classification ] Arm Position Control [ Outline of processing ] Move arm (R, T axis only) to designated step positions [ Format ] MOVRT n (n: Step No..) [ Example ] Assuming there is a column between station and pallet. So, arm is shrunk first and then rotates.
- Page 15 MOVX [ Functional Classification ] Arm Position Control [ Outline of processing ] Move arm (AX direction only) to designated step positions [ Format ] MOVX n (n: Step No..) MOVX Dn (Dn: data memory No.) Dn: Operational basic step No. (step that speed and time of acceleration, deceleration are specified) Dn+1: AX data (incremental unit: 0.1 mm) [ Example ]...
- Page 16 MOVZ [ Functional Classification ] Arm Position Control [ Outline of processing ] Move arm (AZ direction only) to designated step positions [ Format ] MOVZ n (n: Step No..) MOVZ Dn (Dn: data memory No.) Dn: Operational basic step No. (step that speed and time of acceleration, deceleration are specified) Dn+1: AZ data (incremental unit: 0.1 mm) [ Example ]...
- Page 17 MVHZU [ Functional Classification ] Arm Position Control [ Outline of processing ] Move arm to step specified. However, it moves horizontally (never goes down) if the specified step is lower than the current. [ Format ] MVHZU n (n: step No.) [ Example ] In case of multi-stacking pallets, you don’t mind the height difference from step 8 of one pallet to another if you insert it to the upfront of the program.
- Page 18 RTOFT [ Functional Classification ] System [ Outline of processing ] Turn relay specified on and turn it off after the interval specified. (Same condition if operation is turned off within the specified interval.) Sequence processing is executing next commands discarding the interval. [ Format ] RTOFT Rn n {Rn: relay (Only M, Y possible), n: time [msec]) [ Example ]...
- Page 19 SPSET [ Functional Classification ] System [ Outline of processing ] Change step parameter of MOV to be executed next. [ Format ] SPSET Dn (Dn: data memory No.) Dn: Sort (0: internal speed, 1: overlap, 2: drop high) Dn+1: In case of internal speed, speed to be set up is ‘1 – 10’. Overlap: 3: FUL, 2: HLF, 1: QRT, 0: ZRO, 4: SPC Drop high: 0: no, 1: yes (It works only at step 7.) [ Example ]...
- Page 20 Version 01: 2012.10.30 <Caution> Unauthorized reproduction of part or all of the content of this manual is forbidden. The content of this manual is subject to future change without prior notice. Okura Yusoki Co., Ltd. 900 Furuouchi, Noguchi-cho, Kakogawa, Hyogo 675-8675 Japan...