Palletizing For Pallet Versus Pallet, Using A Shift Statement - Yamaha DRCX User Manual

8-5 Sample Programs
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8-5-9 Palletizing for pallet versus pallet, using a SHIFT statement

With this sample program, the robot moves workpieces between two pallets with an equal pitch.
Y
P0
■ Teaching each point of P0, P1 and P251 to P254 should be completed beforehand in
PNT (point) mode.
The sample program is written under the following conditions.
• The pallet is defined as pallet number 0 and
the matrix is 4×5.
• When performing pallet teaching, data for
P252 to P254 is input versus P251 which is
viewed as (0.00, 0.00).
• P0 is the amount of shift to the supply pallet,
and P1 is the amount of shift to the destination
pallet.
Program
[NO0]
001: MAT 4,
002: MSEL 0
003: C 1
004: L 0
005: SHFT 0
006: MOVM C,
007: CALL 1,
008: SHFT 1
009: MOVM C,
010: CALL 2,
011: JMPC 1,
012: C+
013: JMP 0,
014: L 1
P1
Comment
; Defines 4×5 matrix as pallet number 0
5, 0
; Specifies movement matrix
; Sets counter variable to 1
; Label definition
; Sets pick point shift
; Moves to pick point (on pallet) at speed 100%
100
; PICK routine call
1
; Sets place point shift
; Moves to place point (on pallet) at speed 100%
100
; PLACE routine call
1
; Jumps to L1 if counter variable is 20
20
; Counter variable increment
; Jumps to L0
0
; Label definition
X
P253 P254
P251 P252