Palletizing For Special Pallets - Yamaha DRCX User Manual

8-5-10 Palletizing for special pallets

With this sample program, the robot picks up a workpiece supplied at P0 and place it sequentially on
a 4×5 pallet. However, the robot does not place a workpiece in the position at row 2 (from bottom),
column 3. Moreover, the position at row 3, column 3 is slightly shifted, so it should have data as a
different point (P1).
■ Teaching each point of P0, P1 and P251 to P254 should be completed beforehand in
PNT (point) mode. (Matrix is defined as pallet number 0 in this example.)
Program
[NO0]
001: MAT
002: C
003: L
004: JMPC
005: MOVA
006: CALL
007: JMPC
008: MSEL
009: MOVM
010: CALL
011: L
012: JMPC
013: C+
014: JMP
015: L
016: MOVA
017: CALL
018: JMP
019: L
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Y
Point C (=P253)
Pick point
P0 Point A (=P251)
Comment
; Defines 4×5 matrix as pallet number 0
4, 5, 0
; Sets counter variable to 1
1
; Label definition
0
; Jumps to L1 if counter variable is 8
1, 8
; Moves to pick point
0, 100
; PICK routine call
1, 1
; Jumps to L2 if counter variable is 13
2, 13
; Specifies movement matrix
0
; Moves to feed destination point (on pallet)
C, 100
; PLACE routine call
2, 1
; Label definition
1
; Jumps to L3 if counter variable is 20
3, 20
; Counter variable increment
; Jumps to L0
0, 0
; Label definition
2
; Moves to position at row 3, column 3
1, 100
; PLACE routine call
2, 1
; Jumps to L1
1, 0
; Label definition
3
8-5 Sample Programs
Point D (=P254)
P1
Place points
Point B (=P252)
X
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