Yamaha DRCX User Manual page 178

8-5-14 Picking up workpieces from a 6×4 pallet and placing them
on two smaller 3×4 pallets.
Y
Point C (=P253)
Point A(=P251)
■ Teaching each point of P243 to P254 should be completed beforehand in PNT (point)
mode. (Supply pallet is defined as pallet 0, and smaller pallets as pallets 1 and 2 in this
example.)
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Point D(=P254)
Point c
(=P249)
Point a
(=P247)
Point B(=P252)
Start
Pallet definition
Initialization of variables
Move to supply pallet
and pick up workpiece
Move to smaller pallet
1 and place workpiece
C←C+1
Variable D=12?
D←D+1
N
Y
C←C+1
D←1
Move to supply pallet
and pick up workpiece
Move to smaller pallet
2 and place workpiece
C←C+1
Variable D=12?
D←D+1
N
Y
End
8-5 Sample Programs
Point χ
Point d
(=P250)
(=P245)
Point α
Point b
(=P248) (=P243)
C: For workpiece pickup count
D: For workpiece placement count
Point δ
(=P246)
Point β
(=P244)
X
8
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