Multi-Robot Operation - Yamaha DRCX User Manual

8-5-20 Multi-robot operation

Two single-axis robots are used to perform multi-task operation in asynchronous mode.
P0
■ Teaching each point of P0 to P2 and P10 to P15 should be completed beforehand in
PNT (point) mode. (Y-axis data at P0 to P2 and X-axis data at P10 to P15 can be any
value since they are not used.)
Program
[NO0]
001: TON
002: L
003: P
004: CALL
005: JMP
[NO1]
001: DRVA
002: P+
[NO2]
001: L
002: P
003: CALL
004: JMP
[NO3]
001: DRVA
002: P+
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X-axis
P1 P2
Comment
<<Task 0>>
; Starts program NO2 as task 1
1, 2, 0
; Label definition
0
; Sets point variable to 0
0
; Calls subroutine NO1 three times
1, 3
; Returns to L0
0, 0
100 ; X-axis robot moves to P0-P2
1, P,
; Point variable increment
<<Task 1>>
; Label definition
0
; Sets point variable to 10
10
; Calls subroutine NO3 six times
3, 6
; Returns to L0
0, 2
100 ; Y-axis robot moves to P10-P15
2, P,
; Point variable increment
8-5 Sample Programs
Y-axis
P15
P14
P13
P12
P11
P10
8
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