Omron SCARA YRCX Series User Manual page 55

Workpiece detection task
Program: WORK_INSERT
*INSERT: ........................................................................... Label definition (workpiece detection)
WAIT DI(20) = 0 ............................................................... Wait for the workpiece has passed (no workpiece is detected)
WAIT DI(20) = 1 ............................................................... Perform workpiece detection
CADDQUE 1,P0 ................................................................ Set the "Tracking CADDQUE Distance" parameter value to
GOTO *INSERT ................................................................. Jump to label *INSERT (repeat workpiece detection)
If workpiece is detected
the judgment area distance and add to the position
monitoring queue
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