CKD AX Series Instruction Manual page 144

2) Shortest Route Indexing
(1) Application
Workpiece stocker
(2) Application example
Designate one of four stocker positions to position there.
Rotation follows the shortest route.
(Rotation at larger than 180° does not occur.)
(3) Program key point
Retrieve the workpiece on the shortest route.
→ Use G90.1.
Index ① to ④ randomly.
→ Prepare four programs. From the programmable logic controller, select the program
randomly to control the motion.
(Program example 1) Designation of segment position
Program No. 1
G11;
G101A4;
G90. 1A0F0. 5;
M30;
Discontinue
Fig. 8.3 Workpiece Stocker
Change the unit of F to the time (sec)
Segment the full revolution into four.
Shortest route in absolute, stocker ① travels to the work
position in 0.5 sec.
End of program
— 8-5 —
8
APPLICATION
EXAMPLES
Work place
[SMB-14E]