Okura Yusoki A Series Manual page 136

7.2.
Standard movement pattern
Sequence programs and step parameters are given below for standard movement.
7.2.1. Bag palletizing
(Station No.1 Pallet No.1)
Sequence program
No. Command
1 MOV 1
2 Y001D=0
3 Y001C=1
4 Y001E=1
5 WTARM
6 LBL 1
7 M6006=0
8 WTCON
X0024
9 WTCON
X0025
10 MOV 2
11 WTARM
12 PGSEL
13 Y001C=0
14 Y001D=1
15 Y001E=0
16 WTCON !X00
24
17 WTCON !X00
25
18 WTTMR 2
19 MOV 4
20 WTARM
21 M6002=1
22 WTCON
M5008
23 MOV 5
Explanation
Move to step 1
Hand open
Hand open
Hand open
Wait for movement
completion
Label 1
Stacking complete 1 OFF
Waiting for hand LS ON
Waiting for hand LS ON
Move to step 2
Wait for movement
completion
Waiting for program
selection
Hand close
Hand close
Hand close
Waiting for hand LS OFF
Waiting for hand LS OFF
Wait 20ms
Move to step 4
Waiting movement
completion
Station loading enable
ON
Waiting for pallet being
discharged OFF
Move to step5
No. Command
24 WTARM
25 M6002=0
26 WTCON M5002
27 MOV 7
28 WTARM
29 Y001D=0
30 Y001C=1
31 WTCON X0024
32 MOV 8
33 WTARM
34 MOV 9
35 WTCON !M500
F
36 ENCHK M6006
37 COUNT
38 IF M6006
39 WTCON M500F
40 ENDIF
41 Y001E=1
42 WTARM
43 JMPL1
44 JTOP
45 ENDP
7-4
Explanation
Waiting movement
completion
Station loading enable OFF
Waiting for pallet detection
ON
Move to step 7
Waiting for movement
completion
Hand open
Hand open
Waiting for hand LS ON
Move to step 8
Waiting movement
completion
Move to step 9
Check stacking completion
ACK
Check stacking completion
Update counter value
Wait for movement
completion
Waiting for ACK
Hand close
Waiting for movement
completion
Jump to label 1
Return to start of program
END of program