Okura Yusoki A Series Manual page 138

7.2.2. Palletizing case
When station NO. 1 and pallet No. 1 are selected
[Sequence programming]
No. Command
1 MOV 1
2 Y001D=0
3 Y001C=1
4 Y001E=1
5 WTARM
6 LBL 1
7 M6006=0
8 PGSEL
9 WTCON
X0024
10 MOV 2
11 WTARM
12 MOV 3
13 Y001C=0
14 Y001D=1
15 Y001E=0
16 WTCON !X00
24
17 WTTMR 100
18 WTARM
19 MOV 4
20 WTARM
21 M6002=1
22 WTCON
M5008
23 MOV 5
24 WTARM
25 M6002=0
Explanation
Move to step1
Hand open
Hand open
Hand open
Wait for movement
completion
Label 1
Stacking complete OFF
Waiting for program
selection
Waiting for hand LS ON
Move to step 2
Wait for movement
completion
Move to step 3
Hand close
Hand close
Hand close
Waiting for hand LS OFF
Wait 1000ms
Waiting for movement
completion
Move to step 4
Waiting movement
completion
Station loading enable
ON
Waiting for pallet being
discharged OFF
Move to step5
Waiting movement
completion
Station loading enable
OFF
No. Command
26 WTCON M5002
27 MOV 6
28 Y001E=1
29 WTARM
30 MOV 7
31 WTARM
32 Y001D=0
33 Y001C=1
34 WTTMR 16
35 Y001C=0
36 MOV 8
37 WTARM
38 MOV 9
39 WTCON !M500F
40 ENCHK M6006
41 COUNT
42 IF M6006
43 WTCON M500F
44 ENDIF
45 Y001C=1
46 WTARM
47 JMPL1
48 JTOP
49 ENDP
7-6
Explanation
Waiting for pallet detection
ON
Move to step 6
Hand open
Waiting movement
completion
Move to step 7
Waiting for movement
completion
Hand open
Hand open
Wait 160ms
Hand close
Hand close
Move to step 8
Waiting for movement
completion
Move to step 9
Check stacking completion
ACK
Check stacking completion
Update counter value
When stacking completion
Waiting for ACK
Hand close
Waiting for movement
completion
Jump to label 1
Return to start of program
END of program