4-210
Detailed explanation of command words
Fig.4-19: Sensitive area of a sensor
[Reference Program]
1 Def Map 3,851,On,1,PC1,PC2,20,10 ‘ The position data of the mechanism No. 1 is recorded for the
monitoring No. 3 when the signal No. 851 is turned on, and the
mapping is executed according to the defined condition.
PC1: Lowest position (first segment) in a cassette, PC2: Highest
position (last segment) in a cassette, 20: the number of seg-
ments in a cassette (20 segments), 10: a sensitive area of a sen-
sor (10 mm)
2 Mov PM1
‘ The robot moves its arm to the mapping start position.
3 GpsChk On,3
‘ Monitoring a condition for the monitoring No. 3 is started.
‘ The position data of the mechanism No. 1 is recorded when the
signal No. 851 is turned on.
Based on the position data, the segment number in which the
workpiece is present is shown as "M_Map3(130)".
4 Mvs PM2
‘ The robot moves its arm to the mapping stop position.
5 GpsChk Off,3
‘ Monitoring a condition for the monitoring No. 1 is stopped. Using
the recorded position data, the segment number in which the
workpiece is present is stored in the M_Map3.
6 M1=M_Gps(3)
‘ The number of the position data recorded in the P_Gps3 is
stored.
7 If M1 = 0 Then Error 9000
‘ The error 9000 is generated if no position data is recorded.
8 For M2=1 To 20
9 M_Out(6100+M2)=M_Map3(M2)
‘ The results of the mapping are output with a signal (the signal
number "6101" is assigned for the first result).
10 Next M2
‘ The process performed for the first segment is repeated for the
remaining segments.
[Explanation]
(1) When the GpsChk Off command is executed, the segment number in which the workpiece is present is
calculated from the position data at the time when the target signal is inputted, based on the values set
in <Lowest position>, <Highest position>, <Number of segments>, and <Sensitivity>. As a result of the
calculation, "1" (the presence of the workpiece) or "0" (the absence of the workpiece) is stored in the
status variable M_MapX() ("X" indicates the same number as the target monitoring number from 1 to 8).
The segment number, an element in the M_MapX(), is counted from the position set in <Lowest
posiiton>, and "1" is output for the first segment (Data of the first segment is shown as "M_MapX(1)".)
<Highest position>
(XYZ coordinate values)
<Lowest position>
(XYZ coordinate values)
Hand lifter
Hand lifter
Sensor
Board (workpiece) thickness: 1.5mm
Sensitive area (within the range set in
<Sensitivity>)
Insensitive area (out of the range set in
<Sensitivity>)
(Data of a position detected in the insensitive
area is canceled.)
Sensor
Pitch: 18mm
Workpiece
<Number of
segments>
Work-
piece
<Sensitivity> Setting range: 0.1 to 100mm
Set the distance from the center position of a workpiece thickness to the boundary of sensitive
and insensitive areas.
