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11-6 Chapter 11 User program examples
1.4.2
Utilizing pallet movement
■
Overview
Repetitive movement between a fixed work supply position P0 and each of the equally spaced
points on a pallet can be performed with the following program. In the drawing below, points
N1 to N24 are on Cartesian coordinates, consisting of 3 points positioned at a 50mm pitch in the
X-axis direction, 4 points at a 50mm pitch in the Y-axis direction, and 2 points at 100mm pitch in
the Z-axis direction. The robot arm moves from point to point in the order of P0-N1-P0-N2...-N5-
P0-N6... while repeatedly moving back and forth between point P0 and each pallet.
POINT DATA
Work supply position:
P0=
0.000 0.000
200.000 0.000 0.000 0.000
Pallet definition:
PL0
NX= 3
NY= 4
NZ= 2
PLP=
3996:(P3996 to P4000 are used)
P[1]=
100.000
50.000
200.000 0.000 0.000 0.000
P[2]=
200.000
50.000
200.000 0.000 0.000 0.000
P[3]=
100.000 200.000 200.000
0.000
0.000
0.000
P[4]=
200.000 200.000 200.000
0.000
0.000
0.000
P[5]=
100.000
50.000
100.000 0.000 0.000 0.000
Utilizing pallet movement
P4000
P3998
P3999
P3997
P3996
NZ
NX
N1
N2
N4
N5
N3
N13
N14
N16
N15
N12
N24
N11
NY
P0
33C06-R9-00
Processing flow
START
Movement to P0
Pallet movement
Repeat 24 times
STOP
Movement to supply position (P0).
Repeated for points N1 to N24.
33C07-R7-00
SAMPLE
FOR I=1 TO 24 ··················· Repeated for I = 1 to 24.
MOVE P,P0,Z=0.000 ············ Movement of robot 1 to supply position.
PMOVE (0,I),Z=0.000 ·········· Movement of robot 1 to pallet point.
NEXT I
MOVE P,P0,Z=0.000
HALT
Содержание SCARA YRCX Series
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