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11-8 Chapter 11 User program examples
2
Application
2.1
Pick and place between 2 points
■
Overview
The following is an example for picking up a part at point A and placing it at point B.
Pick and place between 2 points
0
Z
P3
P1
P4
P2
Point A
Point B
50mm
30mm
33C09-R7-00
■
Precondition
1. Set the robot movement path.
• Movement path: P3
→
P1
→
P3
→
P4
→
P2
→
P4
• Locate P3 and P4 respectively at a position 50mm above P1 and P2 and set the P1 and P2
positions by teaching.
2. I/O signal
DO (20)
Chuck (gripper) open/close =
0: open, 1: close
• A 0.1 second wait time is set during chuck open and close.
SAMPLE: When calculating to find P3 and P4
P3=P1
····················· P1 coordinates are assigned to P3.
P4=P2
····················· P2 coordinates are assigned to P4.
LOC3(P3)=LOC3(P3)-50.000 ····· Axis 3 data of P3 is shifted 50mm in
upper direction.
LOC3(P4)=LOC3(P4)-50.000 ····· Axis 3 data of P4 is shifted 50mm in
upper direction.
MOVE P,P3
GOSUB *OPEN
MOVE P,P1
GOSUB *CLOSE
MOVE P,P3
MOVE P,P4
MOVE P,P2
GOSUB *OPEN
MOVE P,P4
HALT
*OPEN:
····················· Chuck OPEN routine.
DO2(0)=0
DELAY 100
RETURN
*CLOSE:
····················· Chuck CLOSE routine.
DO2(0)=1
DELAY 100
RETURN
Содержание SCARA YRCX Series
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