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Application 11-11
SAMPLE 1: When point is calculated
WHILE -1
····················· All repeated (-1 is always TRUE).
FOR A=0 TO 2
FOR B=0 TO 2
WAIT DI(31)=1 ············ Wait until a pallet "present" status
occurs.
WAIT DI(30)=1 ············ Wait until the supplied component
"present" status occurs.
DO(30)=0 ················· Robot hand OPENS.
DELAY 100
MOVE P,P0,A3=50.000 ······ Movement of robot 1 to supply position.
DO(30)=1 ················· Robot hand CLOSES.
DELAY 100
P100=P1+P10*B+P11*A ······ Next point is calculated.
MOVE P,P100,A3=50.000 ···· Movement of robot 1 to calculated point.
DO(30)=0 ················· Robot hand OPENS.
DELAY 100
NEXT
NEXT
DRIVE (3,0) ··················· Only 3 axis of robot 1 moves to 0.
DO(31)=1 ····················· Pallet is ejected.
DELAY 500
DO(31)=0
WEND
····················· Loop is repeated.
HALT
SAMPLE 2: When using the palletizing function
* Precondition: Must be defined at pallet "0".
WHILE -1
····················· All repeated.
FOR A=1 TO 9
WAIT
DI(31)=1 ············ Wait until a pallet "present" status
occurs.
WAIT
DI(30)=1 ············ Wait until the supplied component
"present" status occurs.
DO(30)=0 ················· Robot hand OPENS.
DELAY
100
MOVE
P,P0,A3=50.000 ······ Movement of robot 1 to supply position.
DO(30)=1 ················· Robot hand CLOSES.
DELAY
100
PMOVE(0,A),A3=50.000 ····· Movement of robot 1 to pallet point.
DO(30)=0 ················· Robot hand OPENS.
DELAY
100
NEXT
DRIVE(3,0) ··················· Only axis 3 of robot 1 moves to 0.
DO(31)=1 ····················· Pallet is ejected.
DELAY 500
DO(31)=0
WEND ····················· Loop is repeated.
HALT
Содержание SCARA YRCX Series
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