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11-14 Chapter 11 User program examples
2.4
Parts inspection (Multi-tasking example)
■
Overview
One robot is used to inspect two different parts and sort them according to the OK/NG results
judged by a testing device.
The robot picks up the part at point A and moves it to the testing device at point B. The testing
device checks the part and sends it to point C if OK or to point D if NG.
The part at point A’ is picked up and moved to the testing device at point B' in the same way. The
testing device checks the part and sends it to point C’ if OK or to point D’ if NG.
It is assumed that 10 to 15 seconds are required for the testing device to issue the OK/NG results.
Parts inspection (Multi-tasking example)
A
P1
B
P2
C
P3
D
P4
A’
P11
B’
P12
C’
P13
D’
P14
Part supply 1 Testing device 1
Part 1 OK
Part 1 NG
Part supply 2 Testing device 2
Part 2 OK
Part 2 NG
33C13-R7-00
■
Precondition
1. I/O signal
I/O signal
Testing device 2 start (0.1 second)
DO3
1: Start *
1
7 6 5 4 3 2 1 0
Testing device 1 test completed *
3
Testing device 1 OK/NG signal
Part supply 1
Part 1 OK
Part 1 NG
DI2
7 6 5 4 3 2 1 0
DI3
7 6 5 4 3 2 1 0
Testing device 1 start (0.1 second)
Robot chuck open/close
DO2
1: Start *
1
0: Open / 1: Close *
2
7 6 5 4 3 2 1 0
Testing device 2 test completed *
3
Testing device 2 OK/NG signal
Part supply 2
Part 2 OK
Part 2 NG
33C14-R7-00
2. The main task (task 1) is used to test part 1 and the subtask (task 2) is used to test part 2.
3. An exclusive control flag is used to allow other tasks to run while waiting for the test
completion signal from the testing device.
FLAG1
0: Task 1 standby
(Task 2 execution enabled)
1: Executing Task 1
(Task 2 execution disabled)
FLAG2
0: Task 2 standby
(Task 1 execution enabled)
1: Executing Task 2
(Task 1 execution disabled)
NOTE
•
*1: As the start signal,
s u p p l y a 0 . 1 s e c o n d
pulse signal to the testing
device.
0.1 seconds
ON
OFF
•
*2: Chuck open and close
time is 0.1 seconds.
•
* 3 : E a c h t i m e a t e s t
i s f i n i s h e d , t h e t e s t
completion signal and
OK/NG signal are sent
from the testing device.
After testing, the test
completion signal turns
ON (=1), and the OK/ NG
signal turns ON (=1) when
the result is OK and turns
OFF (=0) when NG.
Содержание SCARA YRCX Series
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