4. Sample program
An example for the following type of hardware configuration has been prepared for this
section. |
|
|
|
|
|
|
| Pallet |
|
| MXYx |
|
|
|
|
|
|
|
| |
SXYx |
|
|
|
|
|
|
|
| 2nd unit supply position |
| |||
1st unit supply position | P100 | P101 | P201 | P105 |
|
|
| P205 | P200 | ||||
|
|
|
| |||
|
| P102 | P202 | P106 | P206 |
|
|
|
|
|
| ||
|
| P103 | P203 | P107 | P207 |
|
|
|
|
|
| ||
|
| P104 | P204 | P108 | P208 |
|
|
|
|
|
| ||
5
Specifications
|
| Remote device station |
| Remote device station |
Master station |
| RCX40 (1st unit) |
| RCX142 (2nd unit) |
| + SXYx (3 axes) |
| + MXYx (3 axes) | |
A1SHCPU |
|
| ||
| (Station No. 1, 4 |
| (Station No. 5, 4 | |
+A1SJ61BT11 |
|
| ||
| stations occupied) |
| stations occupied) | |
|
|
| ||
|
|
|
|
|
[Details of sample]
•Pick & place work is carried out using the PLC and RCX40 + SXYx (3 axes), RCX142+MXYx (3 axes).
•The workpieces supplied to each robot are arranged on one pallet.
•The workpiece is supplied at a rate faster than the robot operation.
•The two robots will interfere above the pallet, so data is exchanged to prevent interfer- ence.
•When handling the workpiece, the robot moves at a low speed.
•The robot controller directly exchanges the pallet.
*Refer to the robot programming manual for details on the robot program language.
*The PLC circuit is a simple circuit that executes the selected robot program when emergency stop is canceled.
