Yamaha Yamaha Robot Controller CC-Link Unit Robot program data assignment Variables used

4. Sample program

[Robot program data assignment]

* Variables used
1st unit :	A	: Point No. in pallet
2nd unit :	B	: Point No. in pallet
* Points used
1st unit :	P100	: Point above workpiece supply
	P101	: 1st point above pallet
	:	:
	P108	: 8th point above pallet
	P121	: Z axis position point for workpiece supply
	P122	: Z axis position point on pallet
2nd unit :	P200	: Point above workpiece supply
	P201	: 1st point above pallet
	:	:
	P208	: 8th point above pallet
	P221	: Z axis position point for workpiece supply
	P222	: Z axis position point on pallet
* Bit information used
1st unit :	SI (40)	: Point No. reception complete input
	SI (41)	: Movement complete response standby input
	SI (42)	: Movement complete standby input
	SO (23) to SO (20)	: Point No. setting output group
	SO (40)	: Point No. setting complete output
	SO (41)	: Movement complete output
	SO (42)	: Movement complete response output
	DI (47)	: Pallet change complete input
	DO (40)	: Chuck hand open close (0: Close, 1: Open)
	DO (47)	: Pallet exchange command output
2nd unit : SI (23) to SI (20)		: Point No. setting input group
	SI (40)	: Point No. transmission complete input
	SI (41)	: Movement complete standby input
	SI (42)	: Movement complete response standby input
	SO (40)	: Point No. setting reception complete output
	SO (41)	: Movement complete response output
	SO (42)	: Movement complete output
	DO (40)	: Chuck hand open/close (0: Close, 1: Open)

5

Specifications

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