8-4 Robot Language Description

8-4-21 MAT

 

 

 

Function:

Defines the number of rows and columns of the matrix.

Format:

MAT

<number of rows>, <number of columns>, <pallet number>

Example:

MAT

3, 6, 0

 

Defines a matrix of 3 6 on pallet number 0.

Explanation:

This command defines a matrix for palletizing movement. A palletizing

 

program can be easily created by using this command with MSEL or

 

MOVM, etc.

 

(1) Number of rows

 

 

Set any value from 1 to 255.

 

(2) Number of columns

 

 

Set any value from 1 to 255.

 

(3) Pallet number

 

 

This number is used for matrix identification and can be set from 0

 

 

to 31. A total of 32 matrix data can be handled.

Others:

• A common method for matrix coordinate definition specifies only the

 

 

positions of the 4 corners of the matrix by 4-point teaching. The re-

 

 

maining points are then found by calculation. When teaching the posi-

 

 

tions of the 4 corners in PNT (point) mode to create point data, the

 

 

point numbers are generally specified as follows: If pallet number is

 

 

"n" for instance, enter the position of the reference point (row 1, col-

 

 

umn 1) in p(251-4n), the position at the end of row 1 in p(252-4n), the

 

 

position at the end of column 1 in p(253-4n), and the position of the

 

 

remaining corner in p(254-4n). To define a one-dimension matrix such

 

 

as "row 1, column m", enter the position of the reference point (row 1,

 

 

column 1) in p251, and the position of last point (row 1, column m) in

 

 

p252. You do not have to enter any data in p253 and p254 (when pallet

 

 

number is 0).

 

The matrix definition contents are shared with each task.

 

Because only a single-axis robot is controlled with the SRCP series,

 

 

the actual movement is linear even if a 2-dimensional matrix is de-

 

 

fined.

 

C

 

 

D

 

A

reference point

 

B

end of row 1

 

C end of column 1

A

B D last point

Matching point numbers for inputting pallet numbers and coordinate values A to D

Pallet No.

0

1

n

31

 

 

 

 

 

A

p251

p247

p(251-4n)

p127

 

 

 

 

 

B

p252

p248

p(252-4n)

p128

C

p253

p249

p(253-4n)

p129

D

p254

p250

p(254-4n)

p130

8

ROBOT LANGUAGE

8-17

Page 115
Image 115
Yamaha SRCP manual 21 MAT, Fined