Yamaha SRCP manual Program Comment NO1

8-5 Sample Programs

8

ROBOT LANGUAGE

8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece

										X-axis
		Upper end limit
		switch (DI0)				Air cylinder				AC servo
		Lower end limit				(DO0)
		switch (DI1)			Air chuck
					(DO1)
			q
	Workpiece detection						P0	e		w
	sensor (DI2)
				P1					P2
Operation								Actuator
q Moves to the workpiece feed position from the
								Horizontal direction			AC servo motor
	standby position, and picks up a workpiece.							Vertical direction			Air cylinder
w Moves to the workpiece mount position and places
								Hold			Air chuck
	the workpiece.

eReturns to the standby position.

General-purpose input
DI0	Upper end limit switch				1: ON	0: OFF
DI1	Lower end limit switch				1: ON	0: OFF
DI2	Workpiece detection sensor				1: Detected 0: No
							Point
General-purpose output
							P0	Robot standby position
DO0	Air cylinder	1: Down		0: Up			P1	Workpiece feed position
DO1	Air chuck	1: Close		0: Open
							P2	Workpiece mount position
Program					Comment
[NO1]
001: L		1			; Label definition
002: MOVA		0,	100		; Moves to the standby position
003: WAIT		2,	1		; Waits for workpiece feed
004: MOVA		1,	100		; Moves to the workpiece feed position
005: DO		0,	1		; Air cylinder moves down
006: WAIT		1,	1		; Waits until the air cylinder moves down
007: DO		1,	1		; Chuck closes				Picks up
008: TIMR		100			; Delays for one second				workpiece
009: DO		0,	0		; Air cylinder moves up
010: WAIT		0,	1		; Waits until the air cylinder moves up
011: MOVA		2,	100		; Moves to the workpiece mount position
012: DO		0,	1		; Air cylinder moves down
013: WAIT		1,	1		; Waits until the air cylinder moves down
014: DO		1,	0		; Chuck opens				Placing
015: TIMR		100			; Delays for one second				workpiece
016: DO		0,	0		; Air cylinder moves up
017: WAIT		0,	1		; Waits until the air cylinder moves up
018: JMP		1,	1		; Returns to L1

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