8-5 Sample Programs

8-5-5 Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting

Front conveyor

[TOP VIEW]

 

Workpiece

Next conveyors

1st

2nd

3rd

Next single-axis robot

[SIDE VIEW]

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Upper end limit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Air cylinder

 

 

 

 

 

 

AC servo

 

switch (DI0)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(DO0)

 

 

 

 

 

 

 

 

 

 

 

 

 

Lower end limit

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

switch (DI1)

 

 

 

 

Air chuck

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(DO1)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

q

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Workpiece detection

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

w

 

sensor (DI2 to DI4)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

P0

 

 

 

 

 

 

 

P1

 

P2

 

 

 

P3

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Operation

Actuator

 

q Moves to the workpiece feed

Horizontal direction

AC servo motor

position and picks up a workpiece.

Vertical direction

Air cylinder

w Moves to the workpiece mount

Hold

Air chuck

position and places the workpiece.

 

 

8

ROBOT LANGUAGE

General-purpose input

DI0

Upper end limit switch

1: ON

0: OFF

DI1

Lower end limit switch

1: ON

0: OFF

DI2

Workpiece A detection sensor 1: Detected

0: No

DI3

Workpiece B detection sensor 1: Detected

0: No

DI4

Workpiece C detection sensor 1: Detected 0: No

General-purpose output

 

 

 

 

 

 

 

 

 

DO0

Air cylinder

1: Down

0: Up

 

 

DO1

Air chuck

1: Close

0: Open

 

Point

P0 Workpiece feed position on the front conveyor

P1 Workpiece A mount position on next conveyor

P2 Workpiece B mount position on next conveyor

P3 Workpiece C mount position on next conveyor

8-27

Page 125
Image 125
Yamaha SRCP manual Point