Yamaha SRCP manual Program Comment NO1 Main routine

8-5 Sample Programs

8

ROBOT LANGUAGE

Program				Comment
[NO1]				<<Main routine>>
001: L	1			; Label definition
002: JMPB	2,	2,	1	; Jumps to L2 when workpiece A is detected
003: JMPB	3,	3,	1	; Jumps to L3 when workpiece B is detected
004: JMPB	4,	4,	1	; Jumps to L4 when workpiece C is detected
005: JMP	1,	1		; Returns to L1
006: L	2			; Label definition
007: P	1			; Sets the point variable to 1
008: JMP	5,	1		; Jumps to L5
009: L	3			; Label definition
010: P	2			; Sets the point variable to 2
011: JMP	5,	1		; Jumps to L5
012: L	4			; Label definition
013: P	3			; Sets the point variable to 3
014: L	5			; Label definition
015: CALL	2,	1		; Executes a [PICK] subroutine
016: CALL	3,	1		; Executes a [PLACE] subroutine
017: JMP	1,	1		; Returns to L1

[NO2]			<<Picking up a workpiece>>
001: MOVA	0,	100	; Moves to the workpiece feed position
002: DO	0,	1	; Air cylinder moves down
003: WAIT	1,	1	; Waits until the air cylinder moves down
004: DO	1,	1	; Chuck closes
005: TIMR	100		; Delays for one second
006: DO	0,	0	; Air cylinder moves up
007: WAIT	0,	1	; Waits until the air cylinder moves up

[NO3]			<<Placing a workpiece>>
001: MOVA	P,	100	; Moves to the workpiece mount position
002: DO	0,	1	; Air cylinder moves down
003: WAIT	1,	1	; Waits until the air cylinder moves down
004: DO	1,	0	; Chuck opens
005: TIMR	100		; Delays for one second
006: DO	0,	0	; Air cylinder moves up
007: WAIT	0,	1	; Waits until the air cylinder moves up

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