Yamaha SRCP - Manual (Page 124)

8-
26
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to
pick and place a workpiece
Horizontal direction
Vertical direction
Hold AC servo motor
Air cylinder
Air chuck
Actuator
DI0
DI1
DI2 Upper end limit switch 1: ON 0: OFF
Lower end limit switch 1: ON 0: OFF
Workpiece detection sensor 1: Detected 0: No
General-purpose input
DO0
DO1 Air cylinder 1: Down 0: Up
Air chuck 1: Close 0: Open
General-purpose output
P0
P1
P2 Robot standby position
Workpiece feed position
Workpiece mount position
Point
Operation
q
w
e
Moves to the workpiece feed position from the
standby position, and picks up a workpiece.
Moves to the workpiece mount position and places
the workpiece.
Returns to the standby position.
P1 P2
P0
e
q
w
X-axis
AC servo Air cylinder
(DO0)
Air chuck
(DO1)
Upper end limit
switch (DI0)
Lower end limit
switch (DI1)
Workpiece detection
sensor (DI2)
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
workpiece
008: TIMR 100 ; Delays for one second
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
Placing
workpiece
014: DO 1, 0 ; Chuck opens
015: TIMR 100 ; Delays for one second
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