Yamaha ERCX Series User Manual page 145
Single-axis robot controller
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Also See for ERCX Series:
- User manual (148 pages) ,
- Supporting supplement manual (34 pages)
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Program
[NO1]
001: L
1
002: JMPB
2,
2,
003: JMPB
3,
3,
004: JMPB
4,
4,
005: JMP
1,
1
006: L
2
007: P
1
008: JMP
5,
1
009: L
3
010: P
2
011: JMP
5,
1
012: L
4
013: P
3
014: L
5
015: CALL
2,
1
016: CALL
3,
1
017: JMP
1,
1
[NO2]
001: MOVA
0,
100
002: DO
0,
1
003: WAIT
1,
1
004: DO
1,
1
005: TIMR
100
006: DO
0,
0
007: WAIT
0,
1
[NO3]
001: MOVA
P,
100
002: DO
0,
1
003: WAIT
1,
1
004: DO
1,
0
005: TIMR
100
006: DO
0,
0
007: WAIT
0,
1
Comment
<<Main routine>>
; Label definition
1
; Jumps to L2 when workpiece A is detected
1
; Jumps to L3 when workpiece B is detected
1
; Jumps to L4 when workpiece C is detected
; Returns to L1
; Label definition
; Sets the point variable to 1
; Jumps to L5
; Label definition
; Sets the point variable to 2
; Jumps to L5
; Label definition
; Sets the point variable to 3
; Label definition
; Executes a [PICK] subroutine
; Executes a [PLACE] subroutine
; Returns to L1
<<Picking up a workpiece>>
; Moves to the workpiece feed position
; Air cylinder moves down
; Waits until the air cylinder moves down
; Chuck closes
; Delays for one second
; Air cylinder moves up
; Waits until the air cylinder moves up
<<Placing a workpiece>>
; Moves to the workpiece mount position
; Air cylinder moves down
; Waits until the air cylinder moves down
; Chuck opens
; Delays for one second
; Air cylinder moves up
; Waits until the air cylinder moves up
8-5 Sample Programs
8
31
8-
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Troubleshooting
