Picking Up Workpieces Supplied From An Index Table And Placing Them On A Conveyor - Yamaha DRCX User Manual

8-5 Sample Programs
8
62
8-
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8-5-27 Picking up workpieces supplied from an index table and
placing them on a conveyor
YAMAHA FROP robot
(X-axis)
Workpiece
YAMAHA FLIP robot (Y-axis)
Air cylinder
q Air chuck
P1
■ Make the following setting in advance to enable the limitless movement function.
• Set the X-axis position data unit parameter to 3.
■ Data settings for P0, P251 and P252 and also teaching for each point of P1 and P2
should be completed in advance in PNT (point) mode.
(The X-axis data at P2 can be any value since it is not used.)
■ In the program sample below, the pallet number is defined as 0 and the matrix is 1×9.
(Workpieces are set at 8 points on one table, but the matrix is viewed as 1×9 assuming
that one turn (0 to 360°) is divided.
Program
[NO0]
001: MAT 9,
002: L 0
003: C 1
004: L 1
005: SHFT 1
006: MSEL 0
007: MOVM C,
008: CALL 1,
009: SHFT 0
010: DRVA 2,
011: CALL 2,
012: JMPC 0,
013: C+
014: JMP 1,
Conveyor
AC servo
w
P2
Comment
; Defines 1×9 matrix as pallet number 0
0
; Label definition
; Sets counter variable to 1
; Label definition
; Sets pick point shift
; Specifies movement matrix
; Moves to supply point (on table) at speed 100
100
; PICK routine call
1
; Clears shift setting
100 ; Y-axis moves to place point (on conveyor) at speed 100
2,
; PLACE routine call
1
; Jumps to L0 if counter variable is 8
8
; Counter variable increment
; Jumps to L1
0
[TOP VIEW]
[SIDE VIEW]
Point
P0 (0,0)
P1 Workpiece pick point on table
P2 Workpiece place point on conveyor
P251 (0,0)
P252 (360,0)
Operation
q
Moves to the pick point and picks
up a workpiece.
w
Moves to the conveyor and places
the workpiece on the conveyor.