Palletizing For Fixed Point Versus Pallet - Yamaha DRCX User Manual

8-5 Sample Programs
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8-5-7 Palletizing for fixed point versus pallet

With this sample program, the robot picks up a workpiece supplied at P0 and places it sequentially on
a 4×5 pallet.
Y
Pick point
P0 Point A (=P251)
■ Teaching each point of P0 and P251 to P254 should be completed beforehand in PNT
(point) mode. (Matrix is defined as pallet number 0 in this example.)
Program
[NO0]
001: MAT 4,
002: C 1
003: L 0
004: MOVA 0,
005: CALL 1,
006: MSEL 0
007: MOVM C,
008: CALL 2,
009: JMPC 1,
010: C+
011: JMP 0,
012: L 1
Point D (=P254)
Point C (=P253)
Place points
Point B (=P252)
Comment
; Defines a 4×5 matrix as number 0.
5, 0
; Sets counter variable to 1
; Label definition
; Moves to pick point at speed 100
100
; PICK routine call
1
; Specifies movement matrix
; Moves to place point (on pallet) at speed 50
50
; PLACE routine call
1
; Jumps to L1 if counter variable is 20
20
; Counter variable increment
; Jumps to L0
0
; Label definition
Pick-and-place sequence
P0 → point A → ··· → P0 →
point B → ··· → P0 → point C
→ ··· → P0 → point D
Movement speed
Pick point → Place point 50%
Place point → Pick point 100%
X