Picking Up Workpieces At P0 And Placing Them Sequentially On A 2×4 Pallet - Yamaha DRCX User Manual

8-5-18 Picking up workpieces at P0 and placing them sequentially
on a 2×4 pallet
■ 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
002: C
003: L
004: ACHA
005: MOVA
006: CALL
007: MSEL
008: ACHA
009: MOVM
010: CALL
011: JMPC
012: C+
013: JMP
014: L
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Point C (=P253)
P0
Point A (=P251)
Y
Comment
; Defines 2×4 matrix as pallet number 0
2, 4, 0
; Sets counter variable to 1
1
; Label definition
0
; Specifies arch motion to move back Y-axis by Y=10mm
2, 10
; Moves to pick point
0, 100
; PICK routine call
1, 1
; Specifies movement matrix
0
; Specifies arch motion to move back Y-axis by Y=10mm
2, 10
; Moves to place point (on pallet)
C, 100
; PLACE routine call
2, 1
; Jumps to L1 if counter variable is 8
1, 8
; Counter variable increment
; Jumps to L0
0, 0
; Label definition
1
8-5 Sample Programs
X
Y=10mm
Point D (=P254)
Point B (=P252)
53
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