Turning On A General-Purpose Output During Robot Movement When It Has Passed A Specified Position - Yamaha SRCP User Manual

Single-axis robot controller
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8-5-9 Turning ON a general-purpose output during robot
movement when it has passed a specified position
P0
Point
P0
P1
P10
P11
■ When P1 is nearer to the plus side than P0:
Program
[NO0]
001: L
0
002: MOVA
0,
003: TON
1,
004: MOVA
1,
005: JMP
0,
Program
[NO1]
001: DO
0,
002: P
10
003: L
0
004: JMPP
0,
005: DO
0,
006: P
11
007: L
1
008: JMPP
1,
009: DO
0,
P10
DO0=1
Start position
Target position
Position at DO0=1
Position at DO0=0
Comment
; Label definition
; Moves to P0 at speed 100
100
; Starts program NO1 as task 1
1,
0
; Moves to P1 at speed 10
10
; Returns to L0
0
Comment
; Turns DO0 off
0
; Sets the point variable to 10
; Label definition
; Jumps to L0 when the robot does not reach P10
1
; Turns DO0 on
1
; Sets the point variable to 11
; Label definition
; Jumps to L1 when the robot does not reach P11
1
; Turns DO0 off
0
8-5 Sample Programs
P1
P11
DO0=0
8
33
8-

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