Yamaha ERCX Series User Manual page 143

8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to
pick and place a workpiece
Upper end limit
switch (DI0)
Lower end limit
switch (DI1)
Workpiece detection
sensor (DI2)
Operation
q Moves to the workpiece feed position from the
standby position, and picks up a workpiece.
w Moves to the workpiece mount position and
places the workpiece.
e Returns to the standby position.
General-purpose input
DI0 Upper end limit switch
DI1 Lower end limit switch
DI2 Workpiece detection sensor 1: Detected 0: No
General-purpose output
DO0 Air cylinder 1: Down
DO1 Air chuck 1: Close
Program
[NO1]
001: L 1
002: MOVA 0,
003: WAIT 2,
004: MOVA 1,
005: DO 0,
006: WAIT 1,
007: DO 1,
008: TIMR 100
009: DO 0,
010: WAIT 0,
011: MOVA 2,
012: DO 0,
013: WAIT 1,
014: DO 1,
015: TIMR 100
016: DO 0,
017: WAIT 0,
018: JMP 1,
Air cylinder
(DO0)
Air chuck
(DO1)
q
P0
P1
1: ON 0: OFF
1: ON 0: OFF
0: Up
0: Open
Comment
; Label definition
; Moves to the standby position
100
; Waits for workpiece feed
1
; Moves to the workpiece feed position
100
; Air cylinder moves down
1
; Waits until the air cylinder moves down
1
; Chuck closes
1
; Delays for one second
; Air cylinder moves up
0
; Waits until the air cylinder moves up
1
; Moves to the workpiece mount position
100
; Air cylinder moves down
1
; Waits until the air cylinder moves down
1
; Chuck opens
0
; Delays for one second
; Air cylinder moves up
0
; Waits until the air cylinder moves up
1
; Returns to L1
1
8-5 Sample Programs
X-axis
AC servo
w
e
P2
Actuator
Horizontal direction AC servo motor
Vertical direction Air cylinder
Hold Air chuck
Point
P0 Robot standby position
P1 Workpiece feed position
P2 Workpiece mount position
8
Picks up
workpiece
Placing
workpiece
29
8-