Sample Program - Yamaha RCX Series User Manual

4. Sample program

An example for the following type of hardware configuration has been prepared for this
section.
SXYx
1st unit supply position
Master station
A1SHCPU
+A1SJ61BT11
[Details of sample]
• Pick & place work is carried out using the PLC and RCX40 + SXYx (3 axes),
RCX142+MXYx (3 axes).
• The workpieces supplied to each robot are arranged on one pallet.
• The workpiece is supplied at a rate faster than the robot operation.
• The two robots will interfere above the pallet, so data is exchanged to prevent
interference.
• When handling the workpiece, the robot moves at a low speed.
• The robot controller directly exchanges the pallet.
* Refer to the robot programming manual for details on the robot program language.
* The PLC circuit is a simple circuit that executes the selected robot program when
emergency stop is canceled.
Pallet
2nd unit supply position
P100 P101
P102
P103
P104
P204
Remote device station
RCX40 (1st unit)
+ SXYx (3 axes)
(Station No. 1, 4
stations occupied)
MXYx
P105
P201 P205
P200
P106
P202 P206
P107
P203 P207
P108
P208
Remote device station
RCX142 (2nd unit)
+ MXYx (3 axes)
(Station No. 5, 4

4. Sample program

stations occupied)
5-13
Chapter
5