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Program
[NO1]
001: L
002: P
003: CALL
004: JMP
[NO2]
001: WAIT
002: CALL
003: CALL
004: P+
[NO3]
001: MOVA
002: DO
003: WAIT
004: DO
005: TIMR
006: DO
007: WAIT
[NO4]
001: MOVA
002: DO
003: WAIT
004: DO
005: TIMR
006: DO
007: WAIT
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Comment
<<Main routine>>
; Label definition
1
; Initializes the point variable
1
; Executes a subroutine five times repeatedly
2,
5
; Returns to L1
1,
1
<<Picking up and placing a workpiece>>
; Waits for workpiece feed
2,
1
; Executes a [PICK] subroutine
3,
1
; Executes a [PLACE] subroutine
4,
1
; Point variable increment
<<Picking up a workpiece>>
; Moves to the workpiece feed position
0,
100
; Air cylinder moves down
0,
1
; Waits until the air cylinder moves down
1,
1
; Chuck closes
1,
1
; Stays for one second
100
; Air cylinder moves up
0,
0
; Waits until the air cylinder moves up
0,
1
<<Placing a workpiece>>
; Moves to the workpiece mount position
P,
100
; Air cylinder moves down
0,
1
; Waits until the air cylinder moves down
1,
1
; Chuck opens
1,
0
; Stays for one second
100
; Air cylinder moves up
0,
0
; Waits until the air cylinder moves up
0,
1
8-5 Sample Programs
8
37
8-
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Table of Contents
Troubleshooting
