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8-5-13 Picking up 3 kinds of workpieces conveyed by the conveyor
and placing them on the 3×3, 3×4, 4×4 transfer pallets while
sorting
Y
General-purpose input
DI1 Workpiece A identification
DI2 Workpiece B identification
DI3 Workpiece C identification 1: Detected 0: No
■ Teaching each point of P0 and P243 to P254 should be completed beforehand in PNT
(point) mode. (Pallet for workpiece A is defined as pallet 0, pallet for workpiece B as
pallet 1, and pallet for workpiece C as pallet 2 in this example.)
Program
[NO0]
001: MAT
002: MAT
003: MAT
004: CSEL
005: C
006: CSEL
007: C
008: CSEL
009: C
010: L
011: MOVA
012: CALL
013: CALL
014: JMPB
015: JMPB
016: JMPB
017: JMP
018: L
019: CALL
020: JMP
021: L
022: CALL
023: JMP
024: L
025: CALL
026: JMP
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Point C
Point D
Point c
(=P253)
(=P254)
(=P249)
Point B
Point A
Point a
(=P251)
(=P252)
(=P247)
P0
1: Detected 0: No
1: Detected 0: No
3,
3,
0
3,
4,
1
4,
4,
2
0
1
1
1
2
1
0
0,
100
10, 1
5,
1
1,
1,
1
2,
2,
1
3,
3,
1
0,
0
1
1,
1
0,
0
2
2,
1
0,
0
3
3,
1
0,
0
8-5 Sample Programs
Point χ
Point d
(=P245)
(=P250)
Point b
Point α
(=P248)
(=P243)
DI4 Workpiece A pallet
1: Set 0: No
DI5 Workpiece B pallet
1: Set 0: No
DI6 Workpiece C pallet
1: Set 0: No
Comment
<<Main routine>>
; Defines 3×3 matrix (for workpiece A)
; Defines 3×4 matrix (for workpiece B)
; Defines 4×4 matrix (for workpiece C)
; Sets array element of counter array variable C to 0
; Sets counter array variable C[0] to 1
; Sets array element of counter array variable C to 1
; Sets counter array variable C[1] to 1
; Sets array element of counter array variable C to 2
; Sets counter array variable C[2] to 1
; Label definition
; Moves to feed point
; Waits for workpiece and calls workpiece identification routine
; PICK routine call
; Jumps to L1 when DI1=1 (workpiece A)
; Jumps to L2 when DI2=1 (workpiece B)
; Jumps to L3 when DI3=1 (workpiece C)
; Jumps to L0
; Label definition
; Calls subroutine NO1
; Jumps to L0
; Label definition
; Calls subroutine NO2
; Jumps to L0
; Label definition
; Calls subroutine NO3
; Jumps to L0
Point δ
(=P246)
Point β
(=P244)
X
8
47
8-
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