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Chapter 2. MC Programming
31) PMOV
Input type PMOV <L variable1> <L variable2>
Terminology <L variable>: Set the variable for a position from the L-VAR Table.(L0 ~ L1999)
Explanation Palletizing is automatically performed based on the pallet point of each axis set to the commanded
3-point pallet(rectangle).
<L variable 1>
Designating an L variable automatically designates the next address of the designated L variable.
4 L variables are designated in addition to the designated L variable. For example, if ’L0’ is
designated, then L1, L2, L3, L4 are designated.
<L variable 1> +0: Number of pallet points in the first axis
Determine how many divisions the distance between the first position and the second position
will be divided into.
<L variable 1> +1: Number of pallet points in the second axis
Determine how many divisions the distance between the second position and the third position
will be divided into.
<L variable 1> +2: Number of pallet points in the first axis under preparation for execution(to be
executed next)
<L variable 1> +3: Number of pallet points in the second axis under preparation for execution(to be
executed next)
<L variable 1> +4: ‘1’ if all the palletizing has been executed
This lies at ‘0’ during PCLR, but changes to 1 if all the palletizing have finished.
<L variable 2>
Designating an L variable automatically designates the next address of the designated L variable.
5 L variables are designated in addition to the designated L variable. For example, if ’L5’ is
designated, then L6, L7, L8, L9, L10 are designated.
<L variable 2> +0: X-axis coordinate at the first position
<L variable 2> +1: Y-axis coordinate at the first position
<L variable 2> +2: X-axis coordinate at the second position
<L variable 2> +3: Y-axis coordinate at the second position
<L variable 2> +4: X-axis coordinate at the third position
<L variable 2> +5: Y-axis coordinate at the third position
The sequence of pallet operation differs depending on the direction(X-axis or Y-axis) of the
second position and the third position.
10
15
14
15
PMOV L0 L5
L0: 5
L1: 3
L2: 1
L3: 1
L4: 0
L5: 0
L6: 0
L7: 100
L8: 0
L9: 0
L10: 50
PMOV L0 L5
L0: 3
L1: 5
L2: 1
L3: 1
L4: 0
L5: 0
L6: 0
L7: 0
L8: 50
L9: 100
L10: 0
1
4
7
10
13
25
8
11
36912
(L5, L6)
(L7, L8)
(L9, L10)
(L5, L6) (L7, L8)
(L9, L10)
1
2
3
4
5
67
8
9
11 12 13 14
Y
X
Y
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