Panasonic VR2 Series - Page 230

18-11
Sample program 1 (Pallet01.prg )
Program Description
TOOL 1:TOOL001 Specify a tool
JUMP START Jump to START
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MOVEL P1 5.00m/min Specify the shunting point (Before insertion)
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MOVEL P2 5.00m/min Specify the inserting point
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MOVEL P3 5.00m/min Specify the row pitch (P2-P3 distance)
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MOVEL P4 5.00m/min Specify the column pitch (P2-P4 distance)
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:START Operation starting point
SET GI001 =5 Specify the number of rows.
SET GI002 =4 Specify the number of column.
SET LI001 =0 Reset the row counter.
SET LI002 =0 Reset the column counter.
CNVSET GD002 P2 Get coordinates only.
CNVSET GD003 P3 Get coordinates only.
CNVSET GD004 P4 Get coordinates only.
SUB GD003 GD002 Calculate row pitch.
SUB GD004 GD002 Calculate column pitch
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:LOOP2 For row loop
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:LOOP1 For column loop
[C ]CALL PICK_UP.prg Pick up a work.
SET GD001 GD003 Assign the row pitch value to the shift variable.
CNVSET LR001 LI001 Convert the row counter into a real number.
MUL GD001 LR001 Multiply the row pitch by (the row counter value –1).
SET GD005 GD004 Assign the column pitch to the shift variable.
CNVSET LR001 LI002 Convert the column counter into a real number.
MUL GD005 LR001 Multiply the column pitch by (the column counter value –1).
ADD GD001 GD005 Row shift value + Column shift value.
SHIFT-ON ROBOT =GD001 Shift (on the robot coordinate system).
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MOVEL P1 15.00m/min Move to the shunting point before insertion.
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MOVEL P2 0.50m/min Move to the inserting point.
[C ]CALL WORK_Rel.prg Release the work.
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MOVEL P1 5.00m/min Move to the shunting point.
SHIFT-OFF End shift
INC LI001 Add to the row counter.
IF LI001 <GI001 THEN JUMP LOOP1 ELSE NOP If the row counter is less than the preset number of rows,
then jump to LOOP 1.
SET LI001 =0 Reset the row counter.
INC LI002 Add to the column counter.
IF LI002 <GI002 THEN JUMP LOOP2 ELSE NOP If the column counter is less than the preset number of
columns, jump to LOOP 2.
GOHOME MOVEP GPHOME 15 m/min
Move to the shunting point.
STOP End of operation.