87
86
Pick and Place Using JM-x (continued)
;This Pick and Place example moves X,Y,Z
;Y axis moves tray of parts to advance next row
;Placing parts 5x in 3 rows
;The common pick/start location is set to zero absolute
;Output 1 is used to signal an external gripper
E
PM-2 ;Program 2 for getting part from Pick location
IA1M0 ;Move to home
I3M400 ;Index Z down to part
U5,P1 ;Output 1 on to grab part, pause too
I3M-400 ;Have part, now Index Z up
PM-1 ;Program 1 for placement of parts in row
I3M400 ;Index Z down to part
U4 ;Let part go
I3M-400 ;Z back up
JM-2 ;Go home and pick up another part
I1M800 ;Advance to next place location
L5 ;Do 5 places per row
PM-3 ;Program 3 is main program after start
IA1M1600 ;Move out to 1st place location
JM1 ;jump to program 1 to do row
IA1M0 ;Clear out absolute saved moves from JM-X
I2M1200 ;move motor 2 over next row
L3 ;Advance another row (3 rows) and repeat
IA2M0 ;Y home
U90 ;Wait for operator to change tray & press Run
L0 ;Start again (loop forever)
PM-0 ;Program 0 is start/setup program
IA1M-0,IA2M-0 ;Make this location zero (Start)
S1M3000,S2M3000,A1M6,A2M6 ;Set speeds & accels
S3M2000,A3M4 ;Set Z speed & accel
JM2 ;Grab 1st part
J3 ;Jump to Program 3 (it will take over now)
;This Pick and Place example moves X,Y,Z
;Y axis moves tray of parts to advance next row
;Placing parts 5x in 3 rows
;The common pick/start location is set to zero absolute
;Output 1 is used to signal an external gripper
E
PM-2 ;Program 2 for getting part from Pick location
IA1M0 ;Move to home
I3M400 ;Index Z down to part
U5,P1 ;Output 1 on to grab part, pause too
I3M-400 ;Have part, now Index Z up
PM-1 ;Program 1 for placement of parts in row
I3M400 ;Index Z down to part
U4 ;Let part go
I3M-400 ;Z back up
JM-2 ;Go home and pick up another part
I1M800 ;Advance to next place location
L5 ;Do 5 places per row
PM-3 ;Program 3 is main program after start
IA1M1600 ;Move out to 1st place location
JM1 ;jump to program 1 to do row
IA1M0 ;Clear out absolute saved moves from JM-X
I2M1200 ;move motor 2 over next row
L3 ;Advance another row (3 rows) and repeat
IA2M0 ;Y home
U90 ;Wait for operator to change tray & press Run
L0 ;Start again (loop forever)
PM-0 ;Program 0 is start/setup program
IA1M-0,IA2M-0 ;Make this location zero (Start)
S1M3000,S2M3000,A1M6,A2M6 ;Set speeds & accels
S3M2000,A3M4 ;Set Z speed & accel
JM2 ;Grab 1st part
J3 ;Jump to Program 3 (it will take over now)
Example #15
Motors run
Function
Pick and Place
Pick from common point and place
in rows, Y axis moves tray of parts to next row
3
The following example is the similar to example 14 except for a third axis (Z) moves part
up from pick location and down at place location, there are 3 rows instead of 2, The
program will start again with the Run button.
;This Pick and Place example moves X,Y,Z
;Parts are Picked 5x in 2 rows & Placed at one point
E
PM-2 ;Program 2 places parts at one location
I3M400 ;Index Z down to part
U5,P1 ;Output 1 on to grab part, pause too
I3M-400 ;Have part, now Index Z up
IA1M-1000 ;Move to place location
I3M400 ;Index Z down to part
U4 ;Let part go
I3M-400 ;Now Index Z up
PM-1 ;Program 1 for getting parts in row
JM-2 ;Grab and drop off another part
I1M800 ;Advance to next place location
L5 ;Do 5 places per row
PM-0 ;Program 0 is start/setup program
IA1M-0,IA2M-0 ;Make this location zero (Start)
S1M3000,S2M3000,A1M6,A2M6 ;Set speeds & accels
S3M2000,A3M4 ;Set Z speed & accel
LM0 ;Set loop marker, all loops will branch here
JM1 ;jump to program 1 to do row
IA1M0 ;Move back to Home (start of row)
I2M1200 ;move motor 2 over next row
L2 ;Do 2 rows
IA2M0 ;Y home
;This Pick and Place example moves X,Y,Z
;Parts are Picked 5x in 2 rows & Placed at one point
E
PM-2 ;Program 2 places parts at one location
I3M400 ;Index Z down to part
U5,P1 ;Output 1 on to grab part, pause too
I3M-400 ;Have part, now Index Z up
IA1M-1000 ;Move to place location
I3M400 ;Index Z down to part
U4 ;Let part go
I3M-400 ;Now Index Z up
PM-1 ;Program 1 for getting parts in row
JM-2 ;Grab and drop off another part
I1M800 ;Advance to next place location
L5 ;Do 5 places per row
PM-0 ;Program 0 is start/setup program
IA1M-0,IA2M-0 ;Make this location zero (Start)
S1M3000,S2M3000,A1M6,A2M6 ;Set speeds & accels
S3M2000,A3M4 ;Set Z speed & accel
LM0 ;Set loop marker, all loops will branch here
JM1 ;jump to program 1 to do row
IA1M0 ;Move back to Home (start of row)
I2M1200 ;move motor 2 over next row
L2 ;Do 2 rows
IA2M0 ;Y home
Example #16
Motors run
Function
Pick and Place
Pick from rows and place at common location,
Y axis moves tray of parts to next row
3
(Place)
(Place)
start/end
®
¬
1 2 3 4 5
U5 U5 U5 U5 U5
U4
®
¬
1 2 3 4 5
)) )) )) )) ))
1
1
2
1st Row
2nd Row
Tray
U5 U5 U5 U5 U5
U4
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