VELMEX VXM-3 - Page 79


Thereareapplicationsthatrequiremovingobjectsfromacommonpicklocationtoan
arrayofplacementlocations(orviceofversa.) Onewaytoaccomplishthiswouldbeto
writeindividualmovestoeveryarraypositionfollowedbyamovetotheabsolutepick
position. Thedrawbacktothisapproachistheunwieldyquantityofindexestowriteifthe
array/matrixpatternisverylarge. ThesolutionistousetheJM-x commandwhichis
specificallydesignedforpickandplaceapplications.
exceptthe automaticallymovesbackfrom
absoluteindexesafterprogramxends.
The
pick-and-placewithinmatrixlooping
patterns.
JM-
JM-
reverse-direction-flagssetby"L-x",
"LM-2
LM-3
disabled while in program .
Anyabsolute indexesencountered
clearallrecorded return distances
2 bytes
TheJM-x commandissimilartotheJMx
x
x
x
isnotsuitableforanyuseotherthan
Programnumberx willtemporarilybethecurrentprogram,allcommandswillbe
executedstartingfromthefirstonethatwaspreviouslyenteredintoprogram
x.
TheVXMwillrecordmotor1and2absoluteindexeswhileinprogramx. When
programxends,theVXMwilllookaheadtothenextincrementalindex,
combiningthisindexwiththereturndistanceoftherecordedabsoluteindexof
thesamemotor. Theothermotorindexrecordedwill
alsobemovedbackit’s
recordeddistance.
1.
Themotor ",and"
"
loopingcommandswillbe
2.
useonly
Do not use absolute indexes for motor 3 or 4 in programx,
incrementalindexesformotor3or4.
3. will
thatweresavedinprogram
Memoryusage=
Thefollowingexamplesarebasedonloopstoproducemultiplemoves. Bymodifyingthe
loopvalues,thenumberof
movesperrowandthenumberofrowscanbechanged.
JM-x
x
on return from programx
Appendix S
Pick and Place Using JM-x*
*NEW COMMAND: available only on VXM firmware versions 1.20 & up
-XPSWRWKHEHJLQQLQJRISURJUDPQXPEHU[FRPHEDFNIRU0RUHDIWHUSURJUDP[HQGV
DQGDXWRPDWLFDOO\PRYHEDFNIURPDEVROXWHLQGH[HVWKDWZHUHLQSURJUDP[ WR