Yamaha DRCX - Page 166

8-37
8
ROBOT LANGUAGE
8-5 Sample Programs
Program Comment
[NO1] <<Main routine>>
001: L 1 ; Label definition
002: P 1 ; Initializes the point variable
003: CALL 2, 5 ; Executes a subroutine five times repeatedly
004: JMP 1, 1 ; Returns to L1
[NO2] <<Picking up and placing a workpiece>>
001: WAIT 2, 1 ; Waits for workpiece feed
002: CALL 3, 1 ; Executes a [PICK] subroutine
003: CALL 4, 1 ; Executes a [PLACE] subroutine
004: P+ ; Point variable increment
[NO3] <<Picking up a workpiece>>
001: MOVA 0, 100 ; Moves to the workpiece feed position
002: DO 0, 1 ; Air cylinder moves down
003: WAIT 1, 1 ; Waits until the air cylinder moves down
004: DO 1, 1 ; Chuck closes
005: TIMR 100 ; Stays for one second
006: DO 0, 0 ; Air cylinder moves up
007: WAIT 0, 1 ; Waits until the air cylinder moves up
[NO4] <<Placing a workpiece>>
001: MOVA P, 100 ; Moves to the workpiece mount position
002: DO 0, 1 ; Air cylinder moves down
003: WAIT 1, 1 ; Waits until the air cylinder moves down
004: DO 1, 0 ; Chuck opens
005: TIMR 100 ; Stays for one second
006: DO 0, 0 ; Air cylinder moves up
007: WAIT 0, 1 ; Waits until the air cylinder moves up
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