Yamaha DRCX - Page 177

8-48
8
ROBOT LANGUAGE
8-5 Sample Programs
[NO1] <<Transfer routine for workpiece A>>
001: WAIT 4, 1 ; Waits until workpiece A pallet is set
002: MSEL 0 ; Selects matrix 0
003: CSEL 0 ; Selects counter array variable C[0]
004: MOVM C, 100 ; Moves to workpiece A pallet
005: CALL 6, 1 ; PLACE routine call
006: JMPC 1, 9 ; Jumps to L1 if C[0] is 9
007: C+ ; Counter array variable C[0] increment
008: JMP 2, 1 ; Jumps to L2
009: L 1 ; Label definition
010: CALL 7, 1 ; Eject routine call for workpiece A pallet
011: C 1 ; Initializes counter array variable C[0] to 1
012: L 2 ; Label definition
[NO2] <<Transfer routine for workpiece B>>
001: WAIT 5, 1 ; Waits until workpiece B pallet is set
002: MSEL 1 ; Selects matrix 1
003: CSEL 1 ; Selects counter array variable C[1]
004: MOVM C, 100 ; Moves to workpiece B pallet
005: CALL 6, 1 ; PLACE routine call
006: JMPC 1, 12 ; Jumps to L1 if C[1] is 12
007: C+ ; Counter array variable C[1] increment
008: JMP 2, 2 ; Jumps to L2
009: L 1 ; Label definition
010: CALL 8, 1 ; Eject routine call for workpiece B pallet
011: C 1 ; Initializes counter array variable C[1] to 1
012: L 2 ; Label definition
[NO3] <<Transfer routine for workpiece C>>
001: WAIT 6, 1 ; Waits until workpiece C pallet is set
002: MSEL 2 ; Selects matrix 2
003: CSEL 2 ; Selects counter array variable C[2]
004: MOVM C, 100 ; Moves to workpiece C pallet
005: CALL 6, 1 ; PLACE routine call
006: JMPC 1, 16 ; Jumps to L1 if C[2] is 16
007: C+ ; Counter array variable C[2] increment
008: JMP 2, 3 ; Jumps to L2
009: L 1 ; Label definition
010: CALL 9, 1 ; Eject routine call for workpiece C pallet
011: C 1 ; Initializes counter array variable C[2] to 1
012: L 2 ; Label definition
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