8-49
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-14
Picking up workpieces from a 6×4 pallet and placing them
on two smaller 3×4 pallets.
Y
X
Point C (=P253)
Point D(=P254)
Point A(=P251)
Point B(=P252)
Point c
(=P249)
Point d
(=P250)
Point a
(=P247)
Point b
(=P248)
Point
χ
(=P245)
Point δ
(=P246)
Point α
(=P243)
Point β
(=P244)
■ Teaching each point of P243 to P254 should be completed beforehand in PNT (point)
mode. (Supply pallet is defined as pallet 0, and smaller pallets as pallets 1 and 2 in this
example.)
Start
Variable D=12?
Pallet definition
Variable D=12?
Initialization of variables
Move to supply pallet
and pick up workpiece
Move to smaller pallet
1 and place workpiece
Move to supply pallet
and pick up workpiece
Move to smaller pallet
2 and place workpiece
End
C: For workpiece pickup count
D: For workpiece placement count
C←C+1
D←D+1
C←C+1
D←D+1
Y
N
Y
N
C←C+1
D←1
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