8-56
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-21
Synchronization in multi-robot operation
This sample program uses two single-axis robots for multi-task operation. One robot repeatedly
moves between two points while the other robot moves at a certain pitch. In this case, each robot
simultaneously starts to move from the start positions P0 and P10.
Memory input/output
DO100 X-axis 1: Standby 0: Moving
DO101 Y-axis 1: Standby 0: Moving
Y-axis
X-axis
P0 P1
P10
P11
P12
P13
P14
P15
■ Teaching each point of P0, P1 and P10 to P15 should be completed beforehand in PNT
(point) mode. (Y-axis data at P0 and P1 and X-axis data at P10 to P15 can be any value
since they are not used.)
Program Comment
[NO0]
001: TON 1, 1, 0 ; Starts program NO1 as task 1
002: L 0 ; Label definition
003: DRVA 1, 0, 100 ; X-axis robot moves to P0
004: DO 100, 1 ; X-axis robot reaches start point start position
005: WAIT 101, 1 ; Waits until Y-axis robot moves to start position
006: DO 100, 0 ; X-axis robot is moving
007: DRVA 1, 1, 100 ; X-axis robot moves to P1
008: JMP 0, 0 ; Returns to L0
[NO1]
001: L 0 ; Label definition
002: DRVA 2, 10, 100 ; Y-axis robot moves to P10
003: DO 101, 1 ; Y-axis robot reaches start position
004: WAIT 100, 1 ; Waits until X-axis moves to start position
005: DO 1O1, 0 ; Y-axis robot is moving
006: P 11 ; Sets point variable to 11
007: CALL 2, 5 ; Calls subroutine NO2 five times
008: JMP 0, 1 ; Returns to L0
[NO2]
001: DRVA 2, P, 100 ; Y-axis robot moves to P11 to P15
002: P+ ; Point variable increment
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