Yamaha SRCD User Manual

8-40
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-7 Palletizing for fixed point versus pallet
With this sample program, the robot picks up a workpiece supplied at P0 and places it sequentially on
a 4×5 pallet.
Pick-and-place sequence
P0 → point A → ··· → P0 →
point B → ··· → P0 → point C
→ ··· → P0 → point D
Movement speed
Pick point → Place point 50%
Place point → Pick point 100%
Point B (=P252)
Point C (=P253)
Point D (=P254)
Place points
Pick point
Point A (=P251)
P0
X
Y
■ Teaching each point of P0 and P251 to P254 should be completed beforehand in PNT
(point) mode. (Matrix is defined as pallet number 0 in this example.)
Program Comment
[NO0]
001: MAT 4, 5, 0 ; Defines a 4×5 matrix as number 0.
002: C 1 ; Sets counter variable to 1
003: L 0 ; Label definition
004: MOVA 0, 100 ; Moves to pick point at speed 100
005: CALL 1, 1 ; PICK routine call
006: MSEL 0 ; Specifies movement matrix
007: MOVM C, 50 ; Moves to place point (on pallet) at speed 50
008: CALL 2, 1 ; PLACE routine call
009: JMPC 1, 20 ; Jumps to L1 if counter variable is 20
010: C+ ; Counter variable increment
011: JMP 0, 0 ; Jumps to L0
012: L 1 ; Label definition
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Yamaha SRCD Specifications

General

Brand	Yamaha
Model	SRCD
Category	Controller
Language	English