YASKAWA DX100 - Example of Use of Shift Addition;Subtraction; Examples of Use

6 Convenient Functions
6.3 Parallel Shift Function
6-24
155507-1CD
RE-CSO-A037
DX100
6.3.5 Examples of Use
6.3.5.1 Example of Use of Shift Addition/Subtraction
Table 6-1: Workpiece Stacking Operation
Line Instruction
0000 NOP
0001 SET B000 0
0002 SUB P000 P000 Make the first shift value zero.
0003 *A
0004 MOVJ Step 1
0005 MOVL Step 2
0006 ’Gripping workpiece
0007 MOVL Step 3
0008 MOVL Step 4
0009 SFTON P000 UF#(1) Shift start
0010 MOVL Shift position Step 5
0011 ’Releasing workpiece
0012 SFTOF Shift end
0013 ADD P000 P001 Add the shift value for the next
operation.
0014 MOVL Step 6
0015 MOVL Step 7
0016 INC B000
0017 JUMP *A IF B00<6
0018

SFTON P000 UF#(1)
SFTOF
SUB P000 P001
Since the shift data is retained
in memory, the same data can
be used (with subtraction
instead of addition) to perform
a workpiece unloading
operation.

1,7
3 4,6
2
5
Workpiece
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