YASKAWA DX100 - Examples; Handling Window

10 Handling Application
10.1 Outlines
10-4
155507-1CD
RE-CSO-A037
DX100
10.1.3.3 Examples
Waits until sensor 1 turns ON (OFF). At completion, the result (1: gripper
sensor 1 is ON (OFF)) is set in $B014.
Checks whether sensor 1 is turned ON at completion of HSEN instruction.
Th
e result (0: gripper sensor 1 is OFF, 1: gripper sensor 1 is ON) is set in
$B014.
Waits 10 seconds for gripper sensor 1 to turn ON. Sets the result 1
(
gripper sensor 1 is ON) in $B014 if the sensor input turns ON. Sets the
result 0 (gripper sensor 1 is OFF) if the sensor does not turn ON after 10
seconds.
To observe the $B014 contents with an IF statement, use the GETS
in
struction to read the contents to a B variable.
10.1.4 Handling Window
1. Select {ROBOT} under the main menu.
2.
Select {HANDLING DIAG}.
– The HANDLING window appears.
3. Select “F1 KEY ALLOCATION” or “F2 KEY ALLOCATION,” and then
edit.
– The selection dialog box appears.
– If a signal from {HAND1} to {HAND4} is selected, the key allocation
to the corresponding gripper valve signal can be modified. (In the
following example, {HAND3} is selected in the “F2 KEY
HSEN 1 ON FOREVER
OFF FOREVER
HSEN 1 ON
H S E N 1 O N T = 1 0 . 0 0
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