Yamaha Robot Controller CC-Link Unit Manual Do Utilizador

Yamaha

5-

11

5

Specifications

4. Sample program

[Robot program data assignment]

* Variables used

1st unit :

A

: Point No. in pallet

2nd unit :

B

: Point No. in pallet

* Points used

1st unit :

P100

: Point above workpiece supply

P101

: 1st point above pallet

:

:

P108

: 8th point above pallet

P121

: Z axis position point for workpiece supply

P122

: Z axis position point on pallet

2nd unit :

P200

: Point above workpiece supply

P201

: 1st point above pallet

:

:

P208

: 8th point above pallet

P221

: Z axis position point for workpiece supply

P222

: Z axis position point on pallet

* Bit information used

1st unit :

SI (40)

: Point No. reception complete input

SI (41)

: Movement complete response standby input

SI (42)

: Movement complete standby input

SO (23) to SO (20)

: Point No. setting output group

SO (40)

: Point No. setting complete output

SO (41)

: Movement complete output

SO (42)

: Movement complete response output

DI (47)

: Pallet change complete input

DO (40)

: Chuck hand open close (0: Close, 1: Open)

DO (47)

: Pallet exchange command output

2nd unit :

SI (23) to SI (20)

: Point No. setting input group

SI (40)

: Point No. transmission complete input

SI (41)

: Movement complete standby input

SI (42)

: Movement complete response standby input

SO (40)

: Point No. setting reception complete output

SO (41)

: Movement complete response output

SO (42)

: Movement complete output

DO (40)

: Chuck hand open/close (0: Close, 1: Open)