Denso RC5 Spécifications télécharger pdf (Page 56)

100

101

1-4

Program coding list “PRO1”(Continued)

' ===== Chucking a part =====

*ChuckItem:

*Specifies a label with ¡¡:. Will be called later by CALL*ChuckItem.

RESET IO[ioUnChuck] Equivalent to IO[106].

Macro

Turns IO off. See p. 13-7.

SET IO[ioChuck] Equivalent to IO[106].

Macro

Turns IO on. See p.13-5.

RETURN Statement that structures a subroutine with *ChuckItem.

' ===== Unchuck parts =====

*UnchuckItem:

Label

RESET IO[ioChuck]

SET IO[ioUnChuck]

RETURN

Statement

' ===== Part A processing =====

*PlacePartsA:

Label name (declares a subroutine)

APPROACH P, P[pPick], appLen 'Moves to a position 100mm away from the

'chuck point in CP motion.

MOVE L, P[pPick], S=80 'Moves to a chuck point at 80% of internal

Statement. See p. 12-14. 'speed in CP motion.

GOSUB *ChuckItem 'Chucks a part.

DEPART L, appLen 'Moves to a position 100 mm away from the

'current position.

APPROACH P, P[pPlace1], appLen 'Moves to a position 100 mm away from the

'unchuck position in CP motion.

MOVE L, P[pPlace1], S=50 'Moves to the unchuck point at 50% of

Statement. See p. 12-14. 'internal speed in CP motion.

GOSUB *UnchuckItem 'Unchucks the part.

DEPART L, appLen 'Moves to a point 100 mm away from the current

'position in CP motion.

I[iCountA] = I[iCountA] + 1 'Counts the number of parts A.

Increases I[iCountA] by one.

RETURN

Continued on the following page.

Equivalent to macro 100

defined in the 4th line.

Defining this way makes it

possible to modify the

approach length by changing

one value.

Moves the arm to a point right

above P[pPick1].

Equivalent to macro 100 defined

in the 4th line. Defining this way

makes it possible to modify the

approach length by changing one

value.

Moves the arm

to a point right

above P[pPick1].

Equivalent to

macro P[11].

Statement.

See p. 12-4.

Equivalent to macro 100 defined in the 4th line.

Defining this way makes it possible to modify the

approach length by changing one value.

Statement.

See p. 12-4.

Equivalent to macro 100 defined in the 4th line.

Defining this way makes it possible to modify the

approach length by changing one value.

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Denso RC5 Spécifications Page 56

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