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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)