Denso RC5 Spezifikationen PDF herunterladen (Seite 57)

100

101

Chapter 1 Sample Program

1-5

Program coding list “PRO1”(Continued)

' ===== Parts B and C processing =====

*PlacePartsBC:

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=90 'Moves to a chuck point at 90% of internal

'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[pPlace2], appLen 'Moves to a position 100 mm away from the

'unchuck position in CP motion.

MOVE L, P[pPlace2], S=80 'Moves to the unchuck point at 80% 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[iCountBC] = I[iCountBC] + 1 'Counts the number of parts B and C.

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.

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.

Moves the arm to a point right

above P[pPick1]. See p. 12-1.

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.

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