10 Chapter 8 Point Job Setting.docx

10 Chapter 8 Point Job Setting.docx

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10Chapter8PointJobSetting

Chapter8PointJobSetting

8-1Commandsintroduced

Robotisrunalonebutalsorobotisrunwithexternaldevices.Ifrobotisconnectedwithexternaldevices,usetheinputandoutputsignal.InputandoutputsignalcontrolissetatPointJob.

Inputandoutputcommandsareclassifiedasfollows.

Commandcategory

Command

Settinglist

Explanation

Example

Output

SETONOutput

OutputB:

0000N

Signaloutputondesignatedpoint

SETB01

RSTOFFOutput

OutputB:

0000N

Signaloffondesignatedpoint

RSTB01

PULSONPulse

Width001.00msec

Outputtimeondesignatedpoint

PULSB011.00

OutputB:

0000N

Signaloutputpoint

PULSB011.00

IPULSOFFPulse

Width001.00msec

Signalofftimeondesignatedpoint

IPULSB011.00

OutputB:

0000N

Signaloffpoint

IPULSB011.00

Branch

IFif

Conditionalexpression

IF

LDA01

THEN

SETB01

ELSE

SETB02

ENDIF

THENthen

Ifconditionistrue,commandisrunbelowtheTHEN

ELSEelse

Ifconditionisfalse,commandisrunbelowtheELSE

ENDIFendif

Conditionalssolidarity

WAITINF

UselikeWHEN.ItisrepeateduntilconditionundertheWAITissatisfied.

WAITINF

LDA01

WEND

WAIT+TimeLimit

Limit001.00sec

IfitisusedwithTimeuporWEND,itisrepeateduntilconditionundertheWAITissatisfiedordesignatetime

WAIT1.00

LDA01

TimeUp

WEND

TimeUp

UsewithWAIT+TimeLimit

WENDwaitend

WAITloopsolidarity

Input/Connection

LDload

InputA:

0000N

TheApointlogicaloperationstartatdesignatedinputpoint

LDA01

LDIloadInverse

InputA:

0000N

TheBpointlogicaloperationstartatdesignatedinputpoint

LDIA01

ANDbitwiseAnd

InputA:

0000N

ANDandApointserialconnection

LDA01

ANDA02

ANIANDInverse

InputA:

0000N

ANDInverseandApointserialconnection

LDA01

ANDA02

ORbitwiseOR

InputA:

0000N

OrandApointparallelconnection

LDA01

ORA02

ORIORInverse

InputA:

0000N

OrInverseandBpointparallelconnection

LDA01

ORIA02

ANBlogicalAND

ANDblockandcircuitblockserialconnection

LDA01

ANDA02

ANB

LDA03

ORA04

ORBlogicalOR

ORblockandcircuitblockparallelconnection

LDA01

ANDA02

ORB

LDA03

ORA04

Wait

WAITTime

WAITTime001.00sec

Waituntilbesettime

WAIT2.00

WAITStart

Waituntilpressthestartbutton

WAITSTRT

Zmove/Junp/End

UpZZrise

Distance001.00mm

LifttheZ-axisbysetdistance（absolutecoordinate）

UPZ1.00mm,50mm/s

Speed050.00mm/s

SpeedwhenZ-axisislift

UPZ1.00mm,50mm/s

DownZZdescent

Distance001.00mm

DowntheZ-axisbysetdistance（absolutecoordinate）

DOWNZ1.00mm,50mm/s

Speed050.00mm/s

SpeedwhenZ-axisisdown

DOWNZ1.00mm,50mm/s

MovetoZZmove

Distance+001.00mm

lifttheZ-axisbysetdistance（fromnowposition）

MOVEZ1.00mm,50mm/s

Speed050.00mm/s

Z-axismovementspeed

MOVEZ1.00mm,50mm/s

GoPTPPointjump

Condition000N

Gotothespecifiedpointinaccordancewiththeconditionsset

GOPTP01P001

PointNum.000N

Targetnumberofpoints

GOPTP01P001

GoPTP+rjump

Condition000N

Gototheopponentspointinaccordancewiththeconditionsset

GOPTP01P001

PointNum.＋000N

Movetheforwardorbackwardfromsetpoint（relativepoint）

GOPTP01P001

JUMPLlabeljump

LabelNum.000N

Jumptothelabel

JUMP001

Label

LabelNum.000N

Setthelabelname

LABEL001

EndProgram

Jobprogramtermination

ENDPRG

EndJob

Jobprogramtermination

ENDJOB

GoHome

progresshomingposition

GoHome

8-2PointJobprogramming

Explanation

Screen

Usingnumberkey,cursorismovedtocommandsthatyouwant.AndpresstheENT.UsingArrowkeys,CursorismovedatPointJobSettingandpressedtheENT.

MainMenu

ProgramDataSetting

PointJobSetting

DataSaveUtility

SystemSetting

Test

Followingscreenwillappear.ThescreenisPointJobsettingscreen.IfyoupresstheF1key,canbenewprogramedit.Ifyouwantthateditpreviousprogram,presstheF2keythatcallthelistorenterthenumberthenpresstheENT.

PntJobNo.0001th

NewLIST

PressedtheENTkey,commandscreenisappear.

PointJobNo.001

Usingnumberkey,cursorismovedtocommandsthatyouwant.AndpresstheENT.

Forexample,AftermovetoOutput,ifyoupresstheENTkey,followingscreenwillappear.

CommanndCategory

Output

Branch

Input/Connection

Wait

Zmove/Junp/End

Usingnumberkey,cursorismovedonPLUSONPulse,thenpresstheENT.

Output

SETONOutput

RSTOFFOutput

PULSONPulse

IPULSOFFPulse

Itisscreenthatsetthetimetosignaloutputatoutputpoint.Usingnumberkey,enterthetimeyouwant.ThenpressENT.Forexample,enterthe2.

Width002.00msec

Itisscreenthatsetthepointtosignaloutput.Usingnumberkey,enterthepointnumberyouwant.ThenpressENT.Forexample,enterthe8.