Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
59
If the
incPallet
command (Add 1 to the specified pallet counter) is used instead of the
loopPallet
command, the pallet control command will be as follows:
e.g.
incPallet
is used instead of
loopPallet
.
reset #genOut1
incPallet 10
if
ld #palletFlag(10)
else
goPoint PTP3,1
endif
Release (Place) the workpiece.
Add 1 to the counter of Pallet No. 10.
If
The counter of Pallet 10 does not reach maximum,
Go to P1 (according to PTP Condition 03).
z
If you use the
loopPallet
command, the tool unit shifts to the specified point according to the
program data [PTP Condition]. If you use the
incPallet
command, you can use the
goPoint
or
goRPoint
command together, and you can also select the additional function data [PTP Condition].
If you use the
incPallet
command, another job (e.g. pulse output) can be performed each time the tool
unit shifts to P1.
reset #genOut1
incPallet 10
if
ld #palletFlag(10)
else
pulse #genOut5,200
goPoint PTP0,1
endif
Release (Place) the workpiece.
Add 1 to the counter of Pallet No. 10.
if
The counter of Pallet 10 does not reach maximum,
Output a pulse and
Shift to P1.
The pallet number (and the go Point number for the
loopPallet
command) can be specified using
expressions.
Example:
declare num pal
if
ld #genIn3
then
pal = 5
else
pal = 6
endIf
reset #genOut1
loopPallet pal,1
Declare a local variable
pal
.
If
#genIn3=ON
then
Assign 5 to
pal
.
If not
Assign 6 to
pal
.
Release (Place) the workpiece.
Add 1 to the counter of Pallet 5 or 6,
go on to the next command if the counter reaches maximum.
(In this example, the point job is over because there are no
more commands.)
If the counter is not at maximum, move to P1.
