Below are the pallet commands for using the command “incPallet (Increase the specified pallet
counter by one)” instead of “loopPallet.”
<Use “incPallet” instead of “loopPallet”>
reset #genOut1
incPallet 10
if
Hold (pick up) the workpiece.
Increase the counter of Pallet 10 by one.
ld #palletFlag(10)
else
goPoint PTP3,1
endif
if
The counter of Pallet 10 does not reach the maximum,
Go to P1 (comply with PTP Condition03.)
If you use the command “loopPallet”, the arm shifts to a specified point complying with PTP
Condition (Program data.) If you use the command “incPallet”, you can use the command
“goPoint” or “goRPoint” and select PTP Condition (Additional Function Data.)
If you use the command “incPallet”, a pulse can also be output everytime the arm shifts to P1.
reset #genOut1
incPallet 10
Hold (pick up) the workpiece.
if
ld #paletteFlag(10)
else
pulse #genOut5,200
goPoint PTP0,1
endif
Increase the counter of Pallet 10 by one.
If
The counter of Pallet 10 does not reachthe maximum,
Output a pulse,
Shift to P1.
Pallet Number (also go Point Number in case of “loopPallet”) can be set using expressions.
Example)
declear num pal
if
ld #genIn3
then
pal = 5
else
pal = 6
endIf
reset #genOut1
loopPallet pal,1
Declare the local variable “pal.”
If
#genIn3=ON
then
Assign 5 to “pal.”
If not
Assign 6 to “pal.”
Hold (pick up) the workpiece.
Increase the counter of Pallet 5/6 by one,
go on to the next command if the counter reaches the
maximum. (In this case, the point job ends because there is no
next command.)
Shift to P1 if the counter does not reach the maximum.
Features II CARTESIAN Benchtop Robot
50
