Denso RC5 Specifications download pdf (Page 54)

1-2

1.2 Program Flow

Fig. 1-2 shows the program flow of the model case.

Fig. 1-2 Model Case Program Flow

****Macro Definition*****

#define pHome 10 'Home position

#define pPick1 11 'Part chuck position

#define pPlace1 12 'Part A unchuck position

#define pPlace2 13 'Part B & C unchuck

'position

#define ioParts 34 'Part supply signal

#define ioPartsAck 104 'Synchronization signal

'of part supply signal

#define ioChuck 106 'If ON, chucks. If OFF,

'unchucks.

#define ioUnChuck 107 'If ON, unchucks. If

'OFF, chucks.

#define iPartsld 0 'Part number

#define iCountA 1 'Number of A parts

#define iCountBC 2 'Number of B and C parts

#define ioComplete 105 'Motion finish signal

#define ioCompleteAck 35 'Synchronization signal

'of motion finish

'signal

#define ioErrQR 108 'QR read error

#define ioErrQRAck 36 'Check QR read error.

Moves to the home

position pHome

Start

Sets internal speed

to 100%

Checks part supply

Checks parts

Part B,C [2,3]

Moves to pPick in

CP motion

Chuck part B

Moves to pPlace2 in

PTP motion

Unchuck

Stores the work

number

Work finish confirmation

End

Part A [1]

Moves to pPick in

CP motion

Chuck part A

Moves to pPlace1 in

PTP motion

Unchuck

Stores a work

number

Others

Error [-1]

CR code reading

Error output

Part NO.

Internal speed

50%

I/O[34] Supply signal

I/O[104] Synchronization

signal

QR code:

1=part A, 2=part B, 3=part C

Store a part number in

iPartsId.

1 2 ... 49 50 51 52 53 54 55 56 57 58 59 ... 691 692

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