4.1. Variable configuration
4.1. Variable configuration
Table 4‑1 Numbers and usage of shift variables and pose variables in the standard program
Shift variable (R) | ||
Number | Count | Content |
1001~1060 | 60 numbers | #1 process slip sheet shift variable |
1061~1120 | 60 numbers | #2 process slip sheet shift variable |
… | ||
1901~1960 | 60 numbers | #16 process slip sheet shift variable |
2001~2500 | 500 numbers | #1 process loading pattern shift variable |
2501~3000 | 500 numbers | #2 process loading pattern shift variable |
… | ||
9501~9999 | 499 numbers | #16 process loading pattern shift variable |
Pose variable (P) | ||
Number | Content | Remark |
1001 | Home position | 1001~1007 are the positions that will change continuously because of the pallet setting |
1002 | Right above the pickup position |
|
1003 | Pickup position |
|
1004 | Right above the pickup position |
|
1005 | Right above the loading pattern position |
|
1006 | Loading pattern position |
|
1007 | Right above the loading pattern position |
|
6001~6016 | Basic position (home position)of #1 ~ #16 processes | No change in 6001~7016 as they are preassigned pose variables |
6501~6516 | Position (pickup position) for picking up packages of #1~#16 processes | #1 package (5 types of packages per pattern can be used.) |
6551~6566 | Position (pickup position) for picking up packages of #1~#16 processes | #2 package (5 types of packages per pattern can be used.) |
6601~6616 | Position (pickup position) for picking up packages of #1~#16 processes | #3 package (5 types of packages per pattern can be used.) |
6651~6666 | Position (pickup position) for picking up packages of #1~#16 processes | #4 package (5 types of packages per pattern can be used.) |
6701~6716 | Position (pickup position) for picking up packages of #1~#16 processes | #5 package (5 types of packages per pattern can be used.) |
7001~7016 | Position (slip sheet pickup position) for picking up slip sheets of #1~#16 processes |
|
Table 4‑2 Numbers and roles of general variables in the standard program
General variable (V%) | ||
Number | Description | Remark |
1 | Start signal |
|
2 | Continue, previous flag |
|
5 | Current process number |
|
6 | Previous process number |
|
7 | Current package or slip sheet number | If 7 more, treat it as a slip sheet |
8 | Previous package or slip sheet number |
|
31~46 | Workpiece counter |
|
61~76 | Slip sheet counter |
|
91~106 | Layer counter |
|
121~136 | Workpiece count |
|
151~166 | Odd layer workpiece count |
|
181~196 | Even layer workpiece count |
|
211~226 | Top layer workpiece count |
|
241~256 | Slip sheet count |
|
271~286 | First layer slip sheet insertion or not |
|
301~316 | Top layer slip sheet insertion or not |
|
331~346 | Variation for layer counting |
|
361~376 | Work #1~ #16 valid/invalid |
|
551~566 | (Simulation) Overall flow adjustment variable |
|
General variable (V!) | ||
Number | Count | Content |
31~46 | Workpiece size ( L ) |
|
61~76 | Workpiece size ( W ) |
|
91~106 | Workpiece size ( H ) |
|
121~136 | Pickup height | Shall be defined by the user |