Yamaha SRCP - Manual (Page 115)

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8
ROBOT LANGUAGE
8-4 Robot Language Description
8-4-21 MAT
Function: Defines the number of rows and columns of the matrix.
Format: MAT <number of rows>, <number of columns>, <pallet number>
Example: MAT 3, 6, 0
Defines a matrix of 3
× 6 on pallet number 0.
Explanation: This command defines a matrix for palletizing movement. A palletizing
program can be easily created by using this command with MSEL or
MOVM, etc.
(1) Number of rows
Set any value from 1 to 255.
(2) Number of columns
Set any value from 1 to 255.
(3) Pallet number
This number is used for matrix identification and can be set from 0
to 31. A total of 32 matrix data can be handled.
Others: • A common method for matrix coordinate definition specifies only the
positions of the 4 corners of the matrix by 4-point teaching. The re-
maining points are then found by calculation. When teaching the posi-
tions of the 4 corners in PNT (point) mode to create point data, the
point numbers are generally specified as follows: If pallet number is
"n" for instance, enter the position of the reference point (row 1, col-
umn 1) in p(251-4n), the position at the end of row 1 in p(252-4n), the
position at the end of column 1 in p(253-4n), and the position of the
remaining corner in p(254-4n). To define a one-dimension matrix such
as "row 1, column m", enter the position of the reference point (row 1,
column 1) in p251, and the position of last point (row 1, column m) in
p252. You do not have to enter any data in p253 and p254 (when pallet
number is 0).
• The matrix definition contents are shared with each task.
• Because only a single-axis robot is controlled with the SRCP series,
the actual movement is linear even if a 2-dimensional matrix is de-
fined.
p251
p252
p253
p254
p247
p248
p249
p250
p(251-4n)
p(252-4n)
p(253-4n)
p(254-4n)
0 1 n 31
p127
p128
p129
p130
Pallet No.
A
B
C
D
A reference point
B end of row 1
C end of column 1
D last point A B
C D
Matching point numbers for inputting pallet numbers and coordinate values A to D