Janome JR2000N Series - Condition Settings: Id, Idi, and, ani, or, ori, anb, orb

Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
49
CONDITION
■ Condition Settings: ld, ldi, and, ani, or, ori, anb, orb
This chapter explains the conditional operation commands that come after if Branch and Wait
Condition commands (if, waitCond, waitCondTime). The command category is [Condition].
Command Category Command Parameter Job
ld Boolean variable or expression ON input
ldi Boolean variable or expression OFF input
and Boolean variable or expression Serial ON input
ani Boolean variable or expression Serial Off input
or Boolean variable or expression Parallel ON input
ori Boolean variable or expression Parallel OFF input
anb
－
Block serial connection
Condition
orb
－
Block parallel connection
I/O-SYS input (#sysIn), I/O-SYS output (#sysOut), I/O-1 input (#genIn), I/O-1 output (#genOut), I/O-H
input (#handIn), I/O-H output (#handOut), system flag (#sysFlag), internal relay (#mv), keep relay
(#mkv), and pallet flag can be given as command parameters.
Comparison operation expressions can also be used. Variables and functions can also be used in
comparison operation expressions as well as the above parameters.
Comparison operation
expression
Meaning
Comparison operation
expression
Meaning
○ == □ □ is equal to ○.
○ <= □
○ =< □
□ is greater than or
equal to ○.
○ < □ □ is greater than ○.
○ >= □
○ => □
□ is less than or equal
to ○.
○ > □ □ is less than ○.
○ <> □
○ >< □
Not equal.
A [Condition] command must always start from an Id or Idi command line. If the command includes
only an independent ON (true) or OFF (false) condition, it needs 1 line, but when multiple conditions
are connected with and, or, etc., multiple lines are required.
Expressions can also be used in the condition commands. In this case, the result of the expression is
judged as 0 (false) or nonzero (true).