4-92 List of commands
4 Software
Position
and oper-
ation con-
trol
Pallet Defines the pallet. Def Plt 1,P1,P2,P3,P4,5,3,1
Operates the pallet grid point position. Plt 1,M1
Singular point pas-
sage
Move to a specified position using linear interpolation passing
through a singular point.
Mvs P1 Type 0,2
Branching Branches unconditionally to the designated place. GoTo *LBL
Branches according to the designated conditions. If M1=1 Then GoTo *L100
Else GoTo *L200
EndIf
Repeats until the designated end conditions are satisfied. For M1=1 To 10
Next M1
Repeats while the designated conditions are satisfied. While M1<10
WEnd
Branches corresponding to the designated expression value. On M1 GoTo *La1, *Lb2,
*Lc3
Executes program block corresponding to the designated
expression value.
Select
Case 1
Break
Case 2
Break
End Select
Moves the program process to the next line. Skip
Collision detection Set to enable/disable the collision detection. ColChk On/Off
Set the detection level of the collision detection. ColLvl 100,80,,,,,,
Subroutine Executes the designated subroutine. (Within program) GoSub *L200
Returns from the subroutine. Return
Executes the designated program. CallP "P10",M1,P1
Defines the program argument executed with the CALLP com-
mand.
FPrm M10,P10
Executes the subroutine corresponding to the designated
expression value.
On M1
GoSub*La1,*La2,*La3
Interrupt Defines the interrupt conditions and process. Def Act 1, M1=1 GoTo *L123
Enables/disables the interrupt. Act 1=1
Defines the start line of the program to be executed when an
interrupt is generated from the communication line.
On Com(1) GoSub *LABC
Enables the interrupt from the communication line. Com(1) On
Disables the interrupt from the communication line. Com(1) Off
Stops the interrupt from the communication line. Com(1) Stop
Wait Designates the wait time, and the output signal pulse output
time. (0.01s unit)
Dly 0.5
Waits until the variable becomes the designated value. Wait M_In(20)=1
Stop Stops the program execution. Hlt
Generates an error. During program execution, continue, stop or
servo OFF can be designated.
Error 9000
End Ends the program execution. End
Hand Hand open Opens the designated hand. HOpen 1
Hand close Closes the designated hand. HClose 1
Input/out-
put
Assignment Defines the input/output variables. Def IO PORT1=Bit,99
Input Retrieves the general-purpose input signal. M1=M_In (78)
Output Calls out the general-purpose output signal. M_Out(23) =0
Parallel
execution
Mechanism desig-
nation
Acquires the mechanism with the designated mechanism No. GetM 1
Releases the mechanism with the designated mechanism No. RelM 1
Selection Selects the designated program for the designated slot. XLoad 2,"P102"
Start/stop Carries out parallel execution of the designated program. XRun 3,"100",0
Stops parallel execution of the designated program. XStp 3
Returns the designated program's execution line to the head
and enters the program selection enabled state.
XRst 3
Type Class Function Input format (example)
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