16-38
16-10-4. SWAP
Format
SWAP [Variable 1] [Variable 2]
Function It swaps values of two variable names.
Condition Standard.
Lock condition None.
Variable 1 Variable whose value is to be referred to, and
the calculated value is to be assigned to.
(GB, LB, GI, LI, GL, LL, GR, LR, GD)
Syntax check Error if number of element of variable
1 and 2 do not match.
Variable 2 Value or variable (GB, LB). Variable should
be type.
Example Swap the value of LB001 with LB002.
SWAP LB001, LB002
The same command in
conventional models
SWPREG
16-10-5. XOR
Format
XOR [Variable] [Data]
Function It carries out exclusive OR.
Condition Standard.
Lock condition None.
Variable Variable whose value is to be referred to, and
the calculated value is to be assigned to.
(GB, LB)
Syntax check Error if variable other than byte type
variable is specified
Data Value or variable (GB, LB) Variable should be
byte type.
Note: It carries out exclusive OR of each bit.
A B A XOR B
0 0 0
0 1 1
1 0 1
Example Store the result of exclusive OR of
LB001 and LB002 to LB001.
XOR LB001, LB002
1 1 0
16-11. Motion assist commands
16-11-1. GOHOME
Format
GOHOME [Interpolation type] [Position name] [Speed]
Function It returns the robot to the home
position.
Interpolation
type
An interpolation type to be applied when the
robot travels to the home position.
Condition Standard. Position name
Lock condition None.
A position variable name (P, GP or GA) to be
assigned as home position.
Syntax check None. Speed Travel speed to the home position.
Example GOHOME The same command in conventional models GOHOME V=
Note
The home position output is turned ON when the robot reaches the home position.
16-11-2. SMOOTH
Format
SMOOTH=[Parameter]
Function It sets smoothing level. Parameter Level [0 - 10]:
Condition Standard. Increase the level for larger smoothing size.
Lock condition None. *
Syntax check None.
This command is not reflected in trace
operation only auto.
Example Set smoothing level to 3.
SMOOTH 3
The same command in
conventional models
SMOOTH
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