Yamaha ERCX Series - Limitless Rotation

8-38
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-11 Limitless rotation
The robot moves continuously in the same direction for index table applications.
P1
P2
P3
P0
M
■ Make the following setting in advance to enable the limitless movement function.
• Set the position data unit parameter (PRM21) to 3.
■ Teach each point of P0 to P3 in advance in PNT(point) mode.
Program Comment
[NO0]
001: L 0 ; Label definition
002: MOVA 0, 100 ; Moves to P0 at speed 100
003: MOVA 1, 100 ; Moves to P1 at speed 100
004: MOVA 2, 100 ; Moves to P2 at speed 100
005: MOVA 3, 100 ; Moves to P3 at speed 100
006: JMP 0, 0 ; Jumps to L0