iii
8-4 Robot Language Description ..................................................................................................8-8
8-4-1 MOVA ........................................................................................................................................................... 8-8
8-4-2 MOVI ............................................................................................................................................................ 8-8
8-4-3 MOVF ............................................................................................................................................................ 8-9
8-4-4 JMP ................................................................................................................................................................ 8-9
8-4-5 JMPF ............................................................................................................................................................ 8-10
8-4-6 JMPB ........................................................................................................................................................... 8-11
8-4-7 L .................................................................................................................................................................. 8-11
8-4-8 CALL ............................................................................................................................................................ 8-12
8-4-9 DO .............................................................................................................................................................. 8-12
8-4-10 WAIT ........................................................................................................................................................... 8-13
8-4-11 TIMR ........................................................................................................................................................... 8-13
8-4-12 P .................................................................................................................................................................. 8-14
8-4-13 P+ ................................................................................................................................................................ 8-14
8-4-14 P- ................................................................................................................................................................. 8-14
8-4-15 SRVO ........................................................................................................................................................... 8-15
8-4-16 STOP ........................................................................................................................................................... 8-15
8-4-17 ORGN ......................................................................................................................................................... 8-16
8-4-18 TON ............................................................................................................................................................ 8-17
8-4-19 TOFF ........................................................................................................................................................... 8-17
8-4-20 JMPP ............................................................................................................................................................ 8-18
8-4-21 MAT ............................................................................................................................................................. 8-19
8-4-22 MSEL ........................................................................................................................................................... 8-20
8-4-23 MOVM ........................................................................................................................................................ 8-21
8-4-24 JMPC ........................................................................................................................................................... 8-22
8-4-25 JMPD ........................................................................................................................................................... 8-22
8-4-26 CSEL ............................................................................................................................................................ 8-23
8-4-27 C .................................................................................................................................................................. 8-23
8-4-28 C+ ............................................................................................................................................................... 8-24
8-4-29 C- ................................................................................................................................................................ 8-24
8-4-30 D ................................................................................................................................................................. 8-24
8-4-31 D+ ............................................................................................................................................................... 8-25
8-4-32 D- ................................................................................................................................................................ 8-25
8-4-33 SHFT ............................................................................................................................................................ 8-26
8-5 Sample Programs .................................................................................................................8-27
8-5-1 Moving between two points ........................................................................................................................ 8-27
8-5-2 Moving at an equal pitch ............................................................................................................................. 8-27
8-5-3 Positioning 2 points and sending job commands to a PLC at each position ................................................. 8-28
8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece .............................. 8-29
8-5-5
Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting .....
8-30
8-5-6 Switching the program from I/O ................................................................................................................. 8-32
8-5-7 Axis movement and I/O multi-task .............................................................................................................. 8-34
8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-35
8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-36
8-5-10 Limitless movement at same pitch ............................................................................................................... 8-37
8-5-11 Limitless rotation ......................................................................................................................................... 8-38
Chapter 9 OPERATING THE ROBOT .................................................................................... 9-1
9-1 Performing Return-to-Origin ..................................................................................................9-2
9-1-1 Return-to-origin by the search method .......................................................................................................... 9-2
9-1-2 Return-to-origin by the mark method ............................................................................................................ 9-4
9-2 Using Step Operation.............................................................................................................9-6
9-3 Using Automatic Operation ................................................................................................... 9-9
9-4 Switching the Execution Program......................................................................................... 9-11
9-5 Emergency Stop Function.....................................................................................................9-12
9-5-1 Initiating an emergency stop ....................................................................................................................... 9-12
9-5-2 Recovering from an emergency stop ............................................................................................................ 9-12
9-6 Displaying the Memory I/O Status .......................................................................................9-14
9-7 Displaying the Variables .......................................................................................................9-15
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