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Yamaha SRCD User Manual

Yamaha SRCD
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8-51
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-15
Specifying a position on a pallet from I/O
With this sample program the robot moves to a position on a 1×26 pallet. The position is specified
from I/O. (This program can be applied to more than 256 conditional jumps which are not possible
with the JMPF statement.)
Pallet work positions should be specified with general-purpose inputs DI8 to DI0. (in binary
digits)
DI8 to DI0 should be set before executing the program and retained until movement
starts.
Teaching each point of P251 to P254 should be completed beforehand in PNT (point) mode.
(Matrix is defined as pallet number 0 in this example.)
Program Comment
[NO0]
001: MAT 10, 26, 0 ; Defines 10×26 matrix as pallet number 0
002: C 0 ; Sets counter variable to 0
003: JMPB 1, 0, 0 ; Jumps to L1 when DI0=0
004: C+ 1 ; Adds 1 to counter variable
005: L 1 ; Label definition
006: JMPB 2, 1, 0 ; Jumps to L2 when DI1=0
007: C+ 2 ; Adds 2 to counter variable
008: L 2 ; Label definition
009: JMPB 3, 2, 0 ; Jumps to L3 when DI2=0
010: C+ 4 ; Adds 4 to counter variable
011: L 3 ; Label definition
012: JMPB 4, 3, 0 ; Jumps to L4 when DI3=0
013: C+ 8 ; Adds 8 to counter variable
014: L 4 ; Label definition
015: JMPB 5, 4, 0 ; Jumps to L5 when DI4=0
016: C+ 16 ; Adds 16 to counter variable
017: L 5 ; Label definition
018: JMPB 6, 5, 0 ; Jumps to L6 when DI5=0
019: C+ 32 ; Adds 32 to counter variable
020: L 6 ; Label definition
021: JMPB 7, 6, 0 ; Jumps to L7 when DI6=0
022: C+ 64 ; Adds 64 to counter variable
023: L 7 ; Label definition
024: JMPB 8, 7, 0 ; Jumps to L8 when DI7=0
025: C+ 128 ; Adds 128 to counter variable
026: L 8 ; Label definition
027: JMPB 9, 8, 0 ; Jumps to L9 when DI8=0
028: C+ 256 ; Adds 256 to counter variable
029: L 9 ; Label definition
030: MSEL 0 ; Specifies movement matrix
031: MOVM C, 100 ; Moves to pallet at speed 100
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Yamaha SRCD Specifications

General IconGeneral
BrandYamaha
ModelSRCD
CategoryController
LanguageEnglish

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