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 MAT ............................................................................................................................................................. 8-16
8-4-18 MSEL ........................................................................................................................................................... 8-17
8-4-19 MOVM ........................................................................................................................................................ 8-18
8-4-20 JMPC ........................................................................................................................................................... 8-19
8-4-21 JMPD ........................................................................................................................................................... 8-19
8-4-22 CSEL ............................................................................................................................................................ 8-20
8-4-23 C .................................................................................................................................................................. 8-20
8-4-24 C+ ............................................................................................................................................................... 8-21
8-4-25 C- ................................................................................................................................................................ 8-21
8-4-26 D ................................................................................................................................................................. 8-21
8-4-27 D+ ............................................................................................................................................................... 8-22
8-4-28 D- ................................................................................................................................................................ 8-22
8-4-29 ORGN ......................................................................................................................................................... 8-23
8-4-30 ACHA .......................................................................................................................................................... 8-24
8-4-31 ACHI ........................................................................................................................................................... 8-25
8-4-32 DRVA .......................................................................................................................................................... 8-26
8-4-33 DRVI ........................................................................................................................................................... 8-27
8-4-34 SHFT ............................................................................................................................................................ 8-28
8-4-35 TON ............................................................................................................................................................ 8-29
8-4-36 TOFF ........................................................................................................................................................... 8-29
8-4-37 JMPP ............................................................................................................................................................ 8-30
8-4-38 MOVL .......................................................................................................................................................... 8-31
8-4-39 MOVC ......................................................................................................................................................... 8-32
8-5 Sample Programs .................................................................................................................8-33
8-5-1 Moving between two points ........................................................................................................................ 8-33
8-5-2 Moving at an equal pitch ............................................................................................................................. 8-33
8-5-3 Positioning 2 points and sending job commands to a PLC at each position ................................................. 8-34
8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece .............................. 8-35
8-5-5
Picking up workpieces flowing on the front conveyor and placing them sequentially on the five rear conveyors ...
8-36
8-5-6 Switching the program from I/O ................................................................................................................. 8-38
8-5-7 Palletizing for fixed point versus pallet ........................................................................................................ 8-40
8-5-8 Palletizing for pallet versus pallet ................................................................................................................ 8-41
8-5-9 Palletizing for pallet versus pallet, using a SHIFT statement ........................................................................ 8-42
8-5-10 Palletizing for special pallets ....................................................................................................................... 8-43
8-5-11 Changing the placement sequence for palletizing ....................................................................................... 8-44
8-5-12
Picking up workpieces from a 1×3 pallet conveyed by the conveyor and placing them on a 5×4 transfer pallet ..
8-45
8-5-13
Picking up 3 kinds of workpieces conveyed by the conveyor and placing them on the 3×3, 3×4, 4×4 transfer pallets while sorting ..
8-47
8-5-14 Picking up workpieces from a 6×4 pallet and placing them on two smaller 3×4 pallets. ............................. 8-49
8-5-15 Specifying a position on a pallet from I/O ................................................................................................... 8-51
8-5-16 Picking up a workpiece at P0 and placing it at P1 ....................................................................................... 8-52
8-5-17 Picking up workpieces at P0 and placing them sequentially at P1, P2, P3 and P4 ....................................... 8-52
8-5-18 Picking up workpieces at P0 and placing them sequentially on a 2×4 pallet ............................................... 8-53
8-5-19 Axis movement and I/O multi-task .............................................................................................................. 8-54
8-5-20 Multi-robot operation .................................................................................................................................. 8-55
8-5-21 Synchronization in multi-robot operation ................................................................................................... 8-56
8-5-22 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-57
8-5-23 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-58
8-5-24 Sealing ......................................................................................................................................................... 8-59
8-5-25 Limitless movement at same pitch ............................................................................................................... 8-60
8-5-26 Limitless rotation ......................................................................................................................................... 8-61
8-5-27 Picking up workpieces supplied from an index table and placing them on a conveyor ................................ 8-62
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