Yamaha SRCP - Sample Programs; Moving between Two Points; Moving at an Equal Pitch

8-24
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5 Sample Programs
8-5-1 Moving between two points
P1 P2
Program Comment
[NO0]
001: L 0 ; Label definition
002: MOVA 1, 100 ; Moves to P1
003: MOVA 2, 100 ; Moves to P2
004: TIMR 100 ; Delays for one second
005: JMP 0, 0 : Returns to L0
8-5-2 Moving at an equal pitch
P0
50mm 50mm 50mm 50mm
50mm
P0
P1
Start position
Movement distance: 50mm
Point
Program Comment
[NO0]
001: L 0 ; Label definition
002: MOVA 0, 100 ; Moves to P0
003: MOVI 1, 100 ; Moves five times at a 50mm pitch
004: MOVI 1, 100 ; Moves five times at a 50mm pitch
005: MOVI 1, 100 ; Moves five times at a 50mm pitch
006: MOVI 1, 100 ; Moves five times at a 50mm pitch
007: MOVI 1, 100 ; Moves five times at a 50mm pitch
008: JMP 0, 0 ; Returns to L0