Yamaha SRCP - Manual (Page 100)

8-
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8
ROBOT LANGUAGE
8-1 Robot Language Table
8-1 Robot Language Table
MOVA
MOVI
MOVF
JMP
JMPF
JMPB
L
CALL
DO
WAIT
TIMR
P
P+
P-
SRVO
STOP
ORGN
TON
TOFF
JMPP
MAT
MSEL
MOVM
JMPC
JMPD
CSEL
C
C+
C-
D
D+
D-
SHFT
Moves to point data position.
MOVA ,
Moves from current position by amount of point data.
MOVI ,
Moves until specified DI input is received.
MOVF , ,
Jumps to a specified label in a specified program.
JMP ,
Jumps to a specified label in a specified program according to the input condition.
JMPF , ,
Jumps to a specified label when a general-purpose input or memory input is in the specified state.
JMPB , ,
Defines the jump destination for a JMP or JMPF statement, etc.
L
Runs another program.
CALL ,
Turns general-purpose output or memory output on and off.
DO ,
Waits until a general-purpose input or memory input is in the specified state.
WAIT ,
Waits the specified amount of time before advancing to the next step.
TIMR
Defines a point variable.
P
Adds 1 to a point variable.
P+
Subtracts 1 from a point variable.
P-
Turns a servo on and off.
SRVO
Temporarily stops program execution.
STOP
Performs return-to-origin.
ORGN
Runs a specified task.
TON , ,
Stops a specified task.
TOFF
Jumps to a specified label when the axis positional relation meets the specified conditions.
JMPP ,
Defines a matrix.
MAT , ,
Specifies a matrix to move.
MSEL
Moves to a specified pallet work position on matrix.
MOVM ,
Jumps to a specified label when counter array variable C equals to the specified value.
JMPC ,
Jumps to a specified label when counter variable D equals to the specified value.
JMPD ,
Specifies the array element of counter array variable C.
CSEL
Defines counter array variable C.
C
Adds a specified value to counter array variable C.
C+ []
Subtracts a specified value from counter array variable C.
C- []
Defines counter variable D.
D
Adds a specified value to counter variable D.
D+ []
Subtracts a specified value from counter variable D.
D- []
Shifts the coordinate position by amount of specified point data.
SHFT
Instruction Description and Format
Values in brackets [ ] can be omitted.