Yamaha SRCP - Manual (Page 105)

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8
ROBOT LANGUAGE
8-4 Robot Language Description
8-4-3 MOVF
Function: Moves until a specified DI number input is received.
Format: MOVF
Example: MOVF 1, 2, 1
The robot moves toward P1 and stops when DI2 turns on. Program ex-
ecution then proceeds to the next step.
Explanation: This is used when searching for a target position using sensors or other
devices.
The robot starts moving when all axes enter the positioning-completed
pulse range, and stops when the DI conditions are met. Even if the DI
conditions are not met, this command terminates when the robot reaches
the specified point and proceeds to the next step.
(1) Point number
The point number is a number designated to each point from 0 to
999, a total of 1000 points, and used to create point date in PNT
(point) mode. When a character "P" is entered here for special use, a
point variable defined by the "P" statement is set as the point number.
(See "8-4-12 P".)
(2) DI number
Specify one of the eight (0 to 7) general-purpose inputs.
(3) DI status
"1" means "on" and "0" means "off".
Other: • The robot speed during execution of the MOVF movement can be
specified by PRM9. (Refer to "PRM9: MOVF speed") Note that this
will not be affected by the OPRT mode execution speed.
8-4-4 JMP
Function: Jumps to a specified step in a specified program.
Format: JMP ,
Example: JMP 10, 8
Jumps to label 10 in program 8.
Explanation: This command is used to control the flow of program execution.
(1) Label number
The label number is a number defined by the "L" statement, and
indicates the destination to jump. Any number from 0 to 255 can be
specified. (See "8-4-7 L".)
(2) Program number
The program number is a number used to identify the 100 individual
programs from 0 to 99.
Other: • Even when the program number is changed by the JMP statement,
resetting it will return to the original program number when program
execution begins.