4-22 msel – Yamaha SRCP User Manual

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ROBOT LANGUAGE

8-4 Robot Language Description

8-4-22 MSEL

Function:

Specifies a matrix where the robot moves with a MOVM statement.

Format:

MSEL

Example:

MSEL 0
Points where the robot moves with a MOVM statement are calculated
based on matrix data of pallet number 0.

Explanation:

This command selects a matrix and is always used with a MOVM state-
ment as a pair.
(1) Pallet number

This number is used for matrix identification and can be set from 0
to 31.

Others:

• The pallet number assigned with the MSEL statement is independent

of each task. For example, when different pallet numbers are assigned
to task 0 and task 1, then task 0 and task 1 execute the MOVM state-
ment based on different pallet data.