5-7 axis movement and i/o multi-task, Robot language – Yamaha SRCP User Manual
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8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-7 Axis movement and I/O multi-task
The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
General-purpose input/output
DI0 Job status detection
DO0 Job owner's output
P0
P1
Program
Comment
[NO0]
001: TON
1,
1,
0
; Starts program NO1 as task 1
002: L
0
; Label definition
003: MOVA
0,
100
; Moves to P0 at speed 100
004: TIMR
100
; Delays for one second
005: MOVA
1,
100
; Moves to P1 at speed 100
006: TIMR
100
; Delays for one second
007: JMP
0,
0
; Returns to L0
Program
Comment
[NO1]
001: L
0
; Label definition
002: WAIT
0,
0
; Waits until the job is finished
003: DO
0,
1
; Issues the job start instruction
004: WAIT
0,
1
; Confirms that the job has started
005: DO
0,
0
; Turns off the job start signal
006: JMP
0,
1
; Returns to L0