Yamaha SRCP - Manual (Page 130)

8-
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8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-8 Turning ON general-purpose outputs during robot
movement after a certain time has elapsed
Point
P0 Start position
P1 Target position
3 sec. 3 sec. 3 sec.
P0 P1
DO0=1 DO1=1 DO2=1
Program Comment
[NO0]
001: L
0 ; Label definition
002: MOVA 0, 100 ; Moves to P0 at speed 100
003: DO 0, 0 ; Turns DO0 off
004: DO 1, 0 ; Turns DO1 off
005: DO 2, 0 ; Turns DO2 off
006: TON 1, 1, 0 ; Starts program NO1 as task 1
007: MOVA 1, 10 ; Moves to P1 at speed 10
008: JMP 0, 0 ; Returns to L0
Program Comment
[NO1]
001: TIMR
300 ; Delays for 3 seconds
002: DO 0, 1 ; Turns DO0 on
003: TIMR 300 ; Delays for 3 seconds
004: DO 1, 1 ; Turns DO1 on
005: TIMR 300 ; Delays for 3 seconds
006: DO 2, 1 ; Turns DO2 on