IAI America XSEL-S - Manual (Page 130)

5. Program Creating
124
Program examples
x Main program
Step E N Cnd Cmnd Operand1 Operand2 Pst Comment
1 RAXS 0 10000
2 TAG 1
3
4 // Move via PTP to position No.0
5 LET 100 4 [1] RC axis number
6 LET 101 0 [1] Position number
7 LET 102 110 [1] Lower limit of target position
8 LET 103 111 [1] Upper limit of target position
9 LET 104 600 [1] Lower-limit error flag number
10 LET 105 601 [1] Upper-limit error flag number
11 EXSR 1 [2] Execute subroutine 1
12 RMVP *101
[3] Move to position No.0 via
RMVP command
13 EXSR 2 [4] Execute subroutine 2
14 600 [5] Error detection
15 O 601 GOTO 11 [5] End of program
16
17 // Move via PTP to position No.1
18 LET 100 4 [6] RC axis number
19 LET 101 1 [6] Position number
20 LET 102 110 [6] Lower limit of target position
21 LET 103 111 [6] Upper limit of target position
22 LET 104 602 [6] Lower-limit error flag number
23 LET 105 603 [6] Upper-limit error flag number
24 EXSR 1 [7] Execute subroutine 1
25 RMVP *101
[8] Move to position No.1 via
RMVP command
26 EXSR 2 [9] Execute subroutine 2
27 602 [10] Error detection
28 O 603 GOTO 11 [10] End of program
29
30 N 15 GOTO 1
31 TAG 11
32 EXIT
33