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4 Software
Type
Position
Pallet
and oper-
ation con-
Singular point pas-
trol
sage
Branching
Collision detection
Subroutine
Interrupt
Wait
Stop
End
Hand
Hand open
Hand close
Input/out-
Assignment
put
Input
Output
Parallel
Mechanism desig-
execution
nation
Selection
Start/stop
4-92 List of commands
Class
Defines the pallet.
Operates the pallet grid point position.
Move to a specified position using linear interpolation passing
through a singular point.
Branches unconditionally to the designated place.
Branches according to the designated conditions.
Repeats until the designated end conditions are satisfied.
Repeats while the designated conditions are satisfied.
Branches corresponding to the designated expression value.
Executes program block corresponding to the designated
expression value.
Moves the program process to the next line.
Set to enable/disable the collision detection.
Set the detection level of the collision detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP com-
mand.
Executes the subroutine corresponding to the designated
expression value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an
interrupt is generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output
time. (0.01s unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or
servo OFF can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head
and enters the program selection enabled state.
Function
Input format (example)
Def Plt 1,P1,P2,P3,P4,5,3,1
Plt 1,M1
Mvs P1 Type 0,2
GoTo *LBL
If M1=1 Then GoTo *L100
Else GoTo *L200
EndIf
For M1=1 To 10
Next M1
While M1<10
WEnd
On M1 GoTo *La1, *Lb2,
*Lc3
Select
Case 1
Break
Case 2
Break
End Select
Skip
ColChk On/Off
ColLvl 100,80,,,,,,
GoSub *L200
Return
CallP "P10",M1,P1
FPrm M10,P10
On M1
GoSub*La1,*La2,*La3
Def Act 1, M1=1 GoTo *L123
Act 1=1
On Com(1) GoSub *LABC
Com(1) On
Com(1) Off
Com(1) Stop
Dly 0.5
Wait M_In(20)=1
Hlt
Error 9000
End
HOpen 1
HClose 1
Def IO PORT1=Bit,99
M1=M_In (78)
M_Out(23) =0
GetM 1
RelM 1
XLoad 2,"P102"
XRun 3,"100",0
XStp 3
XRst 3
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