Robot Language Table - Yamaha DRCX User Manual

8-1 Robot Language Table

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8-1 Robot Language Table
Instruction
Moves to point data position.
MOVA
MOVA <point number>, <maximum. speed>
Moves from current position by amount of point data.
MOVI
MOVI <point number>, <maximum. speed>
Moves until specified DI input is received.
MOVF
MOVF <point number>, <DI number>, <DI status>
Jumps to a specified label in a specified program.
JMP
JMP <label number>, <program number>
Jumps to a specified label in a specified program according to the input condition.
JMPF
JMPF <label number>, <program number>, <input condition>
Jumps to a specified label when general-purpose input or memory input is in the specified state.
JMPB
JMPB <label number>, <DI or MI number>, <input status>
Defines the jump destination for a JMP or JMPF statement, etc.
L
L <label number>
Runs another program.
CALL
CALL <program number>, <number of times>
Turns general-purpose output or memory output on and off.
DO
DO <DO or MO number>, <output status>
Waits until a general-purpose input or memory input is set in the specified state.
WAIT
WAIT <DI or MI number>, <input status>
Waits the specified amount of time before advancing to the next step.
TIMR
TIMR <time>
Defines a point variable.
P
P <point number>
Adds 1 to a point variable.
P+
P+
Subtracts 1 from a point variable.
P-
P-
Turns the servo on or off for all axes or a specified axis.
SRVO
SRVO <servo status> [,<axis>]
Temporarily stops program execution.
STOP
STOP
Defines a matrix.
MAT
MAT <number of rows>, <number of columns>, <pallet number>
Specifies a matrix to move.
MSEL
MSEL <pallet number>
Moves to a specified pallet work position on matrix.
MOVM
MOVM <pallet work position>, <maximum speed>
Jumps to a specified label when counter array variable C equals the specified value.
JMPC
JMPC <label number>, <counter value>
Jumps to a specified label when counter variable D equals the specified value.
JMPD
JMPD <label number>, <counter value>
Specifies the array element of counter array variable C.
CSEL
CSEL <array element number>
Defines counter array variable C.
C
C <counter value>
Adds a specified value to counter array variable C.
C+
C+ [<addition value>]
Subtracts a specified value from counter array variable C.
C-
C- [<subtraction value>]
Defines counter variable D.
D
D <counter value>
Adds a specified value to counter variable D.
D+
D+ [<addition value>]
Subtracts a specified value from counter variable D.
D-
D- [<subtraction value>]
Executes return-to-origin on all axes or a specified axis.
ORGN
ORGN [<axis>]
Defines an arch motion by setting a position.
ACHA
ACHA <axis>, <position>
Defines an arch motion by setting a distance.
ACHI
ACHI <axis>, <distance>
Moves a specified axis to a specified point data position.
DRVA
DRVA <axis>, <point number>, <max. speed>
Moves a specified axis a distance equal to specified point data from current position.
DRVI
DRVI <axis>, <point number>, <maximum speed>
Shifts the coordinate position by amount of specified point data.
SHFT
SHFT <point number>
Runs a specified task.
TON
TON <task number>, <program number>, <start type>
Stops a specified task.
TOFF
TOFF <task number>
Jumps to a specified label when the axis positional relation meets the specified conditions.
JMPP
JMPP <label number>, <axis position condition>
Executes linear interpolation motion.
MOVL
MOVL <point number>, <maximum speed>
Executes circular interpolation motion.
MOVC
MOVC <point number>, <maximum speed>, <locus type>
Values in brackets [ ] can be omitted.
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