Jmpp - Yamaha DRCX User Manual

8-4 Robot Language Description
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8-4-37 JMPP

Function:
Format:
Example:
Explanation:
Others:
Y
C
A
Origin
Jumps to a specified label when the axis position relation meets the speci-
fied conditions.
JMPP <label number>, <axis position condition>
JMPP 3,21
Jumps to label 3 if the X-axis coordinate is smaller than the point speci-
fied with the point variable P but the Y-axis coordinate is larger than it.
This command controls the program flow according to the specified po-
sition of the axis, by comparing it with the point specified with the point
variable P.
(1) Label number
The label number is a number defined by the "L" statement, and
indicates the destination to jump. Any number from 0 to 255 can be
specified. (See "8-4-7 L".)
(2) Axis position condition
The units represent the X-axis comparison condition, and the tens
represent the Y-axis comparison condition.
When set to 1, this establishes the condition that the robot should be
closer to the origin than the specified position. When set to 2, this
establishes the condition that the robot should be farther away from
the origin than the specified position.
In the case of "0", the conditions are met whether the robot is posi-
tioned on either side of the specified coordinate.
• When the axis is at the specified coordinate position, this views that
the condition is met.
Axis position
condition
D
Point specified with
point variable P
B
X
Robot position that meets the
condition
1 The robot is in area A or C.
2 The robot is in area B or D.
10 The robot is in area A or B.
20 The robot is in area C or D.
11 The robot is in area A.
12 The robot is in area B.
21 The robot is in area C.
22 The robot is in area D.