8-4
8-4-1
8-4-2
8-4-3
8-4-4
8-4-5
8-4-6
8-4-7
8-4-8
8-4-9
8-4-10 WAIT ........................................................................................................................................................... 8-11
8-4-11 TIMR ........................................................................................................................................................... 8-11
8-4-12 P .................................................................................................................................................................. 8-12
8-4-13 P+ ................................................................................................................................................................ 8-12
8-4-14 P- ................................................................................................................................................................. 8-12
8-4-15 SRVO ........................................................................................................................................................... 8-13
8-4-16 STOP ........................................................................................................................................................... 8-13
8-4-17 ORGN ......................................................................................................................................................... 8-14
8-4-18 TON ............................................................................................................................................................ 8-15
8-4-19 TOFF ........................................................................................................................................................... 8-15
8-4-20 JMPP ............................................................................................................................................................ 8-16
8-4-21 MAT ............................................................................................................................................................. 8-17
8-4-22 MSEL ........................................................................................................................................................... 8-18
8-4-23 MOVM ........................................................................................................................................................ 8-19
8-4-24 JMPC ........................................................................................................................................................... 8-20
8-4-25 JMPD ........................................................................................................................................................... 8-20
8-4-26 CSEL ............................................................................................................................................................ 8-21
8-4-27 C .................................................................................................................................................................. 8-21
8-4-28 C+ ............................................................................................................................................................... 8-22
8-4-29 C- ................................................................................................................................................................ 8-22
8-4-30 D ................................................................................................................................................................. 8-22
8-4-31 D+ ............................................................................................................................................................... 8-22
8-4-32 D- ................................................................................................................................................................ 8-23
8-4-33 SHFT ............................................................................................................................................................ 8-23
8-5
Sample Programs .................................................................................................................8-24
8-5-1
8-5-2
8-5-3
8-5-4
8-5-5
8-5-6
8-5-7
8-5-8
8-5-9
OPERATING THE ROBOT .................................................................................... 9-1
9-1
9-2
Using Step Operation ............................................................................................................. 9-4
9-3
Using Automatic Operation ................................................................................................... 9-7
9-4
9-5
Emergency Stop Function ..................................................................................................... 9-10
9-5-1
9-5-2
9-6
9-7
Displaying the Variables ....................................................................................................... 9-13
10-1 Initialization ........................................................................................................................10-2
10-2 DIO Monitor Display ...........................................................................................................10-4
10-4 SERVICE mode function ....................................................................................................... 10-6
10-5 System utilities ................................................................................................................... 10-13
MOVA ........................................................................................................................................................... 8-6
MOVI ............................................................................................................................................................ 8-6
MOVF ............................................................................................................................................................ 8-7
JMP ................................................................................................................................................................ 8-7
JMPF .............................................................................................................................................................. 8-8
JMPB ............................................................................................................................................................. 8-9
L .................................................................................................................................................................... 8-9
CALL ............................................................................................................................................................ 8-10
DO .............................................................................................................................................................. 8-10
Moving between two points ........................................................................................................................ 8-24
Moving at an equal pitch ............................................................................................................................. 8-24
Initiating an emergency stop ....................................................................................................................... 9-10
iii