3.13 Instruction Level Setting; Setting Contents; Instruction Set - YASKAWA Motoman UP6 Instructions Manual

3.13 Instruction Level Setting

3.13.1

Setting Contents

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Instruction Set

There are three instruction sets that can be used when registering the instructions for the
robot language (INFORM II): the subset instruction set, the standard instruction set, and the
expanded instruction set.
Subset Instruction Set
The instructions displayed in the instruction list are limited to just those that are most fre-
quently used, reducing the number of instructions that can be registered. Since few instruc-
tions are displayed, selection and input are simple.
Standard Instruction Set / Expanded Instruction Set
All the INFORM II instructions can be used. The number of additional items to be used in each
instruction differ in the standard instruction set and expansion instruction set.
In the standard instruction set, the following functions cannot be used. However, operation
becomes easier because the number of data items decreases when registering an instruction.
• Use of local variables and arrangement variables
• Use of variables for additional items (Example: MOVJ = 1000)
When instructions are executed, for example during playback, all the instructions can be exe-
cuted regardless of the instruction set used.
Expanded instruction set
Standard instruction set
All instructions
Use of local variables and arrangement variables
Use of variables for additional items
Job calls with arguments
Subset instruction set
Frequency used
instructions
3-75
3.13 Instruction Level Setting