Yamaha ERCX Series User Manual page 147

Single-axis robot controller
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Program
[NO0]
001: L
0
002: WAIT
8,
1
003: DO
0,
1
004: WAIT
8,
0
005: JMPF
1,
1,
006: JMPF
1,
2,
007: JMPF
1,
3,
008: JMPF
1,
4,
009: JMPF
1,
5,
010: JMPF
1,
6,
011: JMPF
1,
7,
012: JMPF
1,
8,
013: JMPF
1,
9,
014: JMPF
1,
10,
015: JMPF
1,
11,
016: JMPF
1,
12,
017: JMPF
1,
13,
018: JMPF
1,
14,
019: JMPF
1,
15,
020: JMPF
1,
16,
021: JMP
0,
0
[NO1]
001: L
1
002: DO
0,
0
- - - - -
JMP
0,
0
[NO2]
001: L
1
002: DO
0,
0
- - - - -
JMP
0,
0
:
:
[NO16]
001: L
1
002: DO
0,
0
- - - - -
JMP
0,
0
Comment
; Label definition
; Waits for confirmation ON of the selected program
; Program selection start turns on
; Waits for confirmation OFF of the selected program
; Jumps to L1 of NO1 when input is 0
0
; Jumps to L1 of NO2 when input is 1
1
; Jumps to L1 of NO3 when input is 2
2
; Jumps to L1 of NO4 when input is 3
3
; Jumps to L1 of NO5 when input is 4
4
; Jumps to L1 of NO6 when input is 5
5
; Jumps to L1 of NO7 when input is 6
6
; Jumps to L1 of NO8 when input is 7
7
; Jumps to L1 of NO9 when input is 8
8
; Jumps to L1 of NO10 when input is 9
9
; Jumps to L1 of NO11 when input is 10
10
; Jumps to L1 of NO12 when input is 11
11
; Jumps to L1 of NO13 when input is 12
12
; Jumps to L1 of NO14 when input is 13
13
; Jumps to L1 of NO15 when input is 14
14
; Jumps to L1 of NO16 when input is 15
15
; Returns to L0 of program NO0
; Label definition
; Program selection is complete (selection start OFF)
; Actual program operation
; Returns to L0 of program NO0
; Label definition
; Program selection is complete (selection start OFF)
; Actual program operation
; Returns to L0 of program NO0
Programs NO3–NO15 should be created in the same way
; Label definition
; Program selection is complete (selection start OFF)
; Actual program operation
; Returns to L0 of program NO0
8-5 Sample Programs
Handshaking
8
33
8-

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