Axis Movement And I/O Multi-Task - Yamaha ERCX Series User Manual

8-5 Sample Programs
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8-5-7 Axis movement and I/O multi-task

The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
P0
General-purpose input/output
DI0
DO0
Program
[NO0]
001: TON 1,
002: L 0
003: MOVA 0,
004: TIMR 100
005: MOVA 1,
006: TIMR 100
007: JMP 0,
Program
[NO1]
001: L 0
002: WAIT 0,
003: DO 0,
004: WAIT 0,
005: DO 0,
006: JMP 0,
Job status detection
Job owner's output
Comment
1, 0
; Starts program NO1 as task 1
; Label definition
100 ; Moves to P0 at speed 100
; Delays for one second
100
; Moves to P1 at speed 100
; Delays for one second
0
; Returns to L0
Comment
; Label definition
0
; Waits until the job is finished
1
; Issues the job start instruction
1
; Confirms that the job has started
0 ; Turns off the job start signal
1
; Returns to L0
P1