Yamaha ERCX Series User Manual page 150

8-5 Sample Programs
8
36
8-
8-5-9 Turning ON a general-purpose output during robot
movement when it has passed a specified position
P0
Point
P0
P1
P10
P11
■ When P1 is nearer to the plus side than P0:
Program
[NO0]
001: L 0
002: MOVA 0,
003: TON 1,
004: MOVA 1,
005: JMP 0,
Program
[NO1]
001: DO 0,
002: P 10
003: L 0
004: JMPP 0,
005: DO 0,
006: P 11
007: L 1
008: JMPP 1,
009: DO 0,
P10
DO0=1
Start position
Target position
Position at DO0=1
Position at DO0=0
Comment
; Label definition
100
; Moves to P0 at speed 100
1, 0 ; Starts program NO1 as task 1
10
; Moves to P1 at speed 10
0
; Returns to L0
Comment
0 ; Turns DO0 off
; Sets the point variable to 10
; Label definition
1
; Jumps to L0 when the robot does not reach P10
1
; Turns DO0 on
; Sets the point variable to 11
; Label definition
1
; Jumps to L1 when the robot does not reach P11
0
; Turns DO0 off
P1
P11
DO0=0