Okura Yusoki A Series Manual page 4

ROBOT SEQUENCE
1. Sequence commands which are changed / improved partially
AMSPS: Check height + rotation (including AMSSC to be abolished)
HMOV: Format HMOV 1. HMOV D1000
WTAOC: (2)-Argues are possible (example) WTAOC X0 | X2
WTTMR: Format WTTMR 10, WTTMR D1000
WTMSP: Format WTMSP 10, WTMSP D1000
2. Newly developed commands
(1) CLOOP
Descriptions: Repeat it in the number of times which is defined in data memory.
Format: CLOOP Dn (Dn: repeating number of times)
Example: Repeat five times
D1000=5
CLOOP D1000
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ENDLP
(2) IFCNT
Descriptions: IF sentence for stacking counting
Format: IFCNT A & B (each value is from '1' - .
A: Either one of figure, EVN, or ODD.
B: Either one of figure, EVN, or ODD
Example: Execute only fifth product on even layer
IFCINT ENV & 5
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ENDIF
(3) IFRDT
Descriptions: Execute it if [Data 1] of step auxiliary data is equal to argue (or value of data
memory designated by the argue).
Format: IFRDT n or IFRDT Dn (Dn: data memory No.)
Example: Slow down speed to a half if [data 1] is '1'.
IFRDT 1
SPD 50
ENDIF
(4) SPSET
Descriptions: Change step parameters, auxiliary flag of only MOV command that is going to
be executed next.
Format: SPSET Dn
Dn: type (0: internal speed, 1:overlapping, 2: drop high)
Dn+1: at internal speed: speed to be set is 1 – 10.
Cleared at WTARM
D1000 is used for counting in the command (Automatically subtracted)
Execute D1000=0 to force to end it.
At overlapping; 3: FUL, 2:HLF 1:QRT 0:ZRO 4: SPC
At drop high; 0: don't , 1: do
(Drop high is effective only at step 7)
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