MOVA ........................................................................................................................................................... 8-8

8-4-2

MOVI ............................................................................................................................................................ 8-8

8-4-3

MOVF ............................................................................................................................................................ 8-9

8-4-4

JMP ................................................................................................................................................................ 8-9

8-4-5

JMPF ............................................................................................................................................................ 8-10

8-4-6

JMPB ........................................................................................................................................................... 8-11

8-4-7

L .................................................................................................................................................................. 8-11

8-4-8

CALL ............................................................................................................................................................ 8-12

8-4-9

DO .............................................................................................................................................................. 8-12

8-4-10 WAIT ........................................................................................................................................................... 8-13

8-4-11 TIMR ........................................................................................................................................................... 8-13

8-4-12 P .................................................................................................................................................................. 8-14

8-4-13 P+ ................................................................................................................................................................ 8-14

8-4-14 P- ................................................................................................................................................................. 8-14

8-4-15 SRVO ........................................................................................................................................................... 8-15

8-4-16 STOP ........................................................................................................................................................... 8-15

8-4-17 MAT ............................................................................................................................................................. 8-16

8-4-18 MSEL ........................................................................................................................................................... 8-17

8-4-19 MOVM ........................................................................................................................................................ 8-18

8-4-20 JMPC ........................................................................................................................................................... 8-19

8-4-21 JMPD ........................................................................................................................................................... 8-19

8-4-22 CSEL ............................................................................................................................................................ 8-20

8-4-23 C .................................................................................................................................................................. 8-20

8-4-24 C+ ............................................................................................................................................................... 8-21

8-4-25 C- ................................................................................................................................................................ 8-21

8-4-26 D ................................................................................................................................................................. 8-21

8-4-27 D+ ............................................................................................................................................................... 8-22

8-4-28 D- ................................................................................................................................................................ 8-22

8-4-29 ORGN ......................................................................................................................................................... 8-23

8-4-30 ACHA .......................................................................................................................................................... 8-24

8-4-31 ACHI ........................................................................................................................................................... 8-25

8-4-32 DRVA .......................................................................................................................................................... 8-26

8-4-33 DRVI ........................................................................................................................................................... 8-27

8-4-34 SHFT ............................................................................................................................................................ 8-28

8-4-35 TON ............................................................................................................................................................ 8-29

8-4-36 TOFF ........................................................................................................................................................... 8-29

8-4-37 JMPP ............................................................................................................................................................ 8-30

8-4-38 MOVL .......................................................................................................................................................... 8-31

8-4-39 MOVC ......................................................................................................................................................... 8-32

8-5

Sample Programs .................................................................................................................8-33

8-5-1

Moving between two points ........................................................................................................................ 8-33

8-5-2

Moving at an equal pitch ............................................................................................................................. 8-33

8-5-3

Positioning 2 points and sending job commands to a PLC at each position ................................................. 8-34

8-5-4

Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece .............................. 8-35

8-5-5

Picking up workpieces flowing on the front conveyor and placing them sequentially on the five rear conveyors ... 8-36

8-5-6

Switching the program from I/O ................................................................................................................. 8-38

8-5-7

Palletizing for fixed point versus pallet ........................................................................................................ 8-40

8-5-8

Palletizing for pallet versus pallet ................................................................................................................ 8-41

8-5-9

Palletizing for pallet versus pallet, using a SHIFT statement ........................................................................ 8-42

8-5-10 Palletizing for special pallets ....................................................................................................................... 8-43

8-5-11 Changing the placement sequence for palletizing ....................................................................................... 8-44

8-5-12 Picking up workpieces from a 1×3 pallet conveyed by the conveyor and placing them on a 5×4 transfer pallet .. 8-45

8-5-13 Picking up 3 kinds of workpieces conveyed by the conveyor and placing them on the 3×3, 3×4, 4×4 transfer pallets while sorting .. 8-47

8-5-14 Picking up workpieces from a 6×4 pallet and placing them on two smaller 3×4 pallets. ............................. 8-49

8-5-15 Specifying a position on a pallet from I/O ................................................................................................... 8-51

8-5-16 Picking up a workpiece at P0 and placing it at P1 ....................................................................................... 8-52

8-5-17 Picking up workpieces at P0 and placing them sequentially at P1, P2, P3 and P4 ....................................... 8-52

8-5-18 Picking up workpieces at P0 and placing them sequentially on a 2×4 pallet ............................................... 8-53

8-5-19 Axis movement and I/O multi-task .............................................................................................................. 8-54

8-5-20 Multi-robot operation .................................................................................................................................. 8-55

8-5-21 Synchronization in multi-robot operation ................................................................................................... 8-56

8-5-22 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-57

8-5-23 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-58

8-5-24 Sealing ......................................................................................................................................................... 8-59

8-5-25 Limitless movement at same pitch ............................................................................................................... 8-60

8-5-26 Limitless rotation ......................................................................................................................................... 8-61

8-5-27 Picking up workpieces supplied from an index table and placing them on a conveyor ................................ 8-62

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