Msel - Yamaha SRCP30 User Manual

8-4 Robot Language Description
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8-4-22 MSEL

Function:
Format:
Example:
Explanation:
Others:
Specifies a matrix where the robot moves with a MOVM statement.
MSEL <pallet number>
MSEL 0
Points where the robot moves with a MOVM statement are calculated
based on matrix data of pallet number 0.
This command selects a matrix and is always used with a MOVM state-
ment as a pair.
(1) Pallet number
This number is used for matrix identification and can be set from 0
to 31.
• The pallet number assigned with the MSEL statement is independent
of each task. For example, when different pallet numbers are assigned
to task 0 and task 1, then task 0 and task 1 execute the MOVM state-
ment based on different pallet data.