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4Software
Type
Class
Impact detection
Subroutine
Interrupt
Wait
Stop
End
Hand open
Hand close
Assignment
Input
Output
Mechanism designa -
tion
Selection
Start/stop
Definition
Clear
File
Comment
Label
List of commands
4-160
Set to enable/disable the impact detection.
Set the detection level of the impact detection.
Executes the designated subroutine. (Within program)
Returns from the subroutine.
Executes the designated program.
Defines the program argument executed with the CALLP command.
Executes the subroutine corresponding to the designated expression value.
Defines the interrupt conditions and process.
Enables/disables the interrupt.
Defines the start line of the program to be executed when an interrupt is
generated from the communication line.
Enables the interrupt from the communication line.
Disables the interrupt from the communication line.
Stops the interrupt from the communication line.
Designates the wait time, and the output signal pulse output time. (0.01s
unit)
Waits until the variable becomes the designated value.
Stops the program execution.
Generates an error. During program execution, continue, stop or servo OFF
can be designated.
Ends the program execution.
Opens the designated hand.
Closes the designated hand.
Defines the input/output variables.
Retrieves the general-purpose input signal.
Calls out the general-purpose output signal.
Acquires the mechanism with the designated mechanism No.
Releases the mechanism with the designated mechanism No.
Selects the designated program for the designated slot.
Carries out parallel execution of the designated program.
Stops parallel execution of the designated program.
Returns the designated program's execution line to the head and enters the
program selection enabled state.
Defines the integer type or real number type variable.
Defines the character string variable.
efines the layout variable. (Up to 3-dimensional possible)
Defines the joint variable.
Defines the position variable.
Defines the function.
Clears the general-purpose output signal, variables in program, variables
between programs, etc.
Opens a file.
Closes a file.
Inputs data from a file.
Outputs data to a file.
Describes a comment.
Indicates the branching destination.
Function
Input format (example)
COLCHK ON/OFF
COLLVL 100,80,,,,,,
GOSUB 200
RETURN
CALLP "P10",M1,P1
FPRM M10,P10
ON M1 GOSUB
100,200,300
DEF ACT 1, M1=1 GOTO
100
ACT 1=1
ON COM(1) GOSUB 100
COM(1) ON
COM(1) OFF
COM(1) STOP
DLY 0.5
WAIT M_IN(1)=1
HLT
ERROR 9000
END
HOPEN 1
HCLOSE 1
DEF IO PORT1=BIT,0
M1=M_IN (1)
M_OUT(1) =0
GETM 1
RELM 1
XLOAD 2,"P102"
XRUN 3,"100",0
XSTP 3
XRST 3
DEF INTE KAISUU
DEF CHAR MESSAGE
DIM PDATA(2,3)
DEF JNT TAIHI
DEF POS TORU
DEF FNTASU(A,B)=A+B
CLR １
OPEN "COM1:" AS #1
CLOSE #1
INPUT# 1,M1
PRINT# 1,M1
REM "ABC"
*SUB1
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