Omron SCARA YRCX Series Manuals

Manuals and User Guides for Omron SCARA YRCX Series. We have 2 Omron SCARA YRCX Series manuals available for free PDF download: Programming Manual, User Manual

Omron SCARA YRCX Series Programming Manual

Omron SCARA YRCX Series Programming Manual (506 pages)

Robot controller

Brand: Omron | Category: Controller | Size: 2.41 MB

Table of Contents

Table of Contents

5
- Safety Precautions
  4
  - Table of Contents
    5
- Chapter 1 Writing Programs
  
  21
  - Characters
    21
  - Program Basics
    21
  - The OMRON Robot Language
    21
  - Program Names
    22
  - Identifiers
    24
  - LABEL Statement
    24
  - Command Statement Format
    25
  - Comment
    25
- Chapter 2 Constants
  
  27
  - Numeric Constants
    29
    
    Integer Constants
    29
    
    Real Constants
    29
  - Outline
    29
  - Character Constants
    30
- Chapter 3 Variables
  
  34
  - User Variables & System Variables
    34
    
    System Variables
    34
    
    User Variables
    34
  - Variable Names
    35
    
    Dynamic Variable Names
    35
    
    Static Variable Names
    35
  - Variable Types
    36
    
    Character Variables
    36
    
    Numeric Variables
    36
  - Array Variables
    37
  - Value Assignments
    37
  - Type Conversions
    38
  - Value Pass-Along & Reference Pass-Along
    38
  - System Variables
    39
    
    Point Variable
    39
    
    Parallel Input Variable
    40
    
    Shift Variable
    40
    
    Parallel Output Variable
    41
    
    Internal Output Variable
    42
    
    Arm Lock Output Variable
    43
    
    Timer Output Variable
    44
    
    Serial Input Variable
    45
    
    Serial Output Variable
    46
    
    Serial Double Word Input
    47
    
    Serial Word Input
    47
    
    Serial Double Word Output
    48
    
    Serial Word Output
    48
  - Bit Settings
    49
  - Valid Range of Variables
    50
    
    Valid Range of Dynamic (Array) Variables
    50
    
    Valid Range of Static Variables
    50
  - Clearing Variables
    51
    
    Clearing Dynamic Variables
    51
    
    Clearing Static Variables
    51
  - Arithmetic Operations
    55
    
    Arithmetic Operators
    55
    
    Relational Operators
    55
    
    Logic Operations
    56
    
    Data Format Conversion
    57
    
    Priority of Arithmetic Operation
    57
  - Character String Operations
    58
    
    Character String Comparison
    58
    
    Character String Connection
    58
  - Point Data Format
    59
  - DI/DO Conditional Expressions
    60
- Chapter 5 Multiple Robot Control
  
  61
  - Overview
    63
  - Command List with a Robot Setting
    64
- Chapter 6 Multi-Tasking
  
  67
  - Outline
    67
  - Task Definition Method
    67
  - Task Status and Transition
    68
    
    Starting Tasks
    68
    
    Task Scheduling
    69
    
    Condition Wait in Task
    70
    
    Restarting Tasks (RESTART)
    71
    
    Suspending Tasks (SUSPEND)
    71
    
    Deleting Tasks
    72
    
    Stopping Tasks
    73
  - Multi-Task Program Example
    74
  - Sharing the Data
    74
  - Cautionary Items
    75
- Chapter 7 Sequence Fnction
  
  77
  - Sequence Function
    77
  - Creating a Sequence Program
    79
    
    Programming Method
    79
    
    Compiling
    81
  - Executing a Sequence Program
    82
    
    Sequence Program STEP Execution
    82
  - Programming a Sequence Program
    83
    
    4.2.1 Input Variables
    83
    
    Assignment Statements
    83
    
    Input/Output Variables
    83
    
    4.2.2 Output Variables
    84
    
    Logical Operators
    85
    
    Timer Definition Statement
    85
    
    Priority of Logic Operations
    86
    
    Sequence Program Specifications
    86
Robot Language Lists

87
- Chapter 8 Robot Language Lists
  
  93
  - How to Read the Robot Language Table
    93
  - Command List in Alphabetic Order
    94
  - Operation-Specific
    99
  - Functions: in Alphabetic Order
    105
  - Functions: Operation-Specific
    108
  - Functions: Operation-Specific
    108
  - Abs
    110
    
    1 Abs
    110
  - Absrpos
    111
  - Accel
    112
    
    3 Accel
    112
  - Archp1 / Archp2
    113
  - 4 Archp1 / Archp2
    114
  - Armcnd
    115
  - Armsel
    116
    
    6 Armsel
    116
  - Armtyp
    117
  - Aspeed
    118
    
    8 Aspeed
    118
  - Atn / Atn2
    119
  - Axwght
    120
    
    10 Axwght
    120
  - Call
    121
  - Change
    122
    
    12 Change
    122
  - Chgpri
    123
  - Chr
    124
    
    14 Chr
    124
  - Close
    125
  - Cos
    126
    
    16 Cos
    126
  - Curtqst
    127
  - Curtrq
    128
    
    18 Curtrq
    128
  - Cut
    129
  - Date
    130
    
    20 Date
    130
  - Decel
    131
  - Def Fn
    132
    
    22 Def Fn
    132
  - Degrad
    133
  - Delay
    134
    
    24 Delay
    134
  - DIM
    136
    
    26 DIM
    136
  - Dist
    137
  - Drive
    140
    
    29 Drive
    140
  - Drivei
    144
    
    30 Drivei
    144
  - End Select
    149
  - End Sub
    150
    
    32 End Sub
    150
  - Err / Erl
    151
  - Ethsts
    152
    
    34 Ethsts
    152
  - Exit for 36 Exit Sub
    153
  - Exit Task
    155
  - FOR to NEXT
    156
    
    38 FOR to NEXT
    156
  - Gepsts
    157
  - GOSUB to RETURN
    158
    
    40 GOSUB to RETURN
    158
  - Goto
    159
  - Halt
    160
    
    42 Halt
    160
  - Haltall
    161
  - Hand
    162
    
    44 Hand
    162
    
    For SCARA Robots
    162
  - Hold
    165
  - Holdall
    166
    
    46 Holdall
    166
    
    Simple if Statement
    167
    
    Block if Statement
    168
  - Input
    169
  - 48 Input
    170
  - Int
    171
  - Jtoxy
    172
    
    50 Jtoxy
    172
  - Left
    173
  - Lefty
    174
    
    52 Lefty
    174
  - Len
    175
  - Let
    176
    
    54 Let
    176
  - Locx
    181
  - 56 Locx
    182
  - Lshift
    183
  - Mchref
    184
    
    58 Mchref
    184
  - MID
    185
  - Motor
    188
    
    61 Motor
    188
  - Move
    189
  - 62 Move
    190
  - 63 Movei
    204
  - Movei
    206
  - Performs Relative Movement of All Robot Axes in Tool Coordinates
    214
    
    64 Movet
    214
  - Acquires the Motor Load Factor of the Specified Axis
    224
    
    65 Mtrduty
    224
  - Sets a Specified Communication Port to the "Offline" Mode
    225
    
    Offline
    225
  - Jumps to a Specified Label When an Error Occurs
    226
    
    67 On Error Goto
    226
  - Executes the Subroutine Specified by the <Expression> Value
    227
    
    ON to GOSUB
    227
  - Jumps to the Label Specified by the <Expression> Value
    228
    
    ON to GOTO
    228
  - Sets the Specified Communication Port to the "Online" Mode
    229
    
    Online
    229
  - Opens the Specified General Ethernet Port
    230
    
    Open
    230
  - Acquires a Character Code
    231
    
    Ord
    231
  - Specifies/Acquires the Robot's Return-To-Origin Sequence
    232
    
    Orgord
    232
  - Performs Return-To-Origin
    233
    
    Origin
    233
  - Turns on the Specified Port Output
    234
    
    Out
    234
  - Specifies/Acquires the out Enable Position Parameter of the Robot
    235
    
    Outpos
    235
  - Specifies the Motion Path
    237
    
    Path
    237
  - Ends the Path Setting
    243
    
    Path End
    243
  - Starts the Path Setting
    244
    
    Path Set
    244
  - Starts the PATH Motion
    247
    
    Path Start
    247
  - Defines the Pallet
    251
    
    Pdef
    251
  - Acquires the Task Number in Which a Specified Program Is Registered
    252
    
    Pgmtsk
    252
  - Pgn
    253
    
    Pmove
    254

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Omron SCARA YRCX Series User Manual

Omron SCARA YRCX Series User Manual (66 pages)

Brand: Omron | Category: GPS | Size: 1.27 MB

Table of Contents

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