Yamaha SRCP - Manual (Page 100)

8-
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8
ROBOT LANGUAGE
8-1 Robot Language Table
8-1 Robot Language Table
MOVA
MOVI
MOVF
JMP
JMPF
JMPB
L
CALL
DO
WAIT
TIMR
P
P+
P-
SRVO
STOP
ORGN
TON
TOFF
JMPP
MAT
MSEL
MOVM
JMPC
JMPD
CSEL
C
C+
C-
D
D+
D-
SHFT
Moves to point data position.
MOVA <point number>, <maximum. speed>
Moves from current position by amount of point data.
MOVI <point number>, <maximum. speed>
Moves until specified DI input is received.
MOVF <point number>, <DI number>, <DI status>
Jumps to a specified label in a specified program.
JMP <label number>, <program number>
Jumps to a specified label in a specified program according to the input condition.
JMPF <label number>, <program number>, <input condition>
Jumps to a specified label when a general-purpose input or memory input is in the specified state.
JMPB <label number>, <DI or MI number>, <input status>
Defines the jump destination for a JMP or JMPF statement, etc.
L <label number>
Runs another program.
CALL <program number>, <number of times>
Turns general-purpose output or memory output on and off.
DO <DO or MO number>, <output status>
Waits until a general-purpose input or memory input is in the specified state.
WAIT <DI or MI number>, <input status>
Waits the specified amount of time before advancing to the next step.
TIMR <time>
Defines a point variable.
P <point number>
Adds 1 to a point variable.
P+
Subtracts 1 from a point variable.
P-
Turns a servo on and off.
SRVO <servo status>
Temporarily stops program execution.
STOP
Performs return-to-origin.
ORGN
Runs a specified task.
TON <task number>, <program number>, <start type>
Stops a specified task.
TOFF <task number>
Jumps to a specified label when the axis positional relation meets the specified conditions.
JMPP <label number>, <axis position condition>
Defines a matrix.
MAT <number of rows>, <number of columns>, <pallet number>
Specifies a matrix to move.
MSEL <pallet number>
Moves to a specified pallet work position on matrix.
MOVM <pallet work position>, <maximum speed>
Jumps to a specified label when counter array variable C equals to the specified value.
JMPC <label number>, <counter value>
Jumps to a specified label when counter variable D equals to the specified value.
JMPD <label number>, <counter value>
Specifies the array element of counter array variable C.
CSEL <array element number>
Defines counter array variable C.
C <counter value>
Adds a specified value to counter array variable C.
C+ [<addition value>]
Subtracts a specified value from counter array variable C.
C- [<subtraction value>]
Defines counter variable D.
D <counter value>
Adds a specified value to counter variable D.
D+ [<addition value>]
Subtracts a specified value from counter variable D.
D- [<subtraction value>]
Shifts the coordinate position by amount of specified point data.
SHFT <point number>
Instruction Description and Format
Values in brackets [ ] can be omitted.