4-28 c, 4-29 c, 4-30 d – Yamaha SRCP User Manual
Page 120: 4-31 d, Robot language
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ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-28 C+
Function:
Adds a specified value to the counter array variable C.
Format:
C+ [<addition value>]
Example:
C+ 100
Adds 100 to the counter array variable C. (C
←C+100)
C+
Adds 1 to the counter array variable C. (C
←C+1)
Explanation:
This command adds a specified value to the counter array variable C
specified with the CSEL statement. The addition value can be set to any
value from 1 to 65535. If the addition value is omitted, then 1 is added to
the counter array variable C.
8-4-29 C-
Function:
Subtracts a specified value from the counter array variable C.
Format:
C- [<subtraction value>]
Example:
C- 100
Subtracts 100 from the counter array variable C. (C
←C-100)
C-
Subtracts 1 from the counter array variable C. (C
←C-1)
Explanation:
This command subtracts a specified value from the counter array vari-
able C specified with the CSEL statement. The subtraction value can be
set to any value from 1 to 65535. If the subtraction value is omitted, then
1 is subtracted from the counter array variable C.
8-4-30 D
Function:
Sets the counter variable D.
Format:
D <counter value>
Example:
D 200
Sets the counter variable D to 200.
Explanation:
The counter variable D can be set to any value by the user from 0 to
65535. This command can be used with a D+ or D– statement and a
JMPD statement for a repeating program, and also with a MOVM state-
ment for a palletizing program.
Others:
• The counter variable D is not initialized even if the program is reset or
the controller power is turned off. To initialize, rewrite the program.
• The counter variable D is a variable shared with all tasks.
For example, task 0 and task 1 use the counter variable D, the edited
contents of task 1 affect task 0.
8-4-31 D+
Function:
Adds a specified value to the counter variable D.
Format:
D+ [<addition value>]
Example:
D+ 100
Adds 100 to the counter variable D. (D
←D+100)
D+
Adds 1 to the counter variable D. (D
←D+1)
Explanation:
This command adds a specified value to the counter variable D. The
addition value can be set to any value from 1 to 65535. If the addition
value is omitted, then 1 is added to the counter variable D.