Robot language – Yamaha SRCP User Manual
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8-
25
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-3 Positioning 2 points and sending job commands to a PLC at
each position
P1
P2
Position at which job 1 is complete
Position at which job 2 is complete
Point
DI1
DI2
Job 1 completion 1: Complete 0: Not complete
Job 2 completion 1: Complete 0: Not complete
General-purpose input
DO1
DO2
Job 1 command 1: Output
0: Canceled
Job 2 command 1: Output
0: Canceled
General-purpose output
P1
P2
Job 1
Job 2
Program
Comment
[NO0]
001: DO
1,
0
; Cancels job 1 command
002: DO
2,
0
; Cancels job 2 command
003: L
1
; Label definition
004: MOVA
1,
100
; Moves to P1
005: DO
1,
1
; Outputs job 1 command
006: WAIT
1,
1
; Waits until job 1 is complete
007: DO
1,
0
; Cancels job 1 command
008: MOVA
2,
100
; Moves to P2
009: DO
2,
1
; Outputs job 2 command
010: WAIT
2,
1
; Waits until job 2 is complete
011: DO
2,
0
; Cancels job 2 command
012: JMP
1,
0
; Returns to L1