Robot language – Yamaha SRCP User Manual
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8
ROBOT LANGUAGE
8-5 Sample Programs
Program
Comment
[NO1]
<<Main routine>>
001: L
1
; Label definition
002: JMPB
2,
2,
1
; Jumps to L2 when workpiece A is detected
003: JMPB
3,
3,
1
; Jumps to L3 when workpiece B is detected
004: JMPB
4,
4,
1
; Jumps to L4 when workpiece C is detected
005: JMP
1,
1
; Returns to L1
006: L
2
; Label definition
007: P
1
; Sets the point variable to 1
008: JMP
5,
1
; Jumps to L5
009: L
3
; Label definition
010: P
2
; Sets the point variable to 2
011: JMP
5,
1
; Jumps to L5
012: L
4
; Label definition
013: P
3
; Sets the point variable to 3
014: L
5
; Label definition
015: CALL
2,
1
; Executes a [PICK] subroutine
016: CALL
3,
1
; Executes a [PLACE] subroutine
017: JMP
1,
1
; Returns to L1
[NO2]
<<Picking up a workpiece>>
001: MOVA
0,
100
; Moves to the workpiece feed position
002: DO
0,
1
; Air cylinder moves down
003: WAIT
1,
1
; Waits until the air cylinder moves down
004: DO
1,
1
; Chuck closes
005: TIMR
100
; Delays for one second
006: DO
0,
0
; Air cylinder moves up
007: WAIT
0,
1
; Waits until the air cylinder moves up
[NO3]
<<Placing a workpiece>>
001: MOVA
P,
100
; Moves to the workpiece mount position
002: DO
0,
1
; Air cylinder moves down
003: WAIT
1,
1
; Waits until the air cylinder moves down
004: DO
1,
0
; Chuck opens
005: TIMR
100
; Delays for one second
006: DO
0,
0
; Air cylinder moves up
007: WAIT
0,
1
; Waits until the air cylinder moves up