Robot language – Yamaha SRCP User Manual
Page 130
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8-
32
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-8 Turning ON general-purpose outputs during robot
movement after a certain time has elapsed
Point
P0 Start
position
P1 Target
position
3 sec.
3 sec.
3 sec.
P0
P1
DO0=1 DO1=1 DO2=1
Program
Comment
[NO0]
001: L
0
; Label definition
002: MOVA
0,
100
; Moves to P0 at speed 100
003: DO
0,
0
; Turns DO0 off
004: DO
1,
0
; Turns DO1 off
005: DO
2,
0
; Turns DO2 off
006: TON
1,
1,
0
; Starts program NO1 as task 1
007: MOVA
1,
10
; Moves to P1 at speed 10
008: JMP
0,
0
; Returns to L0
Program
Comment
[NO1]
001: TIMR
300
; Delays for 3 seconds
002: DO
0,
1
; Turns DO0 on
003: TIMR
300
; Delays for 3 seconds
004: DO
1,
1
; Turns DO1 on
005: TIMR
300
; Delays for 3 seconds
006: DO
2,
1
; Turns DO2 on
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