Yamaha SRCP Manuel d'utilisateur télécharger pdf (Page 129)

8-31

ROBOT LANGUAGE

8-5 Sample Programs

8-5-7 Axis movement and I/O multi-task

The robot moves between two points and performs multi-task I/O operation in asynchronous mode.

General-purpose input/output

DI0

Job status detection

DO0

Job owner's output

P0 P1

Program Comment

[NO0]

001: TON 1, 1, 0 ; Starts program NO1 as task 1

002: L 0 ; Label definition

003: MOVA 0, 100 ; Moves to P0 at speed 100

004: TIMR 100 ; Delays for one second

005: MOVA 1, 100 ; Moves to P1 at speed 100

006: TIMR 100 ; Delays for one second

007: JMP 0, 0 ; Returns to L0

Program Comment

[NO1]

001: L 0 ; Label definition

002: WAIT 0, 0 ; Waits until the job is finished

003: DO 0, 1 ; Issues the job start instruction

004: WAIT 0, 1 ; Confirms that the job has started

005: DO 0, 0 ; Turns off the job start signal

006: JMP 0, 1 ; Returns to L0

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Yamaha SRCP Manuel d'utilisateur Page 129