In addition to commands like "MOVE A" which actually move the robot, there are many other
commands which do such things as send signals to other equipment (such as conveyors, parts
feeders, process computers, etc.) or direct the robot to do the same thing over and over again.
Table 1.1 presents a list of SCOL commands.
All SCOL commands can be roughly classified into one of six categories.
(1) Movement control commands
These commands move the robot. Commands which temporarily stop the robot, interrupt
movement, or restart the robot are also included in this category. Commands which actually move
the robot are called movement commands.
(2) Program control commands
Program control commands control the execution of the program by doing such things as executing
certain parts of the program in accordance with external signals or causing portions of the program
to be carried out repeatedly.
(3) I/O (Input/output) control commands
These commands are used to read in (input) or send out (output) signals to and from external
equipment, such as the teach pendant. Data input/output of hand open/close communication
channel are included in the I/O control command.
(4) Movement condition commands
These commands are used to specify the configuration and speed of various joints of the robot
while it is moving.
(5) Calculator commands
These commands are used to invoke (use) mathematical functions such as the trigonometric
functions (sin, cos, etc.) and the square root function.