Yamaha SRCP manual Robot Language Table, Jmpf

8

ROBOT LANGUAGE

8-1 Robot Language Table

8-1	Robot Language Table
Instruction	Description and Format
MOVA	Moves to point data position.
	MOVA <point number>, <maximum. speed>
MOVI	Moves from current position by amount of point data.
	MOVI <point number>, <maximum. speed>
MOVF	Moves until specified DI input is received.
	MOVF <point number>, <DI number>, <DI status>
JMP	Jumps to a specified label in a specified program.
	JMP <label number>, <program number>
JMPF	Jumps to a specified label in a specified program according to the input condition.
	JMPF <label number>, <program number>, <input condition>
JMPB	Jumps to a specified label when a general-purpose input or memory input is in the specified state.
	JMPB <label number>, <DI or MI number>, <input status>
L	Defines the jump destination for a JMP or JMPF statement, etc.
	L <label number>
CALL	Runs another program.
	CALL <program number>, <number of times>
DO	Turns general-purpose output or memory output on and off.
	DO <DO or MO number>, <output status>
WAIT	Waits until a general-purpose input or memory input is in the specified state.
	WAIT <DI or MI number>, <input status>
TIMR	Waits the specified amount of time before advancing to the next step.
	TIMR <time>
P	Defines a point variable.
	P <point number>
P+	Adds 1 to a point variable.
	P+
P-	Subtracts 1 from a point variable.
	P-
SRVO	Turns a servo on and off.
	SRVO <servo status>
STOP	Temporarily stops program execution.
	STOP
ORGN	Performs return-to-origin.
	ORGN
TON	Runs a specified task.
	TON <task number>, <program number>, <start type>
TOFF	Stops a specified task.
	TOFF <task number>
JMPP	Jumps to a specified label when the axis positional relation meets the specified conditions.
	JMPP <label number>, <axis position condition>
MAT	Defines a matrix.
	MAT <number of rows>, <number of columns>, <pallet number>
MSEL	Specifies a matrix to move.
	MSEL <pallet number>
MOVM	Moves to a specified pallet work position on matrix.
	MOVM <pallet work position>, <maximum speed>
JMPC	Jumps to a specified label when counter array variable C equals to the specified value.
	JMPC <label number>, <counter value>
JMPD	Jumps to a specified label when counter variable D equals to the specified value.
	JMPD <label number>, <counter value>
CSEL	Specifies the array element of counter array variable C.
	CSEL <array element number>
C	Defines counter array variable C.
	C <counter value>
C+	Adds a specified value to counter array variable C.
	C+ [<addition value>]
C-	Subtracts a specified value from counter array variable C.
	C- [<subtraction value>]
D	Defines counter variable D.
	D <counter value>
D+	Adds a specified value to counter variable D.
	D+ [<addition value>]
D-	Subtracts a specified value from counter variable D.
	D- [<subtraction value>]
SHFT	Shifts the coordinate position by amount of specified point data.
	SHFT <point number>

Values in brackets [ ] can be omitted.

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