Yamaha SRCP manual Jmpf

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ROBOT LANGUAGE

8-4 Robot Language Description

8-4-5 JMPF

Function:	If the conditional jump input matches the setting value, program execu-
	tion jumps to a specified label in a specified program.
Format:	JMPF	<label number>, <program number>, <input condition value>
Example:	JMPF	12, 3, 5
	If the conditional jump input is 5, program execution jumps to label 12
	in program 3. If the jump input is not 5, program execution advances to
	the next step.
Explanation:	This command is used to control the flow of program execution accord-
	ing to the conditional jump input.
	(1) Label number
	The label number is a number defined by the "L" statement, and
	indicates the destination to jump. Any number from 0 to 255 can be
	specified. (See "8-4-7 L".)

(2)Program number

The program number is a number used to identify the 100 individual programs from 0 to 99.

(3)Input condition value

This is the condition used to make a jump. A general-purpose input is viewed as binary code input, and if it meets this input condition value, a jump is executed.

The number of points that can be branched under the input condition depends on the number of conditional input points which is set with PRM8. (See "PRM8: No. of conditional input points".)

c CAUTION

Select a number of conditional input points that is large enough to accommodate the actual number of input conditions to be used. If an error is made in setting the number of conditional input points, there will be a discrepancy between the input condition value required by the program and that recognized by the controller. This could keep the program from operating properly.

General-purpose input status and input condition value when the number of conditional input points is 4 (input range 0 to 15)

	General use DI Input
DI3	DI2	DI1	DI0	Input Condition Value
(23)	(22)	(21)	(20)
OFF	OFF	OFF	OFF	0
OFF	OFF	OFF	ON	1
OFF	OFF	ON	OFF	2
OFF	OFF	ON	ON	3
OFF	ON	OFF	OFF	4
OFF	ON	OFF	ON	5
OFF	ON	ON	OFF	6
OFF	ON	ON	ON	7
ON	OFF	OFF	OFF	8
ON	OFF	OFF	ON	9
ON	OFF	ON	OFF	10
ON	OFF	ON	ON	11
ON	ON	OFF	OFF	12
ON	ON	OFF	ON	13
ON	ON	ON	OFF	14
ON	ON	ON	ON	15

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