8-4 Robot Language Description

8

ROBOT LANGUAGE

8-4-8 CALL

Function:

Calls and executes another program.

Format:

CALL

<program number>, <number of times>

Example:

CALL

5, 2

 

Calls program 5 and executes it twice. Program execution then proceeds

 

to the next step.

Explanation:

When repeating the same operation a number of times, the CALL state-

 

ment is used as needed to call and execute the subroutine defined as a

 

separate program.

 

(1) Program number

 

 

The program number is a number used to identify the 100 individual

 

 

programs from 0 to 99.

 

(2) Number of times

 

 

This is the number of times that the program is to be repeated. This

 

 

can be specified from 1 to 255.

Other:

•

The nesting level is 6.

 

•

When the end of the program initiated by the CALL statement is de-

 

 

tected, program execution advances to the step following the CALL

 

 

statement in the main program.

 

•

An error occurs and program execution stops if the program being

 

 

executed is called by the CALL statement.

 

•

Even when the program number is changed by the CALL statement,

 

 

resetting it will return to the original program number when program

 

 

execution begins.

 

•

An error "stack overflow" might occur if a jump is made to another

 

 

program by the JMP or JMPF statement in a program called as a sub-

 

 

routine by the CALL statement.

8-4-9 DO

Function:

Controls ON/OFF of general-purpose output or memory output.

Format:

DO

<DO or MO number>, <output status>

Example:

DO

3, 1

 

Turns on DO3.

Explanation:

This command turns the general-purpose output or memory output on

 

and off.

 

(1) DO or MO number

 

Specify one of the general-purpose output numbers from 0 to 4 (5

 

points) or memory output numbers from 100 to 131 (32 points).

 

(2) Output status

 

"1" means "on" and "0" means "off".

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