Yamaha SRCP manual Msel

8-4 Robot Language Description

8-4-22 MSEL

Function:	Specifies a matrix where the robot moves with a MOVM statement.
Format:	MSEL	<pallet number>
Example:	MSEL	0
	Points where the robot moves with a MOVM statement are calculated
	based on matrix data of pallet number 0.
Explanation:	This command selects a matrix and is always used with a MOVM state-
	ment as a pair.
	(1) Pallet number
	This number is used for matrix identification and can be set from 0
	to 31.
Others:	• The pallet number assigned with the MSEL statement is independent
	of each task. For example, when different pallet numbers are assigned
	to task 0 and task 1, then task 0 and task 1 execute the MOVM state-
	ment based on different pallet data.

8

ROBOT LANGUAGE

8-18