8-5 Sample Programs

8-5-7 Axis movement and I/O multi-task

The robot moves between two points and performs multi-task I/O operation in asynchronous mode.

P0

 

P1

 

General-purpose input/output

 

 

DI0

Job status detection

 

 

DO0

Job owner's output

 

Program

 

 

 

 

Comment

[NO0]

 

 

 

 

 

001: TON

1,

1,

0

; Starts program NO1 as task 1

002: L

0

 

 

 

; Label definition

003: MOVA

0,

100

 

; Moves to P0 at speed 100

004: TIMR

100

 

 

; Delays for one second

005: MOVA

1,

100

 

; Moves to P1 at speed 100

006: TIMR

100

 

 

; Delays for one second

007: JMP

0,

0

 

; Returns to L0

Program

 

 

 

 

Comment

[NO1]

 

 

 

 

 

001: L

0

 

 

 

; Label definition

002: WAIT

0,

0

 

; Waits until the job is finished

003: DO

0,

1

 

; Issues the job start instruction

004: WAIT

0,

1

 

; Confirms that the job has started

005: DO

0,

0

 

; Turns off the job start signal

006: JMP

0,

1

 

; Returns to L0

8

ROBOT LANGUAGE

8-31

Page 129
Image 129
Yamaha SRCP manual Axis movement and I/O multi-task