Yamaha SRCP manual Turns DO0 off

8-5 Sample Programs

8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed

P0 P1

8

ROBOT LANGUAGE

	3 sec.			3 sec.		3 sec.
			DO0=1		DO1=1	DO2=1
	Point
	P0		Start position
	P1		Target position
Program						Comment
[NO0]
001: L		0				; Label definition
002: MOVA		0,		100		; Moves to P0 at speed 100
003: DO		0,		0		; Turns DO0 off
004: DO		1,		0		; Turns DO1 off
005: DO		2,		0		; Turns DO2 off
006: TON		1,		1,	0	; Starts program NO1 as task 1
007: MOVA		1,		10		; Moves to P1 at speed 10
008: JMP		0,		0		; Returns to L0
Program						Comment
[NO1]
001: TIMR		300				; Delays for 3 seconds
002: DO		0,		1		; Turns DO0 on
003: TIMR		300				; Delays for 3 seconds
004: DO		1,		1		; Turns DO1 on
005: TIMR		300				; Delays for 3 seconds
006: DO		2,		1		; Turns DO2 on

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