Yamaha SRCP manual When P1 is nearer to the plus side than P0

8-5 Sample Programs

8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position

P0	P1
P10	P11
DO0=1	DO0=0

Point

P0 Start position

P1 Target position

P10 Position at DO0=1

P11 Position at DO0=0

■When P1 is nearer to the plus side than P0:

Program				Comment
[NO0]
001: L	0			; Label definition
002: MOVA	0,	100		; Moves to P0 at speed 100
003: TON	1,	1,	0	; Starts program NO1 as task 1
004: MOVA	1,	10		; Moves to P1 at speed 10
005: JMP	0,	0		; Returns to L0

Program			Comment
[NO1]
001: DO	0,	0	; Turns DO0 off
002: P	10		; Sets the point variable to 10
003: L	0		; Label definition
004: JMPP	0,	1	; Jumps to L0 when the robot does not reach P10
005: DO	0,	1	; Turns DO0 on
006: P	11		; Sets the point variable to 11
007: L	1		; Label definition
008: JMPP	1,	1	; Jumps to L1 when the robot does not reach P11
009: DO	0,	0	; Turns DO0 off

8

ROBOT LANGUAGE

8-33