Yamaha SRCP manual Iii

8-4	Robot Language Description		8-6
	8-4-1	MOVA	8-6
	8-4-2	MOVI	8-6
	8-4-3	MOVF	8-7
	8-4-4	JMP	8-7
	8-4-5	JMPF	8-8
	8-4-6	JMPB	8-9
	8-4-7	L	8-9
	8-4-8	CALL	8-10
	8-4-9	DO	8-10
	8-4-10	WAIT	8-11
	8-4-11	TIMR	8-11
	8-4-12	P	8-12
	8-4-13	P+	8-12
	8-4-14	P-	8-12
	8-4-15	SRVO	8-13
	8-4-16	STOP	8-13
	8-4-17	ORGN	8-14
	8-4-18	TON	8-15
	8-4-19	TOFF	8-15
	8-4-20	JMPP	8-16
	8-4-21	MAT	8-17
	8-4-22	MSEL	8-18
	8-4-23	MOVM	8-19
	8-4-24	JMPC	8-20
	8-4-25	JMPD	8-20
	8-4-26	CSEL	8-21
	8-4-27	C	8-21
	8-4-28	C+	8-22
	8-4-29	C-	8-22
	8-4-30	D	8-22
	8-4-31	D+	8-22
	8-4-32	D-	8-23
	8-4-33	SHFT	8-23
8-5	Sample Programs		8-24
	8-5-1	Moving between two points	8-24
	8-5-2	Moving at an equal pitch	8-24
	8-5-3	Positioning 2 points and sending job commands to a PLC at each position	8-25
	8-5-4	Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece	8-26
	8-5-5	Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting ...	8-27
	8-5-6	Switching the program from I/O	8-29
	8-5-7	Axis movement and I/O multi-task	8-31
	8-5-8	Turning ON general-purpose outputs during robot movement after a certain time has elapsed	8-32
	8-5-9	Turning ON a general-purpose output during robot movement when it has passed a specified position	8-33

Chapter 9 OPERATING THE ROBOT		9-1
9-1	Performing Return-to-Origin	9-2
9-2	Using Step Operation	9-4
9-3	Using Automatic Operation	9-7
9-4 Switching the Execution Program		9-9
9-5	Emergency Stop Function	9-10
	9-5-1 Initiating an emergency stop	9-10
	9-5-2 Recovering from an emergency stop	9-10
9-6 Displaying the Memory I/O Status		9-12
9-7	Displaying the Variables	9-13

........................................................................................Chapter 10 OTHER OPERATIONS			10-1
10-1	Initialization		10-2
10-2 DIO Monitor Display			10-4
	10-2-1 Display from the monitor menu		10-4
	10-2-2 Display from the DIO key operation		10-5
10-3	System Information Display		10-5
10-4	SERVICE mode function		10-6
	10-4-1	Safety settings for SERVICE mode	10-7
	10-4-2	Enabling/disabling the SERVICE mode function	10-9
	10-4-3	Setting the SERVICE mode functions	10-11
10-5	System utilities		10-13
	10-5-1	Viewing hidden parameters	10-13

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