GS GS602-A, Manual, Page: 34 / 38

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GS Automatic Arm Manual
G06 G07 G08
Instr Function Instruct Function Instructi Function
T=XX Delay XX milliseconds. VE=XX Velocity XX pulse per XXXX:
Subprogram Name
I=PA.
1
waiting A port is high level.
1 is high and 0 is low.
AC=XX
Accel
de
ration is XX pulse
squared per second
ACALL
XXXX
END
O=PA
.0
A port output high level.
1 is high and 0 is low.
DE=XX
Deprivation speed XX
pulse squared per second
END
Call End
I=STA
O
Hold STA button low
VPP= XX
Maximum speed XX pulse
per second
AJMP
XXXX
Jump to XXXX run
SCAN
=I
Read the input port value. Return
string
“1111 1111 1111 1111 ”
VP=XX
VE speed is the highest
speed
FLTAB=#
File jump to file T_#
Operation ;
SCA
N
=O
Read the output port value. Return
string
“0000 0000 0000 0000 ”
0=xx _ IFF
Floating
comparison
point
SCA
N
=RT
C
Read the system clock
value.
RCM=1
1 Print run
instruction ,0 do not type
IF_ELSEF
Floating
comparison
point
DEGR
EE=A
RC
The robot walks a
three- point arc.
GCM=1
Output in Cartesian
coordinates,
0 output of joint
coordinates
XX
MOV
VXX=#
Integer assignment.
DEGR
EE=3
5
The robot walks 35.2
degrees.
Z-
ADJ=xx
Z shaft height adjustment XX
MOVF
VXX=#
Integer assignment.
REPO
S=J#
The J# axis HOME# in the
direction of increasing angle
Sensor (back to low level)
UCS=FC
S
Restoration of original
coordinates *
PRINT VXX Print VXX value,
integer
Type.
REPO
S=-
J#
The J# axis HOME# in the
direction of angle reduction
inductor ( back to low level).
UCS=NO
W
Sixth shaft end flange
center
For XOY* purposes
PRINTF
VXX
Print VXX value,
floating point
Formula
ADD
integer addition
REPO
S=JH
#
The J# axis HOME# in the
direction of increasing angle
Sensor (back to high
ABSPOS
Update Cartesian
coordinatesdata (XYZ add
Quantity (s)
INT VXX
Converts floating
SUBB
REPO
S=-
JH
The J# axis HOME# in the
direction of angle reduction Sensor
(back to high level)
P
J#=XXXX
Calibration of J# axis angle
FLOAT VXX
Converts an integer
STO
REPO
S=Z#
The J# axis increases Z#+ sense
Receiver ( back to low level)
G07MARKPOS_HERE X1=
0
Y1G07MARKPOS_HERE X1=
0
X2G07MARKPOS_HERE
X1=100
Y2=100 template MARK poi
NRST
Restart
EXIT
Exit run into idle mode
h
o a oa ng po n
ng s co on
Automatic pause
po n o n eger
integer subtraction
XX%,VE=VPP*VP*0
01
Height change
Call XXXX tag to
G08