Omron SCARA YRCX Series, Programming Manual, Page: 21 / 506

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The OMRON Robot Language 1-1
1
The OMRON Robot Language
The OMRON robot language is similar to BASIC (Beginner’s All-purpose Symbolic Instruction Code)
and makes even complex robot movements easy to program. This manual explains how to write
robot control programs with the OMRON robot language, including actual examples on how its
commands are used.
2 Characters
The characters and symbols used in the OMRON robot language are shown below.
Only 1-byte characters can be used.
• Alphabetic characters
A to Z, a to z
• Numbers
0 to 9
• Symbols
( ) [ ] + - * / ^ = < > & | ~ _ % ! # $ : ; , . " ' { }@ ?
• katakana (Japanese phonetic characters
)
• Katakana (Japanese phonetic characters) cannot be entered from a programming box. Katakana
can be used when communicating with a host computer (if it handles katakana).
• Spaces are also counted as characters (1 space = 1 character).
3
Program Basics
Programs are written in a "1 line = 1 command" format, and every line must contain a command.
Blank lines (lines with no command) will cause an error when the program is executed. A line-feed
on the program's final line creates a blank line, so be careful not to do so.
To increase the program's efficiency, processes which are repeated within the program should be
written as subroutines or sub-procedures which can be called from the main routine. Moreover,
same processing items which occurs in multiple programs should be written as common routines
within a program named [COMMON], allowing those processing items to be called from multiple
programs.
User functions can be defined for specific calculations. Defined user functions are easily called,
allowing even complex calculations to be easily performed.
Multi-task programs can also be used to execute multiple command statements simultaneously in a
parallel processing manner.
Using the above functions allows easy creation of programs which perform complex processing.
MEMO
NOTE
• For details regarding sub-
procedure, refer to "11
CALL" and "125 SUB to
END SUB" in Chapter 8.
NOTE
• For details regarding user
defined functions, refer to
"22 DEF FN" in Chapter 8.