Yamaha CEmarking RCX221, Supporting Supplement Manual

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Chapter 6 SPECIFICATIONS
6-7
6.1.2 Basic functions
Function Description
Operation modes
AUTO mode (Major functions: program execution, step execution, etc.)
PROGRAM mode (Major functions: program creation and editing, etc.)
MANUAL mode (Major functions: jog movement, point data teaching, etc.)
SYSTEM mode (Major functions: parameter editing, data initializing, etc.)
UTILITY mode (Major functions: motor power supply control, etc.)
Commands
Array declaration commands (DIM statement)
Assignment commands (Numeric assignment statement, character string
assignment statement, point definition, etc.)
Movement commands (MOVE, DRIVE, PMOVE statements, etc.)
Conditional branching commands (IF, FOR, WHILE statements, etc.)
External output commands (DO, MO, LO, TO, SO statements)
Parameter commands (ACCEL, OUTPOS, TOLE statements, etc.)
Condition wait command (WAIT statement)
Task related commands (START, SUSPEND, CUT statements, etc.)
etc.
Functions
Arithmetic functions (SIN, COS, TAN functions, etc.)
Character string functions (STR$, LEFT$, MID$, RIGHT$ functions, etc.)
Point functions (WHERE, JTOXY, XYTOJ functions, etc.)
Parameter functions (ACCEL, OUTPOS, TOLE statements, etc.)
etc.
Variables
Simple variables (integer variables, real variables, character variables)
Array variables (integer variables, real variables, character variables)
Point variables
Shift variables
Element variables (point element variables, shift element variables)
Input/output variables
etc.
Arithmetic
operation
Arithmetic operators (+, -, *, /, MOD)
Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, =>)
Monitor Input/output status monitor (200ms intervals)
Online commands
Key operation commands (AUTO, RUN, RESET, STEP, etc.)
Utility commands (COPY, ERA, INIT, etc.)
Data handling commands (READ, WRITE, ?VER, ?CONFIG, etc.)
Robot language commands (independent-executable commands)
Data files
Program, point, parameter, shift, hand, all, error history
etc.
Internal timer 10ms intervals
Program break
points
4 points maximum
6.1 Controller