8-
58
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-23 Turning ON a general-purpose output during robot
movement when it has passed a specified position
Point
P0 Start
position
P1 Target
position
P10
Position at DO0=1
P11
Position at DO0=0
P0
P1
DO0=1
P10
P11
DO0=0
■
When P1 is nearer to the plus side than P0 on both axes:
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,
11
; 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,
11
; Jumps to L1 when the robot does not reach P11
009: DO
0,
0
; Turns DO0 off
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
