Yamaha ERCX Series, User Manual

Page: 136 / 260

8-
22
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-24 JMPC
Function: Jumps to a specified label when the counter array variable C matches a
specified value.
Format: JMPC <label number>, <counter value>
Example: JMPC 5, 100
Jumps to label 5 when the counter array variable C is 100. Program
execution proceeds to the next step except when the counter array vari-
able C is 100.
Explanation: This command controls the program flow according to the counter array
variable C. The counter array variable C to be compared is the element
number specified with the CSEL statement.
(1) Label number
The label number is a number defined by the "L" statement, and
indicates the destination to jump. Any number from 0 to 255 can be
specified. (See "8-4-7 L")
(2) Counter value
Set any value from 0 to 65535.
8-4-25 JMPD
Function: Jumps to a specified label when the counter variable D matches a speci-
fied value.
Format: JMPD <label number>, <counter value>
Example: JMPD 5, 100
Jumps to label 5 when the counter variable D is 100. Program execution
proceeds to the next step except when the counter variable D is 100.
Explanation: This command controls the program flow according to the counter vari-
able D.
(1) Label number
The label number is a number defined by the "L" statement, and
indicates the destination to jump. Any number from 0 to 255 can be
specified. (See "8-4-7 L")
(2) Counter value
Set any value from 0 to 65535