Yamaha ERCX Series, User Manual

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8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-7 Axis movement and I/O multi-task
The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
General-purpose input/output
DI0 Job status detection
DO0 Job owner's output
P0 P1
Program Comment
[NO0]
001: TON 1, 1, 0
; Starts program NO1 as task 1
002: L 0
; Label definition
003: MOVA 0, 100
; Moves to P0 at speed 100
004: TIMR 100
; Delays for one second
005: MOVA 1, 100
; Moves to P1 at speed 100
006: TIMR 100
; Delays for one second
007: JMP 0, 0
; Returns to L0
Program Comment
[NO1]
001: L 0
; Label definition
002: WAIT 0, 0
; Waits until the job is finished
003: DO 0, 1
; Issues the job start instruction
004: WAIT 0, 1
; Confirms that the job has started
005: DO 0, 0
; Turns off the job start signal
006: JMP 0, 1
; Returns to L0