Yamaha RCX142, User Manual

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9-
3
9
Specifications
2. Controller basic functions
Function
Operation modes
Commands
Functions
Variables
Arithmetic operation
Monitor
Online commands
Data files
Internal timer
Program break points
Description
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.)
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.
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.
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 operators (+, -, *, /, MOD)
Logic operators (AND, OR, XOR)
Relational operators (=, <, >, <>, <=, =>)
Input/output status monitor (200ms intervals)
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)
Program, point, parameter, shift, hand, all, error history
etc.
10ms intervals
4 points maximum