8-
7
8
ROBOT LANGUAGE
8-4 Robot Language Description
8-4-3 MOVF
Function:
Moves
until
a
specified
DI
number
input
is
received.
Format:
MOVF
<point
number>
<DI
number>
<DI
status>
Example:
MOVF
1,
2
,
1
The
robot
moves
toward
P1
and
stops
when
DI
2
turns
on.
Program
ex-
ecution
then
proceeds
to
the
next
step.
Explanation:
This
is
used
when
searching
for
a
target
position
using
sensors
or
other
devices.
The
robot
starts
moving
when
all
axes
enter
the
positioning-completed
pulse
range,
and
stops
when
the
DI
conditions
are
met.
Even
if
the
DI
conditions
are
not
met,
this
command
terminates
when
the
robot
reaches
the
specified
point
and
proceeds
to
the
next
step.
(
1
)
Point
number
The
point
number
is
a
number
designated
to
each
point
from
0
to
999
,
a
total
of
1
000
points,
and
used
to
create
point
date
in
PNT
(
point
)
mode.
When
a
character
"
P
"
is
entered
here
for
special
use,
a
point
variable
defined
by
the
"
P
"
statement
is
set
as
the
point
number.
(
See
"8
-
4
-1
2
P
"
.
)
(2)
DI
number
Specify
one
of
the
eight
(0
to
7)
general-purpose
inputs.
(3)
DI
status
"
1
"
means
"
on
"
and
"0"
means
"
off
"
.
Other:
•
The
robot
speed
during
execution
of
the
MOVF
movement
can
be
specified
by
PRM
9
.
(
Refer
to
"
PRM
9:
MOVF
speed
")
Note
that
this
will
not
be
affected
by
the
OPRT
mode
execution
speed.
8-4-4 JMP
Function:
Jumps
to
a
specified
step
in
a
specified
program.
Format:
JMP
<label
number>,
<program
number>
Example:
JMP
1
0
,
8
Jumps
to
label
1
0
in
program
8
.
Explanation:
This
command
is
used
to
control
the
flow
of
program
execution.
(
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)
Program
number
The
program
number
is
a
number
used
to
identify
the
1
00
individual
programs
from
0
to
99
.
Other:
•
Even
when
the
program
number
is
changed
by
the
JMP
statement,
resetting
it
will
return
to
the
original
program
number
when
program
execution
begins.
Summary of Contents for SRCP
Page 1: ...User s Manual ENGLISH E YAMAHA SINGLE AXIS ROBOT CONTROLLER E84 Ver 2 04 SRCP ...
Page 2: ......
Page 8: ...vi MEMO ...
Page 18: ...1 10 MEMO ...
Page 28: ...2 10 MEMO ...
Page 132: ...8 34 MEMO ...
Page 146: ...9 14 MEMO ...
Page 176: ...10 30 MEMO ...
Page 218: ...12 10 MEMO ...
Page 235: ...15 1 15 SPECIFICATIONS Chapter 15 SPECIFICATIONS ...
Page 240: ...MEMO 15 6 ...
Page 241: ...16 1 16 APPENDIX Chapter 16 APPENDIX ...
Page 245: ...MEMO ...
