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1-2 Chapter 1 Writing Programs
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Program Names
Each program to be created in the robot controller must have its own name.
Programs can be named as desired provided that the following conditions are satisfied:
■
Program names may contain no more than 32 characters, comprising a combination of
alphanumeric characters and underscores (_).
■
Each program must have a unique name (no duplications).
The 2 program names shown below are reserved for system operations, and programs with these
names have a special meaning.
A) SEQUENCE
B) COMMON
The functions of these programs are explained below.
A) SEQUENCE
Functions
Unlike standard robot programs, the YRCX Controller allows the execution of high-
speed processing programs (sequence programs) in response to robot inputs and outputs
(DI, DO, MO, LO, TO, SI, SO). Specify a program name of "SEQUENCE" to use this
function, thus creating a pseudo PLC within the controller.
When the controller is in the AUTO or MANUAL mode, a SEQUENCE program can
be executed in fixed cycles (regardless of the program execution status) in response to
dedicated DI10 (sequence control input) input signals, with the cycle being determined
by the program capacity. For details, refer to "4.6 Sequence program specifications" in
Chapter 7.
This allows sensors, push-button switches, and solenoid valves, etc., to be monitored
and operated by input/output signals.
Moreover, because the sequence programs are written in robot language, they can
easily be created without having to use a new and unfamiliar language.
SAMPLE
DO(20)=~DI(20)
DO(25)=DI(21) AND DI(22)
MO(26)=DO(26) OR DO(25)
:
REFERENCE
For details, refer to "4.6 Sequence program specifications" in Chapter 7.
Содержание SCARA YRCX Series
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