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7
8
9
10
11
12
13
Changes from conventional models 13-3
2
Changes from conventional models
1
Program name
For YRCX, the following two program names which have been special for conventional models (YRC,
etc.) don't have a special meaning.
A) FUNCTION
B) _SELECT
A) FUNCTION
In conventional models (YRC, etc.), "FUNCTION" has been special program for registering a user
function. YRCX doesn't have a user function and "FUNCTION" doesn't have a special meaning.
B) _SELECT
In conventional models (YRC, etc.), the "_SELECT" program has been selected and executed every
time robot programs were reset.
In YRCX, the program specified at the main program number (or the program executed last if there
is no specified program there) is selected and executed when robot programs are reset.
For details regarding the main program, refer to "12. Set main program" in "2.1 Program operations"
in Chapter 12.
2
Multiple Robot Control
In conventional models (YRC, etc.), robot has consisted of a main group (one main robot, main
auxiliary axes) and a sub group (one sub robot, sub auxiliary axes).
In YRCX, robot consists of robot 1 to 4 (normal axes, auxiliary axes).
Due to this change, commands for each group have changed to ones for each robot.
For details regarding the command for each robot, refer to "2. Command list with a robot setting" in
Chapter 5 of this manual for YRCX, and regarding the command for each group, refer to "Command
list for each group” of the programming manual for conventional models (YRC, etc.), respectively.
SAMPLE
Command for each group: conventional model (YRC, etc.)
MOVE P, P1 ··················· Axes of a main group move to the
position specified by P1.
MOVE2 P, P5 ·················· A x e s o f a s u b g r o u p m o v e t o t h e
position specified by P5.
Command for each robot: YRCX
MOVE P, P1 ··················· A x e s o f t h e r o b o t 1 m o v e t o t h e
position specified by P1.
MOVE[2] P, P5 ················ A x e s o f t h e r o b o t 2 m o v e t o t h e
position specified by P5.
• The command with robot setting can be omitted a robot number. If it is omitted, robot 1 is
specified.
MEMO
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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