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13-4 Chapter 13 Appendix
3 Multi-tasking
The differences between YRCX and conventional models (YRC, etc.) are shown below.
Conventional models
YRCX
Maximum number of task
8
16
Priority
17 to 47
1 to 63
Task definition
During the program
In another program
Starting tasks
Task is assigned
in Task 1 automatically
and placed in RUN status
Task is assigned
in a specified task number
and placed in RUN status
Command execution for
Task 1 (restart, etc.)
Not executable
Executable
For details regarding the multi-tasking, refer to Chapter 6 "Multi-tasking" in this manual or in a
programming manual for conventional models (YRC, etc.).
4
Robot Language
1. In YRCX, the robot languages shown below are added to ones of conventional models (YRC, etc.).
ARMSEL
CLOSE
CURTQST
ETHSTS
GEPSTS
HALTALL
HOLDALL
MOTOR
MOVET
MTRDUTY
OPEN
PGMTSK
PGN
PSHFRC
PSHJGSP
PSHMTD
PSHRSLT
PSHSPD
PSHTIME
PUSH
SETGEP
TSKPGM
For details regarding the robot Language, refer to Chapter 8 "Robot Language Lists".
2. These robot languages for conventional models (YRC, etc.) became unavailable in YRCX.
ABSINIT
ABSINIT2
ABSRST
ABSRPOS2
ACCEL2
ARMCND2
ARMTYP2
ASPEED2
AXWGHT2
CHANGE2
CURTRQ2
DECEL2
DECLARE
DRIVE2
DRIVEI2
HAND2
JTOXY2
LEFTY2
MCHREF2
MOVE2
MOVEI2
ORGORD2
OUTPOS2
PMOVE2
RIGHTY2
SERVO2
SHIFT2
SPEED2
TOLE2
TORQUE2
TRQSTS
TRQSTS2
TRQTIME
TRQTIME2
WAIT ARM2
WEIGHT2
WHERE2
WHRXY2
XYTOJ2
_SYSFLG
For details regarding the robot Language, refer to "Robot Language Lists" of a programming manual
for conventional models (YRC, etc.).
Содержание SCARA YRCX Series
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