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8
9
10
11
12
13
Command list in alphabetic order 8-3
No.
Name
Description
Online
Type
30
DRIVEI
Moves a specified axis of a specified robot to a relative position.
3
Command
E
31
END SELECT
Terminates the SELECT CASE statement.
-
Command
32
END SUB
Terminates the sub-procedure definition.
-
Command
33
ERR / ERL
Acquires the error code number of an error which has
occurred / the line number where an error occurred.
3
Function
34
ETHSTS
Acquires the Ethernet port status.
3
Function
35
EXIT FOR
Terminates the FOR to NEXT statement loop.
-
Command
36
EXIT SUB
Terminates the sub-procedure defined by the SUB to END
statement.
-
Command
37
EXIT TASK
Terminates its own task which is in progress.
-
Command
F
38
FOR to NEXT
Executes the FOR to NEXT statement repeatedly until a
specified value is exceeded.
-
Command
G
39
GEPSTS
Acquires the General Ethernet Port status.
3
Function
40
GOSUB to
RETURN
Jumps to a subroutine with the label specified by GOSUB
statement, and executes that subroutine.
-
Command
41
GOTO
Unconditionally jumps to the line specified by a label.
-
Command
H
42
HALT
Stops the program and performs a reset.
-
Command
43
HALTALL
Stops and resets all programs.
-
Command
44
HAND
Defines the hand of a specified robot.
3
Command
45
HOLD
Temporarily stops the program.
-
Command
46
HOLDALL
Temporarily stops all programs.
-
Command
I
47
IF
Allows control flow to branch according to conditions.
-
Command
48
INPUT
Assigns a value to a variable specified from the programming box.
3
Command
49
INT
Acquires an integer for a specified value by truncating all
decimal fractions.
3
Function
J
50
JTOXY
Converts joint coordinate data to Cartesian coordinate data
of a specified robot. (
↔
XYTOJ)
3
Function
L
51
LEFT$
Extracts a character string comprising a specified number
of digits from the left end of a specified character string.
3
Function
52
LEFTY
Sets the hand system of a specified robot to the left-handed
system.
3
Command
53
LEN
Acquires the length (byte count) of a specified character string.
3
Function
54
LET
Executes a specified assignment statement.
3
Command
55
LO
Outputs a specified value to the LO port to enable/disable
axis movement or acquires the LO status.
3
Command /
Function
56
LOCx
Specifies/acquires point data for a specified axis or shift
data for a specified element.
3
Command /
Function
57
LSHIFT
Shifts a value to the left by the specified bit count. (
↔
RSHIFT)
3
Function
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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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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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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