16-38
16-10-4. SWAP
Format
SWAP [Variable 1] [Variable 2]
Function
It swaps values of two variable names.
Condition
Standard.
Lock condition
None.
Variable 1
Variable whose value is to be referred to, and
the calculated value is to be assigned to.
(GB, LB, GI, LI, GL, LL, GR, LR, GD)
Syntax check
Error if number of element of variable
1 and 2 do not match.
Variable 2
Value or variable (GB, LB). Variable should
be type.
Example
Swap the value of LB001 with LB002.
SWAP LB001, LB002
The same command in
conventional models
SWPREG
16-10-5. XOR
Format
XOR [Variable] [Data]
Function
It carries out exclusive OR.
Condition
Standard.
Lock condition
None.
Variable
Variable whose value is to be referred to, and
the calculated value is to be assigned to.
(GB, LB)
Syntax check
Error if variable other than byte type
variable is specified
Data
Value or variable (GB, LB) Variable should be
byte type.
Note:
It carries out exclusive OR of each bit.
A
B
A XOR B
0 0 0
0 1 1
1 0 1
Example
Store the result of exclusive OR of
LB001 and LB002 to LB001.
XOR LB001, LB002
1 1 0
16-11. Motion assist commands
16-11-1. GOHOME
Format
GOHOME [Interpolation type] [Position name] [Speed]
Function
It returns the robot to the home
position.
Interpolation
type
An interpolation type to be applied when the
robot travels to the home position.
Condition
Standard.
Position name
Lock condition
None.
A position variable name (P, GP or GA) to be
assigned as home position.
Syntax check
None.
Speed
Travel speed to the home position.
Example
GOHOME
The same command in conventional models
GOHOME V=
Note
The home position output is turned ON when the robot reaches the home position.
16-11-2. SMOOTH
Format
SMOOTH=[Parameter]
Function
It sets smoothing level.
Parameter
Level [0 - 10]:
Condition
Standard.
Increase the level for larger smoothing size.
Lock condition
None.
*
Syntax check
None.
This command is not reflected in trace
operation only auto.
Example
Set smoothing level to 3.
SMOOTH 3
The same command in
conventional models
SMOOTH