Yamaha ERCX Series, Руководство пользователя

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8-
10
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-5 JMPF
Function: If the conditional jump input matches the setting value, program execu-
tion jumps to a specified label in a specified program.
Format: JMPF <label number>, <program number>, <input condition value>
Example: JMPF 12, 3, 5
If the conditional jump input is 5, program execution jumps to label 12
in program 3. If the jump input is not 5, program execution advances to
the next step.
Explanation: This command is used to control the flow of program execution accord-
ing to the conditional jump input.
(1) Label number
The label number is a number defined by the "L" statement, and
indicates the destination to jump. Any number from 0 to 255 can be
specified. (See "8-4-7 L".)
(2) Program number
The program number is a number used to identify the 100 individual
programs from 0 to 99.
(3) Input condition value
This is the condition used to make a jump. A general-purpose input
is viewed as binary code input, and if it meets this input condition
value, a jump is executed.
The number of points that can be branched under the input condition
depends on the number of conditional input points which is set with
PRM8. (See "PRM8: No. of conditional input points".)
c
CAUTION
Select a number of conditional input points that is large enough to accommodate the actual number of input
conditions to be used. If an error is made in setting the number of conditional input points, there will be a
discrepancy between the input condition value required by the program and that recognized by the controller.
This could keep the program from operating properly.
General-purpose input status and input condition value when
the number of conditional input points is 4 (input range 0 to 15)
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
DI3
(2
3
)
DI2
(2
2
)
DI1
(2
1
)
DI0
(2
0
)
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Input Condition Value
General use DI Input
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15