Yamaha ERCX Series, Руководство пользователя

Страница: 126 / 260

8-
12
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-8 CALL
Function: Calls and executes another program.
Format: CALL <program number>, <number of times>
Example: CALL 5, 2
Calls program 5 and executes it twice. Program execution then proceeds
to the next step.
Explanation: When repeating the same operation a number of times, the CALL state-
ment is used as needed to call and execute the subroutine defined as a
separate program.
(1) Program number
The program number is a number used to identify the 100 individual
programs from 0 to 99.
(2) Number of times
This is the number of times that the program is to be repeated. This
can be specified from 1 to 255.
Other: • The nesting level is 6.
• When the end of the program initiated by the CALL statement is de-
tected, program execution advances to the step following the CALL
statement in the main program.
• An error occurs and program execution stops if the program being
executed is called by the CALL statement.
• Even when the program number is changed by the CALL statement,
resetting it will return to the original program number when program
execution begins.
• An error "stack overflow" might occur if a jump is made to another
program by the JMP or JMPF statement in a program called as a sub-
routine by the CALL statement.
8-4-9 DO
Function:
Controls ON/OFF of general-purpose output or memory output.
Format:
DO <DO or MO number>, <output status>
Example:
DO 3, 1
Turns on DO3.
Explanation:
This command turns the general-purpose output or memory output on
and off.
(1) DO or MO number
Specify one of the general-purpose output numbers from 0 to 12 (13
points) or memory output numbers from 100 to 131 (32 points).
(2) Output status
"1" means "on" and "0" means "off".