Yamaha DRCX User Manual page 168

2-axis robot controller
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Program
[NO0]
001: L
002: WAIT
003: DO
004: WAIT
005: JMPF
006: JMPF
007: JMPF
008: JMPF
009: JMPF
010: JMPF
011: JMPF
012: JMPF
013: JMPF
014: JMPF
015: JMPF
016: JMPF
017: JMPF
018: JMPF
019: JMPF
020: JMPF
021: JMP
[NO1]
001: L
002: DO
- - - - -
JMP
[NO2]
001: L
002: DO
- - - - -
JMP
:
:
[NO16]
001: L
002: DO
- - - - -
JMP
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Comment
; Label definition
0
; Waits for confirmation ON of the selected program
8,
1
; Program selection start turns on
0,
1
; Waits for confirmation OFF of the selected program
8,
0
; Jumps to L1 of NO1 when input is 0
1,
1,
0
; Jumps to L1 of NO2 when input is 1
1,
2,
1
; Jumps to L1 of NO3 when input is 2
1,
3,
2
; Jumps to L1 of NO4 when input is 3
1,
4,
3
; Jumps to L1 of NO5 when input is 4
1,
5,
4
; Jumps to L1 of NO6 when input is 5
1,
6,
5
; Jumps to L1 of NO7 when input is 6
1,
7,
6
; Jumps to L1 of NO8 when input is 7
1,
8,
7
; Jumps to L1 of NO9 when input is 8
1,
9,
8
; Jumps to L1 of NO10 when input is 9
1,
10,
9
; Jumps to L1 of NO11 when input is 10
1,
11,
10
; Jumps to L1 of NO12 when input is 11
1,
12,
11
; Jumps to L1 of NO13 when input is 12
1,
13,
12
; Jumps to L1 of NO14 when input is 13
1,
14,
13
; Jumps to L1 of NO15 when input is 14
1,
15,
14
; Jumps to L1 of NO16 when input is 15
1,
16,
15
; Returns to L0 of program NO0
0,
0
; Label definition
1
; Program selection is complete (selection start OFF)
0,
0
; Actual program operation
; Returns to L0 of program NO0
0,
0
; Label definition
1
; Program selection is complete (selection start OFF)
0,
0
; Actual program operation
; Returns to L0 of program NO0
0,
0
Programs NO3–NO15 should be created in the same way
; Label definition
1
; Program selection is complete (selection start OFF)
0,
0
; Actual program operation
; Returns to L0 of program NO0
0,
0
8-5 Sample Programs
Handshaking
8
39
8-

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