Yamaha ERCX Series User Manual page 149

8-5-8 Turning ON general-purpose outputs during robot
movement after a certain time has elapsed
P0
3 sec.
Point
P0
P1
Program
[NO0]
001: L 0
002: MOVA 0,
003: DO 0,
004: DO 1,
005: DO 2,
006: TON 1,
007: MOVA 1,
008: JMP 0,
Program
[NO1]
001: TIMR 300
002: DO 0,
003: TIMR 300
004: DO 1,
005: TIMR 300
006: DO 2,
3 sec. 3 sec.
DO0=1 DO1=1 DO2=1
Start position
Target position
Comment
; Label definition
100
; Moves to P0 at speed 100
0
; Turns DO0 off
0
; Turns DO1 off
0
; Turns DO2 off
1, 0
; Starts program NO1 as task 1
10
; Moves to P1 at speed 10
0
; Returns to L0
Comment
; Delays for 3 seconds
1
; Turns DO0 on
; Delays for 3 seconds
1
; Turns DO1 on
; Delays for 3 seconds
1
; Turns DO2 on
8-5 Sample Programs
P1
8
35
8-