Axis Movement And I/O Multi-Task - Yamaha DRCX User Manual

8-5 Sample Programs
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8-5-19 Axis movement and I/O multi-task

The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
P0
General-purpose input/output
DI0
DO0 Job instruction output
Program
[NO0]
001: TON 1,
002: L 0
003: MOVA 0,
004: TIMR 100
005: MOVA 1,
006: TIMR 100
007: JMP 0,
Program
[NO1]
001: L 0
002: WAIT 0,
003: DO 0,
004: WAIT 0,
005: DO 0,
006: JMP 0,
Job status detection
Comment
0 ; Starts program NO1 as task 1
1,
; Label definition
; Moves to P0 at speed 100
100
; Delays for one second
; Moves to P1 at speed 100
100
; Delays for one second
; Returns to L0
0
Comment
; Label definition
; Waits until the job is finished
0
; Issues the job start instruction
1
; Confirms that the job has started
1
; Turns off the job start signal
0
; Returns to L0
1
P1