JAPANESE J IM 435-0054882 TEL 053-460-6103 J76-Ver. 3.13
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w c n c 2010 YAMAHA MOTOR CO., LTD. 2
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Beginner s All-purpose Symbolic Instruction Code 1
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DO DELAY HALT HOLD WAIT DELAY WAIT 50
DRIVE(1,P1) DO(20)=1 DRIVE(1,P1) WAIT ARM DO(20)=1 DO(20) P1 DO(20) DRIVE(1,P1) HOLD DRIVE(1,P1) WAIT ARM HOLD HOLD HOLD n 51
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DO DELAY HALT HOLD WAIT DELAY WAIT 56
DRIVE2(1,P1) DO(20)=1 DRIVE2(1,P1) WAIT ARM2 DO(20)=1 DO(20) P1 DO(20) DRIVE2(1,P1) HOLD DRIVE2(1,P1) WAIT ARM2 HOLD HOLD HOLD n 57
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DRIVEI(1,P1) DO(20)=1 DRIVEI(1,P1) WAIT ARM DO(20)=1 DO(20) P1 DO(20) DRIVEI(1,P1) HOLD DRIVEI(1,P1) WAIT ARM HOLD HOLD HOLD n 63
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DRIVEI2(1,P1) DO(20)=1 DRIVEI2(1,P1) WAIT ARM2 DO(20)=1 DO(20) P1 DO(20) DRIVEI2(1,P1) HOLD DRIVEI2(1,P1) WAIT ARM2 HOLD HOLD HOLD n 67
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DO DELAY HALT HOLD WAIT DELAY WAIT 93
MOVE P,P1 DO(20)=1 MOVE P,P1 WAIT ARM DO(20)=1 DO(20) P1 DO(20) MOVE P,P1 HOLD MOVE P,P1 WAIT ARM HOLD HOLD HOLD n DO DELAY DELAY HALT HOLD WAIT WAIT 94
MOVE L,P1 DO(20)=1 MOVE L,P1 WAIT ARM DO(20)=1 P1 DO(20) DO(20) MOVE L,P1 HOLD MOVE L,P1 WAIT ARM HOLD HOLD HOLD P0 P1 n 95
DO DELAY HALT HOLD WAIT DELAY WAIT MOVE C,P1,P2 DO(20)=1 MOVE C,P1,P2 WAIT ARM DO(20)=1 DO(20) P1 DO(20) MOVE C,P1,P2 HOLD MOVE C,P1,P2 WAIT ARM HOLD HOLD HOLD P22 P23 P21 P20 P24 96
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MOVE2 P,P1 DO(20)=1 MOVE2 P,P1 WAIT ARM2 DO(20)=1 DO(20) P1 DO(20) MOVE2 P,P1 HOLD MOVE2 P,P1 WAIT ARM2 HOLD HOLD HOLD n n DO DELAY DELAY HALT HOLD WAIT WAIT 104
MOVE2 L,P1 DO(20)=1 MOVE2 L,P1 WAIT ARM2 DO(20)=1 P1 DO(20) DO(20) MOVE2 L,P1 HOLD MOVE2 L,P1 WAIT ARM2 HOLD HOLD HOLD P0 P1 n n 105
DO DELAY HALT HOLD WAIT DELAY WAIT MOVE2 C,P1,P2 DO(20)=1 MOVE2 C,P1,P2 WAIT ARM2 DO(20)=1 DO(20) P1 DO(20) MOVE2 C,P1,P2 HOLD MOVE2 C,P1,P2 WAIT ARM2 HOLD HOLD HOLD P22 P23 P21 P20 P24 106
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MOVEI P,P1 DO(20)=1 MOVEI P,P1 WAIT ARM DO(20)=1 DO(20) P1 DO(20) MOVEI P,P1 HOLD MOVEI P,P1 WAIT ARM HOLD HOLD HOLD n n 114
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116 DO DELAY HALT HOLD WAIT DELAY WAIT n
MOVEI2 P,P1 DO(20)=1 MOVEI2 P,P1 WAIT ARM2 DO(20)=1 DO(20) P1 DO(20) MOVEI2 P,P1 HOLD MOVEI2 P,P1 WAIT ARM2 HOLD HOLD HOLD n n 117
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n NX*NY*NZ NY NX*NY*(NZ-1)+1 P [3] P [5] NX*(NY-1)+1 NZ NX+1 P [1] 1 2 NX... NX*NY*(NZ-1)+NX P [4] NX*NY NX*2 P [2] NX DO DELAY HALT HOLD WAIT DELAY WAIT 140
PMOVE(0,1) DO(20)=1 PMOVE(0,1) WAIT ARM DO(20)=1 DO(20) P1 DO(20) PMOVE(0,1) HOLD PMOVE(0,1) WAIT ARM HOLD HOLD HOLD 141
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n NY NX*NY*(NZ-1)+1 P [3] P [5] NX*(NY-1)+1 NZ NX+1 P [1] 1 2 NX... NX*2 P [2] NX NX*NY*NZ NX*NY*(NZ-1)+NX P [4] NX*NY DO DELAY HALT HOLD WAIT DELAY WAIT 144
145 P1 DO(20) PMOVE2(0,1) WAIT ARM2 DO(20)=1 DO(20) PMOVE2(0,1) DO(20)=1 HOLD PMOVE2(0,1) WAIT ARM2 HOLD PMOVE2(0,1) HOLD HOLD
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n ABSRST, DRIVE, DRIVE2, DRIVEI, DRIVEI2, MOVE, MOVE2, MOVEI, MOVEI2, ORIGIN, PATH START, PMOVE, PMOVE2, SERVO, SERVO2, WAIT ARM, WAIT ARM2 ACCEL, ACCEL2, ARCH, ARCH2, AXWGHT, AXWGHT2, DECEL, DECEL2, ORGORD, ORGORD2, OUTPOS, OUTPOS2, TOLE, TOLE2, TORQUE, TORQUE2, WEIGHT, WEIGHT2 ASPEED, ASPEED2, CHANGE, CHANGE2, LEFTY, LEFTY2, RIGHTY, RIGHTY2, SHIFT, SHIFT2, SPEED, SPEED2 DELAY, SET(),WAIT() WAIT SEND PRINT INPUT 216
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FLAG1=0 FLAG2=0 UPPOS=0.0 START S1,T2 L1: WAIT DI4(0)=1 WAIT FLAG2=0 FLAG1=1 GOSUBOPEN MOVE P,P1,Z=UPPOS GOSUB CLOSE MOVE P,P2,Z=UPPOS GOSUB OPEN DRIVEI (3,-10000) FLAG1=0 DO2(0)=1 DELAY 100 DO2(0)=0 WAIT DI3(0)=1 WAIT FLAG2=0 FLAG1=1 MOVE P,P2,Z=UPPOS GOSUB CLOSE IF DI3(1)=1 THEN 'GOOD WAIT DI4(2)=0 MOVE P,P3,Z=UPPOS ELSE 'NG WAIT DI4(3)=0 MOVE P,P4,Z=UPPOS ENDIF GOSUB OPEN DRIVEI (3,-10000) FLAG1=0 GOTO L1 OPEN: DO2(7)=0 DELAY 100 RETURN CLOSE: DO2(7)=1 DELAY 100 RETURN S1: WAIT DI4(1)=1 WAIT FLAG1=0 FLAG2=1 GOSUB OPEN MOVE P,P11,Z=UPPOS GOSUB CLOSE MOVE P,P12,Z=UPPOS GOSUB OPEN DRIVEI (3,-10000) FLAG2=0 DO2(3)=1 DELAY 100 DO2(3)=0 WAIT DI3(4)=1 WAIT FLAG1=0 FLAG2=1 MOVE P,P12,Z=UPPOS GOSUB CLOSE IF DI3(5)=1 THEN 'GOOD WAIT DI4(4)=0 MOVE P,P13,Z=UPPOS ELSE 'NG WAIT DI4(5)=0 MOVE P,P14,Z=UPPOS ENDIF GOSUB OPEN DRIVEI (3,-10000) FLAG2=0 GOTO S1 287
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1. 2. AUTO PROGRAM MANUAL SYSTEM RESET RUN STEP SKIP NEXT STOP BREAK CHGTSK MSPEED MSPEED2 ABSADJ ABSADJ2 ABSRESET ABSRESET2 ORGRTN ORGRTN2 INCH INCH2 JOG JOG2 TEACH TEACH2 PADDR COPY ERA REN ATTR m, n (m :, n : ) k (k : 1-100) k (k : 1-100) k, 0 or k, 1 (k : 1-6) k, 0 or k, 1 (k : 1-6) k (k : 1-6) k (k : 1-6) k (k : 1-6) k (k : 1-6) k+ or k- (k : X,Y,Z,R,A,B) k+ or k- (k : X,Y,Z,R,A,B) k+ or k- (k : X,Y,Z,R,A,B) k+ or k- (k : X,Y,Z,R,A,B) m(m : ) m(m : ) <1> TO <2> Pm-Pn TO Pk PCm-PCn TO PCk <> Pm-Pn PCm-PCn PLm <1> TO <2> <> TO s (s : RW/RO) 1 1 12 mnk mnk mn mn m 12 3 4 2 4 3 3 3 3 3 3 3 4 3 3 3 3 299
300 2. 3. 4. 5. INIT LANGUAGE UNIT MSGCLR ACCESS EXELVL SEQUENCE ARMTYP ARMTYP2 EMGRST DATE TIME? READ WRITE SWI ^C(=03H) PGM PNT SFT HND PLT PCM MEM PRM ALL CMU LOG k k k k k m, k m, k LANGUAGE ACCESS ARM BREAK CONFIG EXELVL MOD MSG [m, n] ORIGIN ABSRST SERVO SEQUENCE SPEED UNIT VER WHERE WHERE2 WHRXY WHRXY2 TASKS TSKMON SHIFT HAND MEM EMG SELFCHK OPSLOT (PGM, PNT,...) (PGM, PNT,...) <> MEM+PRM () () (XY) (XY) 3 3 3 1 3 3 3 3 1 2 2 1 2 2 4 4 1 1. 2. MPBRPB 3. 2. 4. 3.
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334 <bbbbbbbb> Pn PCn /cccccc/ Sn Hn PLn ab...by ab...by(x) cc...c <<bbbbbbbb>> n n
335 <bbbbbbbb> Pn PCn /cccccc/ Sn Hn PLn ab...by ab...by(x) n n c
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c n RCX240 RCX22x PLC DO26 DO27 DO16 DO17 DI05 DI2() DI3() DI4() PLC 338
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DI05 w 100ms r DI2() q r DI3() DI4() q 30ms r c c DO27 DO17* DO26 DO16* *RCX22x e t t q q w w e r t q w e r t r t DI05 w r n DI2() DI3() DI4() q q r r DO27 DO17* e t 100ms DO26 DO16* *RCX22x t 340
n n no. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 (DI2( )) 0x01 0x03 0x09 0x18 0x20 0x24 0x28 0x30 0x31 0x32 0x34 0x35 0x36 0x37 0x38 0x39 0x3A 0x3B 0x3C 0x3D 0x3E 0x81 0x83 0x89 0x98 0xA0 0xA4 0xA8 0xB0 0xB1 0xB2 0xB4 0xB5 0xB6 0xB8 0xB9 0xBA 0xBB 0xBC 0xBD 3. 4. 6. 8. 9. 17. 341
c n c n DI DI2() DI3() DI4() 0x01 0x81 0xpppp DI DI2() DI3() DI4() 0x03 0x83 0xpppp 342
n DI DI2() DI3() DI4() 0x09 0x89 0xpppp c n c DI DI2() DI3() DI4() 0x18 0x98 0xwwww 343
DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 1 2 3 4 5 6 0: 0x20 0xA0 tt 0 d 0x00 0 1 DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 1 2 3 4 5 6 0: 0x24 0xA4 tt 0 d 0x00 0 1 344
c DI DI2() DI3() DI4() 0x28 0xA8 0xpppp DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 1 2 3 4 5 6 0: 0x30 0xB0 tt 0 d 0x00 0 1 345
DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 7bit 6 1 2 3 4 5 6 0: 0x31 0xB1 tt 0 0x00 n DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 7bit 6 1 2 3 4 5 6 0: 0x32 0xB2 tt 0 0x00 346
DI DI2() DI3() DI4() bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 7bit 6 5 6 0x34 0xB4 0x35 0xB5 0x36 0xB6 0x37 tt 0 0x00 DI DI2() DI3() DI4() 0x38 0xB8 0xss 0x00 347
DI DI2() DI3() DI4() 0x39 0xB9 0xss 0x00 DI DI2() DI3() DI4() 0x3A 0xBA 0xss 0x00 DI DI2() DI3() DI4() 0x3B 0xBB 0xss 0x00 348
DI DI2() DI3() DI4() 0x3C 0xBC 0xss 0x00 DI DI2() DI3() DI4() 0x3D 0xBD 0xss 0x00 0x00 0x01 DI DI2() DI3() DI4() 0x3E 0xss 0x00 0x00 0x01 349
350 c ABSADJ ABSADJ2 ABSRESET ABSRESET2 ABSRPOS ABSRPOS2 ABSRST ABOVE ABS ACC ACCEL ACCEL2 ACCESS ALL AND ARCH ARCH2 ARM ARM2 ARMTYPE ARMTYPE2 ARY ASPEED ASPEED2 ATN ATN2 ATTR AUTO AXWGHT AXWGHT2 BELOW BIN BIT BREAK BYTE CALL CASE CHANGE CHANGE2 CHGPRI CHGTSK CHR CMU CMU1 CONFIG CONT COO COPY COS CUT DATE DEC DECEL DECEL2 DECLARE DEF DEFIO DEFPOS DEGRAD DELAY DI DIM DIR DIST DO DPM DRIVE DRIVE2 DRIVEI DRIVEI2 DS DSPEED ELSE ELSEIF EMGRST EMG END ENDIF EOF ERA ERL ERR ERROR ETH EXELVL EXIT EXITTASK FDD FLIP FN FOR FREE FUNCTION GASP GEN GO GOHOME GOSUB GOTO HALT HAND HAND2 HND HEX HOME HOLD IF IN INCH INCH2 INIT INPUT INT INTEGER IRET JTOXY JTOXY2 JOG JOG2 LANGUAGE LEFT LEFTY LEFTY2 LEN LET LOCA LOCB LOCF LOCR LOCX LOCY LOCZ LOG LOOP LSHIFT MANUAL MCHREF MCHREF2 MEM MID MIRROR MOD MOVE MOVE2 MOVEI MOVEI2 MRF MSG MSGCLR MSPEED MSPEED2 NAME NEXT NONFLIP NOT OFF OFFLINE ON ONLINE OR ORD ORGORD ORGORD2 ORGRTN ORGRTN2 ORIGIN OUT OUTPOS OUTPOS2 P PASS PADDR PATH PC PCM PDEF PLN PLT PMOVE PMOVE2 PRINT PROGRAM PGM PNT POS PPNT PRM PTP PWR RADDEG READ REF REN RELESE REM REMOTE RESET RESTART RESUME RETURN RIGHT RIGHTY RIGHTY2 RO ROTATE RSHIFT RUN RW S SELECT SEND SEQUENCE SERVO SERVO2 SET SFT SGI SGR SHARED SHIFT SHIFT2 SI SID SIN SIW SKIP SO SOD SOW SPEED SPEED2 SQR START STEP STOP STOPON STR SUB SUSPEND SWI SYS SYSTEM TAN TASK TASKS TCOUNTER TEACH TEACH2 THEN TIME TIMER TO TOLE TOLE2 TORQUE TORQUE2 TRQTIME TRQTIME2 TRQSTS TRQSTS2 TSKMON UNIT UNTIL VAL VAR VER VEL WAIT WEIGHT WEIGHT2 WEND WHERE WHERE2 WHILE WHRXY WHRXY2 WORD WRITE XOR XY XYTOJ XYTOJ2 YZ ZX _SYSFLG
DECLARE DECLARE <>[,<>...] DECLARE SUB <>[(<>[,<>]...)] DEF FN DEF FN<>[%] [(<>,[<>...])]=<>! $ DIM DIM <>[,<>,...] EXIT FOR FORNEXT EXIT FOR FORNEXT FORNEXT FOR <>=<1> TO <2> [STEP <3>] : NEXT [<>] GOSUB RETURN GOSUB GOSUB<> GOSUBRETURN GO SUB : <>: : RETRUN GOTO GOTO<> GO TO HALT HALT [<>] <> HOLD HOLD [<>] <> 351
IF <> THEN<1>[ELSE<2>] <1> <2> IF <1> THEN IF : 6 86 [ELSEIF <2> THEN :] [ELSE :] ENDIF [LET] <>=<> <> <> LET <> <> 1 89 <> <> <> [LET] <>=<> GOSUB ONGOSUB RETURNGOSUB 6 121 ON <>GOSUB<1>[,<2>...] GO SUB ONGOTO ON <>GOTO<1>[,<2>...] 6 120 GO TO REM REM REM <> 6 150 SELECT [CASE] <> CASE <1> SELECT CASE END SELECT [1] [CASE <2> [2]] 6 157 : [CASE ELSE [n]] END SELECT 1 SWI SWI <> 2 173 WHILEWEND WHILE <> 6 185 : WEND 6 186 352
ABSRST DRIVE DRIVE2 DRIVEI DRIVEI2 MOVE MOVE2 MOVEI MOVEI2 ORIGIN ABSRST PTPI/O 5 5 30 50 DRIVE (<>, <> )[, (<>, <> )...] [,] <> <> PTPI/O 5 56 DRIVE2 (<>, <> <> )[, (<>, <> )...] [,] <> PTP I/O DRIVEI (<>, <> )[, (<>, <> )...] [,] <> <> PTPI/O DRIVEI2 (<>, <> )[, (<>, <> )...] [,] <> <> PTP3 I/O MOVE PTP, <>[, [, ]...] P L C PTP I/O MOVE2 PTP, <>[, [, ]...] P L C PTP MOVEI PTP, <>[, [, ]...] P PTP MOVEI2 PTP, <>[, [, ]...] P ORIGIN 5 5 4 4 5 5 5 62 66 93 103 113 116 125 353
354 PMOVE PMOVE2 SERVO SERVO2 PTP I/O PMOVE(,)[,[,]...] PTP I/O PMOVE2(,)[,[,]...] 5 5 5 5 140 144 160 161 SERVO ON [(<>)] OFF FREE PWR SERVO2 ON [(<>)] OFF FREE PWR
DELAY ms DELAY <> 6 47 DO DO [LET] DOm([b,..., b]) =<> 1 49 DO(mb,..., mb) LO LO [LET] LO0([b,..., b]) =<> 1 91 LO(0b,..., 0b) MO MO MO 1 92 [LET] MOm([b,..., b]) =<> MO(mb,..., mb) OUT DOm([b,..., b]) [, <>] DO(mb,..., mb) OUT MOm([b,..., b]) MO(mb,..., mb) 6 126 SOm([b,..., b]) SO(mb,..., mb) LO0([b,..., b]) LO(0b,..., 0b) TO0([b,..., b]) TO(0b,..., 0b) 10ms RESET DOm([b,..., b]) DO(mb,..., mb) MOm([b,..., b]) RESET MO(mb,..., mb) TO0([b,..., b]) 1 151 TO(0b,..., 0b) LO0([b,..., b]) LO(0b,..., 0b) SOm([b,..., b]) SO(mb,..., mb) SET DOm([b,..., b]) [, <>] DO(mb,..., mb) MOm([b,..., b]) MO(mb,..., mb) SET TO0([b,..., b]) 3 162 TO(0b,..., 0b) LO0([b,..., b]) LO(0b,..., 0b) SOm([b,..., b]) SO(mb,..., mb) 355
SO SO [LET] SOm([b,..., b]) =<> 1 166 SO(mb,..., mb) TO TO [LET] TO0([b,..., b]) =<> 1 174 TO(0b,..., 0b) q DI/DO WAIT w q WAIT <DI/DO> [,<>] 6 181 w WAITARM [(<>)] ARM2 [(<>)] CHANGE CHANGE Hn 5 77 CHANGE2 CHANGE2 Hn 5 81 HAND HAND Hn=<1> <2> <3> 5 77 [R] HAND2 HAND2 Hn=<1> <2> <3> 5 81 [R] RIGHTY / LEFTY RIGHTY 5 154 LEFTY RIGHTY2 / LEFTY2 RIGHTY2 5 155 LEFTY2 SHIFT 5 164 SHIFT <> SHIFT2 5 165 SHIFT2 <> 356
ACCEL ACCEL2 ARCH ARCH2 ASPEED ASPEED2 AXWGHT AXWGHT2 DECEL DECEL2 ORGORD ORGORD2 OUTPOS OUTPOS2 PDEF SPEED SPEED2 TOLE TOLE2 ACCEL <> ACCEL(<1>)=<2> ACCEL2 <> ACCEL2(<1>)=<2> ARCH <> ARCH(<1>)=<2> ARCH2 <> ARCH2(<1>)=<2> ASPEED <> ASPEED2 <> AXWGHT(<1>)=<2> AXWGHT2(<1>)=<2> DECEL <> DECEL(<1>)=<2> DECEL2 <> DECEL2(<1>)=<2> ORGORD <> ORGORD2 <> OUTPOS <> OUTPOS(<1>)=<2> OUTPOS2 <> OUTPOS2(<1>)=<2> PDEF=nx,ny[,nz] SPEED <> SPEED2 <> TOLE <> TOLE(<1>)=<2> TOLE2 <> TOLE2(<1>)=<2> 5 5 5 5 5 5 5 5 5 5 5 5 5 5 1 5 5 5 5 31 32 33 34 35 36 37 38 42 43 123 124 127 128 139 167 168 175 176 357
358 WEIGHT WEIGHT2 WEIGHT <> WEIGHT2 <> 5 5 183 184 ACCEL ACCEL2 ARCH ARCH2 AXWGHT AXWGHT2 DECEL DECEL2 ORGORD ORGORD2 OUTPOS OUTPOS2 TOLE TOLE2 WEIGHT WEIGHT2 ACCEL(<>) ACCEL2(<>) ARCH(<>) ARCH2(<>) AXWGHT(<>) AXWGHT2(<>) DECEL(<>) DECEL2(<>) ORGORD ORGORD2 OUTPOS(<>) OUTPOS2<> TOLE(<>) TOLE2(<>) WEIGHT WEIGHT2 188 188 188 189 192 192 193 193 196 197 197 197 200 201 205 205
ABSRPOS ABSRPOS2 ARMCND ARMCND2 ARMTYPE ARMTYPE2 MCHREF MCHREF2 ABSRPOS(<>) ABSRPOS2(<>) ARMCND ARMCND2 ARMTYPE ARMTYPE2 MCHREF(<>) MCHREF2(<>) 187 187 189 190 190 191 195 196 ONLINE / OFFLINE SEND ONLINE [ ETH ] CMU OFFLINE [ ETH ] CMU SEND <> TO <> SEND CMU TO RS-232C SEND TO CMURS-232C 1 1 122 158 MPBRPB PRINT PRINT [<>][,<>...][, ] ; ; 1 148 359
INPUT MPBRPB INPUT [<> ;]<>[, <>,...] <> <> <> <> 1 88 CALL EXIT SUB SHARED SUBEND SUB SUBEND SUB CALL <>[(<>[,<>...])] SUBEND SUB EXIT SUB SUBEND SUB SHARED <>[()][,<>[()]...] SUB <>[(<> [,<>...])] : END SUB 6 6 6 6 39 71 163 170 CHGPRI CUT EXIT TASK RESTART START SUSPEND CHGPRI Tn,p CUT Tn EXIT TASK RESTART Tn START <>,Tn,[,p] SUSPEND Tn 6 6 6 6 6 6 40 41 72 152 169 172 360
ON ERROR GOTO RESUME ERL ERR ON ERROR GOTO<> 0 RESUME[NEXT] <> ERL ERR 6 6 119 153 194 194 PATH PATH END PATH SET PATH START PATH L, <>[, [,...]] C PATH PATHEND PATH PATHSET[<>] PATH PATHSTART 6 6 6 6 131 135 136 138 361
362 DRIVE T DRIVE2 T TORQUE TORQUE2 TRQTIME TRQTIME2 TORQUE TORQUE2 TRQSTS TRQSTS2 TRQTIME TRQTIME2 PTP PTP TORQUE(<1>)=<2> TORQUE2(<1>)=<2> DRIVE TRQTIME(<1>)=<2> DRIVE2 TRQTIME2(<1>)=<2> TORQUE(<>) TORQUE2(<>) DRIVE TRQSTS(<>) DRIVE2 TRQSTS2(<>) TRQTIME(<>) TRQTIME2(<>) 5 5 5 5 1 1 50 56 177 178 179 180 201 201 202 203 204 204 DRIVE(<1>, <2> ), T= <1> <> (<1>[,<2>]) DRIVE2(<1>, <2> ), T= <1> <> (<1>[,<2>])
363 LET Pn JTOXY JTOXY2 LOCx PPNT WHERE WHERE2 WHRXY WHRXY2 XYTOJ XYTOJ2 [LET] <>=<> Pn=x y z r a b mm JTOXY(<>) mm JTOXY2(<>) LOCx(<>) PPNT(,) WHERE WHERE2 mm WHRXY mm WHRXY2 mm XYTOJ(<>) mm XYTOJ2(<>) 1 1 89 149 210 210 14 210 211 211 211 212 212 212 LET Sn LOCx [LET] <>=<> Sn=x y z r LOC<> 5 5 89 156 15
364 ABS ATN COS DEGRAD DIST INT LSHIFT RADDEG RSHIFT SIN SQR TAN TCOUNTER _SYSFLG ABS(<>) ATN(<>) COS(<>) DEGRAD(<>) 2 DIST(<1>,<2>) INT(<>) LSHIFT(<1>,<2>) RADDEG(<>) RSHIFT(<1>,<2>) SIN(<>) SQR(<>) TAN(<>) TCOUNTER10ms TCOUNTER _SYSFLG _SYSFLG 187 191 192 193 194 194 195 198 198 198 199 199 206 206
365 CHR$ LEFT$ LEN MID$ ORD RIGHT$ STR$ VAL CHR$(<>) LEFT$(<>,<>) LEN(<>) MID$(<>,<1>[,<2>]) ORD(<>) RIGHT$(<>,<>) STR$(<>) VAL(<>) 207 208 195 208 196 209 209 205 DATE$ TIME$ TIMER yy/mm/dd DATE$ hh:mm:ss TIME$ 0 TIMER 207 209 200
366 P Sn DI DO MO TO LO SI SO SIW SID SOW SOD Pnnnn P"["<>"]" Sn S"["<>"]" DIm([b,...,b]) DI(mb,...,mb) DOm([b,...,b]) DO(mb,...,mb) MOm([b,...,b]) MO(mb,...,mb) TOm([b,...,b]) TO(mb,...mb) LOm([b,...,b]) LO(mb,...,mb) SIm([b,...,b]) SI(mb,...,mb) SOm([b,...,b]) SO(mb,...,mb) SIW(m) SIDm SOW(m) SODm 12 14 14 15 16 17 19 18 20 21 22 22 23 23 <>[%] (<>,[<>, <>])! $
IM TEL 053-460-6169 FAX 053-460-6811 TEL FAX TEL FAX K 1. 2. 3. 1. 2. 24 3. 424 4. 1 5.
改訂履歴 改訂日付 2004 年 9 月初版 改訂内容 2004 年 11 月 第 2 版 MOVE 文オプション : ポート出力指定 OUT 文 DRIVE / DRIVE 2 文オプション : トルクオフセット値 IO コマンド : 原点復帰 他 2005 年 4 月 Ver.3.00 PATH 関連コマンド追加 誤記修正 他 2006 年 1 月 Ver.3.01 サービス依頼票追加 2006 年 11 月 Ver.3.02 IO コマンド使用時の RCX22 シリーズ用出力ポート関連追加 誤記修正 2007 年 7 月 Ver.3.03 True シ ョウケンパラメータ追加に伴うコメント追加 誤記修正 2007 年 9 月 Ver.3.04 TRQTIME 文 / TRQTIME2 文の追加 TRQSTS 関 /TRQSTS2 関数 / TRQTIME 関数 / TRQTIME2 関数 /WHRXY 関数 /WHRXY2 関数追加 @ DATE/@TIME 追加 ポイントコメントに関する記述の追加 MOVE 移動コマンドの直線補間コマンドにサブロボット用を追加 誤記修正 他 2007 年 1 0 月 Ver.3.05 MOVEI/DRIVEI カイシイチパラメータ追加に伴う要点文 注意文の変更 追 加 誤記修正 他 2008 年 1 月 Ver.3.06 データファイルに ETH を追加 SEND 文に扱えるファイル追加 変 数の説明補足 他 2008 年 11 月 Ver.3.07 MOVE 文 MOVE2 文の直線 円弧補間移動の項に注意文追加 誤記修正 2009 年 6 月 Ver.3.08 DRIVE / DRIVE2 文 DRIVEI / DRIVEI2 文に DSPEED オプション 追加 コントローラ名の表記変更 他 2009 年 8 月 Ver.3.09 PTP 移動命令と補間移動命令に続く次の命令の実行についての注意点 追加 2009 年 1 2 月 Ver.3.10 表紙に住所等を追加 2010 年 6 月 Ver.3.11 ONLINE / OFFLINE 文に ETH および CMU オプション追加 2010 年 9 月 Ver.3.12 誤記修正 2011 年 11 月 Ver.3.13 軸を指定するコマンドに 第 5 軸 第 6 軸の説明を追加 他 2011 年 11 月 Version 3.13 IM