Catalogue - BA II Arm Robot Catalog - TM Robotics - (Version JPG)

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Assembly robot, Robotic cell, Articulated robot, Software, Robot

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Technical Notes

List of commands (instruction words) for sequential mode

Controller: CA20-M10, CA20-M40 Teach pendant: TPH-2A

Controller: CA10-M00B, CA10-M01B Teach pendant: TPH-4B


	Command \| Description
	Command for axis movement
	MOVP	Execution of move data value in specified coordinate table.
	MVB	Return from current position to just precedinq teachinq position.
	MVE	Escape movement
	HOME	Home return command
	Command for parameter settinq
	SPD	Speed settinq
	ACC	Acceleration/deceleration settinq
	OFS	Offset settinq
	Command for I/O port control
	OUT	Output to qeneral-purpose port.
	OUTP	Pulse output to qeneral-purpose port.
	OUTC	Counter value output to qeneral-purpose port.
	IN	Waitinq for input.
	INPC	Settinq of input status of qeneral-purpose port to counter.
	Command for timer/counter control
	TIM	Waitinq for time.
	TIMP	Preset of timer number and time.
	CNT	Preset of counter number and count value.
	CNT+	Addition of counter value.
	CNT-	Subtraction of counter value.
	CNTC	Clear of all counters.
	Command for proqram control
	NOP	Non-operation
	RET	Kuser"™ ^of ^endinq ^a
	STOP	Stop
	END	Proqram end
	TAG	Jump to a taq (destination label)
	PSEL	Proqram selection
	Command for servo control
	SVON	Servo ON
	SVOF	Servo OFF
	Command for matrix operation
	MVM	Matrix movement
	LOOP	MVM loop
	MINI	Initialization of MVM counter.
	Command for jump
	JMP	Unconditional iump.
	JMPI	Jump with input condition.
	JMPC	Jump with counter condition.
	JMPT	Jump with timer condition.
	BRAC	Jump to a taq of counter value.
	Command for subroutine call
	CAL	Unconditional call (unconditional jump to specified subroutine).
	CALI	Call with input condition (call of specified subroutine with input condition).
	CALC	Call with counter condition.
	CALT	Call with timer condition.
	Command for task control
	TSTR	Task start
	TSTO	Temporary stop of task.
	TRSA	Task restart
	TCAN	Compulsive finish of task.


	Command \| Description
	Command for axis movement
	MOV	Axis travel
	MOVP	Axis travel (coordinate table indirect)
	MVC	Circular interpolation
	MVCP	Circular interpolation (coordinate table indirect)
	MVB	Move to just precedinq position (return to just precedinq position).
	MVE	Escape movement
	RSMV	Axis travel via RS232C.
	HOME	Home return command
	Command for parameter settinq
	SPD	Speed settinq
	ACC	Acceleration/deceleration settinq
	OFS	Offset settinq
	Command for I/O port control
	OUT	Output to qeneral-purpose port.
	OUTP	Pulse output to qeneral-purpose port.
	OUTC	Counter value output to qeneral-purpose port.
	OUTS	Specified coordinate output to qeneral-purpose port.
	IOUT	Output to internal port.
	CANS	Cancel of specified coordinate output to qeneral-purpose port.
	IN	Waitinq for input.
	INPC	Settinq of input status of qeneral-purpose port to counter.
	INSP	Waitinq for internal port input.
	Command for timer/counter control
	CWIT	Waitinq for counter.
	TIM	Waitinq for time.
	TIMP	Preset of timer.
	CNT	Preset of counter.
	CNT+	Addition of counter value.
	CNT-	Subtraction of counter value.
	CNTC	Clear of all counters.
	Command for proqram control
	NOP	Non-operation
	RET	Return (declaration of endinq a subroutine).
	STOP	Stop
	END	Proqram end
	TAG	Jump to a taq (destination label)
	PSEL	Proqram selection
	Command for servo control
	SVON	Servo ON
	SVOF	Servo OFF
	Command for matrix operation
	MVM	Matrix movement
	LOOP	MVM loop
	MINI	Initialization of MVM counter.
	Command for iump
	JMP	Unconditional jump.
	JMPI	Jump with input condition.
	JMPC	Jump with counter condition.
	JMPT	Jump with timer condition.
	BRAC	Jump to a taq of counter value.
	Command for subroutine call
	CAL	Unconditional call (unconditional jump to specified subroutine).
	CALI	Call with input condition (call of specified subroutine with input condition).
	CALC	Call with counter condition.
	CALT	Call with timer condition.
	Command for task control
	TSTR	Task start
	TSTO	Temporary stop of task.
	TRSA	Task restart
	TCAN	Compulsive finish of task.

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BA II Arm Robot Catalog - TM Robotics - #231

Assembly robot, Robotic cell, Articulated robot, Software, Robot