| 8-4 Robot Language Description..................................................................................................8-8 8-4-1 MOVA........................................................................................................................................................... 8-8 8-4-2 MOVI ............................................................................................................................................................ 8-8 8-4-3 MOVF............................................................................................................................................................ 8-9 8-4-4 JMP................................................................................................................................................................ 8-9 8-4-5 JMPF............................................................................................................................................................ 8-10 8-4-6 JMPB ........................................................................................................................................................... 8-11 8-4-7 L.................................................................................................................................................................. 8-11 8-4-8 CALL............................................................................................................................................................ 8-12 8-4-9 DO.............................................................................................................................................................. 8-12 8-4-10 WAIT........................................................................................................................................................... 8-13 8-4-11 TIMR ........................................................................................................................................................... 8-13 8-4-12 P.................................................................................................................................................................. 8-14 8-4-13 P+................................................................................................................................................................ 8-14 8-4-14 P-................................................................................................................................................................. 8-14 8-4-15 SRVO........................................................................................................................................................... 8-15 8-4-16 STOP........................................................................................................................................................... 8-15 8-4-17 MAT............................................................................................................................................................. 8-16 8-4-18 MSEL ........................................................................................................................................................... 8-17 8-4-19 MOVM ........................................................................................................................................................ 8-18 8-4-20 JMPC........................................................................................................................................................... 8-19 8-4-21 JMPD........................................................................................................................................................... 8-19 8-4-22 CSEL............................................................................................................................................................ 8-20 8-4-23 C.................................................................................................................................................................. 8-20 8-4-24 C+ ............................................................................................................................................................... 8-21 8-4-25 C- ................................................................................................................................................................ 8-21 8-4-26 D................................................................................................................................................................. 8-21 8-4-27 D+............................................................................................................................................................... 8-22 8-4-28 D-................................................................................................................................................................ 8-22 8-4-29 ORGN ......................................................................................................................................................... 8-23 8-4-30 ACHA.......................................................................................................................................................... 8-24 8-4-31 ACHI ........................................................................................................................................................... 8-25 8-4-32 DRVA .......................................................................................................................................................... 8-26 8-4-33 DRVI ........................................................................................................................................................... 8-27 8-4-34 SHFT............................................................................................................................................................ 8-28 8-4-35 TON ............................................................................................................................................................ 8-29 8-4-36 TOFF ........................................................................................................................................................... 8-29 8-4-37 JMPP............................................................................................................................................................ 8-30 8-4-38 MOVL.......................................................................................................................................................... 8-31 8-4-39 MOVC......................................................................................................................................................... 8-32 8-5 Sample Programs.................................................................................................................8-33 8-5-1 Moving between two points........................................................................................................................ 8-33 8-5-2 Moving at an equal pitch............................................................................................................................. 8-33 8-5-3 Positioning 2 points and sending job commands to a PLC at each position................................................. 8-34 8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece.............................. 8-35 8-5-5 Picking up workpieces flowing on the front conveyor and placing them sequentially on the five rear conveyors ... 8-36 8-5-6 Switching the program from I/O................................................................................................................. 8-38 8-5-7 Palletizing for fixed point versus pallet........................................................................................................ 8-40 8-5-8 Palletizing for pallet versus pallet................................................................................................................ 8-41 8-5-9 Palletizing for pallet versus pallet, using a SHIFT statement........................................................................ 8-42 8-5-10 Palletizing for special pallets....................................................................................................................... 8-43 8-5-11 Changing the placement sequence for palletizing....................................................................................... 8-44 8-5-12 Picking up workpieces from a 1x3 pallet conveyed by the conveyor and placing them on a 5x4 transfer pallet .. 8-45 8-5-13 Picking up 3 kinds of workpieces conveyed by the conveyor and placing them on the 3x3, 3x4, 4x4 transfer pallets while sorting.. 8-47 8-5-14 Picking up workpieces from a 6x4 pallet and placing them on two smaller 3x4 pallets.............................. 8-49 8-5-15 Specifying a position on a pallet from I/O................................................................................................... 8-51 8-5-16 Picking up a workpiece at P0 and placing it at P1 ....................................................................................... 8-52 8-5-17 Picking up workpieces at P0 and placing them sequentially at P1, P2, P3 and P4....................................... 8-52 8-5-18 Picking up workpieces at P0 and placing them sequentially on a 2x4 pallet............................................... 8-53 8-5-19 Axis movement and I/O multi-task.............................................................................................................. 8-54 8-5-20 Multi-robot operation.................................................................................................................................. 8-55 8-5-21 Synchronization in multi-robot operation ................................................................................................... 8-56 8-5-22 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-57 8-5-23 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-58 8-5-24 Sealing......................................................................................................................................................... 8-59 8-5-25 Limitless movement at same pitch............................................................................................................... 8-60 8-5-26 Limitless rotation......................................................................................................................................... 8-61 8-5-27 Picking up workpieces supplied from an index table and placing them on a conveyor................................ 8-62 | 
