iii
8-4 Robot Language Description ..................................................................................................8-6
8-4-1 MOVA ........................................................................................................................................................... 8-6
8-4-2 MOVI ............................................................................................................................................................ 8-6
8-4-3 MOVF ............................................................................................................................................................ 8-7
8-4-4 JMP................................................................................................................................................................ 8-7
8-4-5 JMPF .............................................................................................................................................................. 8-8
8-4-6 JMPB ............................................................................................................................................................. 8-9
8-4-7 L .................................................................................................................................................................... 8-9
8-4-8 CALL............................................................................................................................................................ 8-10
8-4-9 DO .............................................................................................................................................................. 8-10
8-4-10 WAIT ........................................................................................................................................................... 8-11
8-4-11 TIMR ........................................................................................................................................................... 8-11
8-4-12 P .................................................................................................................................................................. 8-12
8-4-13 P+ ................................................................................................................................................................ 8-12
8-4-14 P- ................................................................................................................................................................. 8-12
8-4-15 SRVO ........................................................................................................................................................... 8-13
8-4-16 STOP ........................................................................................................................................................... 8-13
8-4-17 ORGN ......................................................................................................................................................... 8-14
8-4-18 TON ............................................................................................................................................................ 8-15
8-4-19 TOFF ........................................................................................................................................................... 8-15
8-4-20 JMPP............................................................................................................................................................ 8-16
8-4-21 MAT............................................................................................................................................................. 8-17
8-4-22 MSEL ........................................................................................................................................................... 8-18
8-4-23 MOVM ........................................................................................................................................................ 8-19
8-4-24 JMPC ........................................................................................................................................................... 8-20
8-4-25 JMPD ........................................................................................................................................................... 8-20
8-4-26 CSEL ............................................................................................................................................................ 8-21
8-4-27 C.................................................................................................................................................................. 8-21
8-4-28 C+ ............................................................................................................................................................... 8-22
8-4-29 C- ................................................................................................................................................................ 8-22
8-4-30 D ................................................................................................................................................................. 8-22
8-4-31 D+ ............................................................................................................................................................... 8-22
8-4-32 D- ................................................................................................................................................................ 8-23
8-4-33 SHFT............................................................................................................................................................ 8-23
8-5 Sample Programs .................................................................................................................8-24
8-5-1 Moving between two points ........................................................................................................................ 8-24
8-5-2 Moving at an equal pitch ............................................................................................................................. 8-24
8-5-3 Positioning 2 points and sending job commands to a PLC at each position ................................................. 8-25
8-5-4 Robot stands by at P0, and moves to P1 and then to P2 to pick and place a workpiece .............................. 8-26
8-5-5
Picking up 3 kinds of workpieces flowing on the front conveyor and placing them on the next conveyors while sorting ...
8-27
8-5-6 Switching the program from I/O ................................................................................................................. 8-29
8-5-7 Axis movement and I/O multi-task .............................................................................................................. 8-31
8-5-8 Turning ON general-purpose outputs during robot movement after a certain time has elapsed .................. 8-32
8-5-9 Turning ON a general-purpose output during robot movement when it has passed a specified position ..... 8-33
Chapter 9 OPERATING THE ROBOT .................................................................................... 9-1
9-1 Performing Return-to-Origin ..................................................................................................9-2
9-2 Using Step Operation.............................................................................................................9-4
9-3 Using Automatic Operation ................................................................................................... 9-7
9-4 Switching the Execution Program...........................................................................................9-9
9-5 Emergency Stop Function .....................................................................................................9-10
9-5-1 Initiating an emergency stop ....................................................................................................................... 9-10
9-5-2 Recovering from an emergency stop............................................................................................................ 9-10
9-6 Displaying the Memory I/O Status .......................................................................................9-12
9-7 Displaying the Variables ....................................................................................................... 9-13
Chapter 10 OTHER OPERATIONS ........................................................................................ 10-1
10-1 Initialization ........................................................................................................................10-2
10-2 DIO Monitor Display ...........................................................................................................10-4
10-2-1 Display from the monitor menu .................................................................................................................. 10-4
10-2-2 Display from the DIO key operation ........................................................................................................... 10-5
10-3 System Information Display .................................................................................................10-5
10-4 SERVICE mode function .......................................................................................................10-6
10-4-1 Safety settings for SERVICE mode ................................................................................................................ 10-7
10-4-2 Enabling/disabling the SERVICE mode function........................................................................................... 10-9
10-4-3 Setting the SERVICE mode functions ......................................................................................................... 10-11
10-5 System utilities ...................................................................................................................10-13
10-5-1 Viewing hidden parameters ....................................................................................................................... 10-13
