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11. Robot Language Explanation
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11 - 42
M I T Function Code Example of corresponding HR - BASIC syntax.
M0 DO signal RESET GO1=0
M1∼8 DO signal ON/OFF DO1=1∼DO8=1 or DO1=0∼DO8=0
M10 DO signal RESET GO2=0
M11∼18 DO signal ON/OFF DO11=1∼DO18=1 or DO11=0∼DO18=0
M20 Step Jump (Uncond.) GOTO <Address>
M21 Step Call (Uncond.) GOSUB <Address>
M22 Step Return (Uncond.) RETURN
M23 Step Jump (Conditional) IF DIn=1 THEN <Address>
M24 Step Call (Conditional)
IF DIn=1 THEN
GOSUB <Address>
ENDIF
M25
Step Return
(Conditional)
IF DIn=1 THEN
RETURN
ENDIF
M26
Step Jump (Count
Conditional)
IF Vn%=<Count> THEN <Address>
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M27
Step Call (Count
Conditional)
IF Vn%=<Count> THEN
GOSUB <Address>
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M28
Step Return (Count
Conditional)
IF Vn%=<Count> THEN
RETURN
ENDIF
Vn%=Vn%+1 (Vn% value is initialized out of cycle).
M29
Robot Interrupt (DI
si
g
nal)
MOVE L, P1, S=..., A=..., H=... UNTIL <I Signal>=1
M32 Output signal SET DOn=1
M33 Spot welding condition SPOTCND
M34 Output signal RESET DOn=0
M41 Robot Stop (Uncond.) STOP
M42 Robot Stop (Conditional)
IF DIn=1 THEN
STOP
ENDIF
M43
Line number designated
output within MB signal
g
rou
p
GO<Group Number>=<8bit Binary>
M44
binary coded output
within MB signal group.
GO<Group Number>=<Data>