8-25
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-3 Positioning 2 points and sending job commands to a PLC at
each position
P1
P2
Position at which job 1 is complete
Position at which job 2 is complete
Point
DI1
DI2
Job 1 completion 1: Complete 0: Not complete
Job 2 completion 1: Complete 0: Not complete
General-purpose input
DO1
DO2
Job 1 command 1: Output 0: Canceled
Job 2 command 1: Output 0: Canceled
General-purpose output
P1
P2
Job 1 Job 2
Program Comment
[NO0]
001: DO 1, 0 ; Cancels job 1 command
002: DO 2, 0 ; Cancels job 2 command
003: L 1 ; Label definition
004: MOVA 1, 100 ; Moves to P1
005: DO 1, 1 ; Outputs job 1 command
006: WAIT 1, 1 ; Waits until job 1 is complete
007: DO 1, 0 ; Cancels job 1 command
008: MOVA 2, 100 ; Moves to P2
009: DO 2, 1 ; Outputs job 2 command
010: WAIT 2, 1 ; Waits until job 2 is complete
011: DO 2, 0 ; Cancels job 2 command
012: JMP 1, 0 ; Returns to L1
