8-31
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-7 Axis movement and I/O multi-task
The robot moves between two points and performs multi-task I/O operation in asynchronous mode.
General-purpose input/output
DI0
Job status detection
DO0
Job owner's output
P0 P1
Program Comment
[NO0]
001: TON 1, 1, 0 ; Starts program NO1 as task 1
002: L 0 ; Label definition
003: MOVA 0, 100 ; Moves to P0 at speed 100
004: TIMR 100 ; Delays for one second
005: MOVA 1, 100 ; Moves to P1 at speed 100
006: TIMR 100 ; Delays for one second
007: JMP 0, 0 ; Returns to L0
Program Comment
[NO1]
001: L 0 ; Label definition
002: WAIT 0, 0 ; Waits until the job is finished
003: DO 0, 1 ; Issues the job start instruction
004: WAIT 0, 1 ; Confirms that the job has started
005: DO 0, 0 ; Turns off the job start signal
006: JMP 0, 1 ; Returns to L0
