Robotics User Manual

Example 2: If #genIn1 and #genIn2 are both
ON, sound an alarm buzzer and stand by until
a start instruction is received.
If either #genIn1 or #genIn2 are not ON,
advance to the next job.
Label 1
#genIn1
#genIn2
Sound Alarm
A
nd Wait Star
t
The commands for Example 2 are shown
below.
Label 1
if
ld #genIn1
and #genIn2
then
waitStartBZ
jump L1
endIf
(A destination mark for jump command)
If the following condition is true, advance to then. If false, advance to the next of
endIf.
#genIn1=ON (Condition 1)
And #genIn2=ON (Condition 2)
If the Conditions are true, execute the following commands.
Sound an alarm buzzer and stand by in place until a start instruction is received.
Jump to [Label 1] when a start instruction is received.
End of If Branch
 It is not necessary that both “then …” and “else …” exist at the same time. However, an IF
command without a corresponding “endIf” command is recognized as an error.
 The command lines for “waitCondTime” “timeUp” … ”endWait”, “if” … “endIf” are indented.
(See below.)
waitCondTime 200
ld #genIn2
timeUp
set genOut2
if
ld #genIn1
then
downZ 20,20
waitCondTime 200
ld #genIn4
timeUp
waitStartBZ
endWait
endIf
endWait
Be sure not to exceed the 9
th
level of the
indent.
If point job data including a line with the
indent exceeding 9
th
level, it will recognize
an error in running and the message “Error
on point job” will be displayed.
If “timeUp” or “endWait” precedes
“waitCondTime” or if “then”, “else” or “endIf”
proceeds “if”, it will be also recognized as an
error and the message “Error on point job”
will be displayed.
3
rd
level
2
nd
level
1
st
level
Features II CARTESIAN Benchtop Robot
37