Specifications
APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
386
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
SRCP30
Pulse train input form
Logic
Command
pulse form
CW direction CCW direction
Positive
logic
Phase A /
phase B
Pulse / code
CW / CCW
Negative
logic
Phase A /
phase B
Pulse / code
CW / CCW
Robot Language Table
Command Description
MOVA Moves to point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until specifi ed DI input is received.
JMP Jumps to a specifi ed label in a specifi ed program.
JMPF
Jumps to a specifi ed label in a specifi ed program
according to the input condition.
JMPB
Jumps to a specifi ed label when a general-purpose
input or memory input is in the specifi ed state.
L
Defi nes the jump destination for a JMP or JMPF
statement, etc.
CALL Runs another program.
DO
Turns general-purpose output or memory output on and off.
WAIT
Waits until a general-purpose input or memory input
is in the specifi ed state.
TIMR
Waits the specifi ed amount of time before advancing
to the next step.
PDefi nes a point variable.
P+ Adds 1 to a point variable.
P- Subtracts 1 from a point variable.
SRVO Turns a servo on and off.
STOP Temporarily stops program execution.
ORGN Performs return-to-origin.
TON Runs a specifi ed task.
TOFF Stops a specifi ed task.
JMPP
Jumps to a specifi ed label when the axis positional
relation meets the specifi ed conditions.
MAT Defi nes a matrix.
MSEL Specifi es a matrix to move.
MOVM Moves to a specifi ed pallet work position on matrix.
JMPC
Jumps to a specifi ed label when counter array
variable C equals to the specifi ed value.
JMPD
Jumps to a specifi ed label when counter variable D
equals to the specifi ed value.
CSEL Specifi es the array element of counter array variable C.
CDefi nes counter array variable C.
C+ Adds a specifi ed value to counter array variable C.
C-
Subtracts a specifi ed value from counter array variable C.
DDefi nes counter variable D.
D+ Adds a specifi ed value to counter variable D.
D- Subtracts a specifi ed value from counter variable D.
SHFT
Shifts the coordinate position by amount of specifi ed
point data.
Standard accessories
I/O fl at cable (CN1)
Connector and fl at cable used to connect the standard
parallel I/O of the ERCD / SRCP30 controllers and an
external equipment (sequencer). The cable is 1m long
with its end cut and left as it is.
Model KAU-M4421-00
Twisted-pair cable (CN2)
Connector and twisted pair cable used to connect
parallel I/O of ERCD / SRCP30 controllers and an
external equipment. The cable is 2m long with its
end cut and left as it is. Select CN2 when using the
pulse train input equipment.
Model KAU-M4421-10