Specifications

APPLICATION
Compact
single-axis robots
TRANSERV O
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
INFORMA TION
408
Robot
positioner
Pulse string
driver
Robot
controller iVY Option
RCX240
General commands
Language Function
DECLARE
Declares that a label or sub-procedure is in an external program.
DEF FN Defi nes a function that is available to the user.
DIM Declares the name of an array variable and the number of elements.
EXIT FOR Terminates a FOR statement to NEXT statement loop.
FOR to NEXT Controls repetitive operations
GOSUB to
RETURN
Jumps to a subroutine with the label specified by a
GOSUB statement and executes the subroutine.
GOTO Unconditionally jumps to the line specifi ed by a label.
HALT Stops a program and resets it.
HOLD Pauses a program.
IF Allows control fl ow to branch according to conditions.
LET Executes a specifi ed assignment statement.
ON to GOSU
Jumps to a subroutine with each label specifi ed by a GOSUB
statement according to conditions and executes the subrou ine.
ON to GOTO Jumps to each line specifi ed by a label according to conditions.
REM
All characters that follow REM or an apostrophe (’) are
viewed as comments.
SELECT CASE
to END SELECT
Allows control fl ow to branch according to conditions.
SWI
Switches the currently executed program to a specifi ed
program, and executes from the fi rst line after compiling.
WHILE to WEND Controls repetitive operations.
Label statement Defi nes “labels” in program lines.
Robot operation
Language Function
ABSRST
Performs return-to-origin along robot absolute motor axes.
DRIVE Performs an absolute movement of each axis in the main group.
DRIVEI Performs a relative movement of each axis in the main group.
MOVE Performs an absolute movement of the main robot axes.
MOVEI Performs a relative movement of the main robot axes.
ORIGIN
Performs return-to-origin on an incremental mode axis or
absolute search on a semi-absolute mode axis.
PMOVE Performs a pallet movement of the main robot axes.
SERVO
Controls the servo ON/OFF of the specifi ed axes in the main group
or all axes (in main group and sub group).
I/O control
Language Function
DELAY Waits for the specifi ed length of time (ms).
DO Outputs the specifi ed value to the DO ports.
LO
Outputs the specifi ed value to the LO port to prohibit axis
movement or permit axis movement.
MO Outputs the specifi ed value to the MO ports.
OUT
Turns ON the bits of the specifi ed output ports and the
command statement ends.
RESET Turns OFF the bits of the specifi ed output ports.
SET Turns ON the bits of the specifi ed output ports
SO Outputs the specifi ed value to the SO port.
TO Outputs the specifi ed value to the TO port.
WAIT
1. Waits until the condition in DI/DO conditional
expression are met.
2. Waits until positioning on the robot axes is complete
(within the tolerance range).
Coordinate control
Language Function
CHANGE Switches the hand of the main robot.
HAND Defi nes the hand of the main robot.
RIGHTY /
LEFTY
Selects whether the main robot will be “right-handed”
or “left-handed” when moving to a point specified on a
Cartesian coordinate system.
SHIFT
Sets the shift coordinates for the main robot by using the
shift data specifi ed by a shift variable.
Condition change
Language Function
ACCEL Changes the acceleration coeffi cient parameter of the main group.
ARCH Changes the arch position parameter of the main group.
ASPEED Changes the automatic movement speed of he main group.
AXWGHT Changes the axis tip weight parameter of the main group.
DECEL Changes the deceleration rate parameter of the main group.
ORGORD
Sets the axis sequence parameter to perform return-to-
origin and absolute search in the main group.
OUTPOS Changes the OUT position parameter of the main group.
PDEF
Defi nes the pallet used to execute a pallet movement command.
SPEED Changes the program speed for the main group.
TOLE Changes the tolerance parameter of the main group.
WEIGHT Changes the tip weight parameter of the main robot.
Communication control
Language Function
ONLINE /
OFFLINE
Changes communication mode and initialize the
communication port.
SEND Sends the read fi le data into a write fi le.
Screen control
Language Function
PRINT
Displays the value of specifi ed variable on the MPB/RPB screen.
Key control
Language Function
INPUT Assigns a value to the variable specifi ed from the MPB/RPB.
Procedure
Language Function
CALL
Calls up sub-procedures defi ned by the SUB and END
SUB statements.
EXIT SUB
Terminates the sub-procedure defi ned by the SUB and
END SUB statements.
SHARED
Does not permit variables declared with a program
written outside a subprocedure (SUB to END SUB) to be
passed on as dummy arguments, but allows them to be
referred to with a sub-procedure.
SUB to END SUB Defi nes a sub-procedure.
Task c ontrol
Language Function
CHGPRI Changes the priority of the specifi ed task.
CUT
Terminates a task currently being executed or temporarily
stopped.
EXIT TASK Terminates its own task currently being executed.
RESTART Restarts a task that is temporarily stopped.
START
Sets the task number and priority of the specified task
and starts that task.
SUSPEND Temporarily stops another task being executed.
Error control
Language Function
ON ERROR
GOTO
If an error occurs during program execution, this command
allows the program to jump to the error processing routine
specified by the label without stopping the program, or
stops the program and displays the error message.
RESUME
Resumes the program execution after recovery from an
error. This command is used in the error processing routine.
ERL Gives the line number where an error occurred.
ERR Gives the error code number when an error occurred.
PATH control
Language Function
PATH Sets the PATH motion on the main robot axis.
PATH END Terminates the path setting for PATH motion.
PATH SET Starts the path setting for PATH motion.
PATH START Starts the PATH motion.
Torque control
Language Function
DRIVE
(with torque limit option)
Executes an absolute movement command on each axis
in the main group.
TORQUE
Changes the maximum torque instruction for the
specifi ed main group axis.
TRQTIME
Sets the current limit time-out period on the specified
main group axis when using a torque limit setting option
in the DRIVE statement.
TRQTIME
Sets the current limit time-out period on the specified
main group axis when using a torque limit setting option
in the DRIVE statement.
Robot Language Table