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If you create a “Relative” program, shift all points (offset) so that the coordinates of the first point become (0,0,0) after registering the point. Registering a program set to “Moving Amount” The registered coordinates cannot be converted into “Moving Amount.” Register the point in MDImode. Calling points: callPoints Call a point string (defined in customizing mode) with identifier to execute it. Command Category Command Parameter Job Execute Flow Control callPoints Point String Identifier Calls a subroutine of the specified point string. .. The command “callPoints” is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point. Example) The following point job data is set to P1. ld #genIn1 then callPoints cleaning downZ 10,10 if out #genOut1 Command used to call a point string “cleaning” If #genIn1 is ON, go to the point string “cleaning” and execute point job data and additional function data set to “cleaning”. Then go to P1, lower the Z axis by 10 mm and output ON signal to #genOut1. If #genIn1 is OFF, lower the Z axis by 10 mm and output ON signal to #genOut1. P1 P2Point string: cleaning Ending a program: endProg The following explains how to end a program (running the operation) at the current point. The arm will not return to the Work Home position. Command Category Command Parameter Job Execute Flow Control endProg - Ends program run at the current point. .. The command “endProg” is invalid at the CP Passing Point or a point whose Base Type is CP Passing Point. Example: Below is the The Point Job Data for the operation shown to the right chart waitCondTime 500 ld #genIn2 timeUp movetoZ 0,10 endProg endWait “endProg” is a command to end the program at the current point without returning to the Work Home position. It is different from stop in that the robot will not restart operation. You have to start the job from the beginning. .. If you want the robot to return to the Work Home position before ending the program, use the “goPoint” command with a destination number “0” for the Work Home Position. genIn2=ON Raise the Z axis to thehighest position and endthe program. Assigning the returned value of a function: returnFunc Assign a value of the specified expression as a returned value and end the function. Command Category Command Parameter Job Execute Flow Control returnFunc Expression Assigns a value of the specified expression as a returned value and end the function. .. The command “returnFunc” cannot be used for point job data. Jopint Job Data Function (Identifier: radians) Call a function. outLCD 7,4,radians(x) returnFunc 0.017453*x A returned value of “radians” function for Argument(x) is displayed on the teaching pendant LCD. Jumping to a specified point: goPoint, goRPoint, goCRPoint The following explains how to jump to a specified point after carring out a point job instead of going to the next point. Command Category Command Parameter Job Execute Flow Control goPoint PTP Condition Number, Point Number Jumps to a specified point. goRPoint PTP Condition Number, Relative Point Number Jumps to a specified relative point. goCRPoint PTP Condition Number, Destination selection Jumps to a specified destination while running in CP drive. .. The commands “goPoint”, “goRPoint” and “goCRPoint” are invalid at the CP Passing Point or a point whose Base Type is CP Passing Point. .. Point Number or Relative Point Number of “goPoint” and “goRPoint” can be set using variables or expressions. A destination for “goCRPoint” can also be set using variables or expressions. In this case, the value must be either “0” or “1,” Example: Below: is the Point Job Data for the operation shown in the chart to the right. waitCondTime 500 ld #genIn2 timeUp waitStartBZ goRPoint PTP3,8 endWait The above commands carry out the following operation: When #genIn2 does not turn ON within 0.5 sec, the alarm buzzer will sound and the robot will wait until a start signal is received. After a start signal is received, operation will restart at the current reference point, plus 8. #genIn2=ON waitStartBZ goRPoint PTP3,8 [goPoint PTP3,25]: Jump to Point 25. (Comply with PTP Condition 03.) If you set “0” as the PTP Condition Number, the movement will comply with the PTP Conditions setting in the program data. If you set “o” as the point number, the arm will go to the Work Home position. (Jump to a point specified by number.) [goRPoint PTP3,-4: Subtract four from the current reference point number and jump to the point with that number. (Comply with PTP Condition 03.) If you set “0” as the PTP Condition Number, the movement will comply with the PTP Conditions setting in the program data. If you set “0” as the Relative point number, the robot will restart at the current point. (Jump to a relative point specified by number.) [goCRPoint PTP3,1: This command is used to jump to a specified point while running in CP drive. The movement from a CP Start Point to a CP End Point is regarded as one action. If you set 0 as the des...

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