Instructions: Dx100 Options

DX100 OPTIONS
INSTRUCTIONS
FOR INFORM LANGUAGE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATORS MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operators manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 155493-1CD

Revision: 1
YASKAWA ELECTRIC CORPORATION
MANUAL NO. RE-CKI-A452 1

DX100
MANDATORY
This manual explains the INFORM language of the DX100 system.
Read this manual carefully and be sure to understand its contents
before handling the DX100.
General items related to safety are listed in the Chapter 1: Safety of
the DX100 Instructions. To ensure correct and safe operation,
carefully read the DX100 Instructions before reading this manual.
CAUTION
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids your products warranty.
ii
DX100
NOTES FOR SAFE OPERATION

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
WARNING, CAUTION, MANDATORY, or PROHIBITED.
Indicates a potentially hazardous

situation which, if not avoided, could
WARNING result in death or serious injury to
personnel.
Indicates a potentially hazardous situa-

CAUTION tion which, if not avoided, could result
in minor or moderate injury to person-
nel and damage to equipment. It may
also be used to alert against unsafe
practices.
MANDATORY Always be sure to follow explicitly the

items listed under this heading.
PROHIBITED Must never be performed.
Even items described as CAUTION may result in a serious accident in

some situations. At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to

NOTE follow all instructions, even if not designated as CAUTION
and WARNING.
iii
DX100
WARNING
Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button
Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN
Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
View the manipulator from the front whenever possible.
Always follow the predetermined operating procedure.
Keep in mind the emergency response measures against the
manipulators unexpected motion toward you.
Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
Turning ON the DX100 power
Moving the manipulator with the programming pendant
Running the system in the check mode
Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem. The emergency stop buttons are
located on the right of the front door of the DX100 and the programming
pendant.
iv
DX100
CAUTION
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
Check for problems in manipulator movement.
Check for damage to insulation and sheathing of external wires.
Always return the programming pendant to the hook on the DX100
cabinet after use.
The programming pendant can be damaged if it is left in the
manipulators work area, on the floor, or near fixtures.
Read and understand the Explanation of the Warning Labels in the
DX100 Instructions before operating the manipulator.
Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation

DX100 Controller DX100
DX100 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator Cable
controller
v
DX100
Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:
Equipment Manual Designation

Programming Character The keys which have characters printed on
Pendant Keys them are denoted with [ ].
ex. [ENTER]
Symbol The keys which have a symbol printed on them
Keys are not denoted with [ ] but depicted with a
small picture.
GO
BACK
ex. page key PAGE

The cursor key is an exception, and a picture
is not shown.
Axis Keys Axis Keys and Numeric Keys are generic
Numeric names for the keys for axis operation and
Keys number input.
Keys When two keys are to be pressed
pressed simultaneously, the keys are shown with a +
simultaneou sign between them, ex. [SHIFT]+[COORD]
sly
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select "
means that the cursor is moved to the object item and the SELECT key is
pressed.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
vi
DX100 Contents
1 Outline of INFORM ......................................................................................................................... 1-1
1.1 About INFORM ................................................................................................................. 1-1
1.1.1 INFORM III ........................................................................................................... 1-1
1.1.2 Type of Instruction ................................................................................................ 1-1
1.1.3 Instruction Set ...................................................................................................... 1-2

1.1.3.1 Selecting Instruction Set ......................................................................... 1-2
1.1.4 Variables to be Used in Instructions ..................................................................... 1-4

1.1.4.1 Set Value of Variable and Numeric Data................................................. 1-4
1.2 Registration of Instructions ................................................................................................ 1-5
1.2.1 Registration .......................................................................................................... 1-5
1.2.2 Learning Function................................................................................................. 1-6
1.3 Detail Edit Window............................................................................................................. 1-7
1.4 Registration of Expression................................................................................................. 1-8
1.4.1 Expression............................................................................................................ 1-8
1.4.2 Registration ........................................................................................................ 1-10
1.5 INFORM Structure ........................................................................................................... 1-12

1.5.0.1 Example of Structure............................................................................. 1-12
1.5.0.2 INFORM Structure Elements................................................................. 1-13
1.5.0.3 Meaning of INFORM Structure.............................................................. 1-13
1.5.0.4 Explanation Table ................................................................................. 1-14
2 INFORM Explanation ...................................................................................................................... 2-1
2.1 I/O Instructions................................................................................................................... 2-1

DOUT .............................................................................................................. 2-1
DIN .................................................................................................................. 2-4
WAIT ............................................................................................................... 2-7
PULSE .......................................................................................................... 2-11
AOUT ............................................................................................................ 2-14
ARATION ...................................................................................................... 2-15
ARATIOF....................................................................................................... 2-19
ANTOUT ....................................................................................................... 2-20
2.2 Control Instruction............................................................................................................ 2-25

JUMP ............................................................................................................ 2-25
CALL ............................................................................................................. 2-29
GETARG ....................................................................................................... 2-41
TIMER ........................................................................................................... 2-43
*(LABEL) ....................................................................................................... 2-44
(COMMENT) ................................................................................................ 2-45
RET ............................................................................................................... 2-46
NOP .............................................................................................................. 2-49
PAUSE .......................................................................................................... 2-50
vii
DX100 Contents
CWAIT........................................................................................................... 2-51
MSG .............................................................................................................. 2-52
ADVINIT ........................................................................................................ 2-53
ADVSTOP ..................................................................................................... 2-54
PRINT............................................................................................................ 2-55
CLS ............................................................................................................... 2-59
ABORT .......................................................................................................... 2-60
SETUALM ..................................................................................................... 2-61
DIALOG......................................................................................................... 2-63
DIALSB.......................................................................................................... 2-67
2.3 Operating Instruction........................................................................................................ 2-69

CLEAR .......................................................................................................... 2-69
INC ................................................................................................................ 2-73
DEC............................................................................................................... 2-75
SET ............................................................................................................... 2-77
ADD............................................................................................................... 2-85
SUB ............................................................................................................... 2-92
MUL............................................................................................................... 2-99
DIV .............................................................................................................. 2-106
CNVRT ........................................................................................................ 2-113
AND............................................................................................................. 2-116
OR ............................................................................................................... 2-118
NOT............................................................................................................. 2-120
XOR............................................................................................................. 2-122
MFRAME..................................................................................................... 2-124
SETE ........................................................................................................... 2-126
GETE........................................................................................................... 2-128
GETS........................................................................................................... 2-130
SQRT .......................................................................................................... 2-135
SIN .............................................................................................................. 2-137
COS............................................................................................................. 2-139
ATAN........................................................................................................... 2-141
MULMAT ..................................................................................................... 2-143
INVMAT....................................................................................................... 2-145
SETFILE...................................................................................................... 2-146
GETFILE ..................................................................................................... 2-149
SETREG...................................................................................................... 2-151
GETREG ..................................................................................................... 2-152
2.4 Move Instruction............................................................................................................. 2-153

MOVJ .......................................................................................................... 2-153
MOVL .......................................................................................................... 2-163
MOVC.......................................................................................................... 2-172
MOVS.......................................................................................................... 2-180
IMOV ........................................................................................................... 2-188
SPEED ........................................................................................................ 2-195
REFP........................................................................................................... 2-198
viii
DX100 Contents
2.5 Shift Instruction .............................................................................................................. 2-204

SFTON ........................................................................................................ 2-204
SFTOF ........................................................................................................ 2-208
MSHIFT....................................................................................................... 2-210
2.6 Instruction Which Adheres to an Instruction .................................................................. 2-212

IF ................................................................................................................. 2-212
UNTIL.......................................................................................................... 2-221
ENWAIT ...................................................................................................... 2-223
2.7 Arc Welding Instruction.................................................................................................. 2-224

ARCON ....................................................................................................... 2-224
ARCOF........................................................................................................ 2-229
VWELD ....................................................................................................... 2-233
AWELD ....................................................................................................... 2-235
ARCSET...................................................................................................... 2-237
WVON ......................................................................................................... 2-240
WVOF ......................................................................................................... 2-245
ARCCTS ..................................................................................................... 2-247
ARCCTE ..................................................................................................... 2-251
2.8 Handling Instruction ....................................................................................................... 2-255

HAND .......................................................................................................... 2-255
HSEN .......................................................................................................... 2-257
2.9 Spot Welding Instruction................................................................................................ 2-259

GUNCL........................................................................................................ 2-259
SPOT .......................................................................................................... 2-261
STROKE ..................................................................................................... 2-264
STRWAIT .................................................................................................... 2-265
2.10 General-purpose Instruction ........................................................................................ 2-266

TOOLON ..................................................................................................... 2-266
TOOLOF ..................................................................................................... 2-267
ix
1 Outline of INFORM
DX100 1.1 About INFORM
1 Outline of INFORM
1.1 About INFORM
1.1.1 INFORM III

The robot programming language used with DX100 is called INFORM III.
INFORM III is composed of the instruction and the additional item (tag and
numeric data).
MOVJ VJ=50.00
Tag Numeric data
Instruction
Additional item
Instruction: It is used to execute the operation and processing. In the

case of a move instruction, when a position is taught, the move
instruction is automatically displayed according to the interpolation
method.
Additional item: The speed, time, etc. are set according to the type of
instruction. Numeric data and character data are added to the tag
that specifies the condition as necessary.
1.1.2 Type of Instruction

The instruction is divided into several types in terms of each process and
operation.
Instruction
Type Content
Example
I/O Instruction It is the instruction used to control the I/O. DOUT, WAIT
Control It is the instruction used to control the processing and JUMP, TIMER
Instruction operation.
Operating It is the instruction by which the variables, etc. are used ADD, SET
Instruction and operated.
Move It is an instruction concerning the movement and the MOVJ, REFP
Instruction speed.
Shift Instruction It is an instruction used when a present teaching position SFTON,
is shifted. SFTOF
Instruction It is an instruction which adheres to the instruction. IF, UNTIL
which adheres
to instruction
Work It is an instruction concerning work, such as arc welding ARCON,
Instruction and handling. WVON
Optional It is an instruction concerning optional functions. It can -
Instruction only be used when the function is available.
1-1
1 Outline of INFORM
1.1.3 Instruction Set

To improve operation efficiency, the number of instructions to be
registered is limited. All instructions are executed, regardless of the
instruction set during playback, etc.
Subset Instruction Set
Only high instructions which are used frequently are in the subset
instruction set. The number of instructions is small, which allows for
easier selecting and input.
Standard Instruction Set / Expanded Instruction Set
All INFORM III instructions can be registered. For these two sets,
the number of additional items which can be used by each instruc-
tion is different. The following function cannot be used with a stan-
dard instruction set, but operation is easier because the number of
data decreases when the instruction is registered.
Local Variable, Use of Array Variable
Use of Variable to Additional Item (Ex.: MOVJ VJ=I000)
1.1.3.1 Selecting Instruction Set

Select an instruction set in the teaching condition window.
1. Select {SETUP} under the main menu
2. Select {TEACHING COND}
The teaching condition window appears.
DATA EDIT DISPLAY UTILITY
TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET LINE
STEP ONLY CHANGING PROHIBIT
MRESET
Main Menu Short Cut
3. Select LANGUAGE LEVEL

The instruction set selection dialog box appears.
TEACHING CONDITION
STANDARD
INSTRUCTION INPUT LEARNING EXPANDED
1-2
1 Outline of INFORM
4. Select the language level (instruction set)

The language level is selected.
TEACHING CONDITION
LANGUAGE LEVEL EXPANDED
MRESET
Main Menu Short Cut
1-3
1 Outline of INFORM
1.1.4 Variables to be Used in Instructions

Variables can be used as numeric data for the additional item of the
instructions in the standard and expanded instruction sets.
Also, the instructions in the expanded instruction set can use local
variables and array variables.
The applicable variable differs depending on the

additional item.
NOTE The number of local variables to be used must be set in
the job header display. For setting the number of local
variables, refer to the Operators Manual Editing Local
Variables.
1.1.4.1 Set Value of Variable and Numeric Data

The unit of the numeric data for the additional item of the instruction
decides the set value of variable and the value of the additional item at
execution.
< Example >
TIMER tag (T=)
TIMER T=I000
When a variable is used for the numeric data of the TIMER tag, the unit
of numeric data is 0.01 seconds.
When 1000 is set for I000, the value when the instruction is executed is
10.00 seconds.
1-4
1 Outline of INFORM
DX100 1.2 Registration of Instructions
1.2 Registration of Instructions
1.2.1 Registration
INFORM
Press [INFORM LIST] LIST . while the job content window is shown to
register instructions.
1. Select {JOB} under the main menu
2. Select {JOB}
The job content window appears.
3. Press [INFORM LIST]
The job instruction group list dialog box appears.
JOB EDIT DISPLAY UTILITY
IN/OUT
JOB CONTENT
JOB NAME : R1S1 STEP NO : 004
CONTROL
CONTROL GROUP : R1+S1 TOOL : 00
0017 TIMER T=1.00 DEVICE
0018 MOVJ VJ=12.50

MOTION
0019 MOVJ VJ=50.00
0020 MOVL V=138 ARITH
0021 MOVL V=138
0022 MOVJ VJ=100.00 SHIFT
0023 DOUT OT#(1) ON
OTHER
SAME
PRIOR
=>
Main Menu Short Cut
4. Select the desired instruction group

The job instruction group list dialog box appears.
IN/OUT
JOB CONTENT
CONTROL
0017 TIMER T=1.00 DEVICE
0018 MOVJ VJ=12.50

MOTION
0019 MOVJ VJ=50.00
0020 MOVL V=138 ARITH
0021 MOVL V=138
0023 DOUT OT#(1) ON
OTHER
SAME
PRIOR
=>
Main Menu Short Cut
DOUT IN/OUT
JOB CONTENT
DIN CONTROL
0017 TIMER T=1.00 WAIT DEVICE
0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00 PULSE MOTION
0020 MOVL V=138

AOUT ARITH
0021 MOVL V=138
ARATION
0023 DOUT OT#(1) ON
ARATIOF OTHER
SAME
PRIOR
=> DOUT OT#(1) ON
Main Menu Short Cut
1-5
1 Outline of INFORM
DX100 1.2 Registration of Instructions
5. Select the desired instruction

The instruction is displayed in the input buffer line.
6. Press [ENTER]
The instruction displayed in the input buffer line is registered in the
job.
Also, if the instruction must be registered during the job, press
[INSERT] before pressing [ENTER].
SUPPLE
Refer to the Operators Manual 5.2 Editing Instructions for
-MENT details on editing instructions.
1.2.2 Learning Function

With the learning function, an instruction can be registered with the same
additional items as those previously registered with the instruction.
Validate the learning function to minimize the number of instruction
registries.
Set the learning function to valid or invalid in the teaching condition
window.
1. Select {SETUP} under the main menu
2. Select {TEACHING COND}
The teaching condition window appears.
TEACHING CONDITION
MRESET
Main Menu Short Cut
3. Move the cursor to INSTRUCTION INPUT LEARNING.

The condition VALID or INVALID is switched each time [SELECT]
is pressed.
TEACHING CONDITION
INSTRUCTION INPUT LEARNING INVALID
MRESET
Main Menu Short Cut
1-6
1 Outline of INFORM
DX100 1.3 Detail Edit Window
1.3 Detail Edit Window

All instructions have a detail edit window.
The detail edit window is used for adding, modifying, and deleting
additional items in the instruction.
DETAIL EDIT
c Instruction MOVJ
P-VAR ROBOT P000
JOINT SPEED VJ= 50.00 f Data type altering icon
POS LEVEL PL= 1
d Additional T-ROTATION UNUSED
item name NWAIT UNUSED
UNTIL UNTIL g Data edit display icon
e Additional item
=> MOVJ P000 VJ=50.00 PL=1 UNTIL IN#(1)=ON
Main Menu Short Cut
1Instructions
Indicates the instruction.
2Additional Item Name

Indicates the name of the additional item (type).
3Additional Item
Indicates the additional item.
The tag selection dialog box appears when the cursor is on the addi-
tional item and [SELECT] is pressed.
When NOT USED is selected, the tag is omitted (if it can be omitted).
4Data Type Altering Icon

Alters the type of numeric data.
For example, if the 50.00 of VJ=50.00 (constant type) is changed to
I000 (integer-type variable), it becomes VJ=I000.
5Detail Edit Display Icon

Indicates the detail edit display is shown.
1-7
1 Outline of INFORM
DX100 1.4 Registration of Expression
1.4 Registration of Expression
1.4.1 Expression
With INFORM III, an expression can be added to the SET instruction.
< Example >
SET B000 ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006
Result stored destination Expression
Register an expression in the DETAIL EDIT window.
Expressions can be registered only when STANDARD or

SUPPLE EXPANDED has been selected for the language level
-MENT
(instruction set).
The DETAIL EDIT window for expression is shown below.
DETAIL EDIT
EXPRESSION ( DATA SEL.TYPE ) OPERATOR
DATA01 -((( - 1234567890123 ))) +
DATA02
c Starting parentheses
DATA03
DATA04 h Operator
DATA05
DATA06
DATA07
g Ending parentheses
d - (negative)
f Data type selection icon
e Data
=>
Main Menu Short Cut
1Starting parentheses
Move the cursor to the parentheses, and press [SELECT]. Each time
[SELECT] is pressed, three types of parentheses show up in the follow-
ing order.
2- (negative)
Move the cursor to the desired position, and press [SELECT]. Each
time [SELECT] is pressed, the negative is alternately added and omitted
and vice versa.
1-8
1 Outline of INFORM
3Data
The data type of the expression is indicated. The following types of data
can be registered.
Constant (byte type, integer type, double-precision type, and real-
number type)
Byte type variable (B, B[], LB, and LB[])
Integer type variable (I, I[], LI, and LI[])
Double-precision type variable (D, D[], LD, and LD[])
Real-number type variable (R, R[], LR, and LR[])
Move the cursor to the desired position, and press [SELECT] to enter
the numeric value input status. Change the numeric value of the con-
stant data and the variable number.
Change the data type by using the mData type selection icon.
4Data type selection icon

Change the data type in the following manner.
Move the cursor to the data type to be changed, and press [SELECT].
A dialog box with the selectable data types is displayed. Move the cur-
sor to the data type to be selected and press [SELECT].
5Ending parentheses
Move the cursor to the parentheses and press [SELECT]. Each time
[SELECT] is pressed, three types of parentheses show up in the follow-
ing order.
6Operator
Move the cursor to the operator to be changed and press [SELECT].
The operator selection dialog box is displayed. Move the cursor to the
operator to be selected and press [SELECT].
< Example of the DETAIL EDIT display for expression >

Result stored destination Expression
SET B000 ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006
Data01 Data02 Data03 Data04 Data05 Data06
DETAIL EDIT
DATA01 ( B001 +
DATA02 B002 ) /
DATA03 B003 -
DATA04 ( B004 +
DATA05 B005 ) *
DATA06 B006
=> ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006
Main Menu Short Cut
1-9
1 Outline of INFORM
1.4.2 Registration
1. Select {JOB} under the main menu
2. Select {JOB}
3. Press [INFORM LIST]
4. Select ARITH
5. Select SET
6. Press [SELECT]
The DETAIL EDIT window for the SET instruction appears.
DETAIL EDIT
SET
DESTINATION B000
SOURCE (TOKEN) 1
=> SET B000 1
Main Menu Short Cut
7. Move the cursor to the button beside SOURCE(TOKEN)

The selection dialog box appears.
DETAIL EDIT
SET
DESTINATION B000
SOURCE (TOKEN) EXPRESS
CONSTANT
B[]
B
I []
I
D[]
D
R[]
R
EXPRESS
=> SET B000 1
Main Menu Short Cut
1-10
1 Outline of INFORM
8. Select EXPRESS
The DETAIL EDIT window for expression appears.
DETAIL EDIT
DATA01 ( 1 )
=> 1
Main Menu Short Cut
9. Enter the expression and press [ENTER]

The DETAIL EDIT window for the SET instruction appears.
DETAIL EDIT
SET
DESTINATION B000
SOURCE (TOKEN) EXPRESS I
=> SET B000 ( B001 + B002 ) * 5
Main Menu Short Cut
10. Press [ENTER]

The JOB CONTENT window appears.
11. Press [ENTER]
The SET instruction indicated in the input buffer line is registered.
1-11
1 Outline of INFORM
DX100 1.5 INFORM Structure
1.5 INFORM Structure

An example of the INFORM structure is shown in the following structure
flowchart.
The INFORM structure chart is composed of the structure elements
(instruction, tag, and data). The order of the rows is shown with the
numbers and arrows.
1.5.0.1 Example of Structure
Robot teaching Base teaching Station teaching

MOVJ 1 point file No. 5 point file No. 6 point file No. C
P/LP/P[]
2 Variable No. A B
/LP[]
3 Variable No.
EX/LEX
4 /EX[] Variable No.
/LEX[]
A B
BP/LBP EX/LEX
7 /BP[] Variable No. 8 /EX[] Variable No.
/LBP[] /LEX[]
C D
9 VJ= Joint Speed(%) 10 PL= Position level
11 SPDL= Speed level
D E
T axis rotation Station axis
12 MT= count 13 MTE= rotation count
E END
14 NWAIT 15 UNTIL
1-12
1 Outline of INFORM
1.5.0.2 INFORM Structure Elements

INFORM Structure
Explanation Note
Element
Indicates the instruction. In this example, the MOVJ" instruction is indicated.
MOVJ
Indicates the tag. In this example, the "VJ=" instruction is indicated.
VJ=
Indicates the numeric data. In this example, "Joint speed" is set with the unit %.
Joint Speed(%)
Indicates the end of the

instruction.
END
Indicates the connection.
Indicates the tag order.

1
1.5.0.3 Meaning of INFORM Structure

INFORM Structure Meaning
This is an indispensable tag.
In this example, it is necessary to add a tag from [P
P/LP/P[]/ Variable /LP Variable /P Array /LP Array].
A Variable No. B
LP[]
This is a tag that can be omitted.

In this example, the NWAIT tag can be omitted.
A B
NWAIT
This is a tag that can be selected.

In this example, either PL= tag or SPDL= tag can
C D be selected.
PL= Position level
SPDL= Speed level
1-13
1 Outline of INFORM
1.5.0.4 Explanation Table

The explanation table in this manual can be described as follows.
No Tag Explanation Note

1 OT # (Output Specifies the output number signal. No:1 to 2048
number) Variable B/I/D/LB/LI/LD can be used.
NO.
Indicates the tag number. Corresponds to the number in the
INFORM structure.
Tag
Indicates the surface description of the tag.
Explanation
Provides an explanation of the tag.
1-14
2 INFORM Explanation
DX100 2.1 I/O Instructions : DOUT
2.1 I/O Instructions
DOUT
SUBSET STANDARD EXPANDED
Available Available Available
Function
Turns the general output signal on and off.
Construction
DOUT 1 OT# ( Output No. ) A B END
Output group
2 OG# ( ) C D
No.
Output group
3 OGH# ( )
No.
B/LB/
A 4 Variable No. B
B[]/LB[]
5 ON/OFF
6 INVERT
B/LB/
C 7 Variable No. D
B[]/LB[]
Byte type
8
variable
9 INVERT
2-1
Explanation
1. OT# (Output number) /OG# (Output group number) /

OGH# (Output group number)
Choose one of the tags from the following table.

1 OT#(Output number) Specifies the output number signal. No:1 to 2048
Variable B/I/D/LB/LI/LD
can be used.
2 OG#(Output group Specifies the output number group signal (1group 8 No:1 to 256
number) points). Variable B/I/D/LB/LI/LD
can be used.
3 OGH#(Output group Specifies the output number group signal (1group 4 No:1 to 512
number) points). Variable B/I/D/LB/LI/LD
can be used.
Output signal
SUPPLE
-MENT Output signal OT#(xx) is 1 point, OGH#(xx) is 1 group 4 points, and OG#(xx) is 1 group 8
points.
OT#(8) OT#(7) OT#(6) OT#(5) OT#(4) OT#(3) OT#(2) OT#(1)

OGH#(2) OGH#(1)
OG#(1)
2. OT# (Output number) /OG# (Output group number) /

OGH# (Output group number)
When OT# (output number) is selected from the table in part 1 of this
Explanation, choose one of the tags from the following table.

4 B Variable number/ The least significant bit of the specified byte type Least significant bit:
LB Variable number / variable specifies on/off of the output signal. 0: OFF
B [Array number]/ 1: ON
LB [Array number]
5 ON/OFF Specifies on/off of the output signal.
6 INVERT Refers the current signal status to output OFF when the
status is ON, and output ON when the status is OFF.
2-2
3. B Variable number / LB Variable number / B [Array

number] / LB [Array number] / Byte type constant
When OG# (Output group number) or OGH# (Output group number) is

selected from the table in part 1 of this Explanation, choose one of the
tags from the following table.

7 B Variable number/ Specifies on/off of the output signal by the specified bit bit:
LB Variable number/ value byte type variable. 0: OFF
LB [Array number]
8 Byte type constant When the constant byte type is expressed in bit form,
the corresponding on/off output signal is specified.
Specifies on/off of the output signal by bit value.
9 INVERT Refers the current signal status to output OFF when the
status is ON, and output ON when the status is OFF.
Example
(1) DOUT OT#(12) ON

General output signal no. 12 is turned on.
(2) SET B000 24

DOUT OG#(3) B000
B000=24(Decimal)= 00011000(Binary)

OG#(3)
ON
General output signals nos. 20 and 21 are turned on.
2-3
DX100 2.1 I/O Instructions : DIN
DIN
Function
Refers to the byte type variable for the status of the signal.
Construction
B/LB/B[]/
DIN 1 LB[]
Variable No. 2 IN# ( Input No. ) END
3 IG# ( Input group No. )
4 OT# ( Output No. )
Output group
5 OG# (
No.
)
Specific
6 SIN# (
input No.
)
Specific
7 SOUT# (
output No.
)
8 IGH# ( Input group No. )
Output group
9 OGH# (
No.
)
Explanation
1. B Variable Number / LB Variable Number / B [Array

Number] / LB [Array Number]
Add the following tag.

1 B Variable Number/ Specifies the number of byte type variable for the
LB Variable Number/ signal.
B [Array Number]/
LB [Array Number]
2-4
2. IN#(Input number) / IG#(Input group number) /

OT#(Output number) /OG#(Output group number) /
SIN#(Specific input number) / SOUT#(Specific out-
put number) / IGH#(Input group number) / OGH#(Out-
put group number)

2 IN#(Input number) Specifies the general input signal number which No:1 to 2048
shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
3 IG#(Input group Specifies the general input group signal number (1 No:1 to 256
number) group 8 points) which shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
4 OT#(Output number) Specifies the general output signal number which No:1 to 2048
shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
5 OG#(Output group Specifies the general output group signal number (1 No:1 to 256
number) group 8 points) which shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
6 SIN#(Specific input Specifies the specific input signal number which No:1 to 1280
number) shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
7 SOUT#(Specific Specifies the specific output signal number which No:1 to 1600
output number) shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
8 IGH#(Input group Specifies the general input group number (1 group 4 No:1 to 512
number) points) signal which shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
9 OGH#(Output group Specifies the number of general output group (1 group No:1 to 512
number) 4 points) signal which shows the signal status. Variable B/I/D/LB/LI/LD
can be used.
Input signal
SUPPLE
-MENT
Input signal IN#(xx) is 1 point, IGH#(xx) is 1 group 4 points, and IG#(xx) is 1group 8 points.
IN#(8) IN#(7) IN#(6) IN#(5) IN#(4) IN#(3) IN#(2) IN#(1)

IGH#(2) IGH#(1)
IG#(1)
Example
(1) DIN B016 IN#(12)

The on/off status of general input signal no.12 is shown in byte
type variable No.16. When the general input signal No.12 is on,
the status of the general input signal is B016=1 (deci-
mal)=00000001(binary).
2-5
(2) DIN B002 OG#(8)

The on/off status of general output signal nos. 57-64 is
shown in byte type variable No.2.
In the following cases, the status of the general output signal
is B002=150 (decimal)= 10010110 (binary).

OG#(8)
ON
2-6
DX100 2.1 I/O Instructions : WAIT
WAIT
Function
Waits until the status of the external signal or byte type variable is the
same as the specified status.
Construction
B/LB/B[]/
WAIT 1 IN# ( Input No. ) 10 = 11 LB[]
Variable No. A
2 OT# ( Output No. )

12 ON/OFF
Specific
3 SIN# (
input No.
)
Specific
4 SOUT# (
output No.
)
B/LB/B[]/
5 IG# ( Input group No. ) 13 = 15 LB[]
Variable No.
Output group
6 OG# (
No.
) 14 <>
Byte type
16 constant
Input group No.
7 IGH# (
(4 Point)
)
Output group
8 OGH# (
No. (4 Point)
)
A END
B/LB/B[]/
9 LB[]
Variable No. 17 T= Time (sec)
Explanation
1. IN#(Input number) / OT#(Output number) / SIN#(Spe-

cific input number) /SOUT#(Specific output number)
/ IG#(Input group number) / OG#(Output group num-
ber) / IGH#(Input group number) / OGH#(Output
group number) / B Variable Number / LB Variable
Number / B [Array Number] / LB [Array Number]

1 IN# (Input number) Specifies the number of the general input signal for the No:1 to 2048
waiting condition. Variable B/I/D/LB/LI/LD
can be used.
2 OT# (Output number) Specifies the number of the general output signal for No:1 to 2048
the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
3 SIN# (Specific input Specifies the number of the specific input signal for the No:1 to 1280
number) waiting condition. Variable B/I/D/LB/LI/LD
can be used.
4 SOUT# (Specific Specifies the number of the specific output signal for No:1 to 1600
output number) the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
2-7

5 IG#(Input group Specifies the number of general input group (1 group 8 No:1 to 256
number) points) signal for the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
6 OG#(Output group Specifies the number of general output group (1 group No:1 to 256
number) 8 points) signal for the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
7 IGH#(Input group Specifies the number of general input group (1 group 4 No:1 to 512
can be used.
8 OGH#(Output group Specifies the number of general output group (1 group4 No:1 to 512
can be used.
9 B Variable number/ Specifies the byte type variable for the waiting
LB Variable number/ condition.
B [Array number]/
LB [Array number]
2. =
When an IN# (input number), OT# (output number), SIN# (specific input
number), or SOUT# (specific output number) is selected from the table in
part 1 of this Explanation, add the following tag.

10 = It is equal.
3. B Variable number /LB Variable number / B [Array

number] / LB [Array number] / ON / OFF
When an IN# (input number), OT#(output number), SIN# (specific input

number), or
SOUT# (specific output number) is selected from the table in part 1 of this

11 B Variable number/ Specifies byte type variable which becomes a waiting Least significant bit:
LB Variable number/ condition. 0:OFF
B [Array number]/ 1:ON
LB [Array number]
12 ON/OFF Specifies on/off of the waiting condition.
2-8
4. =/<>
When an IG# (input group number), OG# (output group number), IGH#
(input group number), OGH# (output group number), B variable number,
LB variable number, B [array number], or LB [array number] is selected
from the table in part 1 of this Explanation, choose one of the tags from
the following table.

13 = It is equal.
14 <> It is not equal.

When an IG# (input group number), OG# (output group number), IGH#
(input group number), OGH# (output group number), B variable number,
LB variable number, B [array number], or LB [array number] is selected
from the table in part 1 of this Explanation, choose one of the tags from
the following table.

15 B Variable number/ Specifies byte type variable which becomes a waiting
LB Variable number/ condition.
B [Array number]/
LB [Array number]
16 Byte type constant The waiting condition is specified by byte type constant.
6. T=time
The following tag can be added or omitted.

17 T=time Specify the waiting time. Time: 0 to 655.35
When the time specified here ends, if the status and the seconds
condition are not the same, the next instruction is It is possible to specify at
executed. time by the I/LI/I/LI
variable (Units: 0.01
seconds).
2-9
Example
(1) WAIT IN#(12)=ON

Waits until general input signal no.12 is turned on.
(2) SET B000 5

SET B002 16
WAIT SIN#(B000)=B002 T=3.0
B002=16 (Decimal)=00010000 (Binary)

Waits until specific input signal no.5 is turned off.
However, after three seconds, even if the signal is not turned off,
the next instruction is executed.
(3) WAIT IGH#(2)<>5

5 (Decimal)=0101 (Binary)
IN#(8) IN#(7) IN#(6) IN#(5)
IGH#(2)
ON
Waits until general input signal nos.5 and 7 are turned off and gen-
eral input signal nos. 6 and 8 are turned on.
(4) Example of press machine handling.
000 NOP Press Step 1

001 MOVJ VJ=100.0 Machine
Step 2
002 MOVJ VJ=100.0
WAIT IN#(1)=ON Step 5
003 MOVJ VJ=100.0
Step 8
004 MOVJ VJ=100.0 Step 4 Step 6
005 MOVJ VJ=100.0 Step 3
006 MOVJ VJ=100.0
007 MOVJ VJ=100.0
008 MOVJ VJ=100.0 Step 7
009 END
Pallet
The robot cannot be moved to step 3 while the press is closed.

Open/close of the press machine (Open: ON, Shut: OFF) is allo-
cated to general input signal No.1.
The robot waits until general input signal No.1 turns on at step 2.
2-10
DX100 2.1 I/O Instructions : PULSE
PULSE
Function
The pulse signal is output to the general output signal only for the
specified time.
The PULSE instruction, without waiting for completion of the instruction,
executes the next one.
Construction
PULSE 1 OT# ( Output No. ) A
Output group B/LB/B[]

2 OG# (
No.
) 4 /LB[]
Variable No.
Output group Byte type

3 OGH# (
No.
) 5 constant
A END
6 T= Time (second)
Explanation
1. OT# (output number) / OG# (output group number) /

OGH# (output group number)
Choose one of the tags from the following table..

1 OT# (Output No.) Specifies the number of the signal to which the pulse No.: 1 to 2048
signal is output. Variable B/I/D/LB/LI/
LD can be used.
2 OG# (Output group Specifies the group number of the signal (1 group 8 No.: 1 to 256
No.) points) to which the pulse signal is output. Variable B/I/D/LB/LI/
LD can be used.
3 OGH# (Output group Specifies the group number of the signal (1 group 4 No.: 1 to 512
No.) points) to which the pulse signal is output. Variable B/I/D/LB/LI/
LD can be used.
2-11

When OG# (output group number) or OGH# (output group number) in the
above table is selected, choose one of the tags from the following table.
No. Tag Explanation Note

4 B Variable number/ Specifies the number of the corresponding pulse output Bit:
LB Variable number/ signal when the contents of the specified byte type 0: OFF
B [Array Number] / variable is expressed in bits. 1: ON
LB [Array Number]
5 Byte type constant Specifies the number of the corresponding pulse output
signal when the specified byte type constant is
expressed in bits.
3. T=Time

6 T=Time Specifies the time during which the pulse signal is Units: seconds
output. Variable I/LI/I[]/LI[] can
The pulse signal is output during the specified time T. be used.
(Units: 0.01 seconds)
When the time is not
specified, the pulse
signal is output during
0.30 seconds.
Example
(1) PULSE OT#(128)

The pulse signal is output for 0.30 seconds to general output sig-
nal No.128.
Pulse signal
0.3sec
(2) SET B000 5

PULSE OT#(B000) T=1.0
The pulse signal is output for 1.0 seconds to general output signal
No.5.
ON
Pulse signal
1.0 sec OFF
2-12
(3) SET B000 24

PULSE OG#(3) B000
B000=24 (Decimal)=00011000 (Binary)

OG#(3)
ON
The pulse signal is output for 0.30 seconds to the general output
signal No.s 20 and 21.
2-13
DX100 2.1 I/O Instructions : AOUT
AOUT
Not available Available Available
Function
Outputs the set voltage value to the general-purpose analog output port.
Construction
Analog output Output voltage

AOUT 1 AO# (
port No.
) 2 value (V)
END
Explanation
1. AO# (Analog output port number)

1 AO# (Analog output Specifies the number of the analog output port to which No.: 1 to 40
port number) the set voltage value is output. Variable B/I/D/LB/LI/LD
can be used.
2. Output voltage value

2 Output voltage value Specifies the output voltage value. Voltage value:
-14.00 to +14.00
Variable I/LI/I[]/LI[] can
be used.
(Units: 0.01 V)
Example
(1) SET I000 1270

AOUT AO#(1) I000
The voltage of 12.7 V is output to the analog output port No. 1.
2-14
DX100 2.1 I/O Instructions : ARATION
ARATION
Function
Starts the analog output corresponding to the speed.

ARATION is valid during linear interpolation, circular interpolation, and
spline interpolation. ARTION is carried out during playback or FWD
operation, but not while operating an axis.
Construction
Analog output
ARATION 1 AO# ( port No.
) A
Basic voltage
2 BV=
(V)
A END
Speed at TCP Offset voltage

3 V= (mm/sec.) 4 OFV=
(V)
Explanation

1 AO# (Analog output Specifies the number of the analog output port that No.: 1 to 40
port number) outputs the voltage corresponding to the speed. Variable B/I/D/LB/LI/LD
can be used.
2. BV=Basic voltage

2 BV=Basic voltage Specifies the voltage to be output when running at the Voltage value:
speed set in part 3 of this Explanation. -14.00 to +14.00 V
be used.
(Units: 0.01 V)
2-15
3. V=Basic speed

3 V=Basic speed Specifies the speed at which the set voltage value is Speed: 0.1 to 1500.0
output. mm/s.
can be used. (Units: 0.1
mm/s.)
4. OFV=Offset voltage

4 OFV=Offset voltage Specifies the analog voltage to be output at the Voltage value:
motion speed 0. -14.00 to +14.00 V
be used.
(Units: 0.01 V)
2-16
Analog output function corresponding to the speed

SUPPLE
-MENT
To regulate the thickness of the sealing or paint, etc. when sealing and painting, the
amount of discharged material should be adjusted according to the motion speed of the
manipulator.
The analog output function corresponding to the speed automatically changes the analog
output value according to the manipulators motion speed.
ARATION and ARTIOF instructions are used to carry out this function.
On the base of the set value for the ARATION instruction, the output characteristic, which
decides the relation between the motion speed and the analog voltage, is calculated. The
analog output corresponding to speed is output according to this output characteristic.
Analog output
Basic viltage
Offset voltage
Motion speed
0 Basic speed
Example
(1)
MOVJ VJ=50.00 Output voltage (V)
ARATION AO#(1) BV=7.00 V=150.0 OFV=-10.0 7.00
MOVL V=50.0 4.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVC V=100.0 1.33
MOVL V=200.0 12.67
When the basic voltage is 7.00 V at a motion speed of 150.0 mm/

sec for the analog output port number 1, an offset voltage of -10.0
V is output.
2-17
Analog voltage
Basic voltage
Motion speed
50 100 150 200
(mm/sec)
Basic speed
Offset voltage
2-18
DX100 2.1 I/O Instructions : ARATIOF
ARATIOF
Function
Cancels the analog output corresponding to the speed.
Construction
Analog output
ARATIOF 1 AO# (
port No.
) END
Explanation

1 AO# (Analog output Specifies the number of the general-purpose analog No.: 1 to 40
port number) output port for which the analog output corresponding Variable B/I/D/LB/LI/LD
to speed is to be cancelled. can be used.
Example
(1) ARATIOF AO#(1)

The analog output corresponding to the speed at the analog out-
put port number 1 is cancelled.
2-19
DX100 2.1 I/O Instructions : ANTOUT
ANTOUT
The ANTOUT instruction can be used only with parameter S4C008.
SUBSET STANDARD EXPANDED Parameter
Not available Available Available S2C646
Function
Carries out the anticipation output function to adjust the timing of the
signal output.
2-20
Anticipation output function

SUPPLE
-MENT
The anticipation output function is a signal output timing adjustment function to advance or
delay the ON/OFF timing of four general-purpose outputs and two general-purpose output
groups. The signal can be output before or after the manipulator reaches the step.
This function corrects work timing errors due to delays in the motions of a peripheral device
and/or the manipulator.
Setting the time to a negative value (-) advances the signal output.
This can be used to correct work timing errors due to delays in the motions of a peripheral
device.
Setting the time to a positive value (+) delays the signal output.
This can be used to correct work timing errors due to delays in the motions of the manipu-
lator.
<Advanced signal output>

The signal is output before the manipulator reaches the step.
n-1 n n+1
Step
Step Instructions
Setting of
n-1 MOVL general
n MOVL NWAIT output
ANTOUT AT#(1) ON ON
n+1 MOVL OFF
Set time to advance signal output
<Delayed signal output>

The signal is output after the manipulator reaches the step.
n-1 n n+1
Step
Step Instructions
Setting of
general
n-1 MOVL
output
n MOVL NWAIT
ANTOUT AT#(2) ON ON
n+1 MOVL OFF
Set time to delay signal
output
2-21
Construction
Anticipation
ANTOUT 1 AT# (
output No.
) 3 ON/OFF A
Anticipation
B/LB/B[]/
2 AG# ( group output ) 4 LB[]
Variable No.
No.
Byte type
5 constant
A END
Anticipation
6 ANT=
time (s)
Explanation
1. AT# (Anticipation output number) / AG# (Anticipa-

tion group output number)

1 AT# (Anticipation Specifies the number of the signal whose timing is No.: 1 to 32
output number) adjusted. Variable B/I/D/LB/LI/LD
can be used.
2 AG# (Anticipation Specifies the group number of the signal whose No.: 1 or 16
group output number) timing is adjusted. Variable B/I/D/LB/LI/LD
can be used.
2-22
Settings for the anticipation output signal

SUPPLE
-MENT
Set the number of the output signal for the anticipation output in the ANTICIPATION OUT-
PUT display.
ANTICIPATION OUTPUT
<SINGLE>
AT NO. OT OUTPUT ON TIME OFF TIME
1 010 -0.50 -0.50
2 11 -0.50 -0.50
A 3 12 -0.50 -0.80 C
4 13 -0.50 -0.20
<GROUP>
AG NO. OG OUTPUT TIME B
1 10 -0.50
2 11 -0.70
E
D
Main Menu Short Cut
A. OT OUTPUT (Setting range: 1 to 192)

Allocate the number of the general-purpose output whose signal timing is to be adjusted
to AT NO. 1 to 4.
B. ON TIME (Setting range: -327.68 to 327.67 seconds)
Set the delay/advance time for turning ON the signal.
C. OFF TIME (Setting range: -327.68 to 327.67 seconds)
Set the delay/advance time for turning OFF the signal.
D. OG OUTPUT (Setting range: 1 to 24)
Allocate the group number of the general-purpose output whose signal timing is to be
adjusted to AG NO. 1 and 2.
E. TIME (Setting range: -327.68 to 327.67 seconds)
Set the delay/advance time for carrying out the group output.
2. ON/OFF
When an AT# (anticipation output number) is selected from the table in


3 ON/OFF Specifies the ON/OFF status of the signal whose output
timing is adjusted.
2-23

When an AG# (anticipation group output number) is selected from the

table in part 1 of this Explanation, choose one of the tags from the
following table.

4 B Variable number/ Specifies the ON/OFF status of the output signal Bit:
LB Variable number/ corresponding to each bit when the contents of the 0: OFF
B [Array number]/ specified byte type variable is expressed in bits. 1: ON
LB [Array number]
5 Byte type constant Specifies the ON/OFF status of the output signal
corresponding to each bit when the contents of the
specified byte type variable is expressed in bits.
4. ANT=Anticipation time

6 ANT=Anticipation Specifies the delay/advance time for the output signal Units: seconds
time timing. Variable I/LI/I[]/LI[] can
be used. (Units: 0.01
seconds)
When the time is not
specified, the time set in
the signal timing
adjustment file is
applied.
Example
(1) Step Instructions

n-1 MOVL V=100
n MOVL V=100 NWAIT
ANTOUT AT#(1) ON ANTICIPATION OUTPUT
<SINGLE>
n+1 MOVL V=100 AT NO. OT OUTPUT ON TIME OFF TIME
1 010 0.00 -0.50
2 11 0.00 -0.50
----
Turns ON the general-purpose signal num-
3 0.00 0.00
4 ---- 0.00 0.00
ber 10 0.5 seconds before the manipulator <GROUP>

AG NO. OG OUTPUT TIME
reaches the step.(Advanced signal output) 1 --- 0.00
2 --- 0.00
Main Menu Short Cut
2-24
DX100 2.2 Control Instruction : JUMP
2.2 Control Instruction
JUMP
Function
Jumps to specified label or job.
Construction
Label character
JUMP 1 *
string
A
B/LB/B[]/
2 LABEL: 10 LB[]
Variable No.
11 IG# ( Input group No. )
3 JOB:
User
13 UF# (
coordinate No.
)
B/LB/B[]/
4 LB[]
Variable No.
5 IG# ( Input group No. ) A END
6 QUE 14 IF
I/LI/I[]
7 /LI[]
Variable No.
D/LD/D[]/
8 LD[]
Variable No.
B C
Job registration Registration

B 9 JET# (
table No.
) 12 ENTRY=
No.
C
2-25
Explanation
1. *Label character string /LABEL:/JOB:/B Variable

number /LB Variable number /B [Array number] /LB
[Array number] /IG# (Input group number) / QUE/I
Variable number/LI Variable number/I [Array num-
ber]/LI [Array number]/D Variable number/LD Vari-
able number/ D [Array number]/LD [Array number]/
JET# (Job registration table number)

1 *Label strings Specifies the label string. String: eight characters
2 LABEL: The numerical value specified by byte type variable or
input group number is considered a label.
3 JOB: Specifies the job.
4 B Variable number/ The numerical value specified by byte type variable is
LB Variable number/ considered to be a job.
B [Array number]/
LB [Array number]
5 IG#(Input group The numerical value specified by the input group No:1 to 256
number) number is considered to be a job. Variable B/I/D/LB/LI/LD
can be used.
6 QUE Jumps to the job stored in the queue. Available only in the
queue function (option:
S2C503).
7 I Variable number/ The numerical value specified by the integer type
LI Variable number/ variable is considered to be the job.
I [Array number]/
LI [Array number]
8 D Variable number/ The numerical value specified by the double-precision
LD Variable number/ type variable is considered to be the job.
D [Array number]/
LD [Array number]
9 JET# (Job Specifies the job registration table number. No.: 1 to 3
registration table The job of the jump destination can be registered in the Variable B/I/D/LB/LI/LD
number) job registration table. can be used.
Available only with the
job registration table
function (option:
S2C345)
2-26

number] / LB [Array number] / IG# (Input group num-
ber)
When a LABEL: is selected from the table in part 1 of this Explanation,

choose one of the tags from the following table.

10 B Variable number/ Specifies the byte type variable in which the numerical
LB Variable number/ value for the label is set.
B [Array number]/
LB [Array number]
11 IG#(Input group Specifies the input group number of the numerical value No:1 to 256
number) for the label. B/I/D/LB/LI/LD Variable
can be used.
3. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in


12 ENTRY=Registration Specifies the registration number of the job registered in No.: 1 to 1024
number the specified job registration table. Variable B/B[]/LB/LB[]/I/
I[] can be used.
4. UF# (User coordinate number)
When JOB:, B variable number, LB variable number, B [Array number], LB

[Array number], IG# (Input group number), QUE, I Variable number, LI
Variable number, I [Array number], LI [Array number], D Variable number,
LD Variable number, D [Array number], LD [Array number], or JET# (Job
registration table number) is selected from the table in part 1 of this
Explanation, the following tag can be added.

13 UF# (User coordinate Specifies the coordinates of the job. Available only in the
number) relative job function.
5. IF

14 IF Specifies the IF instruction. Refer to chapter 2.6
Instruction Which
Adheres to an
Instruction at
page 2-212.
2-27
Example
(1) JUMP *1
Jumps to *1.
(2) JUMP JOB:TEST1 UF#(2)

Jumps to the job named TEST1. TEST1 works in user coordinate
system No.2.
(3) SET B000 1

JUMP B000 IF IN#(14)=ON
If input signal no.14 is on, it jumps to job 1.
2-28
DX100 2.2 Control Instruction : CALL
CALL
Function
Calls the specified job.
Construction
CALL 1 JOB: D
B/ LB/
2 Variable No. E A
B[]/ LB[]
User coordinate
9 UF# ( )
3 IG# ( Input group No. ) No.
4 QUE A END
I/ LI/ I[] 10 IF
5 Variable No.
/ LI[]
D/ LD/
6 Variable No.
D[]/ LD[]
B C
B JET# ( Job registration ) ENTRY= Registration No. C

7 8
table No.
11 Argument 12 Argument 13 Argument 14 Argument
15 Argument 16 Argument 17 Argument 18 Argument
2-29
B/ LB/
Argument 1 Variable No. EN D
B[] / L B[]
I/ L I/ I[]
2 Variable No.
/ L I[]
D/ L D/
3 Variable No.
D[] / L D[]
R/ L R/
4 Variable No.
R[] / L R[]
S/ LS/
5 Variable No.
S[] / L S[]
P/ LP/
6 Variable No.
P[] / L P[]
BP/ L BP/
7 BP[] / Variable No.
L BP[]
EX/ L EX/
8 EX[] / Variable No.
L EX[]
9 Byte type constant
Integer type
10
constant
Double-precision
11
type constant
Real type
12
constant
Character type
13
constant
2-30
Explanation
1. JOB: / B Variable number / LB Variable number / B

[Array number] / LB [Array number] / IG#(Input
group number) / QUE/I Variable number/LI Variable
number/I [Array number]/LI [Array number]/D Vari-
able number/LD Variable number/ D [Array number]/
LD [Array number]/ JET# (Job registration table
number)

1 JOB: Specifies a job to be called.
2 B Variable number/ The numerical value specified by the byte type variable
LB Variable number/ is considered as the job to be called.
B [Array number]/
LB [Array number]
3 IG# (Input group The numerical value specified by the input group No:1 to 256
number) number is considered as the job to be called. Variable B/I/D/LB/LI/LD
can be used.
4 QUE The job stored in the queue is called. Available only in the
queue function (option:
S2C503).
5 I Variable number/ The numerical value specified by the integer type
LI Variable number/ variable is considered as the job to be called.
I [Array number]/
LI [Array number]
6 D Variable number/ The numerical value specified by the double-precision
LD Variable number/ type variable is considered as the job to be called.
D [Array number]/
LD [Array number]
7 JET# (Job Specifies the table number of the job registration. No.: 1 to 3
registration table The job to be called can be registered in the job Variable B/I/D/LB/LI/LD
number) registration table. can be used.
Available only in the job
registration table
function (option:
S2C345)
2. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in


8 ENTRY=Registration Specifies the registration number of the job registered No.: 1 to 1024
number in the specified job registration table. Variable B/B[]/LB/LB[]/I/I[]/
LI/LI[] can be used.
2-31
3. UF# (User coordinate number)

9 UF# (User Specifies the user coordinate system of the job to be Available only in the
coordinate number) called. relative job function.
4. IF

Instruction Which
Adheres to an
Instruction at
page 2-212.
5. Argument

11 to Argument Eight arguments (from 11 to 18) can be passed to the
18 (all types of variables job to be called. All types of variables and constants
and constants) can be used as arguments.
Example
(1) CALL JOB:TEST1

The job named TEST1 is called.
(2) SET B000 1

CALL B000 IF IN#(14)=ON
If input signal No.14 is on, it calls the job 1.
5. 1 Outline (CALL Instruction with Argument)
The CALL instruction was the function with which the calling job would
only call and execute the specified called job. This time, the function to
pass information to the called job as arguments was newly added.
Up to 8 arguments can be passed.
The RET instruction only meant the return of the execution from the called
job. This time, it became possible to return one return value to the calling
job. This enables the transfer of information without using the global
variable to pass information. Thus, it makes the management of
information easier, the number of lines of the calling job fewer, and the
process simpler.
2-32
(1) CALL Instruction with Argument

For example, when creating the job which only waits for incoming in order
to wait for the incoming of I/Os, the input numbers incoming to be waited
for had to be set to the global variable, and the information had to be
passed from the calling job to the called job. For example, the case when
the input of specified three points are IN#(1), IN#(5), and IN#(7) is as
follows:
<Calling Job>
NOP
SET B000 1
SET B001 5
SET B002 7
CALL JOB: WAIT_INPUT
:
<Called Job>
Job name: WAIT_INPUT
NOP
WAIT IN#(B000) ON
WAIT IN#(B001) ON
WAIT IN#(B002) ON
RET
This makes the calling job program long, and the global variable will be
used only for this information transfer.
By using the CALL instruction with argument, the above can be described
as follows:
<Calling Job>
NOP
CALL JOB: WAIT_INPUT (1, 5, 7)
:
<Called Job>
Job name: WAIT_INPUT
NOP
GETARG LB000, IARG#(1)// INPUT NUMBER 1 (receiving the argument 1)
2-33

WAIT IN#(LB000) ON
WAIT IN#(LB001) ON
WAIT IN#(LB002) ON
RET
This makes the calling job program only one-line long. Also, the called job
can be made by using only the local variable.
(2) RET Instruction with Return Value

For example, to create the job which adds any two register values, the
register number had to be passed from the calling job, and in the called
job, the calculation result had to be entered in any of the global variable,
then the calling job had to refer to that. This can be described as follows:
<Calling Job>
NOP
SET B000 1
SET B001 2
CALL JOB: ADD_REG
GET I0100 I099 ; Returns the calculation result to I099
<Called Job>
Job name: ADD_REG
NOP
GETREG I000 MREG#(B000)
GETREG I099 MREG#(B001)
ADD I099 I000
RET
By using the CALL instruction with argument and the RET instruction with
return value, the above can be described as follows:
<Calling Job>
NOP
CALL JOB: ADD_REG (1, 2)
GETS I001 $RV ; Receives the addition result as the return value at $RV
2-34
<Called Job>
Job name: ADD_REG
NOP
GETARG LB000 IARG#(1)// Register 1
GETARG LB001 IARG#(2)// Register 2
GETREG LI000 MREG#(LB000)
GETREG LI001 MREG#(LB001)
ADD LI001 I000
RET LI001 ; Returns the addition result as the return value
Thus, the global variable to receive and pass the answer is no longer
necessary.
5. 2 Operating Procedure
(1) Addition of Argument to CALL Instruction

1) Creating a Called Job
As an example, the job which resets 8 I/Os specified by arguments is
created as follows:
1. Create a job.
As the example below, the job MULTI_OUTPUT_RESET is created.
2. Register local variables.
Arguments will be received by local variables. Thus, at least, the local
variables to receive arguments must be defined. In the example, 8
byte-type variables are defined.
Open JOB HEADER and make the setting of <LOCAL VAR NUM>.
2-35
3. Define arguments.
As shown below, select the pull-down menu {DISPLAY}, then
{ARGUMENT INFO}.
The following display appears. Then, make the setting of arguments.

Set ARG. 1 to 8 on the left to USE, set OUTPUT1 to 8 as
COMMENT, then select BYTE as TYPE. Select {EXECUTE} to
complete the registration of arguments.
2-36
4. Describe the job content.

(1) Describe lines to receive arguments.
Press [INFORM LIST], and select {CONTROL}, then GETARG
to register instructions to receive arguments. (To register the
GETARG instruction, select {Main Menu}, {SETUP}, then
{TEACHING COND.}, and set LANGUAGE LEVEL to
EXPANDED.) In this case, the above-mentioned COMMENT will
be automatically displayed as the comments on the line of
GETARG instructions as shown below. Note that arguments must
be received by the local variable.
(2) The job content is as follows:
NOP
GETARG LB000 IARG#(1) //OUTPUT1
DOUT OT#(LB000) OFF
DOUT OT#(LB001) OFF
DOUT OT#(LB002) OFF
DOUT OT#(LB003) OFF
DOUT OT#(LB004) OFF
DOUT OT#(LB005) OFF
DOUT OT#(LB006) OFF
DOUT OT#(LB007) OFF
RET
2-37
(3) Describe the calling job.

As shown below, call MULTI_OUTPUT_RESET in the job.
In this case, if the called job has 8 arguments, 8 arguments must
be listed here. If the numbers are not the same, Alarm 4608:
WRONG EXECUTION OF GETARG INST occurs at execution.
(2) RET Instruction with Return Value

1) Creating a Called Job
As an example, the job which returns 2 specified register values as the
return value is created as follows:
1. Create a job.
As the example below, the job ADD_REG is created.
2. Register local variables.
Register 2 byte-type variables and 3 integer-type variables.
2-38
3. Define arguments.
As shown below, define 2 arguments.
4. Describe the job content.

Describe the job content as shown below. LI000 is newly added as the
return value at the RET instruction. Thus, the addition result will be
returned as the return value.
2-39
(1) Describe the calling job.

As shown below, describe the calling job. The register numbers to
specify are the registers 0 and 1 as CALL JOB: ADD_REG (0, 1)
shows.
The return value is received at GETS I000 $RV. Thus, the addi-
tion result will be returned to I000.
2-40
DX100 2.2 Control Instruction : GETARG
GETARG
Not available Not available Available
Function
This is the instruction to receive arguments for the CALL instruction and
macro instruction. When the instruction is executed, the argument data
added to the CALL instruction or macro instruction is retrieved, then
stored in the local variable specified to be used in the CALL job or macro
job.
Construction
GETARG 1 LB Variable No. 9 IARG# ( Argument No. ) END
2 LI Variable No.
3 LD Variable No.
4 LR Variable No.
5 LS Variable No.
6 LP Variable No.
7 LBP Variable No.
8 LEX Variable No.
2-41
DX100 2.2 Control Instruction : GETARG
Explanation
1. LB, LI, LD, LR, LS, LP, LBP, LEX
Select one of the tags from the following table.

1 LB Variable number Specifies the local byte type variable which stores the
LB [Array number] argument.
2 LI Variable number Specifies the local integer type variable which stores
LI [Array number] the argument.
3 LD Variable number Specifies the local double precision type variable which
LD [Array number] stores the argument.
4 LR Variable number Specifies the local real type variable which stores the
LR [Array number] argument.
5 LS Variable number Specifies the local character type variable which stores
LS [Array number] the argument.
6 LP Variable number Specifies the local robot axis position type variable
LP [Array number] which stores the argument.
7 LBP Variable number Specifies the local base axis position type variable
LBP [Array number] which stores the argument.
8 LEX Variable number Specifies the local station axis position type variable
LEX [Array number] which stores the argument.
2. IARG# (Argument No.)
Make sure to specify this.

9 IARG# Specifies the argument number to be stored in the
(Argument No.) local variable.
Example
(1) An example is shown below.
Calling job Called job SEALON
NOP NOP
MOVJ VJ=100 GETARG LI000 IARG#(1) Stores the first argument data "8"
WAIT IN#(1)=ON OUT OT#(10) ON in LI000
MOVJ VJ=50 MUL LI000 10
CALL JOB:SEALON (8) WAIT IN#(10)=ON
MOVL V=125 AOUT AO#(1) LI000 Outputs the analog voltage based
: END on the first argument data
2-42
DX100 2.2 Control Instruction : TIMER
TIMER
Function
Stops for the specified time.
Construction
TIMER 1 T= Time (s) END
Explanation
1. T=timer

1 T=timer Specifies the stopping time. Timer: 0.01 to 655.35
seconds
be used.
Example
(1) TIMER T=12.50

Stops for 12.5 seconds.
(2) SET I002 5

TIMER T=I002
Stops for 0.05 seconds.
2-43
DX100 2.2 Control Instruction : *(LABEL)
*(LABEL)
Function
Specifies the label for the jump.
Construction
LABEL 1 * Label strings END
Explanation
1. *Label strings

1 *Label strings Specifies the label strings. String: 8 characters
Example
(1) NOP
*1
JUMP JOB:1 IF IN#(1)=ON
JUMP JOB:2 IF IN#(2)=ON
Repeat
JUMP *1
END
IF general input signal No.1 and No.2 are off, if loops infinitely
between *1" and JUMP *1".
NOTE The label is effective only in the same job. It does not jump
to the same label in other jobs.
2-44
DX100 2.2 Control Instruction : (COMMENT)
(COMMENT)
Function
Specifies the comment.
Construction
COMMENT 1 Comment strings END
Explanation
1. 'Comment strings

1 'Comment strings Specifies the comment. String: 32 characters
Example
(1) NOP
'Waiting Position
MOVJ VJ=100.00
MOVJ VJ=100.00
MOVJ VJ=25.00
'Welding Start
ARCON ASF#(1)
MOVL V=138
'Welding end
ARCOF
MOVJ VJ=25.00
'Waiting Position
MOVJ VJ=100.00
END
The comment clarifies the job content.
2-45
DX100 2.2 Control Instruction : RET
RET
Function
Returns from the called job to the calling job.
Construction
Argument
Variable No.
Variable No.
Variable No.
Variable No.
Variable No.
Byte type constant
Integer type
constant
Double-precision
type constant
Real type
constant
Character type
constant
2-46
Explanation
1. IF

Instruction Which
Adheres to an
Instruction at
page 2-212.
Example
(1) RET IF IN#(12)=ON

If general input signal No.12 is on, it returns to the job of the call
origin.
JOB:1 Execution order JOB:2
NOP NOP
MOVJ VJ=100.00 DOUT OT#(1) ON
MOVJ VJ=100.00 WAIT IN#(1)=ON
CALL JOB:2 DOUT OT#(1) OFF
MOVJ VJ=100.00 RET IF IN#(12)=ON
END
END
2. Return Value

2 to Variables other than Can return the return value to the call-origin job.
10 position type
variables and
constants
Arguments can be added to the CALL instruction, and the return value can
be returned with the RET instruction. Variables other than the position
type variables (P variable, BP variable, EX variable, and PX variable) and
constants can be returned as the return value.
At the call-origin job, the return value is received by the GETS instruction.
For details, refer to 5. Argument (page 2-32) in the explanation of the
CALL instruction.
2-47
Example
The following example is the case when the value returned from JOB:
SAMPLE is received by I000.
CALL JOB: SAMPLE
GETS I000 $RV
In this case, at JOB: SAMPLE, the argument must be added to RET as

follows:
NOP
:
RET LI000
END
3. Related Instruction 1 GETARG
Add GETARG instruction. A description of this instruction was included in

DX100 OPTIONS INSTRUCTIONS FOR MACRO COMMAND
FUNCTION (HW0485673), but we also added it to this manual.
2-48
DX100 2.2 Control Instruction : NOP
NOP
Function
Carries out no operation.
Construction
NO P EN D
Example
(1) NOP
END
2-49
DX100 2.2 Control Instruction : PAUSE
PAUSE
Function
Stops the job temporarily.
Construction
PAU SE EN D
1 IF
Explanation
1. IF

Instruction Which
Adheres to an
Instruction at
page 2-212.
Example
(1) PAUSE IF IN#(12)=ON

Stops the job temporarily if general-purpose input signal number
12 is ON.
2-50
DX100 2.2 Control Instruction : CWAIT
CWAIT
Function
Waits for the next instruction line to be carried out.

CWAIT is used with the NWAIT tag, an additional item of a move
instruction.
Construction
C WA IT EN D
Example
(1) <Step> <Instructions>

n MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
n+1 MOVL V=100
Turns ON the general-purpose output signal number 1 when the

manipulator starts moving from the step n to the step n+1, and
turns it OFF when the manipulator reaches the step n+1.
2-51
DX100 2.2 Control Instruction : MSG
MSG
Function
Displays the message.
Construction
MSG 1 " Message strings " END
Explanation
1. "Message strings"

1 Message strings Specifies the message. String: 32 characters
2-52
DX100 2.2 Control Instruction : ADVINIT
ADVINIT
Function
When the same variable is used for multiple systems in the optional
independent control function, ADVINIT controls the timing to change the
variable data among the systems.
ADVINIT is an instruction used to control DX100 internal processing,
therefore, executing this instruction does not affect the job.
Construction
A DV I N I T END
2-53
DX100 2.2 Control Instruction : ADVSTOP
ADVSTOP
Function
When the same variable is used for multiple systems in the optional
independent control function, ADVSTOP controls the access timing of the
variable data among the systems.
ADVSTOP is an instruction used to control DX100 internal processing,
therefore, executing this instruction does not affect the job.
Construction
A DV STO P EN D
2-54
DX100 2.2 Control Instruction : PRINT
PRINT
Function
Shows the specified character string and variable on the terminal display.
* Terminal display: Select {Main Menu}, {IN/OUT}, then {TERMINAL} to
show it.
If the independent control function is enabled, the page is different for
each task.
Construction
PRINT <Data 1> <Data 2>
PRINT END
1 " Character string " B/ LB/

2 Variable No.
B[]/ LB[]
I/ LI/ I[]
3 Variable No.
/ LI[]
D/ LD/
4 Variable No.
D[]/ LD[]
R/ LR/
5 Variable No.
R[]/ LR[]
S/ LS/
6 Variable No.
S[]/ LS[]
Explanation
1. Character string: Shows the specified character

string on the terminal display.

1 Character string Specifies the character string to be shown on the <Data 1>
terminal display. String: 32 characters
2-55

number] / LB [Array number] / I Variable number / LI
Variable number / I [Array number] / LI [Array num-
ber] / D Variable number / LD Variable number / D
[Array number] / LD [Array number] / R Variable
number / LR Variable number / R [Array number] / LR
[Array number] / S Variable number / LS Variable
number / S [Array number] / LS [Array number]
Select one of the above 2. to add or omit.

* To show the character string and variable on the terminal display, specify
character string %* as the character string tag of the above 1. (%x
(hexadecimal), %o (octal), %d (decimal), %s (character string), %f (real
number), %e (exponent))

2 B Variable number/ Specifies the byte type variable number. <Data 2>
LB Variable number/
B [Array number]/
LB [Array number]
3 I Variable number/ Specifies the integer type variable number. <Data 2>
LI Variable number/
I [Array number]/
LI [Array number]
4 D Variable number/ Specifies the double-precision type variable <Data 2>
LD Variable number/ number.
D [Array number]/
LD [Array number]
5 R Variable number/ Specifies the real type variable number. <Data 2>
LR Variable number/
R [Array number]/
LR [Array number]
6 S Variable number/ Specifies the character type variable number. <Data 2>
LS Variable number/
S [Array number]/
LS [Array number]
2-56
Example
(1) PRINT TEST

Show TEST on the terminal display.
(2) PRINT TEST\n

Show TEST on the terminal display, and start a new line.
(3) PRINT TEST%d B001

Show TEST on the terminal display, and display the value of B001
in decimal notation.
2-57
(4) PRINT B001

Show the value of B001 on the terminal display.
2-58
DX100 2.2 Control Instruction : CLS
CLS
Function
Deletes the character string shown on the terminal display.
Construction
CLS EN D
Example
(1) CLS
Deletes the character string shown on the terminal display.
<Before executing CLS instruction> <After executing CLS instruction>
2-59
DX100 2.2 Control Instruction : ABORT
ABORT
Function
Suspends playback, and shows Robot is stopped by execution ABORT

command. on the human interface display area.
After the playback is suspended by ABORT instruction, it will not restart
until the job is reselected on the JOB SELECT window.
Construction
ABORT EN D
1 IF
Explanation
1. IF

Instruction Which
Adheres to an Instruction
at page 2-212.
Example
(1) ABORT
Stops the playback of job, and displays the message Robot is
stopped by execution ABORT command.
(2) ABORT IF B000=1
Stops the playback of job when B000 is 1, and displays the mes-
sage Robot is stopped by execution ABORT command.
2-60
DX100 2.2 Control Instruction : SETUALM
SETUALM
Function
Generates an alarm with any given number, name and subcode.
Construction
SETULAM 1 Constant A
2 " Character string "

I/ LI/ I[]
Variable number
/ LI[]
S/ LS/
Variable number
S[]/ LS[]
A 3 Byte type constant END
4 SMODE= Byte type constant

B/ LB/
Variable number
B[]/ LB[]
B/ LB/
Variable number
B[]/ LB[]
Explanation
1. Alarm Code

1 I Variable number/ Specifies the integer type variable number. Number: 8000 to 8999
LI Variable number/
I [Variable number]/
LI [Variable number]/
[Constant]
2. Alarm Name

2 S Variable number/ Specifies the alarm name. String: 32 characters
LS Variable number/ S variable: 16 characters
S [Array number]/
LS [Array number]/
[Character string]
2-61
DX100 2.2 Control Instruction : SETUALM
3. Subcode

3 B Variable number/ Specifies the byte type variable number. Number: 0 to 255
LB Variable number/
B [Array number]/
LB [Array number]/
[Byte type constant]
4. SMODE (Operation Stop Mode)

4 B Variable number/ Specifies SMODE (operation stop mode). Number:
LB Variable number/ 0: All Tasks Job Stop
B [Array number]/ 1: No Job Stop
LB [Array number]/ 2: Each Task Job Stop
[Byte type constant]
Example
(1) SETUALM 8000 0

The alarm with the alarm number 8000 and subcode 0 occurs.
(2) SETUALM 8000 ALM 0 SMODE=1
The alarm with the alarm number 8000, alarm name ALM, and
subcode 0 occurs.
If SMODE is 1, the job does not stop.
By this instruction, the execution of job is stopped according

to SMODE after the alarm occurs.
NOTE
It does not guarantee that the execution of job stops imme-
diately after the instruction is executed.
2-62
DX100 2.2 Control Instruction : DIALOG
DIALOG
SUBSET STANDARD EXPANDED PARAMETER
Not available Available Available S2C400
Function
Shows the dialog during the execution of job.

If the current display is not the PLAYBACK window, the PLAYBACK
window is displayed when the dialog is shown by the execution of
DIALOG instruction.
The job does not proceed while the dialog is shown (waiting for button
input).
Construction
B/
DIALOG 1 Variable number 2 DIALSB A
B[]
A END
3 DIALSB
4 DIALSB
5 DIALSB
6 DIALSB
Explanation
1. B Variable number / B [Array number]: Selection result
Select the first, second, third, fourth, and fifth button to store 1, 2, 3, 4, and
5 in the specified B variable respectively.
Make sure to add the following tag.

1 B Variable number/ Specifies the byte type variable number.
B [Array number]
2-63
2. DIALSB (First)
Shows a message and one button in the dialog.

For details, refer to DIALSB.
Make sure to add the following tag.

2 DIALSB Select the button shown by this instruction to store 1
in the selection result.
3. DIALSB (Second and after)
Adds a message and one button in the dialog.

For details, refer to DIALSB.

Example
The variable settings are shown below.
2-64
(1) DIALOG B000 DIALSB B001 B002 S000 B003 B004 S001
Shows the message of S000 at coordinates (B001, B002), and
shows the button with the name of S001 at coordinates (B003,
B004).
When the button is clicked, the result is stored in B000.
DIALSB B005 B006 S002 B007 B008 S003
B004).
B008).
(With B1, 1 is stored. With B2, 2 is stored.)
2-65
DIALSB B005 B006 S002 B007 B008 S003
DIALSB B009 B010 S004 B011 B012 S005
DIALSB B013 B014 S006 B015 B016 S007
DIALSB B017 B018 S008 B019 B020 S009
B004).
B008).
B012).
B016).
B020).
(1, 2, 3, 4, and 5 is stored with B1, B2, B3, B4, and B5, respec-
tively.)
2-66
DX100 2.2 Control Instruction : DIALSB
DIALSB
Function
Specifies the structure of the dialog (the display position of the message
and button) shown by the DIALOG instruction.
* Can be selected only in the DIALOG instruction.
Construction
B/ LB/ B/ LB/
DIALSB 1 Variable number 2 Variable number A
B[]/ LB[] B[]/ LB[]
S/ LS/
A 3 S[]/ LS[] Variable number B
B/ LB/
4 Variable number C
B[]/ LB[]
B END
B/ LB/ S/ LS/
C 5 Variable number 6 Variable number
B[]/ LB[] S[]/ LS[]
Explanation
1. B Variable number / LB Variable number / B [Array num-

ber] / LB [Array number]: Message X coordinates

LB Variable number/
B [Array number]/
LB [Array number]

ber] / LB [Array number]: Message Y coordinates

LB Variable number/
B [Array number]/
LB [Array number]
2-67
DX100 2.2 Control Instruction : DIALSB
3. S Variable number / LS Variable number / S [Array num-

ber] / LS [Array number]: Message character string

3 S Variable number/ Specifies the character string type variable number.
LS Variable number/
S [Array number]/
LS [Array number]

ber] / LB [Array number]: Button X coordinates
Make sure to add the following tag for the first DIALSB in the DIALOG
instruction.
For the second and after, the following tag can be added or omitted.

LB Variable number/
B [Array number]/
LB [Array number]

ber] / LB [Array number]: Button Y coordinates
instruction.

LB Variable number/
B [Array number]/
LB [Array number]
6. S Variable number / LS Variable number / S [Array num-

ber] / LS [Array number]: Button character string
instruction.

3 S Variable number/ Specifies the character string type variable number.
LS Variable number/
S [Array number]/
LS [Array number]
2-68
DX100 2.3 Operating Instruction : CLEAR
2.3 Operating Instruction
CLEAR
Function
In Data 1, the variable content from the specified number on, is cleared to
0 only by the amount specified in Data 2.
Construction
CLEAR <Data 1> <Data 2>
B/LB/B[]/ Byte type

CLEAR 1 LB[]
Variable No. 8 constant
END
9 ALL
I/LI/I[]
2 /LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
R/LR/R[]/
4 LR[]
Variable No.
5 STACK
6 QUE
7 MPF
2-69
Explanation
1. B Variable number /LB Variable number /B [Array

number] /LB [Array number] /I Variable number /LI
Variable number /I [Array number] /LI [Array num-
ber] /D Variable number /LD Variable number /D
[Array number] /LD [Array number] /R Variable num-
ber/ LR Variable number /R [Array number] /LR
[Array number] /STACK/QUE/MPF

1 B Variable number/ Specifies the number of the byte type variable to be < Data 1 >
LB Variable number/ cleared.
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable to be < Data 1 >
LI Variable number/ cleared.
I [Array number]/
LI [Array number]
3 D Variable number/ Specifies the number of the double precision type < Data 1 >
LD Variable number/ variable to be cleared.
D [Array number]/
LD [Array number]
4 R Variable number/ Specifies the number of the real type variable to be < Data 1 >
LR Variable number/ cleared.
R [Array number]/
LR [Array number]
5 STACK There are eight stacks, and they store the called < Data 1 >
position.
6 QUE Clears all the job queues. <Data 1>
job queue function
(option: S2C503)
7 MPF Clears all the contents of the memo play file. <Data 1>
optional memo play
function.
2-70
About the job call stack

SUPPLE
-MENT
There are eight stacks, and they store the called position.
Stack level 1 Stack level 2 Stack level 3 Stack level 4
Job call
Job A
Job call
Job B
Job call
Job C
Return
Job call
Job D
Return
Return
2. Byte type constant /ALL
When a B Variable number, LB Variable number, B [Array number], LB

[Array number], I Variable number, LI Variable number, I [Array number],
LI [Array number], D Variable number, LD Variable number, D [Array
number], LD [Array number], R Variable number, LR Variable number, R
[Array number], or LR [Array number] is selected from the table in part 1 of
this Explanation, choose one of the tags from the following table.

8 Byte type constant Specifies the number cleared starting from the number
of the specified variable.
9 ALL All variables starting from the number of the specified
variable are cleared.
Example
(1) CLEAR B003 10

The content of the variables from B003 to B0012 are cleared to 0.
(2) CLEAR D010 ALL
The content of all the double precision type variables is cleared to
0 starting from D010.
(3) CLEAR STACK
All the job call stacks are cleared.
2-71
JOB:1 JOB:2 JOB:3 JOB:4
NOP NOP NOP NOP

MOVJ VJ=100.00 MOVJ VJ=100.00 MOVJ VJ=100.00
CLEAR STACK
CALL JOB:2 CALL JOB:3

JUMP JOB:1
RET
END END
END
JUMP JOB:4
END
JOB:2
Cleared Cleared all
JOB:1 JOB:1 JOB:1
2-72
DX100 2.3 Operating Instruction : INC
INC
Function
Adds one to the content of the specified variable.
Construction
B/LB/B[]/
INC 1 LB[]
Variable No. END
I/LI/
2 I[]/LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
Explanation

number] /LB [Array number] /I Variable number/ LI
ber] /D Variable number/ LD Variable number /D
[Array number] /LD [Array number]

1 B Variable number/ Specifies the number of the byte type variable.
LB Variable number/
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable.
LI Variable number/
I [Array number]/
LI [Array number]
3 D Variable number/ Specifies the number of the double precision type
LD Variable number/ variable.
D [Array number]/
LD [Array number]
2-73
DX100 2.3 Operating Instruction : INC
Example
(1) NOP
SET B000 200
*1
MOVJ VJ=100.00 1 is repeatedly added to B000
MOVJ VJ=50.00 until it reaches 200.
INC B000 1 is added to B000.

JUMP *1 IF B000=0
END
2-74
DX100 2.3 Operating Instruction : DEC
DEC
Function
Subtracts 1 from a specified variable.
Construction
B/LB/B[]/
DEC 1 LB[]
Variable No. END
I/LI/I[]
2 /LI[]
Variable No.
D/LD/D[]/
3 LD[]
Variable No.
Explanation
1. B Variable number/LB Variable number/B [Array

number]/LB [Array number]/I Variable number/LI
Variable number/I [Array number]/LI [Array number]/
D Variable number/LD Variable number/D [Array
number]/LD [Array number]

1 B Variable number/ Specifies the number of the byte type variable from
LB Variable number/ which 1 is subtracted.
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable from
LI Variable number/ which 1 is subtracted.
I [Array number]/
LI [Array number]
3 D Variable number/ Specifies the number of the double-precision type
LD Variable number/ variable from which 1 is subtracted.
D [Array number]/
LD [Array number]
2-75
DX100 2.3 Operating Instruction : DEC
Example
(1) NOP
SET B000 200
*1
MOVJ VJ=100.00 1 is repeatedly subtracted
MOVJ VJ=50.00 from B000 until it reaches 0.
DEC B000 1 is subtracted from B000.

JUMP *1 IF B000=0
END
2-76
DX100 2.3 Operating Instruction : SET
SET
Function
Sets Data 2 to Data 1.
Construction
SET <Data 1> <Data 2>
B/LB/B[]/
SET 1 LB[]
Variable No. A B END
I/LI/
2 I[]/LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
S/LS/S[]/
5 LS[]
Variable No. I J
P/LP/P[]/ P/LP/P[]/
6
5 LP[]
Variable No. 35 LP[]
Variable No.
BP/LBP/ BP/LBP/
6
7 BP[]/ Variable No. 36 BP[]/ Variable No.
LBP[] LBP[]
EX/LEX/ EX/LEX/
7
8 EX[]/ Variable No. 37 EX[]/ Variable No.
LEX[] LEX[]
2-77
Byte type Integer type

A 9 constant
B C 15 constant
D
B/LB/B[]/ B/LB/B[]/
10 LB[]
Variable No. 16 LB[]
Variable No.
I/LI/I[] I/LI/I[]
11 /LI[]
Variable No. 17 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
12 LD[]
Variable No. 18 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
13 LR[]
Variable No. 19 LR[]
Variable No.
14 Expression 20 Expression
Double-precision Real-number
E 21 type constant
F G 27 type constant
H
B/LB/B[]/ B/LB/B[]/
22 LB[]
Variable No.
I/LI/I[] I/LI/I[]
23 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
24 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
25 LR[]
Variable No.
26 Expression 32 Expression
Character type
I 33 constant
J
S/LS/S[]/
34 LS[]
Variable No.
2-78
Explanation

number] /LB [Array number] /I Variable number /LI
ber] /D Variable number /LD Variable number /D
[Array number] /LD [Array number] /R Variable num-
ber /LR Variable number /R [Array number] /LR
[Array number] /S Variable number /LS Variable
number /S [Array number] /LS [Array number] /P
Variable number /LP Variable number /P [Array num-
ber] /LP [Array number] /BP Variable number /LBP
Variable number /BP [Array number] /LBP [Array
number] /EX Variable number /LEX Variable number
/EX [Array number] /LEX [Array number]

1 B Variable number/ Specifies the number of the byte type variable to which < Data1>
LB Variable number/ data is set.
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable to < Data 1>
LI Variable number/ which data is set.
I [Array number]/
LI [Array number]
3 D Variable number/ Specifies the number of the double precision type < Data 1>
LD Variable number/ variable to which data is set.
D [Array number]/
LD [Array number]
4 R Variable number/ Specifies the number of the real type variable to which < Data 1>
LR Variable number/ data is set.
R [Array number]/
LR [Array number]
5 S Variable number/ Specifies the number of the character type variable to < Data 1>
LS Variable number/ which data is set.
S [Array number]/
LS [Array number]
6 P Variable number/ Specifies the number of the robot axis positional < Data 1>
LP Variable number/ variable to which data is set.
P [Array number]/
LP [Array number]
7 BP Variable number/ Specifies the number of the base axis positional < Data 1>
LBP Variable variable to which data is set.
number/
BP [Array number]/
LBP [Array number]
8 EX Variable number/ Specifies the number of the station axis positional < Data 1>
LEX Variable variable to which data is set.
number/
EX [Array number]/
LEX [Array number]
2-79
2. Byte type constant /B Variable number /LB Variable

number /B [Array number] /LB [Array number] /I Vari-
able number /LI Variable number /I [Array number] /
LI [Array number] /D Variable number /LD Variable
number /D [Array number] /LD [Array number] /R
Variable number /LR Variable number /R [Array num-
ber] /LR [Array number]/Expression
When a B Variable number, LB Variable number, B [Array number], or LB

[Array number] is selected from the table part 1 of this Explanation,

9 Byte type constant Specifies the byte type constant. < Data 2>
10 B Variable number/ Specifies the number of the byte type variable. < Data 2>
LB Variable number/
B [Array number]/
LB [Array number]
11 I Variable number/ Specifies the number of the integer type variable. < Data 2>
LI Variable number/
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
13 R Variable number/ Specifies the number of the real type variable. < Data 2>
LR Variable number/
R [Array number]/
LR [Array number]
14 Expression Specifies the expression. <Data 2>
For details of setting the
expression, refer to
chapter 1.4
Registration of
Expression at page 1-8.
2-80
3. Integer type constant /B Variable number /LB Vari-

able number /B [Array number] /LB [Array number] /I
Variable number /LI Variable number /I [Array num-
ber] /LI [Array number] /D Variable number /LD Vari-
able number /D [Array number] /LD [Array number] /R
When an I Variable number, LI Variable number, I [Array number], or LI

[Array number] is selected from the table in part 1 of this Explanation,

15 Integer type constant Specifies the integer type constant. < Data 2>
LB Variable number/
B [Array number]/
LB [Array number]
LI Variable number/
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
LR Variable number/
R [Array number]/
LR [Array number]
chapter 1.4
Registration of
2-81
4. Double precision type constant /B Variable number /

LB Variable number /B [Array number] /LB [Array
number] /I Variable number /LI Variable number /I
[Array number] /LI [Array number] /D Variable num-
ber /LD Variable number /D [Array number] /LD
[Array number] /R Variable number /LR Variable
number /R [Array number] /LR [Array number]/
Expression
When a D Variable number, LD Variable number, D [Array number], or LD


21 Double precision Specifies the double precision type constant. < Data 2>
type constant
LB Variable number/
B [Array number]/
LB [Array number]
LI Variable number/
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
LR Variable number/
R [Array number]/
LR [Array number]
chapter 1.4
Registration of
2-82
5. Real type constant /B Variable number /LB Variable

When an R Variable number, LR Variable number, R [Array number], or

LR [Array number] is selected from the table in part 1 of this Explanation,

27 Real type constant Specifies the real type constant. < Data 2>
28 B Variable number/ Specifies the number of the byte type variable. < Data2>
LB Variable number/
B [Array number]/
LB [Array number]
LI Variable numb er/
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
LR Variable number/
R [Array number]/
LR [Array number]
chapter 1.4
Registration of
6. Character type constant /S Variable number /LS

Variable number /S [Array number] /LS [Array num-
ber]
When an S Variable number, LS Variable number, S [Array number], or LS


33 Character type Specifies the character type data. < Data 2>
constant
34 S Variable number/ Specifies the number of the character type variable. < Data 2>
LS Variable number/
S [Array number]/
LS [Array number]
2-83
7. P Variable number /LP Variable number /P [Array

number] /LP [Array number]
When a P Variable number, LP Variable number, P [Array number], or LP

[Array number] is selected from the table in part 1 of this Explanation, add
the following tag.

35 P Variable number/ Specifies the number of the robot axis position variable. < Data 2>
LP Variable number/
P [Array number]/
LP [Array number]
8. BP Variable number /LBP Variable number /BP

[Array number] /LBP [Array number]
When a BP Variable number, LBP Variable number, BP [Array number], or

LBP [Array number] is selected from the table in part 1 of this Explanation,
add the following tag.

36 BP Variable number/ Specifies the number of the base axis position variable. < Data 2>
LBP Variable
number/
BP [Array number]/
LBP [[Array number]
9. EX Variable number /LEX Variable number /EX

[Array number] /LEX [Array number]
When an EX Variable number, LEX Variable number, EX [Array number],

or LEX [Array number] is selected from the table in part 1 of this
Explanation, add the following tag.

37 EX Variable number/ Specifies the number of the station axis position < Data 2>
LEX Variable variable.
number/
EX [Array number]/
LEX [Array number]
Example
(1) SET B000 0

0 is set in B000.
(2) SET P000 P001

The content of P001 is set in P000.
2-84
DX100 2.3 Operating Instruction : ADD
ADD
Function
Adds Data 1 and Data 2, and stores the result in Data 1.
Construction
Add <Data 1> <Data 2>
B/LB/B[]/
ADD 1 LB[]
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/ P/LP/P[]/
5 LP[]
Variable No.
BP/LBP/ BP/LBP/
LBP[] LBP[]
EX/LEX/ EX/LEX/
LEX[] LEX[]
2-85

A 8 constant
B C 13 constant
D
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No.
E 18 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No.
2-86
Explanation

number]/LD [Array number]/R Variable number/LR
Variable number/R [Array number]/LR [Array num-
ber]/P Variable number/LP Variable number/P [Array
number]/LP [Array number]/BP Variable number/LBP
Variable number/BP [Array number]/LBP [Array num-
ber]/EX Variable number/LEX Variable number/EX
[Array number]/LEX [Array number]

1 B Variable number/ Specifies the number of the byte type variable to be <Data 1>
LB Variable number/ added.
B [Array number]/
LB [Array number]
2 I Variable number/ LI Specifies the number of the integer type variable to be <Data 1>
Variable number/ added.
I [Array number]/
LI [Array number]
3 D Variable number/ Specifies the number of the double-precision type <Data 1>
LD Variable number/ variable to be added.
D [Array number]/
LD [Array number]
4 R Variable number/ Specifies the number of the real-number type variable <Data 1>
LR Variable number/ to be added.
R [Array number]/
LR [Array number]
5 P Variable number/ Specifies the number of the robot axis position type <Data 1>
LP Variable number/ variable to be added.
P [Array number]/
LP [Array number]
6 BP Variable number/ Specifies the number of the base axis position type <Data 1>
LBP Variable variable to be added.
number/
BP [Array number]/
LBP [Array number]
7 EX Variable number/ Specifies the number of the station axis position type <Data 1>
LEX Variable variable to be added.
number/
EX [Array number]/
LEX [Array number]
2-87
2. Byte type constant/B Variable number/LB Variable

number/B [Array number]/LB [Array number]/I Vari-
able number/LI Variable number/I [Array number]/LI
[Array number]/D Variable number/LD Variable num-
ber/D [Array number]/LD [Array number]/R Variable
number/LR Variable number/R [Array number]/LR
[Array number]


8 Byte type constant Specifies the byte type data to be added. <Data 2>
B [Array number]/
LB [Array number]
10 I Variable number/LI Specifies the number of the integer type variable to be <Data 2>
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
3. Integer type constant/B Variable number/LB Vari-

able number/B [Array number]/LB [Array number]/I
able number/D [Array number]/LD [Array number]/R
Variable number/LR Variable number/R [Array num-
ber]/LR [Array number]


13 Integer type constant Specifies the integer type data to be added. <Data 2>
14 B Variable number/ Specifies the number of the byte-type variable to be <Data 2>
B [Array number]/
LB [Array number]
2-88

I [Array number]/
LI [Array number]
16 D Variable number/ Specified the number of the double-precision type <Data 2>
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
4. Double-precision type constant/B Variable number/

LB Variable number/B [Array number]/LB [Array
number]/I Variable number/LI Variable number/I
[Array number]/LI [Array number]/D Variable num-
ber/LD Variable number/D [Array number]/LD [Array
number]/R Variable number/LR Variable number/R
[Array number]/LR [Array number]


18 Double-precision Specifies the double-precision type data to be added. <Data 2>
type constant
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-89
5. Real-number type constant/B Variable number/LB

Variable number/B [Array number]/LB [Array num-
ber]/I Variable number/LI Variable number/I [Array
number]/LI [Array number]/D Variable number/LD
Variable number/D [Array number]/LD [Array num-
ber]/R Variable number/LR Variable number/R [Array
number]/LR [Array number]
When an R Variable number, LR Variable number, R [Array number]. or


23 Real-number type Specifies the real-number type data to be added. <Data 2>
constant
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
6. P Variable number/LP Variable number/P [Array

number]/LP [Array number]

the following tag.

LP Variable number/ variable to be added.
P [Array number]/
LP [Array number]
2-90
7. BP Variable number/LBP Variable number/BP [Array

number]/LBP [Array number]


LBP Variable variable to be added.
number/
BP [Array number]/
LBP [Array number]
8. EX Variable number/LEX Variable number/EX [Array

number]/LEX [Array number]


LEX Variable variable to be added.
number/
EX [Array number]/
LEX [Array number]
Example
(1) ADD B000 10

Adds 10 to B000, and stores the result in B000.
(2) ADD I000 I001

Adds I001 to I000, and stores the result in I000.
(3) ADD P000 P001

Adds P001 to P000, and stores the result in P000.
2-91
DX100 2.3 Operating Instruction : SUB
SUB
Function
Subtracts Data 2 from Data 1, and stores the result in Data 1.
Construction
SUB <Data 1> <Data 2>
B/LB/B[]/
SUB 1 LB[]
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/ P/LP/P[]/
5 LP[]
Variable No.
BP/LBP/ BP/LBP/
LBP[] LBP[]
EX/LEX/ EX/LEX/
LEX[] LEX[]
2-92

A 8 constant
B C 13 constant
D
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No.
E 18 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No.
2-93
Explanation


LB Variable number/ subtracted.
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable to be <Data 1>
LI Variable number/ subtracted.
I [Array number]/
LI [Array number]
LD Variable number/ variable to be subtracted.
D [Array number]/
LD [Array number]
LR Variable number/ to be subtracted.
R [Array number]/
LR [Array number]
LP Variable number/ variable to be subtracted.
P [Array number]/
LP [Array number]
LBP Variable variable to be subtracted.
number/
BP [Array number]/
LBP [Array number]
LEX Variable variable to be subtracted.
number/
EX [Array number]/
LEX [Array number]
2-94

[Array number]


8 Byte type constant Specifies the byte type data to be subtracted. <Data 2>
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]


[Array number] is selected from the table part 1 of this Explanation,

13 Integer type constant Specifies the integer type data to be subtracted. <Data 2>
B [Array number]/
LB [Array number]
2-95

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]



18 Double-precision Specifies the double-precision type data to be <Data 2>
type constant subtracted.
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-96



23 Real-number type Specifies the real-number type data to be subtracted. <Data 2>
constant
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]


the following tag.

LP Variable number/ variable to be subtracted.
P [Array number]/
LP [Array number]
2-97
7. BP Variable number/LBP Variable number/BP [Array

number]/LBP [Array number]


LBP Variable variable to be subtracted.
number/
BP [Array number]/
LBP [Array number]
8. EX Variable number/LEX Variable number/EX [Array



LEX Variable variable to be subtracted.
number/
EX [Array number]/
LEX [Array number]
Example
(1) SUB B000 10

Subtracts 10 from B000, and stores the result in B000.
(2) SUB I000 I001

Subtracts I001 from I000, and stores the result in I000.
(3) SUB P000 P001

Subtracts P001 from P000, and stores the result in P000.
2-98
DX100 2.3 Operating Instruction : MUL
MUL
Function
Multiplies Data 1 by Data 2, and stores the result in Data 1.
Construction
MUL <Data 1> <Data 2>
B/LB/B[]/
MUL 1 LB[]
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/
5 LP[]
Variable No. I J
BP/LBP/
6 BP[]/ Variable No.
LBP[]
EX/LEX/
7 EX[]/ Variable No.
LEX[]
2-99

A 8 constant
B C 13 constant
D
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No.
E 18 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No.
D/LD/D[]/
I 29 LD[]
Variable No. J
28 ( Element No. )
Double-precision
30 type constant
2-100
Explanation


LB Variable number multiplied.
B [Array number]/
LB [Array number]
LI Variable number/ multiplied.
I [Array number]/
LI [Array number]
LD Variable number/ variable to be multiplied.
D [Array number]/
LD [Array number]
LR Variable number/ to be multiplied.
R [Array number]/
LR [Array number]
LP Variable number/ variable to be multiplied.
P [Array number]/
LP [Array number]
LBP Variable variable to be multiplied.
number/
BP [Array number]/
LBP [Array number]
LEX Variable variable to be multiplied.
number/
EX [Array number]/
LEX [Array number]
2-101

[Array number]


8 Byte type constant Specifies the byte type data to be multiplied. <Data 2>
LB Variable number/ multiplied.
B [Array number]/
LB [Array number]
LI Variable number/ multiplied
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]



13 Integer type constant Specifies the integer type data to be multiplied. <Data 2>
B [Array number]/
LB [Array number]
2-102

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]



18 Double-precision Specifies the double-precision type data to be <Data 2>
type constant multiplied.
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-103



23 Real-number type Specifies the real-number type data to be multiplied. <Data 2>
constant
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
6. (Element number)
When a P Variable number, LP Variable number, P [Array number], LP

[Array number], BP Variable number, LBP Variable number, BP [Array
number], LBP [Array number], EX Variable number, LEX Variable number,
EX [Array number], or LEX [Array number] is selected from the table in
part 1 of this Explanation, the following tag can be added or omitted.

28 (Element number) Specifies the element of the position type variable to be Element number: 1 to
multiplied. 255
If omitted, all the elements of the position type variable Variable B/LB can be
are specified. used.
2-104
Element of position type variable

SUPPLE
-MENT The element of position type variable differs depending on
the type of variable as follows.
Robot axis position type variable
<Pulse type>
(1): 1st axis data, (2): 2nd axis data, (3): 3rd axis data, (4) 4th
axis data, (5): 5th axis data, (6) 6th axis data, (7): 7th axis
data, (8): 8th axis data
<XYZ type>
(1): X axis data, (2): Y axis data, (3) Z axis data,
(4): Rx axis data
(5): Ry axis data, (6): Rz axis data, (7): Re axis data
Base axis position type variable
(1): 1st axis data, (2): 2nd axis data
Station axis position type variable
(1): 1st axis data, (2): 2nd axis data
7. D Variable number/LD Variable number/D [Array

number]/LD [Array number]/ Double-precision type
constant

part 1 of this Explanation, choose one of the tags from the following table
after (Element number) of 6.

29 D Variable number/ Specifies the number of the double-precision variable <Data 2>
LD Variable number/ by which the element of position type variable is
D [Array number]/ multiplied.
LD [Array number]
30 Double-precision Specifies the double-precision type data by which the <Data 2>
type constant element of position type variable is multiplied.
Example
(1) MUL B000 10

Multiplies B000 by 10, and stores the result in B000.
(2) MUL I000 I001
Multiplies I000 by I001, and stores the result in I000.
(3) SET D000 2
MUL P000 (3) D000
Multiplies the Z axis data of P000 by D000 (D000=2), and stores
the result in P000.
2-105
DX100 2.3 Operating Instruction : DIV
DIV
Function
Divides Data 1 by Data 2, and stores the result in Data 1.
Construction
DIV <Data 1> <Data 2>
B/LB/B[]/
DIV 1 LB[]
I/LI/I[]
2 /LI[]
Variable No. C D
D/LD/D[]/
3 LD[]
Variable No. E F
R/LR/R[]/
4 LR[]
Variable No. G H
P/LP/P[]/
5 LP[]
Variable No. I J
BP/LBP/
LBP[]
EX/LEX/
LEX[]
2-106

A 8 constant
B C 13 constant
D
B/LB/B[]/ B/LB/B[]/
9 LB[]
Variable No.
I/LI/I[] I/LI/I[]
10 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
11 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
12 LR[]
Variable No.
E 18 type constant
H
B/LB/B[]/ B/LB/B[]/
19 LB[]
Variable No.
I/LI/I[] I/LI/I[]
20 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
21 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
22 LR[]
Variable No.
D/LD/D[]/
I 29 LD[]
Variable No. J
28 ( Element No. )
Double-precision
30 type constant
2-107
Explanation


LB Variable number/ divided.
B [Array number]/
LB [Array number]
LI Variable number/ divided.
I [Array number]/
LI [Array number]
LD Variable number/ variable to be divided.
D [Array number]/
LD [Array number]
LR Variable number/ to be divided.
R [Array number]/
LR [Array number]
LP Variable number/ variable to be divided.
P [Array number]/
LP [Array number]
LBP Variable variable to be divided.
number/
BP [Array number]/
LBP [Array number]
LEX Variable variable to be divided.
number/
EX [Array number]/
LEX [Array number]
2-108

[Array number]

[Array number] is selected from the table in part 1 of this explanation,

8 Byte type constant Specifies the byte type data by which Data 1 is divided. <Data 2>
9 B Variable number/ Specifies the number of the byte type variable by which <Data 2>
LB Variable number/ Data 1 is divided.
B [Array number]/
LB [Array number]
10 I Variable number/ Specifies the number of the integer type variable by <Data 2>
LI Variable number/ which Data 1 is divided.
I [Array number]/
LI [Array number]
LD Variable number/ variable by which Data 1 is divided.
D [Array number]/
LD [Array number]
LR Variable number/ by which Data 1 is divided.
R [Array number]/
LR [Array number]



13 Integer type constant Specifies the integer type data by which Data 1 is <Data 2>
divided.
B [Array number]/
LB [Array number]
2-109

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]



18 Double-precision Specifies the double-precision type data by which Data <Data 2>
type constant 1 is divided.
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-110



23 Real-number type Specifies the real-number type data by which Data 1 is <Data 2>
constant divided.
B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
6. (Element number)


28 (Element number) Specifies the element of the position type variable by Element number: 1 to
which Data 1 is divided. 255
If omitted, all the elements of the position type variable Variable B/LB can be
are specified. used.
2-111

number]/LD [Array number]/Double-precision type
constant

part 1 of this Explanation, choose one of the tags from the following table
after (Element number) of 6.

29 D Variable number/ Specifies the number of the double-precision variable <Data 2>
LD Variable number/ by which the element of the position type variable is
D [Array number]/ divided.
LD [Array number]
30 Double-precision Specifies the double-precision type data by which the <Data 2>
type constant element of the position type variable is divided.
Example
(1) DIV B000 10

Divides B000 by 10, and stores the result in B000.
(2) DIV I000 I001

Divides I000 by I001, and stores the result in I000.
(3) SET D000 2

DIV P000 (3) D000
Divides the Z axis data by D000 (D000=2), and stores the result in
P000.
2-112
DX100 2.3 Operating Instruction : CNVRT
CNVRT
Function
Converts the pulse type position type variable of Data 2 to the XYZ type
position type variable in the specified coordinate system, and stores the
result in Data 1.
Construction
CNVRT <Data 1> <Data 2> Coordinate system designation
PX/PX[] PX/PX[]
CNVRT 1 /LPX Variable No. 2 /LPX Variable No. A
/LPX[] /LPX[]
A 3 BF END
4 RF
5 TF
User
6 UF# (
coordinate No.
)
7 MTF
Explanation
1. PX Variable number/LPX Variable number/PX [Array

number]/LPX [Array number]

1 PX Variable number/ Specifies the number of the expanded position type <Data 1>
LPX Variable variable where the converted data is stored.
number/
PX [Array number]/
LPX [Array number]
2-113
Expanded position type variables

SUPPLE
-MENT The expanded position type variable is a position type vari-
able that depends on the control group in the job.
<Example>
When the control group is R1:
PX000 indicates P000.
When the control group is R1 + B1:
PX000 indicates P000 and BP000.
When the control group is R1 + B1 + ST1:
PX000 indicates P000 + BP000 + EX000.
When the control group is R1 + R2 + B1 + B2 + ST1 in the
coordinated job (master R1 + B1):
PX000 indicates the following:
P000: R2 (slave), P001: R1 (master)
BP000: B2 (slave), BP001: B1 (master)
EX000: ST1


LPX Variable variable to be converted.
number/
PX [Array number]/
LPX [Array number]
3. BF/RF/TF/UF# (User coordinate number)/MTF

3 BF Specifies the conversion in the base coordinate system.
4 RF Specifies the conversion in the robot coordinate
system.
5 TF Specifies the conversion in the tool coordinate system.
6 UF# (User Specifies the conversion in the user coordinate system. No.: 1 to 63
coordinate number) Variable B/I/D/LB/LI/LD
can be used.
7 MTF Specifies the conversion on the master tool coordinate Available only with the
system. optional independent
On the master tool coordinate system, the data is coordinate function.
converted to a position relative to the master
manipulator.
2-114
Example
(1) CNVRT PX000 PX001 BF
For the job R1, the pulse type position data of P001 is converted to
the XYZ type position data in the base coordinate system and
stores the converted data in P000.
2-115
DX100 2.3 Operating Instruction : AND
AND
Function
Carries out logical multiplication of Data 1 and Data 2, and stores the
result in Data 1.
Construction
AND <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
AND 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation

number]/LB [Array number]

1 B Variable number/ Specifies the number of the byte type variable for which <Data 1>
LB Variable number/ the logical multiplication is carried out.
B [Array number]/
LB [Array number]

number]/LB [Array number]/Byte type constant

LB Variable number/ the logical multiplication is carried out.
B [Array number]/
LB [Array number]
3 Byte type constant Specifies the byte type data for which the logical <Data 2>
multiplication is carried out.
2-116
DX100 2.3 Operating Instruction : AND
Example
(1) SET B000 5

SET B010 1
AND B000 B010
Carries out the logical multiplication of B000 (0000 0101) and

B010 (0000 0001), and stores the result (0000 0001=1) in B000.
2-117
DX100 2.3 Operating Instruction : OR
OR
Function
Carries out the logical sum of Data 1 and Data 2, and stores the result in
Data 1.
Construction
OR <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
OR 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation


LB Variable number/ the logical sum is carried out.
B [Array number]/
LB [Array number]


LB Variable number/ the logical sum is carried out.
B [Array number]/
LB [Array number]
3 Byte type constant Specifies the byte type data for which the logical sum is <Data 2>
carried out.
2-118
DX100 2.3 Operating Instruction : OR
Example
(1) SET B000 5

SET B010 10
OR B000 B010
Carries out the logical sum of B000 (0000 0101) and B010 (0000
1010), and stores the result (0000 1111=15) in B000.
2-119
DX100 2.3 Operating Instruction : NOT
NOT
Function
Carries out the logical negation of Data 2, and stores the result in Data 1.
Construction
NOT <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
NOT 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation


1 B Variable number/ Specifies the number of the byte type variable to store <Data 1>
LB Variable number/ the result of logical negation.
B [Array number]/
LB [Array number]


LB Variable number/ the logical negation is carried out.
B [Array number]/
LB [Array number]
3 Byte type constant Specifies the byte type data for which the logical <Data 2>
negation is carried out.
2-120
DX100 2.3 Operating Instruction : NOT
Example
(1) SET B000 0
SET B010 1
NOT B000 B010
Carries out the logical negation of B010 (0000 0001), and stores
the result (1111 1110=254) in B000.
2-121
DX100 2.3 Operating Instruction : XOR
XOR
Function
Carries out the logical exclusive OR of Data 1 and Data 2, and stores the
result in Data 1.
Construction
XOR <Data 1> <Data 2>
B/LB/B[]/ B/LB/B[]/
XOR 1 LB[]
Variable No. 2 LB[]
Variable No. END
Byte type
3 constant
Explanation


LB Variable number/ the exclusive OR is carried out.
B [Array number]/
LB [Array number]


LB Variable number/ the exclusive OR is carried out.
B [Array number]/
LB [Array number]
3 Byte type constant Specifies the byte type data for which the exclusive OR <Data 2>
is carried out.
2-122
DX100 2.3 Operating Instruction : XOR
Example
(1) SET B000 1

SET B010 5
XOR B000 B010
Carries out the exclusive OR of B000 (0000 0001) and B010 (0000
0101), and stores the result (0000 0100=4) in B000.
2-123
DX100 2.3 Operating Instruction : MFRAME
MFRAME
Function
Creates the user coordinates according to three types of position data;

Data 1, Data 2, and Data 3.
Data 1 indicates the position data of the defined point ORG; Data 2
indicates the position data of the defined point XX; and Data 3 indicates
the position data of the defined point XY.
Construction
MFRAME User coordinate designation <Data 1> <Data 2> <Data 3>
PX/PX[]
User
MFRAME 1 UF# (
coordinate No.
) 3 /LPX Variable No. A
/LPX[]
P/LP/P[]/
2 LP[]
Variable No.
PX/PX[] PX/PX[]
A 4 /LPX Variable No. 5 /LPX Variable No. END
/LPX[] /LPX[]
Explanation
1. UF# (User coordinate number)/P Variable number/LP

Variable number/P [Array number]/LP [Array num-
ber]

1 UF# (User Allocates the number for the user coordinate to be No.: 1 to 63
coordinate number) created. Variable B/I/D/LB/LI/LD
can be used.
2 P Variable number/ Specifies the number of the position type variable
LP Variable number/ where the coordinate values of the user coordinate to
P [Array number]/ be created is stored.
LP [Array number]
2-124
DX100 2.3 Operating Instruction : MFRAME


LPX Variable variable where the position data of the user
number/ coordinates defined point ORG has been stored.
PX [Array number]/
LPX [Array number]


number/ coordinates defined point XX has been stored.
PX [Array number]/
LPX [Array number]


number/ coordinates defined point XY has been stored.
PX [Array number]/
LPX [Array number]
Example
(1) MFRAME UF#(1) PX000 PX001 PX002
For the job R1, the user coordinate number 1 is created according
to three types of position data; P000, P001, and P002 of the user
coordinate system.
2-125
DX100 2.3 Operating Instruction : SETE
SETE
Function
Sets Data 2 in the element of position type variable of Data 1.
Construction
SETE <Data 1> (Element number) <Data 2>
P/LP/P[]/
SETE 1 LP[]
Variable No. 4 ( Element No. ) A
BP/LBP/
Double-precision
2 BP[]/ Variable No. A 5 constant
END
LBP[]
EX/LEX/ D/LD/D[]/
6 LD[]
Variable No.
LEX[]
Explanation

ber]/BP [Array number]/LBP [Array number]/EX Vari-
able number/LEX Variable number/EX [Array

LP Variable number/ variable where Data 2 is set as an element.
P [Array number]/
LP [Array number]
LBP Variable variable where Data 2 is set as an element.
number/
BP [Array number]/
LBP [Array number]
LEX Variable variable where Data 2 is set as an element.
number/
EX [Array number]/
LEX [Array number]
2-126
DX100 2.3 Operating Instruction : SETE
2. (Element number)

4 (Element number) Specifies the element of the position type variable to be Element No.: 1 to 255
set. Variable B/LB can be
used.
3. Double-precision type constant/D Variable number/

LD Variable number/D [Array number]/LD [Array
number]

5 Double-precision Specifies the double-precision type data to be set. <Data 2>
type constant
LD Variable number/ variable to be set.
D [Array number]/
LD [Array number]
Example
(1) SETE P000 (3) 2000
2000 is set in the Z axis data of P000.
2-127
DX100 2.3 Operating Instruction : GETE
GETE
Function
Stores the element of position type variable of Data 2 in Data 1.
Construction
GETE <Data 1> <Data 2> (Element number)
D/LD/D[]/ P/LP/P[]/
GETE 1 LD[]
Variable No. 2 LP[]
Variable No. A
BP/LBP/
LBP[]
EX/LEX/
LEX[]
A 5 ( Variable No. ) END
Explanation


LD Variable number/ variable where the element of position type variable is
D [Array number]/ stored.
LD [Array number]
2-128
DX100 2.3 Operating Instruction : GETE


LP Variable number/ variable to be stored.
P [Array number]/
LP [Array number
LBP Variable variable to be stored.
number/
BP [Array number]/
LBP [Array number]
LEX Variable variable to be stored.
number/
EX [Array number]/
LEX [Array number]
3. (Element number)

5 (Element number) Specified the number of the of the position type variable Element No.: 1 to 255
element to be stored. Variable B/LB can be
used.
Example
(1) GETE D000 P000 (3)
The Z axis data of P000 is stored in D000.
2-129
DX100 2.3 Operating Instruction : GETS
GETS
Function
Stores the system variable of Data 2 in Data 1.
Construction
GETS <Data 1> <Data 2>
B/LB/B[]/
GETS 1 LB[]
Variable No. 6 $B/$B[] Variable No. END
I/LI/I[]
2 /LI[]
Variable No. 7 $I/$I[] Variable No.
D/LD/D[]/
3 LD[]
Variable No. 8 $D/$D[] Variable No.
R/LR/R[]/
4 LR[]
Variable No. 9 $R/$R[] Variable No.
PX/PX[]
$PX/
5 /LPX Variable No. 10 $PX[]
Variable No.
/LPX[]
2-130
Explanation

ber]/PX Variable number/LPX Variable number/PX
[Array number]/LPX [Array number]

1 B Variable number/ Specifies the number of the byte type variable to store <Data 1>
LB Variable number/ the system variable.
B [Array number]/
LB [Array number]
2 I Variable number/ Specifies the number of the integer type variable to <Data 1>
LI Variable number/ store the system variable.
I [Array number]/
LI [Array number]
LD Variable number/ variable to store the system variable.
D [Array number]/
LD [Array number]
4 R Variable number/ Specifies the number of the real-number type variable <Data1>
LR Variable number/ to store the system variable.
R [Array number]/
LR [Array number]
LPX Variable variable to store the system variable.
number/
PX [Array number]/
LPX [Array number]
2-131
System variable
SUPPLE
-MENT
The system variables are written by the controller system and can be referred only by a
GETS instruction. The following system variables are available.
System
Type No. Explanation
Variable
Detected /Not detected by the optional SRCH

$B002 instruction
0: Not detected, 1: Detected
Result of the optional SYSTART instruction

$B008
1: Normal termination, 0: Abnormal termination
Result of the SETFILE/GETFILE instruction

$B009 0: Normal termination,
Other than 0: Abnormal termination
Result of the optional HSEN instruction

$B014
1: Setting status completed, 0: Others
$B type
Byte type
variable The number of RIN#(1)s detected by the optional
$B016
NSRCH instruction
The number of RIN#(2)s detected by the optional

$B017
NSRCH instruction

$B018
NSRCH instruction

$B019
NSRCH instruction

$B020
NSRCH instruction
$PX000 Current value (pulse type)

$PX001 Current value (XYZ type)
Position detected by the optional SRCH instruction

$PX002
(pulse type)
Position detected by the optional STCH instruction
$PX003
(XYZ type)
Expande
$PX type $PX004 Current value excluding the shift amount (XYZ type)
d position
variable
type $PX005 Teaching position (pulse type)
$PX006 Operation target position (pulse type)
Path correction amount (available only with the

$PX040
optional COMARC function)
$PX100
RIN#(1)s detected position by the optional NSRCH
to
instruction (pulse type)
$PX149
Continued
2-132
Continued
SUPPLE
-MENT System
Type No. Explanation
Variable
$PX150
to
instruction (XYZ type)
$PX199
$PX200
to
$PX249
$PX250
to
$PX299
$PX300
to
$PX349
Expande $PX350
$PX type RIN#(3)s detected position by the optional NSRCH
d position to
variable instruction (XYZ type)
type $PX399
$PX400
to
$PX449
$PX450
to
$PX499
$PX500
to
$PX549
$PX550
to
$PX599
2. $B Variable number/$B [Array number]

the following tag.

6 $B Variable number/ Specifies the number of the byte type system variable <Data 2>
$B [Array number] to be stored.
2-133
3. $I Variable number/$I [Array number]

the following tag.

7 $I Variable number/ Specifies the number of the integer type system <Data 2>
$I [Array number] variable to be stored.
4. $D Variable number/$D [Array number]

the following tag.

8 $D Variable number/ Specifies the number of the double-precision type <Data 2>
$D [Array number] system variable to be stored.
5. $R Variable number/$R [Array number]


9 $R Variable number/ Specifies the number of the real-number type system <Data 2>
$R [Array number] variable to be stored.
6. $PX Variable number/$PX [Array number]
When a PX Variable number, LPX Variable number, PX [Array number], or

LPX [Array number] is selected from the table in part 1 of this Explanation,

10 $PX Variable Specifies the number of the expanded position type <Data 2>
number/ system variable to be stored.
$PX [Array number]
Example
(1) GETS B000 $B002
The result of the SRCH instruction is stored in B000.
(2) GETS PX000 $PX000
For the job R1, the pulse type current value is stored in P000.
2-134
DX100 2.3 Operating Instruction : SQRT
SQRT
Function
Calculates the square root of Data 2, and stores the result in Data 1.
Construction
SQRT <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
SQRT 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation
1. R Variable number/LR Variable number/R [Array


LR Variable number/ to store the result.
R [Array number]/
LR [Array number]

number]/LR [Array number]/Real-number type con-
stant

LR Variable number/ whose square root is calculated.
R [Array number]/
LR [Array number]
3 Real-number type Specifies the real-number type data whose square root <Data 2>
constant is calculated.
2-135
DX100 2.3 Operating Instruction : SQRT
Example
(1) SQRT R000 2
1.414214E + 00 is stored in R000.
2-136
DX100 2.3 Operating Instruction : SIN
SIN
Function
Calculates the sine of Data 2, and stores the result in Data 1.
Construction
SIN <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
SIN 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation


R [Array number]/
LR [Array number]

stant

LR Variable number/ whose sine is calculated.
R [Array number]/
LR [Array number]
3 Real-number type Specifies the real-number type data whose sine is <Data 2>
constant calculated.
2-137
DX100 2.3 Operating Instruction : SIN
Example
(1) SIN R000 60
8.660254E - 01 is stored in R000.
2-138
DX100 2.3 Operating Instruction : COS
COS
Function
Calculates the cosine of Data 2, and stores the result in Data 1.
Construction
COS <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
COS 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation


R [Array number]/
LR [Array number]

stant

LR Variable number/ whose cosine is calculated.
R [Array number]/
LR [Array number]
3 Real-number type Specifies the real-number type data whose cosine is <Data 2>
constant calculated.
2-139
DX100 2.3 Operating Instruction : COS
Example
(1) COS R000 60
5.000000E - 01 is stored in R000.
2-140
DX100 2.3 Operating Instruction : ATAN
ATAN
Function
Calculates the arc tangent of Data 2, and stores the result in Data 1.
Construction
ATAN <Data 1> <Data 2>
R/LR/R[]/ R/LR/R[]/
ATAN 1 LR[]
Variable No. 2 LR[]
Variable No. END
Real-number
3 type constant
Explanation


1 R Variable number/ Specifies the number of the real-number type variable to <Data 1>
LR Variable number/ store the result.
R [Array number]/
LR [Array number]

stant

LR Variable number/ whose arc tangent is calculated.
R [Array number]/
LR [Array number]
3 Real-number type Specifies the real-number type data whose arc tangent <Data 2>
constant is calculated.
2-141
DX100 2.3 Operating Instruction : ATAN
Example
(1) ATAN R000 60
8.904516E + 01 is stored in R000.
2-142
DX100 2.3 Operating Instruction : MULMAT
MULMAT
Function
Calculates the matrix multiplication of Data 2 and Data 3, and stores the
result in Data 1.
Construction
MULMAT <Data 1> <Data 2> <Data 3>
P/LP/P[]/ P/LP/P[]/
MULMAT 1 LP[]
Variable No. 2 LP[]
Variable No. A
P/LP/P[]/
A 3 LP[]
Variable No. END
Explanation


1 P Variable number/ Specifies the number of the position type variable to <Data 1>
LP Variable number/ store the result.
P [Array number]/
LP [Array number]


2 P Variable number/ Specifies the number of the position type variable for <Data 2>
LP Variable number/ which the matrix multiplication is calculated.
P [Array number]/
LP [Array number]
2-143
DX100 2.3 Operating Instruction : MULMAT


3 P Variable number/ Specified the number of the position type variable for <Data 3>
LP Variable number/ which the matrix multiplication is calculated.
P [Array number]/
LP [Array number]
Example
MULMAT and INVMAT instructions

SUPPLE
-MENT
The amount of shift for a three-dimensional shift can be

obtained by using the MULMAT and INVMAT instructions.
The instructions, exclusive to the DX100, to obtain the shift
amount are used for the optional three-dimensional shift
function. However, the amount of the three-dimensional shift
can be also obtained by using the standard instructions,
MULMAT and INVMAT.
The target value for a three-dimensional shift can be calcu-

lated by the following equation.
Pnew=P3d Pold
Where Pnew: Target position after a three-dimensional shift
P3d: Three-dimensional shift amount
Pold: Taught position
The amount of a three-dimensional shift can be obtained as
follows:
P3d=Pnew Pold-1
(1) MOVL P010 V=500

GETS PX020 $PX001 Stores the current XYZ type value in P020.
INVMAT P021 P010 Calculates the inverse matrix of the taught position.
MULMAT P023 P020 P021 The amount of the three-dimensional
2-144
DX100 2.3 Operating Instruction : INVMAT
INVMAT
Function
Calculates the inverse matrix of Data 2, and stores the result in Data 1.
Construction
INVMAT <Data 1> <Data 2>
P/LP/P[]/ P/LP/P[]/
INVMAT 1 LP[]
Variable No. 2 LP[]
Variable No. END
Explanation


1 P Variable number/ Specifies the number of the position type variable to <Data 1>
LP Variable number/ store the result.
P [Array number]/
LP [Array number]


2 P Variable number/ Specifies the number of the position type variable for <Data 2>
LP Variable number/ which the inverse matrix is calculated.
P [Array number]/
LP [Array number]
Example
(1) MOVL P010 V=500

GETS PX020 $PX001 Stores the current XYZ type value in P020.
INVMAT P021 P010 Calculates the inverse matrix of the taught position.
MULMAT P023 P020 P021 The amount of the three-dimensional
2-145
DX100 2.3 Operating Instruction : SETFILE
SETFILE
Function
Changes the specified data of the specified condition file to the numeric
data of Data 1.
Specify the data of the condition file to be changed by its element number.
Construction
SETFILE Condition file specification (Element number) <Data 1>
Sealing adjustment
SETFILE 1 SPR# ( condition file No.
) 4 ( Element No. ) A
Under-coating
2 UDC# ( adjustment condition )
file No.
Weaving condition
3 WEV# ( file No.
)
Double-precision
A 5 type constant
END
D/LD/D[]/
6 LD[]
Variable No.
2-146
Explanation
1. SPR# (Sealing adjustment condition file number)/

UDC# (Under-coating adjustment condition file num-
ber)/WEV# (Weaving condition file number)

1 SPR# (Sealing Specifies the number of the sealing (spray) adjustment No.: 1
adjustment condition condition file. Variable B/I/D/LB/LI/LD
file number) can be used.
optional servo sealing
gun function.
2 UDC# (Under- Specifies the number of the number of the under- No.: 1
coating adjustment coating adjustment condition file. Variable B/I/D/LB/LI/LD
condition file can be used.
number) Available only with the
optional under-coating
function.
3 WEV# (Weaving Specifies the number of the weaving condition file. No.: 1 to 16
condition file Variable B/I/D/LB/LI/LD
number) can be used.
2. (Element number)

4 (Element number) Specifies the element number of the condition file data Element No.: 1 to 255
to be changed. Variable B/LB can be
used.
3. Double-precision type constant/D Variable number/

LD Variable number/D [Array number]/LD [Array
number]

5 Double-precision Specifies the double-precision type data to be changed. <Data 1>
type constant
LD Variable number/ variable of the data to be changed.
D [Array number]/
LD [Array number]
2-147
Element number of each condition file

SUPPLE
-MENT
The element number of each item in the condition file is shown

below.
<Weaving condition file>
Elemen Item Units Remarks

t No.
1 MODE
2 SMOOTHING
3 SPEED
4 FREQUENCY 0.1 Hz
5 AMPLITUDE (ACTIVE IN 0.001
6 PATTERN VERTICAL 0.001
7 PATTERN HORIZONTAL 0.001
8 PATTERN ANGLE 0.01 deg.
9 ANGLE 0.01 deg.
10 TIMER MODE Stop positions 1 to 4
(SECT 1 to 4) (SECT 1 to 4)
designated by bit
11 to14 MOVING TIME 0.1 sec. Sections 1 to 4
15 to18 TIMER (timer count) 0.1 sec. Duration of a pause
19 HOVER WEAVING SET Optional
20 HOVER WEAVING TIME 0.01 sec. Optional
21 HOVER WEAVING INPUT Optional
For details of the weaving condition file, refer to Chapter 11.10 Weaving
Condition File in DX100 OPERATORS MANUAL FOR ARC WELDING
(RE-CSO-A031).
Example
(1) SETFILE WEV#(1) (5) 3500
Changes the amplitude setting in the weaving condition file num-

ber 1 to 3.500 mm.
2-148
DX100 2.3 Operating Instruction : GETFILE
GETFILE
Function
Stores the data of the specified condition file in Data 1.
Specify the data of the condition file to be stored by its element number.
Construction
GETFILE <Data 1> Condition file designation (Element number)
D/LD/D[]/ Sealing adjustment

GETFILE 1 LD[]
Variable No. 2 SPR# ( condition file No.
) A
Under-coating
3 UDC# ( adjustment condition )
file No.
Weaving condition
4 WEV# ( file No.
)
5 AMF# ( Arc monitor file No. )
A 6 ( Element No. ) END
Explanation


LD Variable number/ variable to store the data.
D [Array number]/
LD [Array number]
2-149
DX100 2.3 Operating Instruction : GETFILE
2. SPR# (Sealing adjustment condition file number)/

UDC# (Under-coating adjustment condition file num-
ber)/WEV# (Weaving condition file number)/AMF#
(Arc monitor file number)

2 SPR# (Sealing Specifies the number of the sealing (spray) adjustment No.: 1
adjustment condition condition file. Variable B/I/D/LB/LI/LD
file number) can be used.
optional servo sealing
gun function.
3 UDC# (Under- Specifies the number of the under-coating adjustment No.: 1
coating adjustment condition file. Variable B/I/D/LB/LI/LD
condition file can be used.
number) Available only with the
optional under-coating
function.
4 WEV# (Weaving Specifies the number of the weaving condition file. No.: 1 to 16
condition file Variable B/I/D/LB/LI/LD
number) can be used.
5 AMF# (Arc monitor Specifies the number of the arc monitor file. No.: 1 to 50
file number) Variable B/I/D/LB/LI/LD
can be used.
optional arc monitor
function.
3. (Element number)

6 (Element number) Specifies the element number of the condition file data Element No.: 1 to 255
to be stored. Variable B/LB can be
used.
Example
(1) GETFILE D000 WEV#(1) (6)
Stores the vertical distance (PATTERN VERTICAL) in the weaving

condition file number 1 in D000.
2-150
DX100 2.3 Operating Instruction : SETREG
SETREG
Function
Copies the specified integer type variable data into the register.
Construction
MREG
SETREG 1 #
( Register No. ) A
2 LOW/HIGH
A 3 I/LI/I[]/LI[] Variable No. END
Integer type
4 constant
Explanation
1. MREG# (Register number)

1 MREG# (Register Specifies the register number to save the data. No.: 0 to 499
number) Variable B/I/D/LB/LI/LD
can be used.
2. LOW/HIGH

2 LOW/HIGH Specifies when copying the data into the lower/higher 8
bits of the register.
3. I Variable number/LI Variable number/I [Array num-

ber]/LI [Array number]

3 I Variable number/ Specifies the data number to be saved in the register.
LI Variable number/
I [Array number]/
LI [Array number]
4 Integer type variable Input the data to be saved in the register.
2-151
DX100 2.3 Operating Instruction : GETREG
GETREG
Function
Copies the specified register data into the integer type variable.
Construction
GETREG 1 I/LI/I[]/LI[] Variable No. 2 MREG# A
A ( Register No. ) END
3 LOW/HIGH
Explanation
1. I Variable number/LI Variable number/I [Array num-

ber]/LI [Array number]

1 I Variable number/ Specifies the number of the integer type variable to
LI Variable number/ save the register data.
I [Array number]/
LI [Array number]
2. MREG# (Register number).

2 MREG# (Register Specifies the desired register number to be saved into No.: 0 to 499
number) the integer type variable. Variable B/I/D/LB/LI/LD
can be used.
3. LOW/HIGH

3 LOW/HIGH Specifies when saving the lower/higher 8 bits out of 16
bits register.
2-152
DX100 2.4 Move Instruction : MOVJ
2.4 Move Instruction
MOVJ
Function
Moves to the teaching position by joint interpolation.
Construction
The tag which can be used is limited by the type of the job.

MOVJ 1 position file No.
5 position file No.
6 position file No.
A B G
P/LP/P[]/
2 LP[]
Variable No. C D
Station teaching
3 position file No.
E F
EX/LEX
/LEX[]
A B
Point Variable
7 T
No.
C D
BP/LBP EX/LEX
/LBP[] /LEX[]
E F
Point Variable
10 T
No.
2-153
G H
Positioning
11 VJ= Joint speed (%) 12 PL=
level
H I
Amount of
Amount of the station axis
14 MT=
T axis rotation
15 MTE=
rotation
I J
Acceleration
16 NWAIT 18 UNTIL 20 ACC= adjustment
ratio (%)
17 ENWAIT 19 NSRCH
J 22 +MOVJ END
Deceleration
21 DEC= adjustment
ratio (%) 23 +MOVL
24 +MOVC
25 +MOVS
Table 2-1: Job Type and Control Group

No. Job Type Control Group Remarks
1 Single One manipulator (standard)
2 Single One manipulator with base axis
3 Single One manipulator with station axis
4 Single One manipulator with base and station axes
5 Single Station axis only
6 Coordinated Two manipulators Optional
7 Coordinated Two manipulators with base axis Optional
2-154
Table 2-2: Availability of Each Tag

Control Group
No Tag Note
1 2 3 4 5 6 7
Robot teaching
1 z z z z z z
position file number
2 P/LP/P[]/LP[] z z z z z z
Station teaching
3 z
4 EX/LEX/EX[]/LEX[] z
Base axis teaching
5 z z
Station teaching
6 z z
7 T { { { { { { Optional
8 BP/LBP/BP[]/LBP[] z z z
EX/LEX/EX[]/LEX[]
9 z z
10 T { Optional
11 VJ= z z z z z z z
12 PL= z z z z z z z
13 SPDL= { { { { { { Optional
14 MT= { { { { Optional
15 MTE= { { { Optional
16 NWAIT z z z z z z z
17 ENWAIT { { { { { { { Optional
18 UNTIL z z z z z z z
19 NSRCH { { { { { { { Optional
20 ACC= z z z z z z z
21 DEC= z z z z z z z
22 +MOVJ { { Optional
23 +MOVL { { Optional
24 +MOVC { { Optional
25 +MOVS { { Optional
z: Available
{: Available only with optional function enabled
: Not available
2-155
Explanation
1. Robot teaching position file number /P Variable

number /LP Variable number /P [Array number] /LP
[Array number] /Station teaching position file num-
ber /EX Variable number /LEX Variable number /EX

1 Robot teaching The robot axis teaching position in each step is written On the job display, this
position file number in this file unconditionally when the step is taught. This tag is not displayed.
teaching position cannot be edited.
2 P Variable number/ Specifies the position variable number of the robot axis. Variable number:
LP Variable number/ Moves to the position data set in the variable of the 000 to 127
P [Array number]/ specified number.
LP [Array number]
3 Station teaching The station axis teaching position in each step is written On the job display, this
4 EX Variable number/ Specifies the position variable number of the station Variable number:
LEX Variable axis. 000 to 127
number/ Moves to the position data set in the variable of the
EX [Array number]/ specified number.
LEX [Array number]
Position Variables
SUPPLE
-MENT
There are the following three kinds of position variables.

Robot axis : P000-P127
Base axis : BP000-BP127
Station axis : EX000-EX127
A position variable can store the position data as pulse type
or XYZ type.
Local Variables and Arrangement Variables

SUPPLE
-MENT
Local variables and arrangement variables are available only

for the expanded instruction set.
P000 and P[0] show the same one.
2-156
2. Base Teaching Position File Number
When a robot teaching position file number is selected from the table in

5 Base teaching The base axis teaching position in each step is written On the job display, this
3. Station Teaching Position File Number

4. T Point Variable number

7 T Point Variable Specifies the number of the point variable. Available only with the
number The point variable manages the teaching positions optional point variable
registered in the job, and is used to move the function.
manipulator to the same position several times in one
job.

When a P Variable number, LP Variable number, P [Array number], or

the following tag can be added.

8 BP Variable number/ Specifies the position variable number of the base axis. Variable number:
LBP Variable Moves to the position data set in the variable of the 000 to 127
number/ specified number.
BP [Array number] /
LBP [Array number]
2-157


[Array number] is selected from the table in part 1 of this Explanation, the
following tag can be added.

LEX [Array number]

10 T Point Variable Specifies the number of the point variable. Available only with the
number The point variable manages the teaching positions optional point variable
job.
8. VJ=Joint speed

11 VJ=Joint speed Specifies the joint speed. Speed: 0.01% to
The joint speed is shown in the ratio to the highest 100.00%
speed. When the joint speed is omitted, the operation is Variable B/B[]/LB/LB[]/I/
performed at the speed decided beforehand. I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
(Units: 0.01%)
9. PL=Position level /SPDL=Speed level

12 PL=Position level Specifies the position level. Level: 0 to 8
The approach level when the manipulator passes the
position where the teaching procedure was performed Variable B/B[]/LB/LB[]/I/
is called a positioning level. I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
13 SPDL=Speed level Specifies the speed level. Level: Only 0
The speed level is the tag for the robot to end the Available only with the
execution of the move instruction in the state of servo optional servo-float
float control, and to confirm the state which has function.
stopped. The operation ends when the speed feedback Refer to the servo-float
pulse of all axes goes below a constant value, and the function for details.
manipulator is considered to have stopped.
2-158
Position level
SUPPLE
-MENT
The approach level when the manipulator passes the position

where the teaching procedure was performed is called a
position level.
Positioning level 0
P2
P3
S1CxG33
S1CxG34
Positioning level 1
S1CxG35
Positioning level 2
Positioning level 3
Positioning level 8
S1CxG40
P1
The approach level is set by the following parameters. (posi-

tion zone)
Position level 1: S1CxG33(m)

Position level 5: SICxG37 (m)
10. MT=Amount of the T axis rotation

14 MT=Amount of the T Specifies the amount of the T axis rotation. Amount of rotation:
axis rotation The amount of the T axis rotation specifies the amount -32768 to 32767
of movement of T axis by the number of rotations. Available only with the
optional axis endless
function.
Refer to the axis endless
function for details.
2-159
11. MTE= Amount of the station axis rotation

15 MTE= Amount of the Specifies the amount of the station axis rotation. Amount of rotation:
station axis rotation The operation of the station axis can be specified by the -32768 to 32767
number of rotations. Available only with the
function.
12. NWAIT/ENWAIT

16 NWAIT Specifies the NWAIT instruction.
The NWAIT instruction carries out the instructions
excluding the move instruction from that step on, at the
same time as the manipulator is carrying out that step.
17 ENWAIT Specifies the ENWAIT instruction. Available only with the
The ENWAIT instruction carries out the instructions conditional NWAIT
excluding the move instructions from that step on, function (option:
before reaching the next step. S2C576)
Refer to ENWAIT of
chapter 2.6 Instruction
Which Adheres to an
Instruction at
page 2-212.
13. UNTIL/NSRCH

18 UNTIL Specifies the UNTIL instruction. Refer to UNTIL of
The UNTIL instruction is a tag instruction by which the chapter 2.6 Instruction
condition of the input signal is evaluated during Which Adheres to an
operation. Instruction at
When the condition of the input signal is full, the robot page 2-212.
executes the next instruction.
19 NSRCH Specifies the NSRCH instruction. Available only with the
The NSRCH instruction carries out the position optional search-in-
detection without stopping the manipulators motion. motion function.
14. ACC=Acceleration adjustment ratio

20 ACC=Acceleration Specifies the acceleration adjustment ratio. Acceleration adjustment
adjustment ratio The ACC instruction reduces the amount of ratio: 20% to 100%
acceleration in the specified ratio. Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
2-160
15. DEC=Deceleration adjustment ratio

21 DEC=Deceleration Specifies the deceleration adjustment ratio. Deceleration adjustment
adjustment ratio The DEC instruction reduces the amount of ratio: 20% to 100%
deceleration in the specified ratio. Variable B/B[]/LB/LB[]/I/
can be used.
Acceleration adjustment ratio

SUPPLE
-MENT
The acceleration adjustment ratio (ACC) reduces the amount

of acceleration in the specified ratio.
Using this function can reduce the load inertia on the tool and
the workpiece.
Speed Ordinaly
acceleration
ACC=70% Specified
DEC=50% ratio
Time
2-161
16. +MOVJ/+MOVL/+MOVC/+MOVS

22 +MOVJ Specifies the joint interpolation motion instruction on the Available only with the
master manipulators side. optional coordinate
function.
Refer to the
independent/coordinated
function.
23 +MOVL Specifies the linear interpolation motion instruction on Available only with the
the master manipulators side. optional coordinate
function.
Refer to the
function.
24 +MOVC Specifies the circular interpolation motion instruction on Available only with the
function.
Refer to the
function.
25 +MOVS Specifies the spline interpolation motion instruction on Available only with the
function.
Refer to the
function.
Example
(1) MOVJ P000 VJ=50.00

Move from the manipulators waiting position to step 1. Move by
joint interpolation at a speed of 50%.
The position in Step 1 is registered to the P variable no. 0.
The path during movement is not specified. Be careful of interfer-
ence.
Waiting position
Path
Step 1
2-162
DX100 2.4 Move Instruction : MOVL
MOVL
Function
Moves to the teaching position by linear interpolation.
Construction

MOVL 1 position file No.
3 position file No.
4 position file No.
A B E
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T
No.
C D
BP/LBP EX/LEX
/LBP[] /LEX[]
E F
TCP speed Positioning

8 V=
(mm/s)
11 PL=
level
Position angular Corner radius

9 VR= speed (deg/s) 12 CR=
(mm)
External axis
10 VE=
speed (%)
2-163
F G
Amount of
14 MTE= station axis 15 NWAIT
rotation
16 ENWAIT
G H
Acceleration
17 UNTIL 22 ACC= adjustment
ratio (%)
18 SRCH
19 ASRCH
20 HPSRCH
21 NSRCH
H 24 +MOVJ END
Deceleration
23 DEC= adjustment
ratio (%) 25 +MOVL
26 +MOVC
27 +MOVS

2-164

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
z z z z z z
3 Base axis teaching
z z z
4 Station teaching
z z
5 T { { { { { { Optional
7 EX/LEX/EX[]/LEX[]
z z
8 V= z z z z z z
9 VR= z z z z z z
10 VE= z z
11 PL= z z z z z z
12 CR= z z z z z z
14 MTE= { { Optional
15 NWAIT z z z z z z
16 ENWAIT { { { { { { Optional
17 UNTIL z z z z z z
18 SRCH { { { { { { Optional
19 ASRCH { { { { { { Optional
20 HPSRCH { { { { { { Optional
21 NSRCH { { { { { { Optional
22 ACC= z z z z z z
23 DEC= z z z z z z
z: Available
: Not available
2-165
Explanation

[Array number]

LP [Array number]


When the robot teaching position file number is selected from the table in
part 1 of this Explanation, the following can be added or omitted.

5 T Point Variable Specifies the point variable number. Available only with the
number The point variable manages the teaching position optional point variable
job.
2-166



BP [Array number]/
LBP [Array number]



LEX [Array number]
7. V=Tool center point speed /VR=Position angular

speed /VE=External axis speed

8 V=Tool center point Specifies the tool center point speed. Variable B/B[]/LB/LB[]/I/
speed Specifies the unit of rate using the operation condition I[]/LI/LI[]/D/D[]/ LD/LD[]
setting screen. can be used. (Units: 0.1
mm/s)
9 VR=Position angular Specifies the position angular speed. Variable B/B[]/LB/LB[]/I/
speed I[]/LI/LI[]/D/D[]/ LD/LD[]
deg./s)
10 VE=External axis Specifies the external axis speed. Speed: 0.01% to
speed 100.00%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
%)
2-167
8. PL=Position level /CR=Corner radius /SPDL=Speed

level

The position level is a level of the approach when the Variable B/B[]/LB/LB[]/I/
manipulator passes the position where the teaching I[]/LI/LI[]/D/D[]/ LD/LD[]
procedure was performed. can be used.
12 CR=Corner radius Specifies the corner radius. Radius: 0.1mm to
The manipulator operates by circular interpolation in 6553.5 mm
which the corner radius is specified. Variable B/B[]/LB/LB[]/I/
mm)
The speed level is the tag for the robot to end the
execution of the move instruction in the state of the Available only with the
servo float control, and to confirm the state which has optional servo-float
stopped. The operation ends when the speed feedback function.
pulse of all axes goes below a constant value, and the Refer to the servo-float
manipulator is considered to have been stopped. function for details.
Corner radius
SUPPLE
-MENT
The manipulator operates by circular interpolation in which

the corner radius is specified.
Corner radius
2-168
9. MTE= Amount of station axis rotation

14 MTE=Amount of Specifies the amount of station axis rotation. Amount of rotation:
number of rotations.
function.
Refer to the axis endless
10. NWAIT/ENWAIT

same as time the manipulator is carrying out that step.
excluding the move instructions from that step on, function. (option:
Refer to ENWAIT of
Which Adheres to an
Instruction at
page 2-212.
11. SRCH/UNTIL/ASRCH/HPSRCH/NSRCH

17 SRCH Specifies the SRCH instruction. Available only with the
The SRCH instruction is a tag which detects the start optional start point
point. searching function.
Refer to chapter 2.6
Instruction Which
Adheres to an
Instruction at
page 2-212.
18 UNTIL Specifies the UNTIL instruction. Refer to chapter 2.6
The UNTIL instruction is a tag by which the conditions Instruction Which
of the input signal are evaluated during operation. Adheres to an
When the condition of the input signal is full, the robot Instruction at
executes the next instruction. page 2-212.
2-169

19 ASRCH Specifies the ASRCH instruction. Available only with the
The ASRCH instruction detects input signals voltage. optional general-purpose
sensor function.
Refer to General-
purpose Sensor function
for details.
20 HPSRCH Specifies the HPSRCH instruction. Available only with the
The HPSRCH instruction detects the position of the optional zero-point
zero-point. position detection
function.
Refer to the Zero-point
Position Detection
The NSRCH instruction detects a position without optional search-in-
stopping the motion. motion function.

can be used.

can be used.
2-170

function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
Example
(1) NOP
MOVJ VJ=50.00
MOVJ VJ=25.00
MOVJ VJ=12.50 Step 3
MOVL V=138 Step 4
Moves from Step 3 to Step 4 by the linear interpolation at a rate of
138cm/min.
Waiting position
Step 1
Step 2
Step 3
Step 4
2-171
DX100 2.4 Move Instruction : MOVC
MOVC
Function
Moves to the teaching position by circular interpolation.
Construction

MOVC 1 position file No.
3 position file No.
4 position file No.
A B E
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T
No.
C D
BP/LBP EX/LEX
/LBP[] /LEX[]
E F

8 V=
(mm/s)
11 PL=
level
Position angular
9 VR= speed (deg/s) 12 SPDL= Speed level
External axis
10 VE=
speed (%)
2-172
F G
Amount of
13 MTE= station axis 14 NWAIT
rotation
15 ENWAIT
G H
Acceleration Deceleration
16 ACC= adjustment 17 DEC= adjustment
ratio (%) ratio (%)
H 18 +MOVJ END
19 +MOVL 22 FPT
20 +MOVC
21 +MOVS

2-173

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
z z z z z z
3 Base teaching
z z z
4 Station teaching
z z
5 T { { { { { { Optional
7 EX/LEX/EX[]/LEX[] z z
8 V= z z z z z z
9 VR= z z z z z z
10 VE= z z
11 PL= z z z z z z
13 MTE= { { Optional
16 ACC= z z z z z z
17 DEC= z z z z z z
22 FPT z z z z z z
z: Available
: Not available
2-174
Example

[Array number]

LP [Array number]
When a base teaching position file number is selected from the table in
part 1 of this Explanation, added the following tag.

When a base teaching position file number is selected from the table in
part 1 of this Explanation, added the following tag.


job.
2-175



BP [Array number]/
LBP [Array number]



LEX [Array number]


mm/s)
deg/s)
speed 100.00%
can be used.(Units: 0.01
%)
2-176

procedure was performed. can be used.
The speed level is a tag for the robot to end the
execution of the move instruction in the state of servo Available only with the
float control, and to confirm the state which has optional servo-float
pulse of all axes goes below a constant value, and the
manipulator is considered to have been stopped.
9. MTE=Amount of station axis rotation

13 MTE=Amount of Specifies the amount of station axis rotation. Amount of rotation:
number of rotations.
function.
10. NWAIT/ENWAIT

Refer to ENWAIT of
Which Adheres to an
Instruction at
page 2-212.
2-177

can be used.

can be used.

function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
2-178
14. FPT=Arc end-point setting

22 FPT=Arc end-point Specifies the end-point of the arc (the point at which the
setting curvature of the arc is to be changed).
Example
(1) NOP
MOVL V=138
MOVC V=138 Step 2
MOVC V=138 Step 3
MOVC V=138 Step 4
MOVC FPT V=138 Step 5
MOVC V=138 Step 6
MOVC V=138 Step 7
MOVL V=138
END
Moves from Step 2 to Step 7 by circular interpolation at a rate of

138 cm/min.
Moves to Step 3 in a circular arc formed with the teaching points in
Steps 2, 3, and 4.
Steps 3, 4, and 5.
Steps 3, 4, and 5.
Steps 5, 6, and 7.
Steps 5, 6, and 7.
Step 3
MOVC Step 4
MOVC
Step 5 Step 7
Step 1 MOVC FPT MOVC
MOVL
Step 8
Step 2
MOVL
MOVC
Step 6
MOVC
2-179
DX100 2.4 Move Instruction : MOVS
MOVS
Function
Moves to the teaching position by spline interpolation.
Construction

MOVS 1 position file No.
3 position file No.
4 position file No.
A B E
P/LP/P[]/
2 LP[]
Variable No. C D
A B
Point variable
5 T
No.
C D
BP/LBP EX/LEX
/LBP[] /LEX[]
E F

8 V=
(mm/s)
11 PL=
level
Position angular
9 VR= speed (deg/s) 12 SPDL= Speed level
External axis
10 VE=
speed (%)
2-180
F G
Acceleration
13 NWAIT 15 ACC= adjustment
ratio (%)
14 ENWAIT
G 17 +MOVJ END
Deceleration
16 DEC= adjustment
ratio (%) 18 +MOVL
19 +MOVC
20 +MOVS

No. Job type Control Group Remarks
2-181

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
z z z z z z
3 Base teaching
z z z
4 Station teaching
z z
5 T { { { { { { Optional
8 V= z z z z z z
9 VR= z z z z z z
10 VE= z z
11 PL= z z z z z z
16 ACC= z z z z z z
17 DEC= z z z z z z
z: Available
: Not available
Explanation

[Array number]

2 P Variable number / Specifies the position variable number of the robot axis. Variable number:
LP Variable number / Moves to the position data set in the variable of the 000 to 127
LP [Array number]
2-182



job.



6 BP Variable number / Specifies the position variable number of the base axis. Variable number:
LBP Variable number Moves to the position data set in the variable of the 000 to 127
/ specified number.
BP [Array number]/
LBP [Array number]
2-183



7 EX Variable number / Specifies the position variable number of the station Variable number:
LEX Variable number axis. 000 to 127
/ Moves to the position data set in the variable of the
LEX [Array number]


mm/s)
deg/s)
speed 100.00%
%)

procedure was done. can be used.
The speed level is a tag for the robot to end the
execution of the move instruction in the state of servo Available only with the
float control, and to confirm the state which has optional servo-float
pulse of all axes goes below a constant value, and the
manipulator is considered to have been stopped.
2-184
9. NWAIT/ENWAIT

Refer to ENWAIT of
Which Adheres to an
Instruction at
page 2-212.

can be used.

can be used.
2-185

function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
function.
Refer to the
function.
Example
(1) NOP
MOVL V=138
MOVS V=138 Step 2
MOVS V=138 Step 3
MOVS V=138 Step 4
MOVS V=138 Step 5
MOVS V=138 Step 6
MOVL V=138
END
Moves from Step 2 to Step 6 by spline interpolation at a rate of

138cm/min.
Moves to Step 3 by spline interpolation defined by the teaching
points in Steps 2, 3, and 4.
Moves to Step 4 by synchronized spline interpolation defined by
the teaching points in Steps 2, 3, 4 and by the synchronized spline
interpolation defined by the teaching points in Steps 3, 4, and 5.
Moves to Step 5 by synchronized spline interpolation defined by
the teaching points in Steps 3, 4,5 and by synchronized spline
interpolation defined by the teaching points in Steps 4, 5, and 6.
Moves to Step 6 by spline interpolation defined by the teaching
points in Steps 4, 5, and 6.
2-186
Step 3
MOVS
Step 4
MOVS Step 6 Step 6
Step 1 Step 2
MOVS MOVL
MOVL MOVS
Step 5
MOVS
2-187
DX100 2.4 Move Instruction : IMOV
IMOV
Function
Moves by linear interpolation from the current position for the specified
incremental value.
Construction
P/LP/P[]/
IMOV 1 LP[]
Variable No. A
BP/LBP
3 /BP[] Variable No.
/LBP[]
EX/LEX
2 /EX[] Variable No. D
/LEX[]
4 VJ= Joint speed (%)
A B
EX/LEX
TCP speed
5 /EX[] Variable No. 6 V= (mm/s)
/LEX[]
Position angular
7 VR= speed (deg/s)
External axis
8 VE=
speed (%)
B C
Positioning
9 PL=
level
10 NWAIT
2-188
C E
11 BF 16 UNTIL
12 RF
17 SRCH
13 TF
User
14 UF# (
coordinate No.
) 18 NSRCH
15 MTF
E F
Acceleration Deceleration
19 ACC= adjustment 20 DEC= adjustment
ratio (%) ratio (%)
F 21 +IMOV END

5 Single Only station axis
2-189

Control Group
No Tag Note
1 2 3 4 5 6 7
2 EX/LEX/EX[]/LEX[] z
4 VJ= z
5 EX/LEX/EX[]/LEX[]
z z
6 V= z z z z z z
7 VR= z z z z z z
8 VE= z z
9 PL= z z z z z z
11 BF z z z z z z
12 RF z z z z z z
13 TF z z z z z z
14 UF#() z z z z z z
15 MTF z z
16 UNTIL z z z z z z
17 SRCH { { { { { { Optional
18 NSRCH { { { { { { Optional
19 ACC= z z z z z z z
20 DEC= z z z z z z z
21 +IMOV { { Optional
z: Available
: Not available
Explanation

number] /LP [Array number] /EX Variable number /
LEX Variable number /EX [Array number] /LEX [Array
number]

1 P Variable number / Specifies the position variable number of the Variable number:
LP Variable number / manipulator axis. 000 to 127
P [Array number]/ Moves the axis according to the position data set in the
LP [Array number] specified variable number.
/ Moves the axis according to the position data set in the
EX [Array number]/ specified variable number.
LEX [Array number]
2-190



3 BP Variable number / Specifies the position variable number of the base axis. Variable number:
LBP Variable number Moves the axis according to the position data set in the 000 to 127
/ specified variable number.
BP [Array number]/
LBP [Array number]
3. VJ=Joint speed

The joint speed in a ratio to the highest speed. 100.00%
Operates at the speed decided beforehand when the Variable B/B[]/LB/LB[]/I/
joint speed is omitted. I[]/LI/LI[]/D/D[]/ LD/LD[]
%)



/ Moves the axis according to the position data set in the
EX [Array number]/ specified variable number.
LEX [Array number]
2-191


6 V=Tool center point Specifies the tool center point speed. Speed: 0.1 mm to
speed Specifies the unit of rate using the operation condition 1500.0 mm/s
setting screen. The units can be
changed by setting the
parameter S2C173.
mm/s)
7 VR=Position angular Specifies the position angular speed. Speed: 0.1 degrees to
speed 180.0 degrees/s
deg/s)
speed 100.00%
%)
6. PL=Position level

The positioning level is a level of the approach when
the manipulator passes the position where the teaching Variable B/B[]/LB/LB[]/I/
procedure was done. I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
7. NWAIT

same as time the manipulator is carrying out that step.
2-192
8. BF/RF/TF/UF# (User coordinate number)

11 BF Specifies the increment value in the base coordinate
system.
12 RF Specifies the increment value in the robot coordinate
system.
13 TF Specifies the increment value in the tool coordinate
system.
14 UF#(User coordinate Specifies the increment value in the user coordinate No: 1 to 24
number) system. Variable B/I/D/LB/LI/LD
can be used.
15 MTF Specifies the incremental value in the master tool Available only with the
coordinate system. optional independent/
In the master tool coordinate system, position data is coordinated function.
converted to positions relative to the master
manipulator.
9. UNTIL/SRCH/NSRCH

16 UNTIL Specifies the UNTIL instruction. Refer to chapter 2.6
The UNTIL instruction is a tag by which the conditions Instruction Which
of the input signal are evaluated during operation. Adheres to an
When the condition of the input signal is full, the robot Instruction at
executes the next instruction. page 2-212.
17 SRCH Specifies the SRCH instruction. Available only with the
The SRCH instruction is a tag which detects the start optional start point
point. searching function.
The NSRCH instruction detects a position without optional search-in-
stopping the motion. motion function.

can be used.
2-193

can be used.
12. +IMOV

22 +IMOV Specifies the move instruction for an incremental value Available only with the
of the master manipulator. optional coordinate
function.
Refer to the
Example
(1) IMOV P000 V=138 RF

Moves from the current position at a rate of 138cm/min for the
incremental value specified in P000 in the robot coordinate sys-
tem.
2-194
DX100 2.4 Move Instruction : SPEED
SPEED
Function
Sets the playback speed. The manipulator operates at the speed specified
in the SPEED instruction when the speed is not specified in the move
instruction.
Construction
SPEED A
Control point
1 VJ= Joint speed (%) 2 V=
speed (mm/s)
A END
Posture angle External axis

3 VR=
speed (deg./ s)
4 VE=
speed (%)

No. Job Type Control group Remarks
1 - One manipulator (standard)
2 - One manipulator with station axis
3 - Station axis only

Control Group
No Tag Note
1 2 3
1 VJ= z z z
2 V= z z
3 VR= z z
4 VE= z
z: Available
: Not available
2-195
Explanation
1. VJ=Joint speed

The joint speed is shown in the ratio to the highest 100.00%
speed. Variable B/B[]/LB/LB[]/I/
Operates at the speed decided beforehand when the I[]/LI/LI[]/D/D[]/ LD/LD[]
joint speed is omitted. can be used. (Units: 0.01
%)
2. V=Tool center point speed

mm/s)
3. VR=Position angular speed

deg/s)
4. VE=External axis speed

speed 100.00%
%)
2-196
Example
(1) NOP
MOVJ VJ=100.00 Moves at the joint speed
MOVL V=138 100.00%.
Moves at the control point
SPEED VJ=50.00 V=276 VR=30.0 speed 138cm/min.
MOVJ Moves at the joint speed
MOVL 50.00%.
Moves at the control point
MOVL VR=60.0 speed 276 cm/min.
Moves at the position angular
END speed 60.0 degree/s.
2-197
DX100 2.4 Move Instruction : REFP
REFP
Function
It is an instruction which has the position data by which a supplementary

point of the wall point, etc. for weaving is set.
Construction
Reference
REFP 1 point No.
A B END
2 RBn
3 STn C D
Robot teaching
A 4 position file No.
B
Base teaching Station teaching
6 position file No.
7 position file No.
P/LP/P[]/
5 LP[]
Variable No. E F
BP/LBP
/LBP[]
E F
EX/LEX
/LEX[]
Station teaching
C 10 position file No.
D
EX/LEX
/LEX[]
2-198

8 Coordinated Coordinated job with one manipulator and the Optional
station axis (designated as master)
9 Coordinated Coordinated job with one manipulator (with Optional
base axis) and the station axis (designated
as master)

Control Group
No Tag Note
1 2 3 4 5 6 7 8 9
1 Reference point
z z z z z z z z z
number
2 RBn z z z z
3 STn z z
4 Robot teaching
z z z z z z z z
5 P/LP/P[]/LP[] z z z z z z z z
6 Base-axis teaching
z z z z
7 Station teaching
z z
8 BP/LBP/BP[]/LBP[] z z z z
10 Station teaching
z z z
11 EX/LEX/EX[]/LEX[]
z z z
z: Available
: Not available
Explanation
1. Reference Point Number

1 Reference point Specifies the reference point (REFP) number. Reference points:
number 1 to 8
2-199
Reference points during weaving

SUPPLE
-MENT
Usually it is not necessary to register reference points during

the weaving. However, there are cases when it must be reg-
istered according to the situation of the workpiece, etc.
In this case, the wall direction is defined as REFP1 and the
horizontal wall direction is defined as REFP2.
REFP1
Wall
REFP1
Wall direction
REFP1 Advanced
direction
REFP2
Wall
REFP2
Wall direction
REFP2
Advanced
direction
Horizontal
direction
2-200
2. RBn/STn

2 RBn Specifies the robot to which the reference point is to be n: 1 to 8
input. RB1: Robot 1
3 STn Specifies the station to which the reference point is to n: 1 to 8
be input. ST1: Station 1

[Array number]

4 Robot teaching The position in the reference point where the robot axis On the job display, this
position file number is taught is unconditionally written in this file. This tag is not displayed.
LP Variable number/ The position data set in the variable of the specified 000 to 127
P [Array number]/ number becomes a reference point.
LP [Array number]

6 Base teaching The position in the reference point where the base axis On the job display, this
position file number is taught is unconditionally written in this file. This tag is not displayed.

7 Station teaching The position in the reference point where the station On the job display, this
position file number axis is taught is unconditionally written in this file. This tag is not displayed.
2-201



LBP Variable The position data set in the variable of the specified 000 to 127
number/ number becomes a reference point.
BP [Array number]/
LBP [Array number]



number/ The position data set in the variable of the specified
EX [Array number]/ number becomes a reference point.
LEX [Array number]
8. Station teaching position file number/EX Variable

number /LEX Variable number /EX [Array number] /
LEX [Array number]

number/ The position data set in the variable of a specified
EX [Array number]/ number becomes a reference point.
LEX [Array number]
2-202
Example
Register REFP1 when the wall direction and the Z direction of the robot
axis are different.
Z-axis
Wall direction
MOVL V=138
REFP1
ARCON ASF#(1)
REFP 1
MOVL V=138
(2) Register REFP2 when the approach point is on the other side of
the wall.
Wall
Approach point
REFP2
MOVJ VJ=25.00Approach point
MOVL V=138
ARCON ASF#(1)
REFP 2
MOVL V=138
2-203
DX100 2.5 Shift Instruction : SFTON
2.5 Shift Instruction
SFTON
Function
Begins the parallel shift operation. The amount of the parallel shift is set in
a positional variable by the increment value of X, Y, and Z in each
coordinate system.
Construction
P/LP/P[]/
SFTON 2 LP[]
1 RBn
BP/LBP
/LBP[]
EX/LEX
/LEX[]
A C
BP/LBP EX/LEX
/LBP[] /LEX[]
C B
7 BF
8 RF
9 TF
User
10 UF# (
coordinate No.
)
2-204

8 Coordinated Coordinated job with one manipulator and the Optional
station axis (designated as master)
9 Coordinated Coordinated job with one manipulator (with Optional
base axis) and the station axis (designated as
master)

Control Group
No Tag Note
1 2 3 4 5 6 7 8 9
1 RBn
2 P/LP/P[]/LP[]
3 BP/LBP/BP[]/LBP[]
4 EX/LEX/EX[]/LEX[]

5 BP/LBP/BP[]/LBP[]
6 EX/LEX/EX[]/LEX[]

7 BF
8 RF
9 TF
10 UF#()
z: Available
: Not available
Explanation
1. RBn

1 RBn Specifies the robot that is to execute a shift operation. n: 1 to 8
RB1: Robot 1
2-205

number] /LP [Array number] /BP Variable number /
LBP Variable number /BP [Array number] /LBP [Array
number] /EX Variable number /LEX Variable number
/EX [Array number] /LEX [Array number]

2 P Variable number/ Specifies the position variable number of the robot axis Variable number:
LP Variable number/ by which the shift value is set. 000 to 127
P [Array number]/ Only the increment value set in the variable of the
LP [Array number] specified number shifts.
3 BP Variable number/ Specifies the position variable number of the base axis Variable number:
LBP Variable by which the shift value is set. 000 to 127
number/ Only the increment value set in the variable of the
BP [Array number]/ specified number shifts.
LBP [Array number]
LEX Variable axis by which the shift value is set. 000 to 127
EX [Array number]/ specified number shifts.
LEX [Array number]



5 BP Variable number/ Specifies the position variable number of the base axis Variable number:
LBP Variable by which the shift value is set. 000 to 127
BP [Array number]/ specified number shifts.
LBP [Array number]



LEX Variable axis by which the shift value is set. 000 to 127
EX [Array number]/ specified number shifts.
LEX [Array number]
2-206
5. BF/RF/TF/UF# (User coordinate number)


7 BF Specifies the increment value in the base coordinate
system.
8 RF Specifies the increment value in the robot coordinate
system.
9 TF Specifies the increment value in the tool coordinate
system.
10 UF#(User coordinate Specifies the increment value in the user coordinate No.1 to 63
number) system. Variable B/I/D/LB/LI/LD
can be used.
Example
(1) NOP
MOVJ VJ=50.0
MOVL V=138
Step 2 Step 4 Step 6
SFTON P000 UF#(1)
MOVL V=138 Step 1 Step 3 Step 5
Shifted section
MOVL V=138
MOVL V=138
SFTOF
MOVL V=138
Shift between Step 3 and Step 5 in the user coordinate system.
2-207
DX100 2.5 Shift Instruction : SFTOF
SFTOF
Function
Ends the parallel shift operation.
Construction
The tags to be added are decided according to the type of the job.
SFTOF END
1 RBn
2 ST

No. Job Type Control group Remarks
2 Coordinated Two manipulators (without station axis) Optional
3 Coordinated Two manipulators (with station axis) Optional

Control group
No Tag Note
1 2 3
1 RBn
2 ST
z: Available
: Not available
Explanation
1. RBn/ST

1 RBn Specifies the robot that is to end the shift operation. n: 1 to 8
RB1: Robot 1
2 ST Ends the station axis shift operation.
2-208
DX100 2.5 Shift Instruction : SFTOF
Example
(1) NOP
MOVJ VJ=50.0
MOVL V=138 Step 2 Step 4 Step 6
SFTON P000 UF#(1)
Step 1 Step 3 Step 5
MOVL V=138
Shifted section
MOVL V=138
MOVL V=138
SFTOF
MOVL V=138
Shift between Step 3 and Step 5 in the user coordinate system.
2-209
DX100 2.5 Shift Instruction : MSHIFT
MSHIFT
Function
Calculates the amount of the shift in the specified coordinate system

according to Data 2 and Data 3 and stores the result in Data 1.
Data 2 indicates the reference position to carry out the parallel shift, and
Data 3 is the target position (shifted position).
Construction
MSHIFT <Data 1> Coordinate system designation <Data 2> <Data 3>
PX/PX[]
MSHIFT 1 /LPX Variable No. A
/LPX[]
A 2 BF B
3 RF
4 TF
User
5 UF# (
coordinate No.
)
6 MTF
PX/PX[] PX/PX[]
B 7 /LPX Variable No. 8 /LPX Variable No. END
/LPX[] /LPX[]
Explanation


1 PX Variable number/ Specifies the number of the expanded position variable <Data 1>
LPX Variable to store the calculated shift.
number/
PX [Array number]/
LPX [Array number]
2-210
DX100 2.5 Shift Instruction : MSHIFT
2. BF/RF/TF/UF# (User coordinate number)/MTF

2 BF Specifies the calculation of the shift amount in the base
coordinate system.
3 RF Specifies the calculation of the shift amount in the robot
coordinate system.
4 TF Specifies the calculation of the shift amount in the tool
coordinate system.
5 UF# (User Specifies the calculation of the shift amount in the user No.: 1 to 63
coordinate number) coordinate system. Variable B/I/D/LB/LI/LD
can be used.
6 MTF Specifies the calculation of the shift amount in the Available only with the
master tool coordinate system. optional independent/
coordinated function.


7 PX Variable number/ Specifies the expanded position type variable number <Data 2>
LPX Variable of the reference position to calculate the amount of the
number/ shift.
PX [Array number]/
LPX [Array number]


8 PX Variable number/ Specifies the expanded position type variable number <Data 3>
LPX Variable of the target position to calculate the amount of the
number/ shift.
PX [Array number]/
LPX [Array number]
Example
(1) NOP : Moves to the reference position.

MOVJ VJ=20.00 : Sets the current position (the reference
GETS PX000 $PX000 position) in the position variable P000.
MOVJ VJ=20.00 : Moves to the target position.
GETS PX001 $PX000 : Sets the current position (the target
MSHIFT PX010 BF PX000 PX001 position) in the position variable P001.
END : Calculates the shift amount and stores it in
the position variable P010.
2-211
DX100 2.6 Instruction Which Adheres to an Instruction : IF
2.6 Instruction Which Adheres to an Instruction
IF
Function
Evaluates the various conditions during operation. This instruction is

added after other instructions for processing.
Construction
IF <Comparison element 1> =, <>, <=, >=, <, > <Comparison element 2>
IF 1 IN# ( Input No. ) A B END
2 IG# ( Input group No. ) C D
B/LB/B[]/
3 LB[]
Variable No. E F
I/LI/
4 I[]/LI[]
Variable No. G H
D/LD/D[]/
5 LD[]
Variable No. I J
R/LR/R[]/
6 LR[]
Variable No. K L
B/LB/B[]/
A 7 = 8 LB[]
Variable No. B
9 ON/OFF
B/LB/B[]/
C 10 = 12 LB[]
Variable No. D
11 <>
Byte type
13 constant
2-212
Byte type
E 14 = 20 constant
F
15 <>
B/LB/B[]/
21 LB[]
Variable No.
16 >
17 >= I/LI/
22 I[]/LI[]
Variable No.
18 <
D/LD/D[]/
19 <= 23 LD[]
Variable No.
R/LR/R[]/
24 LR[]
Variable No.
Integer type
G 25 = 31 constant
H
26 <>
B/LB/B[]/
32 LB[]
Variable No.
27 >
28 >= I/LI/
33 I[]/LI[]
Variable No.
29 <
D/LD/D[]/
30 <= 34 LD[]
Variable No.
R/LR/R[]/
35 LR[]
Variable No.
Double integer
I 36 = 42 type constant
J
37 <>
B/LB/B[]/
43 LB[]
Variable No.
38 >
39 >= I/LI/
44 I[]/LI[]
Variable No.
40 <
D/LD/D[]/
41 <= 45 LD[]
Variable No.
R/LR/R[]/
46 LR[]
Variable No.
2-213
Real type
K 47 = 53 constant
L
48 <>
B/LB/B[]/
54 LB[]
Variable No.
49 >
50 >= I/LI/
55 I[]/LI[]
Variable No.
51 <
D/LD/D[]/
52 <= 56 LD[]
Variable No.
R/LR/R[]/
57 LR[]
Variable No.
Explanation
1. IN# (Input number) /IG# (Input group number) /B

Variable number /LB Variable number /B [Array num-
ber] /LB [Array number] /I Variable number /LI Vari-
able number /I [Array number] /LI [Array number] /D
Variable number /LD Variable number /D [Array num-
ber] /LD [Array number] /R Variable number /LR Vari-
able number /R [Array number] /LR [Array number]

1 IN# (Input number) Specifies the number of the general input signal to be <Comparison element
compared. 1>
No.: 1 to 2048
can be used.
2 IG# (Input group Specifies the number of the general input group signal <Comparison element
number) to be compared. 1>
No.: 1 to 256
can be used.
3 B Variable number/ Specifies the number of the byte type variable to be <Comparison element
LB Variable number/ compared. 1>
B [Array number]/
LB [Array number]
2-214

4 I Variable number/ Specifies the number of the integer type variable to be <Comparison element
LI Variable number/ compared. 1>
I [Array number]/
LI [Array number]
5 D Variable number/ Specifies the number of the double precision type <Comparison element
LD Variable number/ variable to be compared. 1>
D [Array number]/
LD [Array number]
6 R Variable number/ Specifies the number of the real type variable to be <Comparison element
LR Variable number/ compared. 1>
R [Array number]/
LR [Array number]
2. =
When an IN#(Input number) is selected from the table in part 1 of this


7 = It is equal.

number] /LB [Array number] /ON /OFF
When an IN#(Input number) is selected from the table in part 1 of this

Explanation, choose one of the tags from the following table after the
equal sign (=) is added from the table in part 2 of this Explanation.

8 B Variable number/ Specifies the byte type variable which becomes a <Comparison element
LB Variable number/ comparison condition. 2>
B [Array number]/ Least significant bit:
LB [Array number] 0: OFF
1: ON
9 ON/OFF The comparison condition is specified as ON or OFF. <Comparison element
2>
4. =/<>
When an IG#(Input group number) is selected from the table in part 1 of

this Explanation, choose one of the tags from the following table.

10 = It is equal.
2-215

number] /LB [Array number] /ON /OFF
When an IG#(Input group number) is selected from the table in part 1 of

this Explanation, choose one of the tags from the following table after =
or <> are added from the table in part 4 of this Explanation.

12 B Variable number/ Specifies the byte type variable which becomes a <Comparison element
LB Variable number/ comparison condition. 2>
B [Array number]/
LB [Array number]
13 Byte type constant The comparison condition is specified by byte type <Comparison element
constant. 2>
6. =/<>/>/>=/</<=


14 = It is equal.
16 > It is greater than.
17 >= It is greater than or equal.
18 < It is less than.
19 <= It is less than or equal.
7. Byte type constant /B Variable number /LB Variable

ber] /LR [Array number]

choose one of the tags in the following table after =, <>, >, >=, < or
<= is selected from the table in part 6 of this Explanation.

20 Byte type constant The comparison condition is specified by the byte type <Comparison element
constant. 2>
21 B Variable number/ Specifies the byte type variable number which becomes <Comparison element
LB Variable number/ a comparison condition. 2>
B [Array number]/
LB [Array number]
2-216

22 I Variable number/ Specifies the integer type variable number which <Comparison element
LI Variable number/ becomes a comparison condition. 2>
I [Array number]/
LI [Array number]
23 D Variable number/ Specifies the double precision type variable number <Comparison element
LD Variable number/ which becomes a comparison condition. 2>
D [Array number]/
LD [Array number]
24 R Variable number/ Specifies the real type variable number which becomes <Comparison element
LR Variable number/ a comparison condition. 2>
R [Array number]/
LR [Array number]
8. =/<>/>/>=/</<=
When an I Variable number, LI Variable number, I [Array number] or LI

[Array number] is selected the table in part 1 of this Explanation, choose
one of the tags from the following table.

25 = It is equal.
9. Integer type constant /B Variable number /LB Vari-


choose one of the tags from the following table after selecting "=", "<>",
">", ">=", "<" or "<=" from the table in part 8 of this Explanation.

31 Integer type constant The comparison condition is specified by the integer <Comparison element
type constant. 2>
B [Array number]/
LB [Array number]
2-217

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
10. =/<>/>/>=/</<=
When a D Variable number, LD Variable number, D [Array number] or LD


36 = It is equal.
11. Double precision type constant/ B Variable number

/LB Variable number /B [Array number] /LB [Array
number] /I Variable number /LI Variable number /I
[Array number] /LI [Array number] /D Variable num-
ber /LD Variable number /D [Array number] /LD
[Array number] /R Variable number /LR Variable
number /R [Array number] /LR [Array number]

choose one of the tags from the following table after "=", "<>", ">", ">=",
"<" or "<=" is selected from the table in part 10 of this Explanation.

42 Double precision The comparison condition is specified by the double <Comparison element
type constant precision type constant. 2>
B [Array number]/
LB [Array number]
2-218

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
12. =/<>/>/>=/</<=
When an R Variable number, LR Variable number, R [Array number] or LR


47 = It is equal.
13. Real type constant /B Variable number /LB Vari-


choose one of the tags from the following table after "=", "<>", ">", ">=",
"<" or "<=" is selected from the table in part 12 of this Explanation.

53 Real type constant The comparison condition is specified by the real type <Comparison element
constant. 2>
B [Array number]/
LB [Array number]
2-219

I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
Example
(1) SET B000 1

JUMP B000 IF IN#(14)=ON
It jumps to Job 1 if input signal No.14 is turned ON.
(2) JUMP *2 IF D005<=D006

Jumps to *2 if D005 is below D006.
2-220
DX100 2.6 Instruction Which Adheres to an Instruction : UNTIL
UNTIL
Function
Evaluates the input conditions during operation. This instruction is added

after other instructions for processing.
Construction
B/LB/B[]/
UNTIL 1 IN# ( Input No. ) 2 = 3 LB[]
Variable No. END
4 ON/OFF
Explanation
1. IN# (Input number)

1 IN# (Input number) Specifies the number of the general-purpose input No.: 1 to 2048
signal which becomes a input condition. Variable B/I/D/LB/LI/LD
can be used.
2. =

2 = It is equal.

number]/LB [Array number]/ON/OFF.
Choose one of the tags from the following table after = is selected from
the table in part 2 of this Explanation.

3 B Variable number/ Specifies the byte type variable to be the condition of Least significant bit:
LB Variable number/ execution. 0: OFF
LB [Array number]
4 ON/OFF Specifies the condition as ON or OFF.
2-221
DX100 2.6 Instruction Which Adheres to an Instruction : UNTIL
Example
(1) Step 1 MOVJ VJ=100.00

Step 2 MOVJ VJ=50.00 UNTIL IN#(14)=ON
Step 3 MOVJ VJ=25.00
The axis moves toward Step 2 until input signal No. 14 is turned
ON. When input signal No. 14 is turned ON, the axis moves
toward Step 3.
Step 1 MOVJ VJ=100.00
Input signal No. 14 is turned ON.
Step 3
Step 2
MOVJ VJ=50.00 UNTIL
IN#(14)=ON
2-222
DX100 2.6 Instruction Which Adheres to an Instruction : ENWAIT
ENWAIT
SUBSET STANDARD EXPANDED Parameter
Available Available Available S2C714
Function
Carries out, in advance for the specified time, an instruction other than a
move instruction on the instruction line next to the move instruction that
was added with ENWAIT.
Construction
ENWAIT 1 T= Time (s) END
Explanation
1. T=Time

1 T=Time Specifies the time in which the next instruction Time: 0 to 655.36
excluding a move instruction is carried out. seconds
Variable I/LI/I []/LI [] can
be used.
Example
(1) Step 1 MOVL V=136

Step 2 MOVL V=136 ENWAIT T=3.00
Xe DOUT OT#(1) ON
DOUT on the next instruction line is carried out 3 seconds before

reaching Step 2.
Step 1 MOVL V=136
Step 2
MOVL V=136 ENWAIT T=3.00
3 seconds
DOUT OT#(1) ON
2-223
DX100 2.7 Arc Welding Instruction : ARCON
2.7 Arc Welding Instruction
ARCON
SUBSET STANDARD EXPANDED APPLICATIONS
Available Available Available Arc
Function
Outputs the welding start command.
Construction
ARCON END
Arc start condition

1 WELDn 2 ASF# (
file No.
)
Current output
3 AC=
(A)
A B C
10 RETRY
Voltage output
A 4 AV=
(V)
B
Ratio to proper
5 AVP= voltage output 6 T= Time (s)
value (%)
B C
7 V= Welding speed 8 RETRY 9 REPLAY
2-224
Explanation
1. WELDn
Choose one of the tags from the welder. These tags are valid for a system
with multiple applications in which two or more arc welding applications
are included. These tags are not displayed when there is only one
application.

1 WELDn Specifies the welder. n: 1 to 8
WELD1: Welder 1
2. ASF# (Arc start condition file number) /AC=Current

output value

2 ASF#(Arc start Specifies the arc start condition file number. No: 1 to 396
condition file The condition when the welding begins is registered in Variable B/I/D/LB/LI/LD
number) the arc start condition file. can be used.
3 AC=Current output Specifies the output value of the welding current. Current value: 1 to 999A
value Variable B/I/D/B[]/I[]/D[]/
LB/LI/LD/LB[]/LI[]/LD[]
can be used.
3. AV=Voltage output value /AVP=Ratio to proper volt-

age output value
When AC=Current output value is selected from the table in part 2 of this

4 AV=Voltage output Specifies the output value of the arc voltage. Voltage value:
value When the welder power supply is Individual, the output 0.1V to 50.0 V
value of the arc voltage is specified. Variable B/I/D/B[]/I[]/D[]/
can be used.
(Units: 0.1V)
5 AVP=Ratio to proper Specifies the ratio to the aptitude output value of the arc Ratio: 50% to 150%
voltage output value voltage. Variable B/I/D/B[]/I[]/D[]/
When the welder power supply is Same, the ratio to LB/LI/LD/LB[]/LI[]/LD[]
the aptitude output value of the arc voltage is specified. can be used.
2-225
4. T=Time
Explanation, the following tag can be added or omitted.

6 T=Time Specifies the timer value at the welding start. Unit: Seconds
be used.
5. V=Welding speed

7 V=Welding speed Specifies the speed while welding. Speed: 0.1 mm to
Specifies the unit of rate using the operation condition 1500.0 mm/s
setting screen. Setting the parameter
S2C101 can change the
units.
mm/s)
6. RETRY

8 RETRY Specifies the RETRY function. Refer to the supplement
The RETRY function makes it so that the manipulator RETRY function.
does not stop and work is not interrupted when an arc
generation error occurs.
7. REPLAY
When RETRY is selected from the table in part 6 of this Explanation, add
the following tag.

9 REPLAY Specifies the REPLAY mode. Refer to the supplement
REPLAY mode is one of the operation modes. When RETRY function.
the RETRY function is available, the ARCON
processing can be done again.
2-226
RETRY function
SUPPLE
-MENT
The RETRY function performs the arc retry automatically

with a condition set in the auxiliary condition file, when an arc
generation error occurs.
When ARCON is processed again, the arc is generated and
the manipulator continues working.
1. Arc generation mistake.
2. ARCON is processed
again.
REPLAY mode
Returns to the former step,
performs retract inching,
returns to the start point and
tries the arc again.
3. Keeps working when the

arc is generated.
SUPPLE
For details of the RETRY function, refer to the Operators
-MENT Manual for Arc Welding.
2-227
Example
(1) Starts welding with the condition set to No.1 in the arc start condi-
tion file.
(2) NOP
MOVL V=200 Step 2
MOVL V=220 Step 3
WVON WEV#(2) Weaving starts
ARCON AC=220 AVP=100 T=0.50 Welding starts
MOVL V=138 Step 4
ARCOF Welding ends
WVOF Weaving ends
MOVL V=200 Step 5
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-228
DX100 2.7 Arc Welding Instruction : ARCOF
ARCOF
Function
Outputs welding end command.
Construction
ARCOF END
Arc end
condition file
1 WELDn 2 AEF# ( No.
)
Current output
3 AC=
(A)
A B
Voltage output
A 4 AV= B
(V)
Ratio to proper 6 T= Time (s) 7 ANTSTK

5 AVP= voltage output
value (%)
Explanation
1. WELDn
application.

WELD1: Welder 1
2-229
2. AEF# (Arc end condition file number) /AC=Current

output value

2 AEF#(Arc end Specifies the arc end condition file number. No.: 1 to 1000
condition file The condition when welding has ended is registered in Variable B/I/D/LB/LI/LD
number) the arc end condition file. can be used.
3 AC=Current output Specifies the output value of the welding current. Current value:
value 1 to 999A
Variable B/I/D/B[]/I[]/D[]/
can be used.

age output value

4 AV=Voltage output Specifies the output value of the arc voltage. Voltage value: 0.1 V to
value When the welder power supply is Individual the output 50.0 V
can be used.
(Units: 0.1 V)
When the welder power supply is Same the ratio to the LB/LI/LD/LB[]/LI[]/LD[]
aptitude output value of the arc voltage is specified. can be used.
4. T=Time

6 T=Time Specifies the timer value at welding end. Time: 0.01 to 655.35
seconds
be used.
2-230
5. ANTSTK

7 ANTSTK Specifies the automatic sticking release function. Refer to the supplement
The automatic wire sticking release function in which Automatic wire sticking
the wire sticking is released automatically. It puts out a release function.
constant voltage without outputting the wire sticking
signal once wire sticking is detected.
Automatic wire sticking release function

SUPPLE
-MENT
The automatic wire sticking release function in which the wire

sticking is released automatically. It puts out a constant volt-
age without outputting the wire sticking signal once wire
sticking is detected. The condition of the frequency etc. of
the wire sticking release processing is set in the auxiliary
condition file.
Automatic sticking release

Even if a single attempt has failed, the process is repeated
up to the specified maximum repetition count.
SUPPLE
For details of the automatic wire sticking release function,
-MENT refer to the Operators Manual for Arc Welding.
2-231
Example
(1) ARCOF AEF#(1)
The welding end condition is set in the arc end condition file No.1.
(2) NOP
MOVL V=220 Step 2
MOVL V=200 Step 3
MOVL V=138 Step 4
ARCOF AC=160 AVP=90 T=0.50 Welding ends
WVOF Weaving ends
MOVL V=200 Step 5
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-232
DX100 2.7 Arc Welding Instruction : VWELD
VWELD
Function
Sets the arc voltage by the voltage command value.

Construction
Voltage
VWELD 2 reference value END
(V)
1 WELDn
Explanation
1. WELDn
application.

WELD1: Welder 1
2. Voltage command value
Specifies the command value of the arc voltage.

2 Voltage command Specifies the command value of the arc voltage. Command value:
value This is a command value of the voltage which is -14.00 V to +14.00 V
transmitted from the controller to the welder to output Variable I/LI/I[]/LI[] can
the welding voltage from the welder. The relation be used.
between the command welding voltage and the output (Units: 0.01 V)
value is different depending on the model of the welder.
SUPPLE
For details of the output characteristics of the welder, refer to
-MENT the Operators Manual for Arc Welding.
2-233
DX100 2.7 Arc Welding Instruction : VWELD
Example
(1) VWELD 6.0
The command value of the arc voltage is set to 6.0V.
2-234
DX100 2.7 Arc Welding Instruction : AWELD
AWELD
Function
Sets the welding current by the current command position.

Construction
Current reference
AWELD 2 value (A)
END
1 WELDn
Explanation
1. WELDn
Choose one of the tags from welder. These tags are valid for a system
application.

WELD1: Welder 1
2. Current command value
Specifies the command value of the welding current.

2 Voltage command Specifies the command value of the welding current. Command value:
value This is a command value of the current which is -14.00 V to +14.00 V
transmitted from the controller to the welder to output Variable I/LI/I[]/LI[] can
the welding current from the welder. The relation be used.
between the command welding current and the output (Units: 0.01 V)
value is different depending on the model of the welder.
SUPPLE
For details of the output characteristics of the welder, refer to
-MENT the Operators Manual for Arc Welding.
2-235
DX100 2.7 Arc Welding Instruction : AWELD
Example
(1) AWELD 6.0
The command value of the welding current is set to 6.0V.
2-236
DX100 2.7 Arc Welding Instruction : ARCSET
ARCSET
Function
Sets and changes each welding condition individually.

Construction
ARCSET A B C END
Current output
1 WELD1 2 AC=
value (A)
Arc start condition

3 AC= (
file No.
)
A B
Voltage output
4 AV=
value (V)
6 V= Welding speed
Ratio to proper
(%)
B C
Aimed value of Aimed value of
7 AN3= instruction 8 AN4= instruction
voltage (V) voltage (V)
Explanation
1. WELDn
application.

WELD1: Welder 1
2-237
2. AC=Current output value / ASF#(Arc start condition

file number)

2 AC=Current output Specifies the output value of the welding current. Current value:
value 1 to 999 A
can be used.
3 ASF#(Arc start Specifies the arc start condition file number. No: 1 to 1000
condition file The condition when the welding begins is registered in Variable B/I/D/LB/LI/LD
number) the arc start condition file. can be used.
3. AV=Voltage output value/AVP=Ratio to proper volt-

age output value

4 AV=Voltage output Specifies the output value of the arc voltage. Voltage value:
value When the welder power supply is Individual, the output 0.1V to 50.0 V
can be used.
(Units: 0.1V)
When the welder power supply is Same, the ratio to LB/LI/LD/LB[]/LI[]/LD[]
the aptitude output value of the arc voltage is specified. can be used.
4. V=Welding speed

6 V=Welding speed Specifies the speed while welding. Speed:
Specifies the unit of rate using the operation condition 0.1 mm to 1500.0 mm/s.
setting screen. Setting the parameter
S2C101 can change the
units.
can be used.
(Units: 0.1 mm/s)
2-238
5. AN3=Aimed value of instruction voltage

7 AN3=Aimed value of Specifies the aimed value of the instruction voltage to Aimed value:
instruction voltage analog output 3. -14.00 V to +14.00 V
be used.
(Units: 0.01 V)

be used.
(Units: 0.01 V)
Example
(1) NOP
MOVJ VJ=80.00 Step 2(Arc start position)
ARCON AC=200 AVP=100 T=0.30 Arc starts
MOVL V=50 Step 3
MOVL V=50 Step 4
ARCSET AC=250 Changes the welding condition
MOVL V=65 (AC=200 AC=250)
ARCOF Step 5
MOVJ VJ=50.00 Welding ends
END Step 7
2-239
DX100 2.7 Arc Welding Instruction : WVON
WVON
Available Available Available Arc, general-purpose,

and laser welding
Function
Starts weaving operation.
Construction
The tags to be added differ depending on the control group in the job.
Weaving condition
WVON 2 WEV# (
file No.
) C
Weaving single
1 RBn 3 AMP= amplitude (mm)
A B
Weaving
A 4 FREQ=
frequency (Hz)
B
Weaving angle
5 ANGL=
(degree)
C END
Direction of
6 DIR=
oscillation


Control Group
No Tag Note
1 2
1 RBn
2 WEV#()
3 AMP=
4 FREQ=
5 ANGL=
6 DIR=
z: Available
: Not available
2-240
Explanation
1. RBn

1 RBn Specifies the robot that is to execute a weaving n: 1 to 8
operation. RB1: Robot 1
2. WEV# (Weaving condition file number)/AMP=Weav-

ing single amplitude

2 WEV#(Weaving Specifies the weaving condition file number. No.: 1 to 255
condition file The condition when the weaving operates is registered Variable B/I/D/LB/LI/LD
number) in the weaving condition file. can be used.
3 AMP=Weaving Specifies the amplitude of oscillation for weaving. Single amplitude: 0.1
signal amplitude mm to 99.9 mm
mm)
3. FREQ=Weaving frequency
When AMP=Weaving single amplitude is selected from the table in part 2

of this Explanation, add the following tag.

4 FREQ=Weaving Specifies the weaving frequency. Frequency:
frequency 1.0 Hz to 5.0 Hz
can be used.
(Units: 0.1 Hz)
4. ANGL=Weaving angle
When AMP=Weaving single amplitude is selected from the table in part 2

of this Explanation, the following tag can be added or omitted after the tag
FREQ=Weaving frequency is selected from the table in part 3 of this
Explanation.

5 ANGL=Weaving Specifies the weaving angle. Angle:
angle 0.1 deg. to 180.0 deg.
can be used.
(Units: 0.1 deg.)
2-241
5. DIR=Direction of oscillation

6 DIR=Direction of Specifies the direction of oscillation. Refer to the Direction: 0 or 1
oscillation supplement Weaving conditions. 0: Forward
1: Reversed
can be used.
2-242
Wearing conditions
SUPPLE
-MENT
Weaving single amplitude

Set the amplitude of oscillation.
Single amplitude
Weaving angle
Set the angle of oscillation.
Wall direction Wall direction
Angle: 0.1 deg. to 180.0 deg. Angle: 0.1 deg. to 180.0 deg.
Angle
Virtical
Horizontal distance
Angle direction
Horizontal
direction
Horizonal distance
Weaving mode: Single oscllation We a v i n g m o d e : T ri a n g u l a r o r L -s h a p e o s c i l l a t i o n
Direction of oscillation
The directions, forward and reversed, are defined as follows. Set 0 (forward) or 1
(reversed) for the direction of oscillation.
Forward Reversed
Single
oscillation
Horizontal Horizontal
direction direction
Forward Reversed
Trianglar
oscillation
direction direction
Forward Reversed
L-shape
oscillation
direction direction
2-243
SUPPLE
For details of the weaving condition file number, refer to the
-MENT Operators Manual for the Arc Welding.
Example
(1) WVON WEV#(1) DIR=1

Weaving starts with the conditions specified in the weaving condi-
tion file.
(2) NOP
MOVL V=220 Step 2
MOVL V=200 Step 3
WVON AMP=5.0 FREQ=3.0 ANGL40.0 Weaving starts
MOVL V=138 Step 4
WVOF Weaving ends
MOVL V=200 Step 5
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-244
DX100 2.7 Arc Welding Instruction : WVOF
WVOF
Available Available Available Arc, general-purpose,

and laser welding
Function
Ends weaving operation.
Construction
The tags to be added differ depending on the control group in the job.
WVOF END
1 RBn


Control Group
No Tag Note
1 2
1 RBn
z: Available
: Not available
2-245
DX100 2.7 Arc Welding Instruction : WVOF
Explanation
1. RBn

1 RBn Specifies the robot that is to end the weaving operation. n: 1 to 8
RB1: Robot 1
Example
(1) NOP
MOVL V=220 Step 2
MOVL V=200 Step 3
MOVL V=138 Step 4
WVOF Weaving ends
MOVL V=200 Step 5
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-246
DX100 2.7 Arc Welding Instruction : ARCCTS
ARCCTS
Function
Controls the welding current and the voltage in the specified starting
section.
This function is used with the move instruction. The current and the
voltage are changed while the robot is moving. The aimed value and
section have to be set. The section is specified as a distance from the
moving start point. If it is not specified, it is regarded as the entire section
of the move instruction.
Construction
ARCCTS A
Current output
1 WELD1 2 AC=
(A)
A B
Command
Voltage output
3 AV=
(V)
5 AN3= voltage aimed
value (V)
Ratio to proper
value (%)
B C
Command
Weaving single
6 AN4= voltage aimed 7 AMP= amplitude (mm)
value (V)
C END
Excution
8 V= Speed at TCP 9 DIS=
section (mm)
2-247
Explanation
1. WELDn
application.

WELD1: Welder 1
2. AC=Current output value

2 AC=Current output Specifies the aimed value of the welding current. Current value: 1 to 999A
can be used.

age output value
Choose one of the tags from following table.

3 AV=Voltage output Specifies the aimed value of the welding voltage. Voltage value: 0.1 V to
value 50.0 V
can be used.
(Units: 0.1 V)
4 AVP=Ratio to proper Specifies the aimed value for the welding voltage in the Ratio: 50% to 150%
voltage output value ratio to the proper voltage output value. Variable B/I/D/B[]/I[]/D[]/
can be used.

Variable I/I[]/LI/LI[] can
be used.
(Units: 0.01 V)
2-248

be used.
(Units: 0.01 V)
6. AMP=Weaving signal amplitude

7 AMP=Weaving Specifies the amplitude of oscillation for weaving. Single amplitude:
signal amplitude 0.1 mm to 99.9 mm
mm)

8 V=Tool center point Specifies the Tool center point speed. Speed: 0.1 mm to
speed 1500.0 mm/s
The units can be
parameter S2C173.
mm/s)
8. DIS=Execution section
9 DIS=Execution Specifies the execution section where the current and Section: 0.1 mm to
section the voltage are changed. 6553.5 mm
The execution section is set by the distance from the Variable B/I/D/B[]/I[]/
moving start point. D[]/LB/LI/LD/LB[]/LI[]/
If the section is not specified, all the section of the LD[] can be used.
move instruction is regarded as the execution section. (Units: 0.1 mm)
2-249
Slope up/down function

SUPPLE
-MENT
The slope up/down function allows for the current and the
voltage value etc., during welding to be gradually changed.
This function is used when the base metal is a board, or
when the object is an aluminum which has high heat conduc-
tivity.
In this function, the ARCCTS and the ARCCTE instruction
are used.
For details of the slope up/down function, refer to the Opera-

tors Manual for the Arc Welding.
Example
(1) ARCCTS AC=150 AV=16.0 DIS=100.0

MOVL V=80
To make the welding current =150A and arc voltage =16V, the cur-
rent and the voltage are changed in the section of 100mm from the
move start point.
Gra d u a l l y De c re a s i n g C u rre n t o r Vo lta g e G r a d u a lly I n cr e a sin g Cu r r e n t o r Vo lt a g e
Va l u e i m m e d i a t e l y b e f o re e x e c u tio n ARCCTS a im e d va l ue
o f m o v e i n s t ru c t io n
Va lu e im m e d ia t e ly b e f o r e
ARCCTS e xe cu t io n o f m o ve
a ime d v a lu e in st r u ct io n
ARCCTS executed ARCCTS executed

DIS =100 DI S= 1 0 0
M o v e d i s t a n c e s p e c ifie d M o ve d ist a n ce sp e cif ie d
b y m o v e i n s t ru c t i o n b y m o ve in st r u ct io n
We l d i n g c o n t i n u e s We ld in g co n t in u e s
(2) ARCCTS AC=150 AV=16.0 AN3=7.50 AN4=6.50 DIS=100.0

To make the welding current =150A, arc voltage =16V, aimed
value =7.5V of the instruction voltage to analog output 3, and
aimed value =6.5V of the instruction voltage to analog output 4,
the current and the voltage are changed in the section of 100mm
from the move start point.
2-250
DX100 2.7 Arc Welding Instruction : ARCCTE
ARCCTE
Function
Controls the welding current and the voltage in the specified end section.
This function is used with the move instruction and modifies the current
and the voltage while the manipulator is moving. The aimed value and the
section are set. The section is specified as a distance from the moving
end point. If it is not specified, it is regarded as the entire section of the
move instruction.
Construction
ARCCTE A
Current output
1 WELD1 2 AC=
(A)
A B
Command
Voltage output
3 AV=
(V)
5 AN3= voltage aimed
value (V)
Ratio to proper
value (%)
B C
Command
Weaving single
6 AN4= voltage aimed 7 AMP= amplitude (mm)
value (V)
C END
Excution
8 V= Speed at TCP 9 DIS=
section (mm)
2-251
Explanation
1. WELDn
Choose one of the tags from the following table. These tags are valid for a
system with multiple applications in which two or more arc welding
applications are included. These tags are not displayed when there is
only one application.

WELD1: Welder 1
2. AC=Current output value

2 AC=Current output Specifies the aimed value of the welding current. Current value: 1 to 999A
can be used.

age output value

3 AV=Voltage output Specifies the aimed value of the welding voltage. Voltage value: 0.1 V to
value 50.0 V
can be used.
(Units: 0.1 V)
4 AVP=Ratio to proper Specifies the aimed value for the welding voltage in the Ratio: 50% to 150%
voltage output value ratio to the proper voltage output value. Variable B/I/D/B[]/I[]/D[]/
can be used.

be used.
(Units: 0.01 V)
2-252

be used.
(Units: 0.01 V)
6. AMP=Weaving signal amplitude

7 AMP=Weaving Specifies the amplitude of oscillation for weaving. Single amplitude:
signal amplitude 0.1 mm to 99.9 mm
mm)

8 V=Tool center point Specifies the Tool center point speed. Speed:
speed 0.1 mm to 1500.0 mm/s
The units can be
parameter S2C173.
mm/s)
8. DIS=Execution section

9 DIS=Execution Specifies the execution section where the current and Section: 0.1 mm to
section the voltage are modified. 6553.5 mm
The execution section is set by the distance from the Variable B/I/D/B[]/I[]/D[]/
moving start point. LB/LI/LD/LB[]/LI[]/LD[]
If the section is not specified, the entire section of the can be used.
move instruction is regarded as the execution section. (Units: 0.1 mm)
2-253
SUPPLE
For details of the slope up/down function, refer to the Opera-
-MENT tors Manual for the Arc Welding.
Example
(1) ARCCTE AC=150 AV=16.0 DIS=100.0

MOVL V=80
To make the welding current =150A and arc voltage =16V, the cur-
rent and the voltage are changed in the section of 100mm from the
move end point.
Gradual ly Decreasi ng Curr ent or Voltage G ra d u a l l y D e c r e a s i n g C u rre n t o r Vo l t a g e
ARCCTE
Value immediately before execution of move instruction a i m e d v a lu e
Value immediately before
execution of move instruction
AR C C TE
aimed value
ARCCTE executed ARCCTE executed

DIS=100 DIS=100
Move distance s pecified Move distance specified
by move i nstruction b y m o v e i n s t ru c t i o n
Weldi ng continues We l d i n g c o n t i n u e s
(2) ARCCTE AC=150 AV=16.0 AN3=7.50 AN4=6.50 DIS=100.0

To make the welding current =150A, arc voltage =16V, aimed
value =7.5V of the instruction voltage to analog output 3, and
aimed value =6.5V of the instruction voltage to analog output 4,
the current and the voltage are changed in the section of 100mm
from the move end point.
2-254
DX100 2.8 Handling Instruction : HAND
2.8 Handling Instruction
HAND
Available Available Available Handling
Function
Turns the signal to the tool valve ON or OFF to control the tool.
Construction
B/LB/B[]/
HAND 2 Hand No. 3 LB[]
Variable No. A
1 UNITn
4 ON/OFF
A END
5 ALL
Explanation
1. UNITn
Choose one of the tags from the Device. These tags are valid for a
system with multiple applications in which two or more handling

1 UNITn Specifies the Device No. n: 1 to 8
UNIT1: Device 1
2. Hand number

2 Hand number Specifies the hand number. No.: 1 to 4
can be used.
2-255
DX100 2.8 Handling Instruction : HAND

number]/LB [Array number]/ON/OFF

3 B Variable number/ Refers the least significant bit of the specified byte type Least significant bit:
LB Variable number/ variable to specify the ON/OFF status of the signal to 0: OFF
B [Array number]/ be sent to the tool valve. 1: ON
LB [Array number]
4 ON/OFF Specifies the ON/OFF status of the signal to be sent to
the tool valve.
4. ALL

5 ALL Specifies the simultaneous control of Valve 1 and Valve Used when a 3P
2. solenoid is used.
Example
HAND 1 OFF
Turns OFF the signal output to tool valve 1.
2-256
DX100 2.8 Handling Instruction : HSEN
HSEN
Available Available Available Handling
Function
Monitors the input status of the tool sensor. Stores the result in the
system variable $B006.
SUPPLE
For details of system variables, refer to GETS of chapter 2.3
-MENT Operating Instruction at page 2-69.
Construction
B/LB/B[]/
HSEN 2 Sensor No. 3 LB[]
Variable No. A
1 UNITn
4 ON/OFF
A END
5 T= Time (s)
6 FOREVER
Explanation
1. UNITn
Choose one of the tags from the following table. These tags are valid for a
system with multiple applications in which two or more handling

1 UNITn Specifies the Device No.
2. Sensor number

2 Sensor number Specifies the sensor number. No.: 1 to 8
can be used.
2-257
DX100 2.8 Handling Instruction : HSEN

number]/LB [Array number]/ON/OFF

3 B Variable number/ Refers the least significant bit of the specified byte type Least significant bit:
LB Variable number/ variable to specify the ON/OFF status of the monitoring 0: OFF
B [Array number]/ input status of the tool sensor. 1: ON
LB [Array number]
4 ON/OFF Specifies the ON/OFF status of the monitor input of the
tool sensor.
4. T=Time/FOREVER

5 T=Time Specifies the time for monitoring the input status. Units: seconds
be used.
6 FOREVER Specifies monitoring without a time limit.
Example
HSEN 1 ON
Checks if sensor 1 is ON at the execution of an HSEN instruction and

stores the result in the system variable $B006.
1 is stored in $B006 when sensor 1 is ON, 0 is stored when sensor 1 is
OFF.
2-258
DX100 2.9 Spot Welding Instruction : GUNCL
2.9 Spot Welding Instruction
GUNCL
Available Available Available Spot
Function
Applies pressure to the air gun.
Construction
Gun pressure
GUNCL 1 GUN# ( Gun No. ) 2 T=
time (s)
A
A END
Anticipation
3 ATT=
time (s)
Explanation
1. GUN# (Gun number)

1 GUN# (Gun number) Specifies the number of the air gun to which pressure is No.: 1 to 8
applied. Variable B/I/D/LB/LI/LD
can be used.
2. T=Time

2 T=Gun pressure time Specifies the time during which the air gun is closed. Units: seconds
be used.
2-259
DX100 2.9 Spot Welding Instruction : GUNCL
3. ATT= Anticipation time

3 ATT=Anticipaton Specifies the anticipation time for which the execution Units: seconds
time of the GUNCL instruction is advanced. Variable I/LI/I[]/LI[] can
The GUNCL instruction is carried out in advance for the be used.
specified time before reaching the step immediately (Units: 0.01 seconds)
before the GUNCL instruction.
An NWAIT tag must be added to the move instruction of
the step immediately before the GUNCL instruction.
Example
MOVL V=1000 NWAIT Step 5

GUNCL GUN#(1) T=2.00 ATT=0.50
Turns ON the Gun 1 pressure signal 0.5 seconds before the manipulator
reaches Step 5, and turns it OFF 2 seconds later (1.5 seconds after the
manipulator reaches Step 5).
2-260
DX100 2.9 Spot Welding Instruction : SPOT
SPOT
Function
Starts the welding sequence after pressure has been applied to the air
gun.
Construction
Gun 1 operation
SPOT 1 GUN# ( Gun 1 number ) 2 MODE= A
mode
Gun 1 welding
A 3 WTM= D
conditions
4 GUN# Gun 2 number B C
Gun 2 operation Gun 2 welding

B 5 MODE= 6 WTM= C
mode conditions
D END
Anticipation time
7 ATT=
(s)
Explanation
1. GUN# (Gun 1 number)

1 GUN# (Gun 1 Specifies the number of the air gun to be used for No.: 1 to 8
number) welding. Variable B/I/D/LB/LI/LD
For a 2-gun system, specify the number of the first air can be used.
gun.
2. MODE=Gun 1 operation mode

2 MODE=Gun 1 Specifies the operation mode of the air gun. Mode: 0 to 4
operation mode For a 2-gun system, specify the operation mode of the Variable B/B[]/LB/LB[]/I/
first air gun. I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
2-261
Gun operation mode

SUPPLE
-MENT
The following table lists the settings and their operation

modes.
For a 2-step stroke gun, make the settings according to the
open status before and after welding.
Setting Before Welding After Welding
0 Single gun
1 Short open Short open
2 Short open Full open
3 Full open Short open
4 Full open Full open
3. WTM=Gun 1 welding condition

3 WTM=Gun 1 welding Specifies the welding condition number set for the Condition No.:
condition welder. 1 to 255
For a 2-gun welding system, set the welding condition Variable B/B[]/LB/LB[]/I/
number of the first air gun. I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
4. GUN# (Gun 2 number)

4 Gun 2 number Specifies the number of the air gun used for welding. No.: 1 to 8
For a 2-gun welding system, specify the number of the Variable B/I/D/LB/LI/LD
second air gun. can be used.
5. MODE=Gun 2 operation mode
When a Gun 2 number (GUN#) is selected from the table in part 4 of this

5 MODE=Gun2 Specifies the operation mode of the air gun. Mode: 0 to 4
operation mode For a 2-gun welding system, specify the operation Variable B/B[]/LB/LB[]/I/
mode of the second air gun. I[]/LI/LI[]/D/D[]/LD/LD[]
can be used.
2-262
6. WTM=Gun 2 welding condition
When a Gun 2 number (GUN#) is selected from the table in part 4 of this
Explanation, add the following tag after MODE=Gun 2 operation mode is
selected from the table in part 5 of this Explanation.

6 WTM=Gun 2 welding Specifies the welding condition number set for the Condition No.: 1 to 255
condition welder. Variable B/B[]/LB/LB[]/I/
For a 2-gun welding system, specify the welding I[]/LI/LI[]/D/D[]/LD/LD[]
condition number for the second air gun. can be used.
7. ATT=Anticipation time

7 ATT=Anticipation Specifies the anticipation time for which the execution Units: seconds
time of the SPOT instruction is advanced. Variable I/LI/I[]/LI[] can
The SPOT instruction is carried out in advance for the be used.
specified time before reaching the step immediately (Units: 0.01 seconds)
before the SPOT instruction.
An NWAIT tag must be added to the move instruction of
the step immediately before the SPOT instruction.
Example

SPOT GUN#(1) MODE=2 WTM=5 ATT=0.50
0.5 seconds before the manipulator reaches Step 5, the spot welding
sequence starts from the moment the air gun is short open, and the air
gun is full open after the sequence is completed. Then the manipulator
carries out the next step.
2-263
DX100 2.9 Spot Welding Instruction : STROKE
STROKE
Function
Switches the open status of the 2-step stroke gun to/from Full open to/
from Short open when not welding.
Construction
STROKE 1 GUN# ( Gun No. ) 2 LONG END
3 SHORT
Explanation

1 Gun# (Gun number) Specifies the number of the air gun whose open status No.: 1 to 8
is to be changed. Variable B/I/D/LB/LI/LD
can be used.
2. LONG/SHORT
Choose one of the tag from the following table.

2 LONG Specifies Full open.
3 SHORT Specifies Short open.
Example

STROKE GUN#(1) LONG
When the manipulator reaches Step 5, the stroke is changed to Full open
to avoid interference, and then the manipulator moves to the next step.
2-264
DX100 2.9 Spot Welding Instruction : STRWAIT
STRWAIT
Function
Confirms the specified open status of a 2-step stroke gun as short open or
full open when not welding.
Wait until the signal of the specified open status, short open or full open, is
turned ON.
Construction
STRWAIT 1 GUN# ( Gun No. ) 2 LONG END
3 SHORT
Explanation

1 GUN# (Gun number) Specify the number of the air gun whose open status is No.: 1 to 8
to be confirmed. Variable B/I/D/LB/LI/LD
can be used.
2. LONG/SHORT

2 LONG Specify Full open.
3 SHORT Specify Short open.
Example

STROKE GUN#(1) LONG
STRWAIT GUN#(1) LONG
When the manipulator reaches Step 5, the open status changes to Full
open, and the manipulator confirms the Full open status before moving to
the next step.
2-265
DX100 2.10 General-purpose Instruction : TOOLON
2.10 General-purpose Instruction
TOOLON
Available Available Available General-purpose
Function
Turns ON the work instruction.
Construction
TOOLON END
1 TOOLn
Explanation
1. TOOLn
Choose one of the tags from the tool. These tags are valid for a system
with multiple applications in which two or more general-purpose
1 TOOLn Specifies the Tool. n: 1 to 8

TOOL1: TOOL1
Example
(1) TOOLON
Turns ON the work instruction.

Turns ON the work start instruction (dedicated output relay
#51530) and waits for the work start response (dedicated input
relay #41130). When the work start response is turned ON, the
next instruction is carried out.
The work start response relay is designed to turn ON immediately
after the output of the work start instruction.
2-266
DX100 2.10 General-purpose Instruction : TOOLOF
TOOLOF
Available Available Available General-purpose
Function
Turns OFF the work instruction.
Construction
TOOLOF END
1 TOOLn
Explanation
1. TOOLn
Choose one of the tags from the tool. These tags are valid for a system
with multiple applications in which two or more general-purpose

1 TOOLn Specifies the Tool. n: 1 to 8
TOOL1: TOOL1
Example
(1) TOOLOF
Turns OFF the work instruction.

Turns ON the work end instruction (dedicated output relay
#51531) and waits for the work end response (dedicated input
relay #41131). When the work end response is turned ON, the
next instruction is carried out.
The work end response relay is designed to turn ON immediately
after the output of the work end instruction.
2-267
DX100 OPTIONS
INSTRUCTIONS
FOR INFORM LANGUAGE
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division

Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200
Shougang MOTOMAN Robot Co. Ltd.

No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500 Fax +91-124-414-8016
Specifications are subject to change without notice

for ongoing product modifications and improvements.
YASKAWA ELECTRIC CORPORATION

MANUAL NO. RE-CKI-A452 1
C Printed in Japan October 2010 09-06

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YASKAWA ELECTRIC CORPORATION

MANUAL NO. RE-CKI-A452 1

NOTES FOR SAFE OPERATION

Indicates a potentially hazardous

Indicates a potentially hazardous situa-

MANDATORY Always be sure to follow explicitly the

PROHIBITED Must never be performed.

Even items described as CAUTION may result in a serious accident in

To ensure safe and efficient operation at all times, be sure to

Observe the following precautions when performing teaching

Definition of Terms Used Often in This Manual

Equipment Manual Designation

Descriptions of the programming pendant keys, buttons, and displays are

Equipment Manual Designation

ex. page key PAGE

Description of the Operation Procedure

1 Outline of INFORM ......................................................................................................................... 1-1

1.1 About INFORM ................................................................................................................. 1-1

1.1.1 INFORM III ........................................................................................................... 1-1

1.1.2 Type of Instruction ................................................................................................ 1-1

1.1.3 Instruction Set ...................................................................................................... 1-2

1.1.4 Variables to be Used in Instructions ..................................................................... 1-4

1.2 Registration of Instructions ................................................................................................ 1-5

1.2.1 Registration .......................................................................................................... 1-5

1.2.2 Learning Function................................................................................................. 1-6

1.3 Detail Edit Window............................................................................................................. 1-7

1.4 Registration of Expression................................................................................................. 1-8

1.4.1 Expression............................................................................................................ 1-8

1.4.2 Registration ........................................................................................................ 1-10

1.5 INFORM Structure ........................................................................................................... 1-12

2 INFORM Explanation ...................................................................................................................... 2-1

2.1 I/O Instructions................................................................................................................... 2-1

2.2 Control Instruction............................................................................................................ 2-25

2.3 Operating Instruction........................................................................................................ 2-69

2.4 Move Instruction............................................................................................................. 2-153

2.5 Shift Instruction .............................................................................................................. 2-204

2.6 Instruction Which Adheres to an Instruction .................................................................. 2-212

2.7 Arc Welding Instruction.................................................................................................. 2-224

2.8 Handling Instruction ....................................................................................................... 2-255

2.9 Spot Welding Instruction................................................................................................ 2-259

2.10 General-purpose Instruction ........................................................................................ 2-266

1.1 About INFORM

1.1.1 INFORM III

Instruction: It is used to execute the operation and processing. In the

1.1.2 Type of Instruction

1.1.3 Instruction Set

1.1.3.1 Selecting Instruction Set

Main Menu Short Cut

3. Select LANGUAGE LEVEL

4. Select the language level (instruction set)

Main Menu Short Cut

1.1.4 Variables to be Used in Instructions

The applicable variable differs depending on the

1.1.4.1 Set Value of Variable and Numeric Data

1.2 Registration of Instructions

0018 MOVJ VJ=12.50