1CD Yrc1000

YRC1000 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
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
178649-1CD
2
MANUAL NO. RE-CKI-A466 3

DANGER
• This manual explains the INFORM language of the YRC1000
system. Read this manual carefully and be sure to understand its
contents before handling the YRC1000. Any matter not described
in this manual must be regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.
CAUTION
• In some drawings in this manual, the protective covers or shields
are removed to show details. Make sure to install all the covers and
shields in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• 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.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
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

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
iii
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence. (when in the play
mode or in the remote mode).
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
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

YRC1000 Controller YRC1000
YRC1000 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator Cable
controller
v
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation

Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
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 [SELECT] is
pressed, or that the item is directly selected by touching the screen.
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
Contents
1 Outline of INFORM ......................................................................................................................... 1-1
1.1 About INFORM ................................................................................................................. 1-1
1.1.1 INFORM ............................................................................................................... 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 Registration of Conditional Statement ............................................................................. 1-12
1.5.1 Conditional Statement ........................................................................................ 1-12
1.5.2 Registration ........................................................................................................ 1-14
1.6 INFORM Syntax............................................................................................................... 1-17
1.6.1 Example of Syntax ............................................................................................. 1-17
1.6.2 INFORM Syntax Elements ................................................................................. 1-18
1.6.3 Meaning of INFORM Syntax............................................................................... 1-18
1.6.4 Explanation Table............................................................................................... 1-19
1.7 The Structured Language ................................................................................................ 1-20
1.7.1 The Type of the Structured Language................................................................ 1-20
1.7.2 Register, Edit and Delete of the Structured Language ....................................... 1-21
1.7.3 Multiplexing of the Structured Language ............................................................ 1-30
1.7.4 Changes in the Format when Save the data to the External Device .................. 1-32
2 INFORM Explanation ...................................................................................................................... 2-1
2.1 I/O Instructions................................................................................................................... 2-1

DOUT .............................................................................................................. 2-1
DIN .................................................................................................................. 2-5
WAIT ............................................................................................................... 2-9
PULSE .......................................................................................................... 2-14
AOUT ............................................................................................................ 2-18
ARATION ...................................................................................................... 2-19
vii
Contents
ARATIOF....................................................................................................... 2-23
ANTOUT........................................................................................................ 2-24
2.2 Control Instruction............................................................................................................ 2-29

JUMP............................................................................................................. 2-29
CALL ............................................................................................................. 2-33
TIMER ........................................................................................................... 2-48
*(LABEL) ....................................................................................................... 2-49
’(COMMENT)................................................................................................. 2-50
RET ............................................................................................................... 2-51
NOP............................................................................................................... 2-54
PAUSE .......................................................................................................... 2-55
CWAIT........................................................................................................... 2-56
MSG .............................................................................................................. 2-57
INPUT............................................................................................................ 2-58
ADVINIT ........................................................................................................ 2-60
ADVSTOP ..................................................................................................... 2-61
PRINT............................................................................................................ 2-62
CLS ............................................................................................................... 2-66
ABORT .......................................................................................................... 2-67
SETUALM ..................................................................................................... 2-68
DIALOG......................................................................................................... 2-70
SWITCH ........................................................................................................ 2-74
CASE............................................................................................................. 2-75
DEFAULT ...................................................................................................... 2-77
WHILE ........................................................................................................... 2-79
FOR............................................................................................................... 2-80
IFTHEN ......................................................................................................... 2-81
ELSEIF .......................................................................................................... 2-82
ELSE ............................................................................................................. 2-84
SETTM .......................................................................................................... 2-86
2.3 Operating Instruction........................................................................................................ 2-88

CLEAR .......................................................................................................... 2-88
INC ................................................................................................................ 2-92
DEC............................................................................................................... 2-94
SET ............................................................................................................... 2-96
ADD............................................................................................................. 2-105
SUB ............................................................................................................. 2-112
MUL............................................................................................................. 2-119
DIV .............................................................................................................. 2-126
CNVRT ........................................................................................................ 2-133
AND............................................................................................................. 2-136
OR ............................................................................................................... 2-138
NOT............................................................................................................. 2-140
XOR............................................................................................................. 2-142
MFRAME..................................................................................................... 2-144
SETE ........................................................................................................... 2-148
viii
Contents
GETE .......................................................................................................... 2-151

GETS .......................................................................................................... 2-153
SQRT .......................................................................................................... 2-160
SIN .............................................................................................................. 2-162
COS ............................................................................................................ 2-164
ATAN........................................................................................................... 2-166
MULMAT ..................................................................................................... 2-168
INVMAT....................................................................................................... 2-170
GETPOS ..................................................................................................... 2-171
VAL ............................................................................................................. 2-172
VAL2STR .................................................................................................... 2-175
ASC............................................................................................................. 2-177
CHR$ .......................................................................................................... 2-179
MID$............................................................................................................ 2-181
LEN ............................................................................................................. 2-184
CAT$ ........................................................................................................... 2-186
STRSTR...................................................................................................... 2-188
GETARG ..................................................................................................... 2-190
GETNAME .................................................................................................. 2-192
SETFILE...................................................................................................... 2-194
GETFILE ..................................................................................................... 2-197
SETREG ..................................................................................................... 2-199
GETREG ..................................................................................................... 2-201
GETPRM..................................................................................................... 2-202
SETPRM ..................................................................................................... 2-204
2.4 Move Instruction ............................................................................................................ 2-206

MOVJ .......................................................................................................... 2-206
MOVL .......................................................................................................... 2-219
MOVC ......................................................................................................... 2-229
MOVS.......................................................................................................... 2-239
IMOV ........................................................................................................... 2-248
SPEED ........................................................................................................ 2-255
REFP........................................................................................................... 2-258
2.5 Shift Instruction .............................................................................................................. 2-265

SFTON ........................................................................................................ 2-265
SFTOF ........................................................................................................ 2-269
MSHIFT....................................................................................................... 2-271
2.6 Instruction Which Adheres to an Instruction .................................................................. 2-274

IF ................................................................................................................. 2-274
UNTIL.......................................................................................................... 2-286
ENWAIT ...................................................................................................... 2-288
DIALSB ....................................................................................................... 2-290
IFEXPRESS ................................................................................................ 2-293
FOREXPRESS............................................................................................ 2-294
LOGICEXP.................................................................................................. 2-295
ix
Contents
RELEXPR.................................................................................................... 2-296
TRAP........................................................................................................... 2-308
2.7 Arc Welding Instruction .................................................................................................. 2-310

ARCON ....................................................................................................... 2-310
ARCOF........................................................................................................ 2-315
VWELD........................................................................................................ 2-319
AWELD........................................................................................................ 2-321
ARCSET...................................................................................................... 2-323
WVON ......................................................................................................... 2-327
WVOF.......................................................................................................... 2-332
ARCCTS...................................................................................................... 2-334
ARCCTE...................................................................................................... 2-338
2.8 Handling Instruction ....................................................................................................... 2-342

HAND .......................................................................................................... 2-342
HSEN .......................................................................................................... 2-344
2.9 General-purpose Instruction .......................................................................................... 2-346

TOOLON ..................................................................................................... 2-346
TOOLOF...................................................................................................... 2-347
2.10 Spot Welding Instruction .............................................................................................. 2-348

GUNCL........................................................................................................ 2-348
SPOT........................................................................................................... 2-350
STROKE...................................................................................................... 2-353
STRWAIT .................................................................................................... 2-354
x
1 Outline of INFORM
1.1 About INFORM
1 Outline of INFORM
1.1 About INFORM
1.1.1 INFORM
The robot programming language used with YRC1000 is called INFORM.
INFORM 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 About 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 instructions which are used frequently can be registered in the
subset instruction set. Since the number of instructions is small, the
operation such as selecting or input become easier.
• Standard Instruction Set / Expanded Instruction Set
All INFORM instructions can be registered. For these two sets, the
number of additional items which can be used by each instruction is
different. The following function cannot be used with a standard
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 setting window appears.
1-2
1 Outline of INFORM
1.1 About INFORM
3. Select “LANGUAGE LEVEL”

– The instruction set selection dialog box appears.
4. Select the language level (instruction set)

– The language level is selected.
1-3
1 Outline of INFORM
1.1 About 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 “Editing Local Variables” in YRC1000
GENERAL OPERATOR’S MANUAL (RE-CSO-A051).
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
1.2 Registration of Instructions
1.2.1 Registration
To register instructions, press [INFORM LIST] while the job content
window is shown.
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.
4. Select the desired instruction group

– The job instruction group list dialog box appears.
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].
1-5
1 Outline of INFORM
SUPPLE
For more details, refer to “Editing ” in YRC1000 GENERAL
-MENT OPERATOR’S MANUAL(RE-CSO-A051).
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 setting window appears.
3. Move the cursor to “INSTRUCTION INPUT LEARNING”.

– The condition “VALID” or “INVALID” is switched each time
[SELECT] is pressed.
1-6
1 Outline of INFORM
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.
Instruction
Data type altering icon

Additional
item name
Detail edit window

display icon
(Instruction which
adheres to an instruction)
Additional item
Instructions
Indicates the instruction.
Additional Item Name

Indicates the name of the additional item (type).
Additional 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).
Data 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.
Detail Edit Display Icon

Indicates the detail edit display is shown.
1-7
1 Outline of INFORM
1.4 Registration of Expression
1.4.1 Expression
With INFORM, an expression can be registered 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.
Operator
Starting parentheses
Ending parentheses
Data type selection icon
- (negative) Data
Starting 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.
- (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
Data
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 Data type selection icon.
Data 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].
Ending 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.
Operator
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
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.
7. Move the cursor to the icon beside “SOURCE(TOKEN)”

– The selection dialog box appears.
1-10
1 Outline of INFORM
8. Select “EXPRESS”
– The DETAIL EDIT window for expression appears.
9. Enter the expression and press [ENTER]

– The DETAIL EDIT window for the SET instruction appears.
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
1.5 Registration of Conditional Statement
1.5.1 Conditional Statement

With INFORM, the conditional statements can be registered on the
following instructions.
IFEXPRESS/FOREXPRESS/LOGICEXP/IFTHEN/ELESEIF/WHILE
<Example of the conditional statement>

6(7)//2*,&(;3,1 21$1',1 2125%
Conditional statement
Result strored destination Conditional statement Conditional statement
Registration of conditional statement is processed in the DETAIL EDIT

window of the above-mentioned instructions. The following figure is the
DETAIL EDIT window of the conditional statement.
4 Logical operator
5 Ending parentheses
1 Starting parentheses 2 Conditional statement 3 Conditional statement edit icon
1 Starting parentheses
Move the cursor to this area. Every time [SELECT] is pressed,
the selected parenthesis is switched in the following order.
2 Conditional statement
Conditional statements are shown in this area. As for the contents
which can be registered as the conditional statement, refer to
RELEXPR inchapter 2.6 “Instruction Which Adheres to an Instruction”
3 Conditional statement edit icon
The DETAIL EDIT window of conditional statement is shown.
Move the cursor to this icon, press [SELECT] and the detail edit
window of the conditional statement (RELEXPR) is shown.
The conditional statement is edited in this window.
1-12
1 Outline of INFORM
4 Ending parentheses
Move the cursor to this area. Every time [SELECT] is pressed,
the selected parenthesis is switched in the following order.
5 Logical operator
The logical operator is shown in this area.
Move the cursor to this area, press [SELECT] and the selection dialog
box of the logical operator is shown. Move the cursor to the logical
operator to be changed and press [SELECT].
<Example of the DETAIL EDIT window of the conditional statement>
6(7)//2*,&(;3,1 21$1',1 2125%
Result strored destination Conditional statement

Conditional statement Conditional statement
Logical operator Logical operator
1-13
1 Outline of INFORM
1.5.2 Registration
In the following procedures, the registration of the conditional statement is
explained with a example which shows how to edit the LOGICEXP
instruction in SET instruction. In the same procedures, the registration of
the conditional statement is available for IFEXPRESS, FOREEXPRESS,
LOGICEXP, IFTHEN, ELSEIF, and WHILE instructions.
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 of SET instruction is shown.
7. Move the cursor to the icon in “DESTINATION” and press

[SELECT] to choose the FL variable.
– “LOGICAL EXP. LOGICEXP” is shown.
1-14
1 Outline of INFORM
8. Move the cursor to the icon in “LOGICAL EXP. LOGICEXP” and

press [SELECT].
– The DETAIL EDIT window of LOGICEXP instruction is shown..
9. Move the cursor to the conditional edit icon and press [SELECT].
– The DETAIL EDIT window of the conditional statement (RELEXPR
instruction) is shown.
1-15
1 Outline of INFORM
10. Input the conditional statement and press [ENTER].

– The DETAIL EDIT window of LOGICEXP instruction is shown.
Register the logical operators or parentheses in this window, and
another conditional statement can be added.
11. Press [ENTER].

– The DETAIL EDIT window of the SET instruction is shown.
12. Press [ENTER].

– The JOB CONTENT window is shown.
13. Press [ENTER].

– The SET instruction indicated in the input buffer line is registered in
the job.
1-16
1 Outline of INFORM
1.6 INFORM Syntax
1.6 INFORM Syntax

An example of the INFORM syntax is shown in the following syntax
flowchart.
The INFORM syntax chart is composed of the syntax elements
(instruction, tag, and data). The order of the rows is shown with the
numbers and arrows.
1.6.1 Example of Syntax
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= 13 MTE=
count rotation count
E END
14 NWAIT 15 UNTIL
1-17
1 Outline of INFORM
1.6 INFORM Syntax
1.6.2 INFORM Syntax Elements

INFORM Syntax Element Explanation Note
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
1.6.3 Meaning of INFORM Syntax

INFORM Syntax 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
1-18
1 Outline of INFORM
1.6 INFORM Syntax
1.6.4 Explanation Table

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

1 OT # (Output Specify the output number signal. No:1 to 4096
number) Variable B/I/D/LB/LI/LD can be used.
• NO.
Indicates the tag number. Corresponds to the number in the
INFORM syntax.
• Tag
Indicates the surface description of the tag.
• Explanation
Provides an explanation of the tag.
1-19
1 Outline of INFORM
1.7 The Structured Language

The structured language of which basic structure such as sequential
execution, selection execution and repetition execution is added as
INFORM command in order to make simplified to write and read the
program regarding the job edit.
All these executions are classified the control instruction. As for a format
of the each instruction, refer to chapter 2.2 “Control Instruction” .
1.7.1 The Type of the Structured Language

1. Selection Processing Syntax
SWITH to CASE to DEFAILT to ENDSWITCH
2. Repetition Processing
WHILE to ENDWHILE
FOR to NEXT
3. Sequential Processing
IFTHEN to ELSIF to ELSE to ENDIF
• When use the structured language, the total number of

the job lines to be added in the job will be decreased.
• The following instructions can be registered with a
section of a specified structured language.
∙ ELSIF,ELSE ⋅ ⋅ ⋅ a section between IFTHEN and ENDIF
∙ CASE, DEFAULT ⋅ ⋅ ⋅ a section between SWITCH and
ENDSWITCH
NOTE
• If the contents of the structured language are edited, the
unedited lines of the instruction will be changed in some
cases.
Refer to ..... for more details.
• If save the job into the external device, the format
appears different from the job content window in some
cases.
Refer to....... form more details.
1-20
1 Outline of INFORM
1.7.2 Register, Edit and Delete of the Structured Language

New Registration
1. Display the instruction group list in the JOB CONTENT window.
2. Select {CONTROL} in the instruction group.

– The structured language appears in the instruction list.
3. Select the desired structured language, and press {ENTER}.

– The displayed instruction in the input buffer line is registered into the
job.
1-21
1 Outline of INFORM
Structured Language The motion when register the instruction

SWITCH ENDSWITCH is also registered at the same time.
CASE Cannot be registered in the following cases.
⋅ NOT a section between SWITCH and
ENDSWITCH
⋅ DEFAULT instruction is located prior to the
adding position of CASE instruction between
SWITCH and ENDSWITCH.
DEFAULT Cannot be registered in the following cases.
⋅ NOT a section between SWITCH and
ENDSWITCH
⋅ CASE instruction is located behind from the
adding position of DEFAULT instruction between
SWITCH and ENDSWITCH.
ENDSWITCH This instruction is not displayed in the instruction list.
WHILE ENDWHILE is also registered at the same time.
ENDWHILE This instruction is not displayed in the instruction list.
FOR NEXT is also registered at the same time.
NEXT This instruction is not displayed in the instruction list.
IFTHEN ENDIF is also registered at the same time.
ELSEIF Cannot be registered in the following cases.
⋅ NOT a section between IFTHEN and ENDIF.
⋅ ELSE instruction is located prior to the
adding position of ELSEIF instruction between
IFTHEN and ENDIF.
ELSE Cannot be registered in the following cases.
⋅ NOT a section between IFTHEN and ENDIF.
⋅ ELSEIF instruction is located behind from the
adding position of ELSEIF instruction between
IFTHEN and ENDIF.
ENDIF This instruction is not displayed in the instruction list.
1-22
1 Outline of INFORM
Edit the registered instruction

Same as the other instructions, the contents can be edited by selecting
the registered instruction.
However, the instruction without edit elements cannot be edited. Also, as
for the instruction from FOR to NEXT, the edited contents are reflected to
the another unedited instruction.
Structured Language The motion when register the instruction
SWITCH The edited contents are reflected.
CASE The edited contents are reflected.
DEFAULT Cannot edit the contents of this instruction.
ENDSWITCH Cannot edit the contents of this instruction.
WHILE The edited contents are reflected.
ENDWHILE Cannot edit the contents of this instruction.
FOR The contents of the I variable of the NEXT instruction
making a pair are reflected at the same time.
NEXT The contents of the I variable of the FOR instruction
making a pair are reflected at the same time
IFTHEN The edited contents are reflected.
ELSEIF The edited contents are reflected.
ELSE Cannot edit the contents of this instruction.
ENDIF Cannot edit the contents of this instruction.
1-23
1 Outline of INFORM
Edit a Conditional Statement

The conditional statement is added to the IFTHEN, ELSEIF and WHILE
instructions.
Two or more conditional statements can be added. Also, the OR/AND
setting and the judgment order for the statement can be set.
1. Select the one of the instructions from IFTHEN, ELSEIF or WHILE in
the JOB CONTENT window.
– The selected instruction appears.
2. Press {SELECT}, while the cursor of the input buffer is in the selected
instruction.
– The DETAIL EDIT window of the conditional statement appears.
Operator
Starting parenthese
Ending parenthese
Conditional statement
Edit conditional statement
1-24
1 Outline of INFORM
①Starting parentheses, ending parentheses → Set the parentheses to set

the priority of the judgment.
If the set parentheses do not affect the priority of the judg-

ment, the set parentheses will be deleted.
e.g.1 Set as “IF((IN#(1)=ON AND B000=0) AND I000=0)
THEN”.
– The parentheses do not affect the priority of the
NOTE judgment, the parentheses will be deleted and
registered as follows.
“IF(IN#(1)=ON AND B000=0 AND I000=0) THEN”
e.g.2 Set as “IF( ( IN#(1)=ON OR B000=0 ) AND I000=0 )
THEN”.
– The parentheses affect the priority of the judgment,
and the parentheses are set according to the setting.
②③ Conditional statement → The conditional statement is shown by

each item. To edit the statement, move the cursor to ③ , and press
{SELECT}.
The DETAIL EDIT window of the each conditional statement appears.
The following table shows the contents which are configurable in the
DETAIL EDIT window.
1-25
1 Outline of INFORM
Object Operator Condition

IN#() GP input signal = B, LB, ON, OFF
OT#() GP output signal = B, LB, ON, OFF
FL Flag variable = B, LB, ON, OFF
TF Timer flag variable = B, LB, ON, OFF
IG#() GP input group =, <> B, LB, Constant
OG#() GP output group =, <> B, LB, Constant
IGU#() User group input =, <>, >, >=, <, <= D, LD, Constant
OGU#() User group output =, <>, >, >=, <, <= D, LD, Constant
B/LB Byte type variable =, <>, >, >=, <, <= Constant, String, B, LB, I, LI, D, LD, R, LR
I/LI Integer type variable =, <>, >, >=, <, <= Constant, B, LB, I, LI, D, LD, R, LR
D/LD Double-precision type =, <>, >, >=, <, <= Constant, B, LB, I, LI, D, LD, R, LR
variable
R/LR Real-number type variable =, <>, >, >=, <, <= Constant, B, LB, I, LI, D, LD, R, LR
S/LS Character type variable =, <>, >, >=, <, <= String, S, LS
TM Timer variable =, <>, >, >=, <, <= Constant, B, LB, I, LI, D, LD, R, LR
ON Constant Not applicable Forcibly satisfied
OFF Constant Not applicable Forcibly not satisfied
IG#(), OG#() and TM are selectable if the language level is the

STANDARD and above.
LB, LI, LD, LR and LS are selectable if the language level is the
EXPANDED.
If the constant is selected as the object, the conditional statement is
forcibly satisfied or not satisfied depending on the selected constant.
• IF(ON)THEN:　 Satisfied
• IF(OFF)THEN: Not satisfied
However, when two or more conditional statements are registered and the
constant is selected, there is the case that the result of the whole
conditional statement depends on the result of other conditional
statements as the following examples:
1. IF(ON AND IN#(1)=ON)
If both the first statement and the second statement are satisfied, the
whole conditional statement is satisfied.
• The first statement: Forcibly satisfied
• The second statement: Satisfied if IN#(1) is ON
Therefore, the result of the whole conditional statement depends on
whether the second statement is satisfied or not.
2. IF(OFF AND IN#(1)=ON)
Both the first statement and the second statement are satisfied, the whole
conditional statement is satisfied.
• The first statement: Forcibly not satisfied
• The second statement: Satisfied if IN#(1) is ON
Therefore, the whole conditional statement is not satisfied regardless of
the result of the second statement.
1-26
1 Outline of INFORM
④ Operator
Add (OR connection, AND connection) or delete the conditional judgment
statement.
Select OR or AND : The statement is added in the next line, and it

connects between the statements by OR or AND.
Select NON : Delete the all statement lines below the selected position.
NOTE Able to add 15 conditional judgment statements.
1-27
1 Outline of INFORM
Delete the registered instruction

To perform {DELETE} → {ENTER}, the instructions are deleted.
However, unlike the other instructions, the multiple lines might be deleted
at the same time in some cases.
Structured Language The motion when edit the instruction
SWITCH The all instructions between SWITCH and
ENDSWITCH are deleted.
CASE The only CASE instruction is deleted.
DEFAULT The only DEFAULT instruction is deleted.
ENDSWITCH Cannot delete in this line of the instruction.
WHILE The all instructions between WHILE and ENDWHILE
are deleted.
ENDWHILE Cannot delete in this line of the instruction.
FOR The all instructions between FOR and NEXT are
deleted.
NEXT Cannot delete in this line of the instruction.
IFTHEN The all instructions between IFTHEN and ENDIF are
deleted.
ELSEIF The only ELSEIF instruction is deleted.
ELSE The only ELSE instruction is deleted.
ENDIF Cannot delete in this line of the instruction.
Copy or cut
The structured language cannot be copied or cut without selecting the
another instruction which makes a pair with the selected structured
language.
Structured Language The motion when copy/cut the instruction
SWITCH Cannot be copied/cut if the ENDSWITCH instruction
which makes a pair with the selected SWITCH
instruction is not selected at the same time.
CASE This instruction is copied/cut by itself.
DEFAULT This instruction is copied/cut by itself.
ENDSWITCH Cannot be copied/cut if the SWITCH instruction which
makes a pair with the selected ENDSWITCH
WHILE Cannot be copied /cut if the ENDWHILE instruction
which makes a pair with the selected WHILE
ENDWHILE Cannot be copied/cut if the WHILE instruction which
makes a pair with the selected ENDWHILE instruction
is not selected at the same time.
FOR Cannot be copied/cut if the NEXT instruction which
makes a pair with the selected FOR instruction is not
selected at the same time.
NEXT Cannot be copied/cut if the FOR instruction which
makes a pair with the selected NEXT instruction is not
IFTHEN Cannot be copied/cut if the ENDIF instruction which
makes a pair with the selected IFTHEN instruction is
not selected at the same time.
1-28
1 Outline of INFORM
Structured Language The motion when copy/cut the instruction

ELSEIF Cannot be copied/cut by itself
This instruction is copied/cut if the all instructions
between IFTHEN and ENDIF including this instruction
are selected.
ELSE Cannot be copied/cut by itself
This instruction is copied/cut if the all instructions
between IFTHEN and ENDIF including this instruction
are selected.
ENDIF Cannot be copied/cut if the IFTHEN instruction which
makes a pair with the selected ENDIF instruction is not
Comment out
Some of the instructions cannot comment out the structured language
without selecting the another instruction making a pair. The edit lock has
no limitation.
Structured Language The motion when comment out the instruction
SWITCH Cannot be commented out if the ENDSWITCH
instruction which makes a pair with the selected
SWITCH instruction is not selected at the same time.
CASE Cannot be commented out if the all instructions
between SWITCH and ENDSWITCH including this
CASE instruction are not selected.
DEFAULT Cannot be commented out if the all instructions
between SWITCH and ENDSWITCH including this
DEFALT instruction are not selected.
ENDSWITCH Cannot be commented out if the SWITCH instruction
which makes a pair with the selected ENDSWITCH
WHILE The ENDWHILE instruction which makes a pair with
the selected WHILE instruction is commented out at
the same time.
ENDWHILE The WHILE instruction which makes a pair with the
selected ENDWHILE instruction is commented out at
the same time.
FOR The NEXT instruction which makes a pair with the
selected FOR instruction is commented out at the
same time.
NEXT The FOR instruction which makes a pair with the
selected NEXT instruction is commented out at the
same time.
IFTHEN Cannot be commented out when the both IFTHEN and
ENDIF making a pair are selected at the same time.
ELSEIF Cannot be commented out if the all instructions
between IFTHEN and ENDIF including this ELSEIF
instruction are not selected.
ELSE Cannot be commented out if the all instructions
between IFTHEN and ENDIF including this ELSE
instruction are not selected.
ENDIF Cannot be commented out if the IFTHEN instruction
which makes a pair with the selected ENDIF
1-29
1 Outline of INFORM
1.7.3 Multiplexing of the Structured Language

In a section where the structured language is used, another section of the
structured language can be added.
In the following example, the process in the dotted line(repeating the 20
times of I001=1 to 20) is performed by the numbers in the solid line
(repeating 10 times of I000=1 to 10). Therefore, “INC B000” is performed
by 20x10=200 times.
012
5'6$
(14+61
(14+61
+0%$
0':6+
0':6+
'0&
The level of multiplexing for the structured language is set by the following
parameter.
Parameter Description Initial
value
S2C694 Structured language Multiplexing max value 0
1 to 20 : able to be multiplexing level 1 to 20
Except above : able to be multiplexing till level 10
The following error is shown if the multiplexing above the set level is
attempted.
Error2271: Nesting level limit over
Error sub-code: Multiplexing level max value +1
The added instruction is shown with the indent. Therefore, the difference
of the level can be confirmed. The indent length per 1 level is set by the
following parameter..
Parameter Description Initial value
S2C693 Structured language 0
Number of the indent character when process the
multiplexing of the structured language.
1 to 4 : the length of the indent 1 to 4 bytes
0 : the length of the indent 1 byte.
1-30
1 Outline of INFORM
The length of the indent 1 byte
The length of the indent 4 bytes
1-31
1 Outline of INFORM
1.7.4 Changes in the Format when Save the data to the External Device
If the job with the structured language is saved in the external device,
there is the case that a format of instruction is different from the
expression in the job content window.
IF ~ ELSEIF ~ ELSE ~ ENDIF statement (single condition)
Format in the JOB CONTENT window Format when save into the external device
IF( IN#(1) 㧩 ON ) THEN IFTHENEXP IN#(1)=ON
DOUT OT#(1) ON DOUT OT#(1) ON
ELSEIF( B000=1 ) THEN ELSEIFEXP B000=1
ELSE ELSE
ENDIF ENDIF
IF ~ ELSEIF ~ ELSE ~ ENDIF statement (multiple condition)
Format in the JOB CONTENT window
IF( IN#(1) ON AND B000=0 ) THEN

DOUT OT#(1) ON
ELSEIF( B000=1 AND ( I000=2 OR D000=3 ) ) THEN
DOUT OT#(2) ON
ELSE
DOUT OT#(3) ON
ENDIF
Format when save into the external device
IFTHENEXP IN#(1)=ON ANDEXP B000=0
DOUT OT#(1) ON
ELSEIFEXP B000=1 ANDEXP ( I000=2 OREXP D000=3 )
DOUT OT#(2) ON
ELSE
DOUT OT#(3) ON
ENDIF
1-32
1 Outline of INFORM
WHILE ~ ENDWHILE statement

*The multiple condition is divided by operator ANDEXP and OREXP as
well as IFTHEN ~ ENDIF statement.
Format in the JOB CONTENT window Format when save into the external device
WHILE ( IN#(1) =ON ) WHILEEXP IN#(1)=ON

ENDWHILE ENDWHILE
SWITCH ~ CASE ~ DEFAULT ~ ENDSWITCH statement

The format does not change.
FOR ~ NEXT statement

The format does not change.
1-33
2 INFORM Explanation
2.1 I/O Instructions : DOUT
2.1 I/O Instructions
DOUT
SUBSET STANDARD EXPANDED
Available Available Available
Function
Turns the GP output signal ON and OFF.
Syntax
DOUT 1 OT# ( Output No. ) A B END
2 OG# ( Output group ) C D

No.
3 OGH# (
Output group )
No.
4 OGU# ( User group ) E F

output No.
B/LB/
A 5 B[]/LB[] Variable No. B
6 ON/OFF
7 INVERT
B/LB/
C 8 B[]/LB[] Variable No. D
9
Byte type
constant
10 INVERT
D/LD/
E 11 D[]/LD[] Variable No. F
12 Double-precision
type constant
2-1
Explanation
1. OT# (Output number) /OG# (Output group number) /

OGH# (Output group number)/OGU# (User group out-
put number)
One of the tags must be selected from the following table.

1 OT# (Output Specify the number of output signal. No:1 to 4096
number) Variable B/I/D/LB/LI/LD
can be used.
2 OG# (Output group Specify the group number of output signal (1group 8 No:1 to 512
number) points). Variable B/I/D/LB/LI/LD
can be used.
3 OGH# (Output group Specify the group number of output signal (1group 4 No:1 to 1024
number) points). Variable B/I/D/LB/LI/LD
can be used.
4 OGU# (User group Specify the user group number of output signal No:1 to 64
output number) 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)
The user group output OGU#(x) consists of the output signal which is set in the user group
output setting file. For details and the setting procedure, refer to “User Group Input and
Output” in YRC1000 INSTRUCTIONS (RE-CTO-A221).
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, one of the tags must be selected from the following table.

5 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]
6 ON/OFF Specify on/off of the output signal.
7 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, one of the tags must
be selected from the following table.

8 B Variable number/ Specify ON/OFF of the corresponding output signal bit:
LB Variable number/ when the content of the specified byte type variable is 0: OFF
B [Array number]/ expressed in bits. 1: ON
LB [Array number]
9 Byte type constant When the specified byte type constant is expressed in
bit form, the corresponding on/off output signal is
specified.
10 INVERT Refers the current signal status to output OFF when the
status is ON, and output ON when the status is OFF.
4. D Variable number / LD Variable number / D [Array

number] / LD [Array number] / Double-precision type
constant
When OGU# (User group output number) is selected from the table in part
1 of this Explanation, one of the tags must be selected from the following
table.

11 D Variable number/ Specify ON/OFF of the corresponding output signal bit:
LD Variable number/ when the content of the specified double precision type 0: OFF
D [Array number]/ variable is expressed in bits. 1: ON
LD [Array number]
12 Double-precision Specify ON/OFF of the corresponding output signal
type constant when the specified double precision type constant is
expressed in bits.
Example
(1) DOUT OT#(12) ON

GP output signal no. 12 is turned ON.
(2) SET B000 24

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

OG#(3)
ON
GP output signals nos. 20 and 21 are turned on.
2-3
(3) SET D000 -2147483648

DOUT OGU#(6) D000
<User group output setting：OGU#(6)>
Star point: 40 Point: 32　Parity: NONE
D000 = -2147483648 (Decimal) = 10000000000000000000000000000000
(Binary)

OGU#(6)

OGU#(6)

OGU#(6)

OGU#(6)
ON
GP output signal no.71 is turned ON.
2-4
2.1 I/O Instructions : DIN
DIN
Function
The signal status is read in the byte type/double precision type variable.
Syntax
B/LB/
DIN 1 Variable No. 3 IN# ( Input No. ) END
B[]/LB[]
4 IG# ( Input group )

No.
5 OT# ( Output No. )
Output group
6 OG# ( )
No.
7 Specific
SIN# ( )
input No.
Specific
8 SOUT# ( )
output No.
9 IGH# ( Input group No. )
Output group
10 OGH# ( )
No.
D/LD/ User group

2 Variable No. 11 IGU# ( )
D[]/LD[] Input No.
User group
12 OGU# ( )
Output No.
2-5
Explanation
1. B Variable Number / LB Variable Number / B [Array

Number] / LB [Array Number] / D Variable Number /
LD Variable Number / D [Array Number] / LD [Array
Number]

1 B Variable Number/ Specify the number of byte type variable which reads
LB Variable Number/ the signal status.
B [Array Number]/
LB [Array Number]
2 D Variable Number/ Specify the number of double precision type variable
LD Variable Number/ which reads the signal status.
D [Array Number]/
LD [Array Number]
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)
When a B Variable number, LB Variable number, B [Array number], or LB

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

3 IN# (Input number) Specify the number of GP input signal to read the No:1 to 4096
signal status Variable B/I/D/LB/LI/LD
can be used.
4 IG# (Input group Specify the number of the GP input group No:1 to 512
number) (1 group 8 points) signal to read the signal status. Variable B/I/D/LB/LI/LD
can be used.
5 OT# (Output number) Specify the number of the GP output signal to read No:1 to 4096
the signal status. Variable B/I/D/LB/LI/LD
can be used.
6 OG# (Output group Specify the number of the GP output group signal (1 No:1 to 512
number) group 8 points) to read the signal status. Variable B/I/D/LB/LI/LD
can be used.
7 SIN# (Specific input Specify the number of the specific input signal to read No:1 to 1280
number) the signal status. Variable B/I/D/LB/LI/LD
can be used.
8 SOUT# (Specific Specify the number of the specific output signal to No:1 to 2400
output number) read the signal status. Variable B/I/D/LB/LI/LD
can be used.
9 IGH# (Input group Specify the number of the GP input group No:1 to 1024
can be used.
10 OGH# (Output group Specify the number of the GP output group No:1 to 1024
can be used.
2-6
3. IGU#(User group input number) / OGU#(User group

output number)
When a D Variable number, LD Variable number, D [Array number], or LD

of the tags is selected from the following table

11 IGU#(User group input Specify the number of the user group input signal to No:1 to 64
number) read the signal status. Variable B/I/D/LB/LI/LD
can be used.
12 IG#(User group output Specify the number of the user group output signal to No:1 to 64
number) read 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)
The user group input IGU#(x) consists of the input signal which is set in the user group
input setting file. For details and the setting procedure, refer to “User Group Input and Out-
put” in YRC1000 INSTRUCTIONS (RE-CTO-A221).
2-7
Example
(1) DIN B016 IN#(12)

The ON/OFF status of GP input signal no.12 is read in byte type
variable No.16. When the GP input signal No.12 is on, the status
of the GP input signal is B016=1
(decimal)=00000001(binary).
(2) DIN B002 OG#(8)

The ON/OFF status of GP output signal number from no. 57 to
no.64 is read in byte type variable No.2.
In the following cases, the status of the GP output signal is
B002=150 (decimal)= 10010110 (binary).

OG#(8)
ON
(3) DIN D003 IGU#(9)

<User group input setting: IGU#(9)>
Star point: 40 Point: 32　Parity: NONE
The on/off status of the GP input number from no.40 to no.71 is

read in the double precision type variable No.3.
In the following cases, the status of the GP input signal is D003 = -
2147483648 (decimal) = 10000000000000000000000000000000
(binary).

IGU#(6)

IGU#(6)

IGU#(6)

IGU#(6)
ON
2-8
2.1 I/O Instructions : WAIT
WAIT
Function
Wait until the various statuses coincide with the specified status.
Syntax
B/LB/
WAIT 1 IN# ( Input No. ) 13 = 14 Variable No. A
B[]/LB[]

15 ON/OFF
3 SIN# ( Specific )
input No.
Specific
4 SOUT# ( )
output no.
Input group B/LB/

5 IG# ( ) 16 = 18 Variable No.
No. B[]/LB[]
6 OG# ( Output group ) 17 <>

No. Byte type
19
constant
7 IGH# ( Input group )
No.
8 OGH# ( Output group )

No.
B/LB/
9 Variable No.
B[]/LB[]
User group D/LD/

10 IGU# ( ) 20 = 26 Variable No.
input No. D[]/LD[]
11 User group 21
OGU# ( ) <> Double-precision
output No. 27
type constant
22 >
23 >=
24 <
25 <=
12 FOREXPRESS
A END
28 T= Time (sec)
2-9
Explanation
1. IN#(Input number) / OT#(Output number) / SIN#(Spe-

cific input numbe) / 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] /
IGU#(User group input number) / OGU#(User group
output number) / FOREXPRESS

1 IN# (Input number) Specify the number of the GP input signal for the No:1 to 4096
waiting condition. Variable B/I/D/LB/LI/LD
can be used.
2 OT# (Output number) Specify the number of the GP output signal for the No:1 to 4096
waiting condition. Variable B/I/D/LB/LI/LD
can be used.
3 SIN# (Specific input Specify 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 Specify the number of the specific output signal for the No:1 to 2400
output number) waiting condition. Variable B/I/D/LB/LI/LD
can be used.
5 IG# (Input group Specify the number of GP input group (1 group 8 No:1 to 512
number) points) signal for the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
6 OG# (Output group Specify the number of GP output group (1 group 8 No:1 to 512
can be used.
7 IGH# (Input group Specify the number of GP input group (1 group 4 No:1 to 1024
can be used.
8 OGH# (Output group Specify the number of GP output group (1 group4 No:1 to 1024
can be used.
9 B Variable number/ Specify the byte type variable for the waiting condition.
LB Variable number/
B [Array number]/
LB [Array number]
10 IGU# (User group Specifythe number of the user group input signal for the No:1 to 64
input number) waiting condition. Variable B/I/D/LB/LI/LD
can be used.
11 OGU# (User group Specify the number of the user group output signal for No:1 to 64
output number) the waiting condition. Variable B/I/D/LB/LI/LD
can be used.
12 FOREXPRESS Specify the FOREXPRESS instruction. Refer to IFEXPRESS
The FOREXPRESS instruction evaluates various in chapter 2.6
conditions. “Instruction Which
Adheres to an
Instruction” .
2-10
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.

13 = 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
Explanation, one of the tags must be selected from the following table
after the equal sign (=) is added from the table in part 2 of this
Explanation.

14 B Variable number/ Specify byte type variable which becomes a waiting Least significant bit:
LB Variable number/ condition. 0:OFF
B [Array number]/ 1:ON
LB [Array number]
15 ON/OFF Specify on/off of the waiting condition.
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, one of the tags must be
selected from the following table.

16 = It is equal.
17 <> 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, one of the tags must be
selected from the following table after “=” or “<>” are added from the table
in part 4 of this Explanation.

18 B Variable number/ Specify byte type variable which becomes a waiting
LB Variable number/ condition.
B [Array number]/
LB [Array number]
19 Byte type constant The waiting condition is specified by byte type constant.
2-11
6. = / <> / > / >= / < / <=
When an IGU# (user group input number), or OGU# (user group output
number) is selected from the table in part 1 of this Explanation, one of the
tags is selected from the following table

20 = It is equal.
22 > It is greater than.
23 >= It it greater than or equal.
24 < It is less than.
25 <= It is less than or equal.
7. D Variable number /LD Variable number / D [Array

constant
When either OG# (output group number), or OGH# (output group number)
is selected from the table in part 1 of this Explanation, one of the tags is
selected from the following table after one of the signs (= / <> / > / >= / < /
<=) is added from the table in part 6 of this Explanation.

26 D Variable number/ Specify the double-precision type variable which
LD Variable number/ becomes a waiting condition.
D [Array number]/
LD [Array number]
27 Double-precision type Specify the waiting condition by the double precision
constant type constant.
8. T=time
The following tag can be added or omitted.

28 T=time Specify the waiting time. Time: 0.01 to 655.35
When the condition is specified and the specified seconds
waiting time passes, the next instruction is executed It is possible to specify at
even if the various statuses do not coincide with the time by the I/LI/I/LI
condition. variable (Units: 0.01
seconds).
2-12
Example
(1) WAIT IN#(12)=ON

Waits until GP 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 GP input signal nos.5 and 7 are turned off and GP 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 GP input signal No.1.
The robot waits until GP input signal No.1 turns on at step 2.
2-13
2.1 I/O Instructions : PULSE
PULSE
Function
The pulse signal is output to the GP output signal only for the specified
time.
The PULSE instruction executes the next instruction without waiting for
the completion of pulse output (the specified output time).
However, in case the pulse output of the previous executed PULSE
instruction is not completed, this time PULSE instruction is executed after
the completion when the instruction is executed continuously for the same
signal.
Syntax
PULSE 1 OT# ( Output No. ) A
Output B/LB/
2 OG# ( group No. ) 5 Variable No.
B[]/LB[]
Output Byte type
3 OGH# ( group No. ) 6
constant
User group D/LD/

4 OGU# ( output No. ) 7 Variable No.
D[]/LD[]
8 Double-precision
type constant
A END
9 T= Time (sec) 10 IFEXPRESS
2-14
Explanation
1. OT# (output number) / OG# (output group number) /

OGH# (output group number)/OGU# (user output
group number)

1 OT# (Output number) Specify the number of the signal to which the pulse signal No.: 1 to 4096
is output. Variable B/I/D/LB/LI/
LD can be used.
2 OG# (Output group Specify the group number of the signal (1 group 8 points) No.: 1 to 512
number) to which the pulse signal is output. Variable B/I/D/LB/LI/
LD can be used.
3 OGH# (Output group Specify the group number of the signal (1 group 4 points) No.: 1 to 1024
number) to which the pulse signal is output. Variable B/I/D/LB/LI/
LD can be used.
4 OGU# (User group Specify the user group number of output signal No.: 1 to 64
output number) Variable B/I/D/LB/LI/
LD can be used.

When OG# (output group number) or OGH# (output group number) in the
above table is selected from the table in part 1 of this Explanation, one of
the tags must be selected from the following table.
No. Tag Explanation Note

5 B Variable number/ Specify ON/OFF of the corresponding pulse output Bit:
LB Variable number/ signal when the content of the specified byte type 0: OFF
B [Array Number] / variable is expressed in bits. 1: ON
LB [Array Number]
6 Byte type constant Specify ON/OFF of the corresponding pulse output
signal when the specified byte type constant is
expressed in bits.
2-15
3. D Variable number / LD Variable number / D [Array

constant
When OGU# (User group output number) is selected from the table in part
1 of this Explanation, one of the tags is selected from the following table.

7 D Variable number/ Specify ON/OFF of the corresponding pulse output Bit:
LD Variable number/ signal when the content of the specified double 0: OFF
D [Array Number] / precision type variable is expressed in bits. 1: ON
LB [Array Number]
8 Double-precision Specify ON/OFF of the corresponding pulse output
type constant signal when the specified double precision type
constant is expressed in bits.
4. T=Time

9 T=Time Specify the time to output. Time: 0.01 to 655.35
The pulse signal is output during the specified time T. seconds
It is possible to specify at
time by the I/LI/I[]/LI[]
variable (Units: 0.01
seconds).
When the time is not
specified, the pulse
signal is output during
0.30 seconds.
5. IFEXPRESS

10 IFEXPRESS Specify the IFEXPRESS instruction. Refer to IFEXPRESS in
The IFEXPRESS instruction evaluates various chapter 2.6 “Instruction
conditions and specifies the condition to execute the Which Adheres to an
PULSE instruction. Instruction”
2-16
Example
(1) PULSE OT#(128)

The pulse signal is output for 0.30 seconds to GP output signal
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 GP output signal

No.5.
ON
Pulse signal
1.0 sec OFF
(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 GP output signal
No. 20 and 21.
2-17
2.1 I/O Instructions : AOUT
AOUT
Not available Available Available
Function
Outputs the set voltage value to the general-purpose analog output port.
Syntax
Analog output Output voltage

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

1 AO# (Analog output Specify 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 Specify 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.
2-18
2.1 I/O Instructions : ARATION
ARATION
Function
Starts the analog output corresponding to the speed.

The ARATION instruction is effective during the linear interpolation
motion, the circular interpolation motion and the spline interpolation
motion. This instruction is executed during playback, test run, or FWD
operation and not executed during the axis operation.
Syntax
Analog output
ARATION 1 AO# ( port No. ) A
2 Basic voltage
BV=
(V)
A B C END
3 Speed at TCP 4 Offset voltage

V= OFV=
(mm/sec.) (V)
B C
5 FINE 6 DELAY= Time (sec)
Explanation

1 AO# (Analog output Specify 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.
2-19
2. BV=Basic voltage

2 BV=Basic voltage Specify 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)
3. V=Basic speed

3 V=Basic speed Specify the speed at which the set voltage value is Speed: 0.1 to 1500.0
output. mm/s.
Variable B/LB/B[]/LB[]/I/
LI/I[]/LI[]/D/LD/D[]/LD[]
can be used. (Units: 0.1
mm/s.)
4. OFV=Offset voltage

4 OFV=Offset voltage Specify the analog voltage to be output at the motion Voltage value:
speed “0”. -14.00 to +14.00 V
be used.
(Units: 0.01 V)
5. FINE

5 FINE The analog output is performed. When this tag is added,
The analog output corresponds to the feedback the filtering process is
speed, not to the instructed speed which is not performed.
determined by locus operation.
6. DELAY=TIME
When the FINE is selected from the table in part 5 of this Explanation, the
following tag must be added.

6 DELAY=TIME Specify the time which delays the analog output Time: 0.00 to 10.00
which corresponds to the feedback speed. seconds
It is possible to specify at
time by the I/LI/I[]/LI[]
variable (Units: 0.01
seconds).
2-20
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 manipulator’s 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.
2-21
Analog voltage
Basic voltage
Motion speed
50 100 150 200
(mm/sec)
Basic speed
Offset voltage
2-22
2.1 I/O Instructions : ARATIOF
ARATIOF
Function
Cancels the analog output corresponding to the speed.
Syntax
Analog output
ARATIOF 1 AO# (
port No.
) END
Explanation

1 AO# (Analog output Specify 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.
2-23
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.
Anticipation output function

SUPPLE
-MENT This is a function to advance/delay the timing for output of 32 GP output signals and 16 GP
output group signals.
The signal can be output before or after the manipulator reaches the step.
The anticipation output function is a signal output timing adjustment function to advance or
delay the output timing of 32 general-purpose output signals and 16 general-purpose out-
put group signals. 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.
Step Instructions
Setting of
n-1 MOVL GP output
n MOVL NWAIT
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
GP output
n-1 MOVL
n MOVL NWAIT
ANTOUT AT#(2) ON ON
n+1 MOVL OFF
Set time to delay signal
output
2-24
Syntax
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)
7 ANTDIS= Distance (mm)
Explanation
1. AT# (Anticipation output number) / AG# (Anticipa-

tion group output number)

1 AT# (Anticipation Specify 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 Specify the group number of the signal whose timing No.: 1 or 16
group output number) is adjusted. Variable B/I/D/LB/LI/LD
can be used.
2-25
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.
D
E
A. OT OUTPUT (Setting range: 1 to 4096)

Allocate the number of the general-purpose output whose signal timing is to be adjusted
to AT NO. 1 to 32.
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 512)
Allocate the group number of the general-purpose output whose signal timing is to be
adjusted to AG NO. 1 and 16.
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 Specify the ON/OFF status of the signal whose output
timing is adjusted.
2-26

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

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

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

6 ANT=Anticipation Specify the timing of the anticipation time for the output Units: seconds
time signal timing. Variable I/LI/I[]/LI[] can
be used. (Units: 0.01
seconds)
When the time is not
specified, the time set in
the anticipation file is
applied.
5. ANTDIS=Distance

7 ANTDIS=Distance Specify the anticipation distance for the output signal Units: mm
timing. Variable I/LI/I[]/LI[] can
be used.
(Units: 0.01 mm)
When the distance is not
specified, the time set in
the anticipation file is
applied.
2-27
Example
(1) Step Instructions

n-1 MOVL V=100
n MOVL V=100 NWAIT
ANTOUT AT#(1) ON
n+1 MOVL V=100
Turns ON the general-purpose signal num-

ber 10 0.5 seconds before the manipulator
reaches the step.(Advanced signal output)
2-28
2.2 Control Instruction : JUMP
2.2 Control Instruction
JUMP
Function
Jumps to specified label or job.
Syntax
Label character
JUMP 1 * string D E A
B/LB/
2 LABEL: 11 Variable No.
B[]/LB[]
12 I G# Input group No.
S/LS/
13 Variable No.
S[]/LS[]
3 JOB:
User
17 UF# coordinate No.
B/LB/
4 Variable No.
B[]/LB[]
5 IG# Input group No. A END
6 QUE 18 IF
I/LI/ 19 IFEXPRESS
7 Variable No.
I[]/LI[]
D/LD/
8 Variable No.
D[]/LD[]
B C
S/LS/
10 Variable No.
S[]/LS[]
Job registration
B 9 JET# 14 ENTRY Registration No. C
table No.
D E
15 LBLST= Byte type 16 LBLDF= Byte type

constant constant
2-29
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)/S Variable
number/LS Variable number/ S [Array number]/LS
[Array number]

1 *Label strings Specify 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: Specify 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 512
number) number is considered to be a job. Variable B/I/D/LB/LI/LD
When the input group number is IG#(x)≠0, can be used.
a jump to the job of the numerical value is executed.
6 QUE A jump to the job stored in the queue is executed. Available only in the
queue function (option:
S2C641).
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 Specify 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:
S2C443)
10 S Variable number/ The character string specified by the character string
LS Variable number/ type variable is considered to be the job.
S [Array number]/
LS [Array number]
2-30

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

one of the tags must be selected from the following table/

11 B Variable number/ Specify the byte type variable in which the numerical
LB Variable number/ value for the label is set.
B [Array number]/
LB [Array number]
12 IG#(Input group Specify the input group number of the numerical value No:1 to 512
number) for the label. B/I/D/LB/LI/LD Variable
can be used.
13 S Variable number/ Specify the character string type variable in which the
LS Variable number/ character string for the label is set.
S [Array number]/
LS [Array number]
3. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in


14 ENTRY=Registration Specify 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. LBLST=Search starting position
When a *label character string “LABEL” is selected from the table in part
1 of this Explanation, add the following tag.

15 LBLST=Search Specify the search position of the label. No.: 0 to 2
starting position 0: Job tip
1: Current position
(Default)
2: End
2-31
5. LBLDF=Search direction
When a *label character string “LABEL” is selected from the table in part 1
of this Explanation, the following tag can be added.

16 LBLDF=Search Specify the search direction number of the label. No.: 0 to 1
direction 0: Search forward
(Default)
1: Search backward
6. 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.

17 UF# (User coordinate Specify the coordinates of the job. Available only in the
number) relative job function.
7. IF / IFEXPRESS
One of the tags can be selected from the following table.

18 IF Specify the IF instruction. The IF instruction evaluates Refer to IF in
various conditions. chapter 2.6 “Instruction
Which Adheres to an
Instruction” .
conditions. Which Adheres to an
Instruction”
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”.
2-32
2.2 Control Instruction : CALL
CALL
Function
Calls the specified job.
Syntax
CALL 1 JOB: D
B/ LB/
2 Variable No.
B[]/ LB[]
3 IG# ( Input group No. )
4 QUE
E A
I/ LI/ I[] User coordinate

10 UF# ( )
5 Variable No. No.
/ LI[]
A END
D/ LD/
6 Variable No.
D[]/ LD[]
11 IF
B C
12 IFEXPRESS
S/LS/
7 Variable No.
S[]/LS[]
Job registration
B 8 JET# ( ) 9 ENTRY= Registration No. C
table No.
13 Argument 14 Argument 15 Argument 16 Argument
17 Argument 18 Argument 19 Argument 20 Argument
2-33
Argument 1 B/ LB Variable No. EN D
2 I/LI Variable No.
3 D/LD Variable No.
4 R/LR Variable No.
5 S/LS Variable No.
6 P/LP Variable No.
7 BP/LBP Variable No.
8 EX/LEX Variable No.
9 Byte type constant
Integer type
10
constant
Double-precision
11
type constant
Real type
12
constant
Character type
13
constant
2-34
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 num-
ber/I [Array number]/LI [Array number]/D Variable
number/LD Variable number/ D [Array number]/LD
[Array number]/ JET# (Job registration table num-
ber)/S Variable number/LS Variable number/ S [Array
number]/LS [Array number]

1 JOB: Specify 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 512
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:
S2C641).
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 Specify 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:
S2C443)
8 S Variable number/ The character string specified by the character string
LS Variable number/ type variable is considered to be the job.
S [Array number]/
LS [Array number]
2-35
2. ENTRY=Registration number
When a JET#(job registration table number) is selected from the table in


9 ENTRY=Registration Specify 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[]/
LI/LI[] can be used.
3. UF# (User coordinate number)

10 UF# (User Specify the user coordinate system of the job to be Available only in the
coordinate number) called. relative job function.
4. IF/IFEXPRESS
Select one of the following tags.

11 IF Specify the IF instruction. Refer toIF in chapter 2.6
“Instruction Which
Adheres to an
Instruction”
Instruction”
5. Argument

13 to Argument Eight arguments (from 12 to 19) can be passed to the
20 (all types of variables job to be called. All types of variables and constants
and constants) can be used as arguments.
2-36
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 can pass 8 arguments to the called job. Also, the RET
instruction can return the 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.
(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 number’s 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:
2-37
<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)
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.
2-38
(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 has 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
<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
2-39
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>.
3. Define arguments.
As shown below, select the pull-down menu {DISPLAY}, then
{ARGUMENT INFO}.
2-40
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.
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.
2-41
(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
(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.
2-42
2. Register local variables.

Register 2 byte-type variables and 3 integer-type variables.
3. Define arguments.
As shown below, define 2 arguments.
4. Describe the job content.

Describe the job content as shown below. LI000 is added as the return
value at the RET instruction. Thus, the addition result will be returned
as the return value.
2-43
(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.
2-44
JOB Stack
When CALL instruction is executed, a specified job is called
up and the information of the calling job is stored in the JOB
stack. By executing END or RET instruction, the job execu-
tion goes back to the calling job, referring to the information
in the JOB stack.
NOTE
The JUMP:JOB instruction calls up a specified job, how-

ever, the information of the calling job isn’t stored in the JOB
stack, so the job execution doesn’t go back to the calling
job.
2-45
Even when executing JUMP:JOB instruction in the job

called by CALL instruction, the job execution goes back to
the calling job by executing END or RET instruction after
that, referring to the content of the JOB stack.
NOTE At this time, the control goes back without going through the
job which JUMP:JOB instruction is executed, so the manip-
ulator may make an unintentional motion. If there isn’t any
special reasons, use CLEAR STACK instruction before or
after the JUMP:JOB instruction to clear the JOB stack.
2-46
This is the case that CALL instruction is executed in a job

with control groups ([D] in the figure below) to call a job with
control groups ([D-1]), and JUMP:JOB instruction is exe-
cuted in the job ([D-1]) to call a job without control groups.
When the job execution turns back to the job with control
groups ([D]) from the job without control groups ([D-2]) by
executing END or RET instruction and a move instruction is
executed after that, “AL4429: WRONG SPECIFIED CON-
TROL GROUP [10]” occurs and the move instruction is pro-
hibited from executing.
Also in this case, as mentioned above, use CLEAR STACK
instruction before or after executing JUMP:JOB instruction
to clear the JOB stack.
NOTE
2-47
2.2 Control Instruction : TIMER
TIMER
Function
Stops for the specified time.
Syntax
TIMER 1 T= Time (s) END
Explanation
1. T=timer
The following tag.must be added.

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

Stops for 12.5 seconds.
(2) SET I002 5

TIMER T=I002
Stops for 0.05 seconds.
2-48
2.2 Control Instruction : *(LABEL)
*(LABEL)
Function
Specify the label for the jump.
Syntax
LABEL 1 * Label strings END
Explanation
1. *Label strings
The following tag must be added.

1 *Label strings Specify 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 GP 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.
2-49
2.2 Control Instruction : ’(COMMENT)
’(COMMENT)
Function
Specify the comment.
Syntax
COMMENT 1 ' Comment strings END
Explanation
1. 'Comment strings

1 'Comment strings Specify 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.
2-50
2.2 Control Instruction : RET
RET
Function
Returns from the called job to the calling job.
Syntax
Argument EN D
B/ LB/ 1 IF
3 Variable No.
B[] / L B[]
2 IFEXPRESS
I/ L I/ I[]
4 Variable No.
/ L I[]
D/ L D/
5 Variable No.
D[] / L D[]
R/ L R/
6 R[] / L R[] Variable No.
S/ LS/
7 Variable No.
S[] / L S[]
Integer type
9
constant
Double-precision
10
type constant
Real type
11
constant
Character type
12
constant
2-51
Explanation
1. IF/IFEXPRESS
Select one of the following tags

1 IF Specify the IF instruction. The IF instruction evaluates Refer to IF in
various conditions. chapter 2.6 “Instruction
Which Adheres to an
Instruction” .
Instruction”
Example
(1) RET IF IN#(12)=ON

If GP 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

3 to Variables other than Return the return value to the call-origin job.
12 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 ” in the explanation of the CALL
instruction.
2-52
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
2-53
2.2 Control Instruction : NOP
NOP
Function
Carries out no operation.
Syntax
NO P EN D
Example
(1) NOP
END
2-54
2.2 Control Instruction : PAUSE
PAUSE
Function
Stops the job temporarily.
Syntax
PAU SE EN D
1 IF
2 IFEXPRESS
Explanation
1. IF/IFEXPRESS

1 IF Specify the IF instruction. Refer to IF in
The IF instruction evaluates various conditions. chapter 2.6 “Instruction
Which Adheres to an
Instruction” .
Instruction”
Example
(1) PAUSE IF IN#(12)=ON

Stops the job temporarily if general-purpose input signal number
12 is ON.
2-55
2.2 Control Instruction : CWAIT
CWAIT
Function
Releases the NWAIT execution (which simultaneously executes the

manipulator operation and instructions excluding the move instruction)
and waits for the next instruction line to be carried out.
CWAIT is used with the NWAIT tag, an additional item of a move
instruction.
Syntax
C WA IT EN D
Example
(1) <Step> <Instructions>

n-1 MOVL V=100
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-1 to the step n, and
turns it OFF when the manipulator reaches the step n.
2-56
2.2 Control Instruction : MSG
MSG
Function
Displays the message.
Syntax
MSG 1 " Message strings " END
S/LS/
2 Variable No.
S[]/LS[]
Explanation
1. “Message strings”/S Variable number/LS Variable

number/ S [Array number]/LS [Array number]

1 'Message strings Specify the message. String: 32 characters
2 S Variable number/ Specify the character type variable number.
LS Variable number/
LS [Array number]
S [Array number]
2-57
2.2 Control Instruction : INPUT
INPUT
Function
Displays the value input window accordance with the specified variable.
Syntax
INPUT 1 B/B[] Variable No. END
2 I/I[] Variable No.
3 D/D[] Variable No.
4 R/R[] Variable No.
Explanation
1. B Variable number/ B [Array number] /I Variable

number/ I [Array number]/D Variable number/ D
[Array number]/R Variable number/ R [Array number]
One of the tags is selected from the following table.

1 B Variable number/ Specify the byte type variable number to set value
B [Array number] by numeric value input.
2 I Variable number/ Specify the integer type variable number to set
I [Array number] value by numeric value input.
3 D Variable number/ Specify the double-precision integer type variable
D [Array number] number to set value by numeric value input.
4 R Variable number/ Specify the real type variable number to set value
R [Array number] by numeric value input.
2-58
2.2 Control Instruction : INPUT
Example
(1) INPUT B000
The following dialog appears when execute the instruction.
When select {NO}, INPUT instruction is ended.

When select {YES}, the following input window appears.
Input “100” and press {ENTER}. “100” is stored into B000, and
INPUT instruction is ended.
2-59
2.2 Control Instruction : ADVINIT
ADVINIT
Not available Not available Available
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 YRC1000 internal processing,
therefore, executing this instruction does not affect the job.
Syntax
A DV I N I T END
2-60
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 YRC1000 internal processing,
therefore, executing this instruction does not affect the job.
Syntax
A DV STO P EN D
2-61
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.
Syntax
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 Specify the character string to be shown on the <Data 1>
terminal display. String: 32 characters
2-62

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] / 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/ Specify the byte type variable number. <Data 2>
LB Variable number/
B [Array number]/
LB [Array number]
3 I Variable number/ Specify the integer type variable number. <Data 2>
LI Variable number/
I [Array number]/
LI [Array number]
4 D Variable number/ Specify the double-precision type variable number. <Data 2>
LD Variable number/
D [Array number]/
LD [Array number]
5 R Variable number/ Specify the real type variable number. <Data 2>
LR Variable number/
R [Array number]/
LR [Array number]
6 S Variable number/ Specify the character type variable number. <Data 2>
LS Variable number/
S [Array number]/
LS [Array number]
2-63
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.
2-64
(4) PRINT B001

Show the value of B001 on the terminal display.
2-65
2.2 Control Instruction : CLS
CLS
Function
Deletes the character string shown on the terminal display.
Syntax
CLS EN D
Example
(1) CLS
Deletes the character string shown on the terminal display.
<Before executing CLS instruction> <After executing CLS instruction>
2-66
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.
Syntax
ABORT EN D
1 IF
2 IFEXPRESS
Explanation
1. IF/EXPRESS

1 IF Specify the IF instruction. The IF instruction Refer to IF in
evaluates various conditions. chapter 2.6 “Instruction
Which Adheres to an
Instruction” .
Instruction”
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.”
2-67
2.2 Control Instruction : SETUALM
SETUALM
Function
Generates an alarm with any given number, name and sub code.
Syntax
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/ Specify the integer type variable number. Number: 8000 to 8999
LI Variable number/
I [Variable number]/
LI [Variable number]/
[Constant]
2-68
2.2 Control Instruction : SETUALM
2. Alarm Name

2 S Variable number/ Specify the alarm name. String: 32 characters
LS Variable number/ S variable: 16 characters
S [Array number]/
LS [Array number]/
[Character string]
3. Subcode

3 B Variable number/ Specify 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/ Specify 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.
2-69
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).
Syntax
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/ Specify the byte type variable number.
B [Array number]
Make sure to add the following tag for the first DIALSB in the DIALOG
instruction.
2-70
2. DIALSB (First)
Shows a message and one button in the dialog.

For details, refer to DIALSB in chapter 2.6 “Instruction Which Adheres to
an Instruction” .
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 in chapter 2.6 “Instruction Which Adheres to
an Instruction” .

Example
The variable settings are shown below.
2-71
(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.)
2-72
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.)
2-73
2.2 Control Instruction : SWITCH
SWITCH
Function
This instruction refers to the specified variable, and determines the next
instruction to perform.
Combining the CASE instruction or the DEFAULT instruction enables to
branch the more than three directions.
This instruction is a structured language.
Syntax
SWITCH variable CASE expressionlist

[statements]
ENDSWITCH
Specified item Contents
variable　　　 Indicates the variable to use the conditional branch.

I variable or LI variable can be specified.
expresstionlist The branch destination of variable.
Must be specified.
statements The series of processing to be executed when
variable value is equal to expresstionlist.
56#46
XCTKCDNG 0Q
GZRTGUUVKQPNKUV!
;GU
UVCVGOGPVU
'0&
2-74
2.2 Control Instruction : CASE
CASE
Function
This instruction adds a branch of the next instruction for the SWITCH
instruction.
This instruction can be registered between SWITCH and ENDSWITCH.
The multiple CASE instructions can be registered within range.
Syntax
SWITCH variable CASE expressionlist

[statements]
CASE expressionlist-n
[statements-n]
ENDSWITCH

expresstionlist This is the first branch destination of variable.
Must be specified.
expresstionlist-n This is a branch destination of variable after second
branch.
statements-n The series of processing to be executed when
variable value is equal to expresstionlist-n.
2-75
2.2 Control Instruction : CASE
56#46
XCTKCDNG 0Q
GZRTGUUVKQPNKUV!
;GU XCTKCDNG 0Q
GZRTGUUVKQPNKUVP!
;GU
UVCVGOGPVU UVCVGOGPVUP
'0&
2-76
2.2 Control Instruction : DEFAULT
DEFAULT
Function
This instruction determines a location to execute the instruction when the

instruction does not corresponded to the any branches of the SWITCH.
This instruction can be only registered between SWITCH and
ENDSWITCH.
Able to register only one instruction within a range.
Syntax
SWITCH variable CASE expresstionlist

[statements]
CASE expresstionlist-n
[statements-n]
DEFAULT
[statements-default]
ENDSWITCH

expresstionlist This is the first branch destination of variable.
Must be specified.
expresstionlist-n This is a branch destination of variable after second
branch.
statements-n The series of processing to be executed when
variable value is equal to expresstionlist-n.
statements-default The series of processing to be executed when
variable value and expresstionlist or expressionlist-
n does not correspond.
2-77
2.2 Control Instruction : DEFAULT
56#46
XCTKCDNG 0Q
GZRTGUUVKQPNKUV!
;GU XCTKCDNG 0Q
GZRTGUUVKQPNKUVP!
;GU
UVCVGOGPVU UVCVGOGPVUP UVCVGOGPVUFGHCWNV
'0&
2-78
2.2 Control Instruction : WHILE
WHILE
Function
Determines true or false of the added conditional expression, and execute

the series of instructions within a range when it is true.
Repeats the instruction as long as the conditional expression is true.
Syntax
WHILE (condition)
[statements]
ENDWHILE

condition The conditional expression to determine true or false.
Able to specify up to six conditional expressions by using
the “AND”, “OR” and brackets “()”.
56#46
EQPFKVKQP 0Q
647'!
;GU
UVCVGOGPVU
'0&
2-79
2.2 Control Instruction : FOR
FOR
Function
Executes the repetition of the series of the instructions for specified

number of times within a range.
Syntax
FOR counter=start TO end STEP stepcount

[statements]
ENDSWITCH

counter Specify the variable to use the loop counter.
Able to specify the I variable or LI variable.
start Specify the initial value of the argument counter.
end Specify the end value of the argument counter.
stepcount Specify the add value to the argument counter by each
loop.
When omitted, it is added by one value.
statements The series of processing to be executed within the
loop.
56#46
EQWPVGT UVCTV
0Q
EQWPVGT GPF!
;GU
UVCVGOGPVU
EQWPVGT
EQWPVGTUVGREQWPV
'0&
2-80
2.2 Control Instruction : IFTHEN
IFTHEN
Function
Determines true or false of the added conditional expression, and then

execute the next instruction.
Enables to operate the sequential processing by combining the ELSEIF
instruction and ELSE instruction.
Syntax
IF (condition)THEN
[statements]
ENDIF

Able to specify up to six conditional expressions by using
statements The series of processing to be executed when the
argument condition is true.
56#46
EQPFKVKQP 0Q
647'
;GU
UVCVGOGPVU
'0&
2-81
2.2 Control Instruction : ELSEIF
ELSEIF
Function
Executes the new conditional expression if the conditional expression of

the IFTHEN instruction or the ELSEIF instruction is false.
This instruction can be registered only between IFTHEN and ENDIF.
The multiple ELSIF instructions can be registered within a range.
Syntax
IF (condition)THEN
[statements]
ELSEIF(condition-elseif)THEN
[statements-elseif]
ENDIF

condition-elseif Able to specify up to six conditional expressions by using
statements-elseif The series of processing to be executed when the
argument condition-elseif is true.
2-82
2.2 Control Instruction : ELSEIF
56#46
EQPFKVKQP 0Q
647'!
;GU
EQPFKVKQPGNUGKH 0Q
647'!
;GU
UVCVGOGPVU UVCVGOGPVUGNUGKH
'0&
2-83
2.2 Control Instruction : ELSE
ELSE
Function
This instruction determines a location to execute the instruction when the

all instructions do not corresponded to the any branches of the SWITCH.
This instruction can be registered only between SWITCH and
ENDSWITCH.
Able to register only one instruction within a range.
Syntax
IF (condition)THEN
[statements]
ELSEIF(condition-elseif)THEN
[statements-elseif]
ELSE
[statements-else]
ENDIF

condition-elseif Able to specify up to six conditional expressions by using
statements-elseif The series of processing to be executed when the
argument condition-elseif is true.
statements-else The series of processing to be executed when all of
the defined conditional expressions before ELSE
instruction are false.
2-84
2.2 Control Instruction : ELSE
56#46
EQPFKVKQP 0Q
647'!
;GU
EQPFKVKQPGNUGKH 0Q
647'!
;GU
UVCVGOGPVU UVCVGOGPVUGNUGKH UVCVGOGPVUGNUG
'0&
2-85
2.2 Control Instruction : SETTM
SETTM
Not Available Available Available
Function
Execute these function, such as to start measuring, to end, to reset, and to

set the time.
Syntax
SETTM 1 TM variable number 2 TSTART EN D
3 TSTOP
4 TRESET
D/LD
5 D[]/LD[]
Constant
Variable
6 TM
Number
Explanation
1. TM variable number
1 TM variable number Specify the TM variable number for the measurement Number: 0 to 59
time writing.
2-86
2.2 Control Instruction : SETTM
2. TMSTART/TSTOP/TRESET/D Variable number/LD

Variable number/D [Arrangement number]/LD
[Arrangement number]/Constant/TM Variable num-
ber
Select one of them shown in the table below.
2 TSTART Specify to start the time measurement.
3 TSTOP Specify to finish the time measurement.
4 TRESET Specify to reset the time measurement.
5 D Variable number / Specify the time measurement by the integer type Number: -2147483648
LD Variable number variable. to 2147483647
/
D [Arrangement
number]/
LD [Arrangement
number]/
[Constant]
6 TM variable number Specify the time measurement by timer variable. Number: 0 to 59
Example
The motion setting of SETTM is shown below.
(1) SETTM TM000 TSTART

Starts measuring and sets the measurement time on TM000.
(2) SETTM TM000 TSTOP
Finishes measuring and sets the measurement time on TM000.
(3) SETTM TM000 TRESET
Sets 0 for the measurement time of TM000.
(4) SETTM TM000 1000
Sets 1000 for the measurement time of TM000, and starts mea-
suring at the same time.
(5) SETTM TM000 TM001
Sets TM001 for measuring time of TM000, and starts measuring at
the same time.
2-87
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.
Syntax
CLEAR <Data 1> <Data 2>
B/LB/B[]/ Byte type

CLEAR 1 LB[]
Variable No. 13 constant
END
14 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
8 $B/$B[] Variable No.
9 $I/$I[] Variable No.
10 $D/$D[] Variable No.
11 $R/$R[] Variable No.
12 $ERRNO
2-88
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/$B Variable num-
ber /$B [Array number] /$I Variable number /$I
[Array number] /$D Variable number /$D [Array num-
ber] /$R Variable number /$R [Array number] /
$ERRNO

1 B Variable number/ Specify 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/ Specify 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/ Specify 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/ Specify the number of the real type variable to be < Data 1 >
LR Variable number/ cleared.
R [Array number]/
LR [Array number]
5 STACK Clear all the job call stack. < Data 1 >
The stack has twelve stack levels in total (the stack
level 12) and stores the called position.
6 QUE Clear all the job queues. <Data 1>
job queue function
(option: S2C641)
7 MPF Clear all the contents of the memo play file. <Data 1>
optional memo play
function.
8 $B Variable number/ Specify the byte type system variable to clear. <Data 1>
$B [Array number]
9 $I Variable number/ Specify the integer type system variable to clear. <Data 1>
$I [Array number]
2-89

10 $D Variable number/ Specify the double precision type system variable to <Data 1>
$D [Array number] clear.
11 $R Variable number/ Specify the real type system variable to clear. <Data 1>
$R [Array number]
12 $ERRNO Clear the all error status. <Data 1>
optional system job
function
About the job call stack

SUPPLE
-MENT
The stack has twelve stack levels in total (the stack level 12) and stores 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
2-90
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, one of the tags must be selected from the following table.

13 Byte type constant Specify the number cleared starting from the number of <Data 2>
the specified variable.
14 ALL All variables starting from the number of the specified <Data 2>
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.
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
2-91
2.3 Operating Instruction : INC
INC
Function
Adds one to the content of the specified variable.
Syntax
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/ Specify the number of the byte type variable.
LB Variable number/
B [Array number]/
LB [Array number]
2 I Variable number/ Specify the number of the integer type variable.
LI Variable number/
I [Array number]/
LI [Array number]
3 D Variable number/ Specify the number of the double precision type
LD Variable number/ variable.
D [Array number]/
LD [Array number]
2-92
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
2-93
2.3 Operating Instruction : DEC
DEC
Function
Subtracts 1 from a specified variable.
Syntax
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/ Specify the number of the byte type variable from which
LB Variable number/ 1 is subtracted.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify 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/ Specify the number of the double-precision type
LD Variable number/ variable from which 1 is subtracted.
D [Array number]/
LD [Array number]
2-94
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
2-95
2.3 Operating Instruction : SET
SET
Function
Sets Data 2 to Data 1.
Syntax
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[]/
5
6 LP[]
Variable No. 39 LP[]
Variable No.
BP/LBP/ BP/LBP/
6
7 BP[]/ Variable No. 40 BP[]/ Variable No.
LBP[] LBP[]
EX/LEX/ EX/LEX/
7
8 EX[]/ Variable No. 41 EX[]/ Variable No.
LEX[] LEX[]
9 OG# ( Output group No. ) 42 Expression
User group
10 OGU# ( output No.
)
11 OT# ( Output No. ) 43 LOGICEXP
12 FL Variable No.
2-96
Byte type Integer type

A 13 constant
B C 19 constant
D
B/LB/B[]/ B/LB/B[]/
14 LB[]
Variable No. 20 LB[]
Variable No.
I/LI/I[] I/LI/I[]
15 /LI[]
Variable No. 21 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
16 LD[]
Variable No. 22 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
17 Variable No. 23 Variable No.
LR[] LR[]
18 Expression 24 Expression
Double-precision Real-number
E 25 F G 31 H
type constant type constant
B/LB/B[]/ B/LB/B[]/
26 LB[]
Variable No.
I/LI/I[] I/LI/I[]
27 /LI[]
Variable No.
D/LD/D[]/ D/LD/D[]/
28 LD[]
Variable No.
R/LR/R[]/ R/LR/R[]/
29 LR[]
Variable No. 35 LR[]
Variable No.
30 Expression 36 Expression
Character type
I 37 constant
J
S/LS/S[]/
38 LS[]
Variable No.
2-97
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]/OG# (Out-
put group number)/OGU# (User group output num-
ber)/OT# (Output number)/FL Variable number

1 B Variable number/ Specify the number of the byte type variable to which < Data1>
LB Variable number/ the data is set.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify the number of the integer type variable to which < Data 1>
LI Variable number/ the data is set.
I [Array number]/
LI [Array number]
3 D Variable number/ Specify the number of the double precision type < Data 1>
LD Variable number/ variable to which the data is set.
D [Array number]/
LD [Array number]
4 R Variable number/ Specify the number of the real type variable to which < Data 1>
LR Variable number/ the data is set.
R [Array number]/
LR [Array number]
5 S Variable number/ Specify the number of the character type variable to < Data 1>
LS Variable number/ which the data is set.
S [Array number]/
LS [Array number]
6 P Variable number/ Specify the number of the robot axis positional variable < Data 1>
LP Variable number/ to which the data is set.
P [Array number]/
LP [Array number]
7 BP Variable number/ Specify the number of the base axis positional variable < Data 1>
LBP Variable to which the data is set.
number/
BP [Array number]/
LBP [Array number]
8 EX Variable number/ Specify the number of the station axis positional < Data 1>
LEX Variable variable to which the data is set.
number/
EX [Array number]/
LEX [Array number]
2-98

9 OG# (Output group Specify the number of GP output group signal < Data 1>
number) (1 group 8 points) to which the data is set. No:1 to 512
Variable B/I/D/LB/LI/LD
can be used.
10 OGU# (User output Specify the number of user group output signal to which < Data 1>
group number) the data is set. No:1 to 64
can be used.
11 OT# (Output Specify the number of GP output signal to which the < Data 1>
number) data is set. No:1 to 4096
can be used.
12 FL Variable number Specify the flag variable number to which the data is < Data 1>
set.
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

of the tags must be selected from the following table.

13 Byte type constant Specify the byte type constant. < Data 2>
14 B Variable number/ Specify the number of the byte type variable. < Data 2>
LB Variable number/
B [Array number]/
LB [Array number]
15 I Variable number/ Specify the number of the integer type variable. < Data 2>
LI Variable number/
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
17 R Variable number/ Specify the number of the real type variable. < Data 2>
LR Variable number/
R [Array number]/
LR [Array number]
18 Expression Specify the expression. <Data 2>
For details of setting the
expression, refer to
chapter 1.4
“Registration of
Expression” .
2-99
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


19 Integer type constant Specify 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
Expression” .
2-100
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


25 Double precision Specify 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
Expression” .
2-101
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,
one of the tags must be selected from the following table.

31 Real type constant Specify the real type constant. < Data 2>
32 B Variable number/ Specify 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
Expression” .
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


37 Character type Specify the character type data. < Data 2>
constant
38 S Variable number/ Specify the number of the character type variable. < Data 2>
LS Variable number/
S [Array number]/
LS [Array number]
2-102
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, the
following tag must be added..

39 P Variable number/ Specify 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,
the following tag must be added..

40 BP Variable number/ Specify 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, the following tag must be added.

41 EX Variable number/ Specify the number of the station axis position variable. < Data 2>
LEX Variable
number/
EX [Array number]/
LEX [Array number]
10. Expression
When OG# (output group number) or OGU# (user group output number)
is selected from the table in part 1 of this Explanation, the following tag
must be added.

42 Expression Specify the expression. < Data 2>
For details of the setting
of expression, refer to
chapter 1.4
“Registration of
Expression”
2-103
11. LOGICEXP
When OT# (output number) or FL Variable is selected from the table in

part 1 of this Explanation, the following tag must be added.

43 LOGICEXP Specify the LOGICEXP instruction. < Data 2>
This instruction determines whether a conditional Refer to LOGICEXP in
statement is true or false. chapter 2.6 “Instruction
Which Adheres to an
Instruction”
Example
(1) SET B000 0

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

The content of P001 is set in P000.
(3) SET OT#(1) LOGICEXP (IN#(1)=ON AND IN#(2)=ON)
When both the GP input no.1 and 2 are ON, the GP
output no.1 becomes ON.
Otherwise, the GP output no.1 is OFF.
(4) SET FL0010 LOGICEXP(B000=1 OR I000=1)
When the content of B000 is 1 or the content of I000 is 1, FL0010
becomes ON. Otherwise, FL0010 is OFF.
2-104
2.3 Operating Instruction : ADD
ADD
Function
Adds Data 1 and Data 2, and stores the result in Data 1.
Syntax
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[]
2-105

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
F G 23 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.
2-106
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/ Specify 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 Specify the number of the integer type variable to be <Data 1>
Variable number/ added.
I [Array number]/
LI [Array number]
3 D Variable number/ Specify 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/ Specify the number of the real-number type variable to <Data 1>
LR Variable number/ be added.
R [Array number]/
LR [Array number]
5 P Variable number/ Specify 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/ Specify 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/ Specify the number of the station axis position type <Data 1>
LEX Variable variable to be added.
number/
EX [Array number]/
LEX [Array number]
2-107
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 Specify the byte type data to be added. <Data 2>
B [Array number]/
LB [Array number]
10 I Variable number/LI Specify 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 Specify the integer type data to be added. <Data 2>
14 B Variable number/ Specify the number of the byte-type variable to be <Data 2>
B [Array number]/
LB [Array number]
2-108

I [Array number]/
LI [Array number]
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 Specify 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]
2-109
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 Specify 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]


LP Variable number/ variable to be added.
P [Array number]/
LP [Array number]
2-110
7. BP Variable number/LBP Variable number/BP [Array

number]/LBP [Array number]

the following tag must be added..

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.
2-111
2.3 Operating Instruction : SUB
SUB
Function
Subtracts Data 2 from Data 1, and stores the result in Data 1.
Syntax
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[]
2-112

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.
2-113
Explanation


LB Variable number/ subtracted.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify 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/ 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]
2-114

[Array number]


8 Byte type constant Specify 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, one of
the tags must be selected from the following table.

13 Integer type constant Specify the integer type data to be subtracted. <Data 2>
B [Array number]/
LB [Array number]
2-115

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



18 Double-precision Specify the double-precision type data to be subtracted. <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]
2-116



23 Real-number type Specify 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]



LP Variable number/ variable to be subtracted.
P [Array number]/
LP [Array number]
2-117


the following tag must be added.

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.
2-118
2.3 Operating Instruction : MUL
MUL
Function
Multiplies Data 1 by Data 2, and stores the result in Data 1.
Syntax
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[]
2-119

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
2-120
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/ 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]
2-121

[Array number]


8 Byte type constant Specify 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 Specify the integer type data to be multiplied. <Data 2>
B [Array number]/
LB [Array number]
2-122

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



18 Double-precision Specify the double-precision type data to be multiplied. <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]
2-123



23 Real-number type Specify 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) Specify 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.
2-124
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, one of the tags must be selected from the
following table after (Element number) of 6.

29 D Variable number/ Specify the number of the double-precision variable by <Data 2>
LD Variable number/ which the element of position type variable is multiplied.
D [Array number]/
LD [Array number]
30 Double-precision Specify 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.
2-125
2.3 Operating Instruction : DIV
DIV
Function
Divides Data 1 by Data 2, and stores the result in Data 1.
Syntax
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[]
2-126

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
2-127
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/ 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]
2-128

[Array number]

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

8 Byte type constant Specify the byte type data by which Data 1 is divided. <Data 2>
9 B Variable number/ Specify 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/ Specify 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]
12 R Variable number/ Specify the number of the real-number type variable by <Data 2>
LR Variable number/ which Data 1 is divided.
R [Array number]/
LR [Array number]



13 Integer type constant Specify the integer type data by which Data 1 is divided. <Data 2>
B [Array number]/
LB [Array number]
2-129

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



18 Double-precision Specify the double-precision type data by which Data 1 <Data 2>
type constant 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]
2-130



23 Real-number type Specify 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) Specify 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.
As for the Element, refer to “Element of position type
variable” of “6.(Element number)” in MUL instruction.
2-131

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

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

29 D Variable number/ Specify the number of the double-precision variable by <Data 2>
LD Variable number/ which the element of the position type variable is
D [Array number]/ divided.
LD [Array number]
30 Double-precision Specify 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.
2-132
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.
Syntax
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 6 TL# ( Tool No. )
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/ Specify 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]
2-133
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 Specify the conversion in the base coordinate system.
4 RF Specify the conversion in the robot coordinate system.
5 TF Specify the conversion in the tool coordinate system.
6 UF# (User Specify 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 Specify 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.
2-134
4. TL# (Tool Number)

8 TL# (Tool number) Specify the tool number. No.: 0 to 63
can be used.
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.
2-135
2.3 Operating Instruction : AND
AND
Function
Carries out logical multiplication of Data 1 and Data 2, and stores the
result in Data 1.
Syntax
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/ Specify 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 Specify the byte type data for which the logical <Data 2>
multiplication is carried out.
2-136
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.
2-137
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.
Syntax
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

The following tag must be added..

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 Specify the byte type data for which the logical sum is <Data 2>
carried out.
2-138
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.
2-139
2.3 Operating Instruction : NOT
NOT
Function
Carries out the logical negation of Data 2, and stores the result in Data 1.
Syntax
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/ Specify the number of the byte type variable to store the <Data 1>
LB Variable number/ 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 Specify the byte type data for which the logical negation <Data 2>
is carried out.
2-140
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.
2-141
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.
Syntax
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 Specify the byte type data for which the exclusive OR is <Data 2>
carried out.
2-142
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.
2-143
2.3 Operating Instruction : MFRAME
MFRAME
Function
By using this instruction, the user coordinates are generated from the
position data in either of the following two methods.
• Method 1: Generating the user coordinates from three position data:
Data 1, Data 2 and Data 3.
• Data 1 shows the position data of the defined point ORG
• Data 2 shows the position data of the defined point XX
• Data 3 shows the position data of the defined point XY
• Method 2: Generating the user coordinates from Data 4 which is one
position data by directly specifying the position of the user
coordinates in Data 4 in either of the following two
　 methods.
• Specifying the position in the base coordinate system.
• Specifying the position in the user coordinates.
Syntax
MFRAME the user coordinates specification <DATA 1> <DATA 2>

<DATA 3>
MFRAME the user coordinates specification <DATA 4> the coordinate
system specification
User END
MFRAME 1 UF# ( 䠅 A B
coordinate No.
C D
P/LP/
2 Variable No.
P[]/LP[]
PX/PX[] PX/PX[] PX/PX[]

A 3 /LPX Variable No. 4 /LPX Variable No. 5 /LPX Variable No. B
/LPX[] /LPX[] /LPX[]
P/LP/
C 6 Variable No. E
P[]/LP[]
BP/LBP
7 /BP[] Variable No.
/LBP[]
E 8 BF D
9 UUF# ( User
coordinate No. 䠅
2-144
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/ Specify the number of the position type variable where
LP Variable number/ the coordinate values of the user coordinate to be
P [Array number]/ created is stored.
LP [Array number]


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


number/ coordinate’s defined point XX has been stored.
PX [Array number]/
LPX [Array number]
2-145


number/ coordinate’s defined point XY has been stored.
PX [Array number]/
LPX [Array number]


6 P Variable number/ Specify the number of the position type variable where <Data 4>
LP Variable number/ the value of the user coordinates is stored.
P [Array number]/
LP [Array number]


7 BP Variable number/ Specify the number of the position type variable where
LBP Variable the value of the user coordinates (the base axis
number/ position) is stored.
BP [Array number]/
LBP [Array number]
7. BF/UUF# (User coordinate number)/

8 BF Specify the position in the base coordinate system.
9 UUF# (User Specify the position in the user coordinate system. No.: 1 to 63
coordinate number) Variable B/I/D/LB/LI/LD
can be used.
2-146
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) MFRAME UF#(1) P000 BF
The user coordinate no.1 is created at the position which is

defined by the value of P000.
(3) MFRAME UF#(1) P000 UUF#(2)
The user coordinate no.1 is created at the position which is

defined by the value of P000 in the user coordinate no.2.
2-147
2.3 Operating Instruction : SETE
SETE
Function
Sets Data 2 in the element of position type variable of Data 1.
Syntax
SETE <Data 1> <Data 2>
SET E 1 P/LP/P[]/ Variable No. 4 ( Element No. ) A B EN D

LP[]
5 TL# ( Tool file No. )

BP/LBP/
LBP[]
Double-precision
A 6 B
constant
EX/LEX/
LEX[] D/LD/D[]/
7 Variable No.
LD[]
2-148
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. (Element number)/TL# (Tool file number)
One of the tags must be from the following table.

4 (Element number) Specify the element of the position type variable to be <Data 2>
set. Element No.: 1 to 255
As for the Element, refer to “Element of position type Variable B/LB can be
variable” of “6.(Element number)” in MUL instruction. used.
5 TL# Specify the tool file number to be set. <Data 2>
(Tool file number) Unable to set to the base axis position type variable and No.: 0 to 63
the station axis type variable.
When the tool number tab is locked in the teaching
condition window, only tool No. “0” is able to be set.
2-149
3. Double-precision type constant/D Variable number/

LD Variable number/D [Array number]/LD [Array
number]
When an element number is selected from the table in part 2 above, one

6 Double-precision Specify the double-precision type data to be set.
type constant
7 D Variable number/ Specify the number of the double-precision type
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) SETE P000 TL#(1)
1 is set in the tool data of P000.
2-150
2.3 Operating Instruction : GETE
GETE
Function
Stores the element of position type variable of Data 2 in Data 1.
Syntax
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]
2-151
2.3 Operating Instruction : GETE

One of the tags must be from the following table.

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

5 (Element number) Specify the number of the of the position type variable Element No.: 1 to 255
element to be stored. Variable B/LB can be
As for the Element, refer to “Element of position type used.
variable” of “6.(Element number)” in MUL instruction.
Example
(1) GETE D000 P000 (3)
The Z axis data of P000 is stored in D000.
2-152
2.3 Operating Instruction : GETS
GETS
Function
Stores the system variable of Data 2 in Data 1.
Syntax
GETS <Data 1> <Data 2>
G ET S B/LB/B[]/ Variable No. 7 $B/$ B[] EN D

1 Variable No.
LB[]
8 $RV
2 I/LI/I[] Variable No. 9 $I/$I[] Variable No.

/LI[]
10 $RV
3 D/LD/D[]/ Variable No. 11 $D/$D[] Variable No.

LD[]
12 $EERNO
13 $RV
4 R/LR/R[]/ Variable No. 14 $R/$R[] Variable No.

LR[]
15 $RV
PX/PX[]
5 /LPX Variable No. 16 $PX/$PX[] Variable No.
/LPX[]
S/LS/
6 Variable No. 17 $RV
S[]/LS[]
2-153
Explanation

ber]/PX Variable number/LPX Variable number/PX
[Array number]/LPX [Array number]/S Variable num-
ber/LS Variable number/S [Array number]/LS [Array
number]

1 B Variable number/ Specify the number of the byte type variable where the <Data 1>
LB Variable number/ system variable is stored.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify the number of the integer type variable where <Data 1>
LI Variable number/ the system variable is stored.
I [Array number]/
LI [Array number]
LD Variable number/ variable where the system variable is stored.
D [Array number]/
LD [Array number]
4 R Variable number/ Specify the number of the real-number type variable <Data1>
LR Variable number/ where the system variable is stored.
R [Array number]/
LR [Array number]
LPX Variable variable where the system variable is stored.
number/
PX [Array number]/
LPX [Array number]
6 S Variable number/ Specify the number of the character string type variable <Data 1>
LS Variable number/ where the system variable is stored.
S [Array number]/
LS [Array number]
2-154
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
$B type
Byte type $B001 Execution series number (0 to 17)
variable
Detected /Not detected by the optional SRCH/
$B002 NSRCH 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
The number of RIN#(1)s detected by the optional

$B016
NSRCH instruction

$B017
NSRCH instruction

$B018
NSRCH instruction

$B019
NSRCH instruction
$B020
NSRCH instruction

$B021
NSRCH instruction
Expanded
$PX type
position $PX000 Current value (pulse type)
variable
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)
$PX004 Current value excluding the shift amount (XYZ type)
$PX005 Teaching position (pulse type)
$PX006 Operation target position (pulse type)
Continued
2-155
Continued
SUPPLE
-MENT
System
Variable
Expanded
$PX type Current position excluding the shift amount and
position $PX007
variable profiling amount (XYZ type)
type
$PX008 F/B pulse → current value (XYZ type)

$PX0010 F/B pulse
Path correction amount (available only with the

$PX040
optional COMARC function)
$PX041 Base coordinate shift amount
$PX042 Robot coordinate shift amount
$PX043 Tool coordinate shift amount
$PX044 User coordinate shift amount
$PX045 3D shift amount
$PX050 Each axis torque command position
$PX100
RIN#(1)’s detected position by the optional NSRCH
to
instruction (pulse type)
$PX149
$PX150
to
instruction (XYZ type)
$PX199
$PX200
to
$PX249
$PX250
to
$PX299
$PX300
to
$PX349
$PX350
to
$PX399
Continued
2-156
Continued
SUPPLE
-MENT
System
Variable
Expanded $PX400
$PX type RIN#(4)’s detected position by the optional NSRCH
position to
variable instruction (pulse type)
type $PX449
$PX450
to
$PX499
$PX500
to
$PX549
$PX550
to
$PX599
$PX600
to
$PX649
$PX650
to
$PX699
2-157
2. $B Variable number/$B [Array number]/$RV

following tag must be added

7 $B Variable number/ Specify the number of the byte type system variable to <Data 2>
$B [Array number] be stored.
8 $RV Receive the returned value of the job <Data 2>
3. $I Variable number/$I [Array number]/$RV


9 $I Variable number/ Specify the number of the integer type system variable <Data 2>
$I [Array number] to be stored.
4. $D Variable number/$D [Array number]/$ERRNO

/$RV


11 $D Variable number/ Specify the number of the double-precision type system <Data 2>
$D [Array number] variable to be stored.
12 $ERRNO Specify the error status <Data 2>
5. $R Variable number/$R [Array number]/$RV

the following tag must be added.

14 $R Variable number/ Specify the number of the real-number type system <Data 2>
$R [Array number] variable to be stored.
15 $RV Receives the returned value of the job <Data 2>
2-158
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,
the following tag must be added,

16 $PX Variable Specify the number of the expanded position type <Data 2>
number/ system variable to be stored.
$PX [Array number]
7. $RV
When a S Variable number, LS Variable number, S [Array number], or LS


17 $RV Receives the returned value of the job <Data 2>
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.
2-159
2.3 Operating Instruction : SQRT
SQRT
Function
Calculates the square root of Data 2, and stores the result in Data 1.
Syntax
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/ store the result.
R [Array number]/
LR [Array number]

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

2 R Variable number/ Specify the number of the real-number type variable <Data 2>
LR Variable number/ whose square root is calculated.
R [Array number]/
LR [Array number]
3 Real-number type Specify the real-number type data whose square root is <Data 2>
constant calculated.
2-160
2.3 Operating Instruction : SQRT
Example
(1) SQRT R000 2
1.414214E + 00 is stored in R000.
2-161
2.3 Operating Instruction : SIN
SIN
Function
Calculates the sine of Data 2(Units: deg), and stores the result in Data 1.
Syntax
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 Specify the real-number type data whose sine is <Data 2>
2-162
2.3 Operating Instruction : SIN
Example
(1) SIN R000 60
8.660254E - 01 is stored in R000.
2-163
2.3 Operating Instruction : COS
COS
Function
Calculates the cosine of Data 2(Units: deg), and stores the result in Data
1.
Syntax
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 Specify the real-number type data whose cosine is <Data 2>
2-164
2.3 Operating Instruction : COS
Example
(1) COS R000 60
5.000000E - 01 is stored in R000.
2-165
2.3 Operating Instruction : ATAN
ATAN
Function
Calculates the arc tangent of Data 2(Units: deg), and stores the result in
Data 1.
Syntax
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


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 Specify the real-number type data whose arc tangent is <Data 2>
2-166
2.3 Operating Instruction : ATAN
Example
(1) ATAN R000 60
8.904516E + 01 is stored in R000.
2-167
2.3 Operating Instruction : MULMAT
MULMAT
Function
Calculates the matrix multiplication of Data 2 and Data 3, and stores the
result in Data 1.
Syntax
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/ Specify the number of the position type variable to store <Data 1>
LP Variable number/ the result.
P [Array number]/
LP [Array number]


2 P Variable number/ Specify 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]
2-168
2.3 Operating Instruction : MULMAT


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 YRC1000, 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
2-169
2.3 Operating Instruction : INVMAT
INVMAT
Function
Calculates the inverse matrix of Data 2, and stores the result in Data 1.
Syntax
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/ Specify the number of the position type variable to store <Data 1>
LP Variable number/ the result.
P [Array number]/
LP [Array number]


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
2-170
2.3 Operating Instruction : GETPOS
GETPOS
Function
Stores the position data of the data2 (step number) in Data 1.
Syntax
GETPOS <Data 1> <Data 2>
GETPOS PX/PX[]/ STEP# ( Step No. ) EN D

1 Variable No. 2
LPX[LPX[]
Explanation


1 PX Variable number/ Specify the expanded position type variable to store the <Data 1>
LPX Variable teaching position data.
number/
PX [Array number]/
LPX [Array number]
2. STEP# (Step number)

2 STEP# Specify the step number of the teaching position data to <Data 2>
(Step number) store. No.: 1 to 999
can be used.
Example
(1) GETPOS PX000 STEP# (1)
In case of R1 job, stores the teaching position data of the first step
in P000.
2-171
2.3 Operating Instruction : VAL
VAL
Function
Converts the numeric values of the character string (ASCII) in the data2
into the real value, and stores the result in data1.
Syntax
VAL <Data 1> <Data 2> radix number
B/LB/ Character
VAL 1 B[]/LB[] Variable No. 5 A
string
S/LS/
6 Variable No.
S[]/LS[]
I/LI/
2 Variable No.
I[]/LI[]
D/LD/
3 Variable No.
D[]/LD[]
R/LR/
4 Variable No.
R[]/LR[]
A EN D
7 RADIX= Radix No.
2-172
Explanation

ber]

LB Variable number/ converted value.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify the number of the integer type variable to store <Data 1>
LI Variable number/ the converted value.
I [Array number]/
LI [Array number]
3 D Variable number/ Specify the number of the double precision type <Data 1>
LD Variable number/ variable to store the converted value.
D [Array number]/
LD [Array number]
4 R Variable number/ Specify the number of the real type variable to store the <Data 1>
LR Variable number/ converted value.
R [Array number]/
LR [Array number]
2. Character string/ S Variable number/LS Variable

number/S [Array number]/LS [Array number]
One of the tags must be selected from the following table

5 Character string Specify the character string to convert <Data 2>
6 S Variable number/ Specify the number of the character type variable to <Data 2>
LS Variable number/ convert the character string
S [Array number]/
LS [Array number]
2-173
3. RADIX=radix number
The following tag can be added or omitted

7 RADIX=radix number Specify the radix number to convert the value
Example
(1) VAL B000 “123”
123 is stored in B000.

(2) VAL B000 “111” RADIX=2
7 is stored in B000.
2-174
2.3 Operating Instruction : VAL2STR
VAL2STR
Function
The data2 value, which is converted into the character, is stored in the
data1.
Syntax
VAL2STR <Data 1> <Data 2>
B/B[]/
S/S[]/ B/B[]/
VAL2STR 1 Variable No. 2 Variable No. EN D
LB/LB[]
LS/LS[] LB/LB[]
I/I[]/
3 Variable No.
LI/LI[]
D/D[]/
4 Variable No.
LD/LD[]
R/R[]/
5 Variable No.
LR/LR[]
2-175
2.3 Operating Instruction : VAL2STR
Explanation
1. S Variable number/LS Variable number/S [Array


LS Variable number/ store the data
S [Array number]/
LS [Array number]

ber]

2 B Variable number/ Specify the number of the byte type variable to covert <Data 2>
LB Variable number/ into the character string.
B [Array number]/
LB [Array number]
3 I Variable number/ Specify the number of the integer type variable to covert <Data 2>
LI Variable number/ into the character string.
I [Array number]/
LI [Array number]
LD Variable number/ variable to covert into the character string.
D [Array number]/
LD [Array number]
5 R Variable number/ Specify the number of the real type variable to covert <Data 2>
LR Variable number/ into the character string.
R [Array number]/
LR [Array number]
Example
(1) VAL2STR S000 B000
The character string “255” i stored in S000 when [255] is stored in

B000.
2-176
2.3 Operating Instruction : ASC
ASC
Function
Retrieves the first character code of the character string (ASCII) of the
data2, and stores it in Data 1.
Syntax
ASC <Data 1> <Data 2>
B/LB/
B/B[]/
ASC 1 Variable No. 2 Character string EN D
B[]/LB[]
LB/LB[]
S/S[]/
3 LS/LS[] Variable No.
Explanation


LB Variable number/ character code.
B [Array number]/
LB [Array number]
2-177
2.3 Operating Instruction : ASC
2. Character string/S Variable number/LS Variable


2 Character string Specify the character string to retrieve the character <Data 2>
code.
3 S Variable number/ Specify the number of the character type variable <Data 2>
LS Variable number/ stored the character string to retrieve the character
S [Array number]/ code.
LS [Array number]
Example
(1) ASC B000 “ABC”
The first character code “A” from the character string “ABC” is
stored in B000.
2-178
2.3 Operating Instruction : CHR$
CHR$
Function
The character (ASCII), which contains the character code of the data2 is
retrieved, and it is stored in Data 1.
Syntax
CHR$ <Data 1> <Data 2>
B/B[]/
S/S[]/
CHR$ 1 Variable No. 2 Byte type constant EN D
LB/LB[]
LS/LS[]
B/LB/
3 Variable No.
B[]/LB[]
Explanation


1 S Variable number/ Specify the number of the byte type variable to store the <Data 1>
LS Variable number/ retrieved character from the character code.
S [Array number]/
LS [Array number]
2-179
2.3 Operating Instruction : CHR$

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

2 Byte type constant Specify the character code to retrieve the character <Data 2>
code.
3 B Variable number/ Specify the number of the byte type variable stored the <Data 2>
LB Variable number/ character code to retrieve the character.
B [Array number]/
LB [Array number]
Example
(1) CHR$ S000 65
The letter “A” ,which is the character code 65, is stored in S000.
2-180
2.3 Operating Instruction : MID$
MID$
Function
Extracts the any length (data 3, 4) of the character string (ASCII) from the
character strings (ASCII) in the data2, and stores the result in Data 1.
Syntax
MID$ <Data 1> <Data 2> <Data 3> <Data 4>
B/B[]/
S/S[]/
MID$ 1 Variable No. 2 Character string A
LB/LB[]
LS/LS[]
S/LS/
3 Variable No.
S[]/LS[]
A 4 Byte type constant EN D
B/LB/
5 Variable No.
B[]/LB[]
B/LB/
9 Variable No.
B[]/LB[]
I/LI/
6
I[]/LI[] Variable No.
I/LI/
10 Variable No.
I[]/LI[]
D/LD/
7 Variable No.
D[]/LD[]
D/LD/
11
D[]/LD[] Variable No.
2-181
Explanation


LS Variable number/ store the extracted character string.
S [Array number]/
LS [Array number]


2 Character string Specify the character string to extract. <Data 2>
LS Variable number/ stored the character string to extract.
S [Array number]/
LS [Array number]

ber/D [Array number]/LD [Array number]

4 Byte type constant Specify the starting position to extract. <Data 3>
LB Variable number/ starting position to extract.
B [Array number]/
LB [Array number]
6 I Variable number/ Specify the number of the integer type variable stored <Data 3>
LI Variable number/ the starting position to extract.
I [Array number]/
LI [Array number]
LD Variable number/ variable stored the starting position to extract.
D [Array number]/
LD [Array number]
2-182

ber/D [Array number]/LD [Array number]

8 Byte type constant Specify the length to extract. <Data 4>
LB Variable number/ length to extract.
B [Array number]/
LB [Array number]
10 I Variable number/ Specify the number of the integer type variable stored <Data 4>
LI Variable number/ the length to extract.
I [Array number]/
LI [Array number]
LD Variable number/ variable stored the length to extract.
D [Array number]/
LD [Array number]
Example
(1) MID$ S000 “123ABC456” 4 3
The three letters “ABC” are extracted from the fourth letter of the
character string “123ABC456” and stored in S000.
2-183
2.3 Operating Instruction : LEN
LEN
Function
Retrieves the total number of the character string (ASCII) of the data2,
and stores the result in Data 1.
Syntax
LEN <Data 1> <Data 2>
B/LB/
B/B[]/
LEN 1 Variable No. 5 Character string EN D
B[]/LB[]
LB/LB[]
I/LI/ S/LS/
I[]/LI[] S[]/LS[]
D/LD/
3 Variable No.
D[]/LD[]
2-184
2.3 Operating Instruction : LEN
Explanation


LB Variable number/ total byte number.
B [Array number]/
LB [Array number]
2 I Variable number/ Specify the number of the integer type variable to store <Data 1>
LI Variable number/ the total byte number.
I [Array number]/
LI [Array number]
LD Variable number/ variable to store the total byte number.
D [Array number]/
LD [Array number]


4 Character string Specify the character string to retrieve the total byte <Data 2>
number.
LS Variable number/ stored the character string to retrieve the total byte
S [Array number]/ number.
LS [Array number]
Example
(1) LEN B000 “ABCDEF”
The total byte number 6 of the character string “ABCDEF” is

stored in B000.
2-185
2.3 Operating Instruction : CAT$
CAT$
Function
Combines the character strings (ASCII) from the data2 and the data3, and
stores the result in Data1.
Syntax
CAT$ <Data 1> <Data 2> <Data 3>
S/LS/
B/B[]/ Variable No.
CAT$ 1 A
S[]/LS[]
LB/LB[]
A 2 Character string 4 Character string EN D
S/LS/ S/LS/
S[]/LS[] S[]/LS[]
Explanation


LS Variable number/ store the combined character.
S [Array number]/
LS [Array number]
2-186
2.3 Operating Instruction : CAT$


2 Character string Specify the character strings to combine. <Data 2>
LS Variable number/ stored the characters to combine.
S [Array number]/
LS [Array number]


4 Character string Specify the character strings to combine. <Data 3>
LS Variable number/ stored the characters to combine.
S [Array number]/
LS [Array number]
Example
(1) CAT$ S000 “ABC” “DEF”
The combined character string “ABCDEF” from the character

string “ABC” and “DEF” is stored in S000.
2-187
2.3 Operating Instruction : STRSTR
STRSTR
Function
The first position where the same character string as the data2 appears in
the data3 is stored into the data1.
Syntax
STRSTR <Data 1> <Data 2> <Data 3>
$$=? 55=?
$$=?
564564 㪈 Variable No. 㪉 Variable No. 㪘
.$.$=? .5.5=?
.$.$=?
㪘㪊 Character string 㪜㪥㪛
55=? $$=?
㪋 Variable No. 㪌 Variable No.
.5.5=? .$.$=?
Explanation


1 B Variable number/ Specify the number of the character type variable to <Data 1>
LB Variable number/ store the appearance position.
B [Array number]/
LB [Array number]


LS Variable number/ where the character string to search the character
S [Array number]/ string.
LS [Array number]
2-188
2.3 Operating Instruction : STRSTR


3 Character string Specify the character strings to search. <Data 3>
LS Variable number/ stored the character string to search.
S [Array number]/
LS [Array number]


5 B Variable number/ Specify the number of the character type variable to
LB Variable number/ store the search start position data of the search
B [Array number]/ character string <data2> .
LB [Array number]
Example
(1) STRSTR B000 S000 “DEF”
Stores “4” into B000 when “ABCDEFGHI” is stored in S000.
2-189
2.3 Operating Instruction : GETARG
GETARG
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.
Syntax
GETARG 1 LB/LB[] Variable No. 9 IARG# ( Argument No. ) END
2 LI/LI[] Variable No.
3 LD/LD[] Variable No.
4 LR/LR[] Variable No.
5 LS/LS[] Variable No.
6 LP/LP[] Variable No.
LBP/
7 Variable No.
LBP[]
8 LEX/ Variable No.

LEX[]
2-190
2.3 Operating Instruction : GETARG
Explanation
1. LB Variable number/LB [Array number]/ LI Variable

number/LI [Array number]/ LD Variable number/LD
[Array number]/ LR Variable number/LR [Array num-
ber]/ LS Variable number/LS [Array number]/LP Vari-
able number/LP [Array number]/LBP Variable
number/LBP [Array number]/ LEX Variable number/
LEX [Array number]/

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

9 IARG# Specify the argument number to be stored in the local Variable B/I/D/LB/LI/LD
(Argument No.) variable. can be used.
Example
(1) An example is shown below.
Calling job Called job䋺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
2-191
2.3 Operating Instruction : GETNAME
GETNAME
Function
Stores the name data of the data2 into data1.
Syntax
GETNAME <Data 1> <Data 2>
S/S[]/
B/B[]/
GETNAME 1 LS/LS[] Variable No. 2 B/B[] Variable No. EN D
LB/LB[]
3 I/I[] Variable No.
4 D/D[] Variable No.
5 R/R[] Variable No.
6 P/P[] Variable No.
7 BP/BP[] Variable No.
8 EX/EX[] Variable No.
9 IN# ( Input No. )
10 OT# ( Input No. )
2-192
2.3 Operating Instruction : GETNAME
Explanation


LS Variable number/ store the data.
S [Array number]/
LS [Array number]
1. B Variable number/B [Array number]/I Variable num-

ber/I [Array number]/D Variable number/D [Array
number]/R Variable number/R [Array number]/P Vari-
able number/P [Array number]/BP Variable number/
BP [Array number]/EX Variable number/EX [Array
number]/IN# (input number)/OT# (output number)

2 B Variable number/ Specify the number of the byte type variable to obtain <Data 2>
B [Array number]/ the name.
3 I Variable number/ Specify the number of the integer type variable to obtain <Data 2>
I [Array number]/ the name.
D [Array number]/ variable to obtain the name.
5 R Variable number/ Specify the number of the real type variable to obtain <Data 2>
R [Array number]/ the name.
P [Array number]/ variable to obtain the name.
BP [Array number]/ variable to obtain the name.
EX [Array number]/ variable to obtain the name.
9 IN(#) input number Specify the user input number to obtain the name. <Data 2>
No.: 1 to 4096
can be used.
10 OT(#) output number Specify the user output number to obtain the name. <Data 2>
No.: 1 to 4096
can be used.
Example
(1) GETNAME S000 B000
If the “COUNT” in stored by a name of B000, “COUNT” is stored in

S000.
2-193
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.
Syntax
SETFILE Condition file specification (Element number) <Data 1>
Sealing adjustment
SETFILE 1 SPR# ( condition file No.
) 5 ( Element No. ) A
Under-coating
2 UDC# ( adjustment condition )
file No.
Weaving condition
3 WEV# ( file No.
)
Painting data setting

4 PDF# ( file No.
)
Double-precision
A 6 type constant
END
D/LD/D[]/
7 LD[]
Variable No.
Explanation
1. SPR# (Sealing adjustment condition file number)/

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

1 SPR# (Sealing Specify 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.
2-194

2 UDC# (Under- Specify the number of the number of the under-coating No.: 1
coating adjustment 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 Specify the number of the weaving condition file. No.: 1 to 255
condition file Variable B/I/D/LB/LI/LD
number) can be used.
4 PDF# (Painting data Specify the painting data setting file number. No.: 1
setting file number) Variable B/I/D/LB/LI/LD
can be used.
2. (Element number)

5 (Element number) Specify the element number of the condition file data to Element No.: 1 to 255
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]

6 Double-precision Specify 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]
2-195
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
data
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 “Weaving Condition File”
YRC1000 ARC WELDING OPERATOR’S MANUAL(RE-CSO-A052).
Example
(1) SETFILE WEV#(1) (5) 3500
Changes the amplitude setting in the weaving condition file num-

ber 1 to 3.500 mm.
2-196
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 obtained by its element number.
Syntax
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. )
Painting data setting

6 PDF# ( file No.
)
A 7 ( Element No. ) END
Explanation


LD Variable number/ variable to store the data.
D [Array number]/
LD [Array number]
2-197
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)/PDF# (Painting data set-
ting file number)

2 SPR# (Sealing Specify 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- Specify 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 Specify the number of the weaving condition file. No.: 1 to 255
condition file Variable B/I/D/LB/LI/LD
number) can be used.
5 AMF# (Arc monitor Specify the number of the arc monitor file. No.: 1 to 100
file number) Variable B/I/D/LB/LI/LD
can be used.
optional arc monitor
function.
6 PDF# (Painting data Specify the number of the painting data setting file. No.: 1
setting file number) Variable B/I/D/LB/LI/LD
can be used.
3. (Element number)

7 (Element number) Specify the element number of the condition file to Element No.: 1 to 255
obtain the data. 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.
2-198
2.3 Operating Instruction : SETREG
SETREG
Function
Copies the specified integer type variable data into the register.
Syntax
SETREG 1 MREG ( 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 Specify the register number to save the data. No.: 0 to 599
number) Variable B/I/D/LB/LI/LD
can be used.
2. LOW/HIGH

2 LOW/HIGH Specify when copying the data into the lower/higher 8
bits of the register.
2-199
2.3 Operating Instruction : SETREG
3. I Variable number/LI Variable number/I [Array num-

ber]/LI [Array number]

3 I Variable number/ Specify 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.
2-200
2.3 Operating Instruction : GETREG
GETREG
Function
Copies the specified register data into the integer type variable.
Syntax
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/ Specify the number of the integer type variable to save
LI Variable number/ the register data.
I [Array number]/
LI [Array number]
2. MREG# (Register number).


2 MREG# (Register Specify the desired register number to be saved into the No.: 0 to 999
number) integer type variable. Variable B/I/D/LB/LI/LD
can be used.
3. LOW/HIGH

3 LOW/HIGH Specify when saving the lower/higher 8 bits out of 16
bits register.
2-201
2.3 Operating Instruction : GETPRM
GETPRM
Function
Stores the specified parameter into the specified variable.

It can be only used at the macro job when the macro command (optional)
is valid.
Syntax
GETPRM <Data1> <Data2> <Data3> <Data4>
㪛㪆㪣㪛 Variable Parameter

㪞㪜㪫㪧㪩㪤㪈㪉㪢㪠㪥㪛㪔㪘
㪛㪲㩷㪴㪆㪣㪛㪲㩷㪴 No. type
㪘㪊㪧㪩㪤㪥㪦㪔 Parameter 㪜㪥㪛

No.
㪋㪤㪘㪯
㪌㪤㪠㪥
Specified control
㪍㪞㪩㪧㪥㪦㪔 group
Explanation
1. D Variable number /LD Variable number /D [Array

number] /LD [Array number]

1 D Variable number/ Specify the number of the double precision type <Data1>
D [Array number]/
LD [Array number]
2-202
2.3 Operating Instruction : GETPRM
2. KIND=Parameter type

2 KIND=parameter Specify the parameter type. <Data2>
type 4: S1CxG No.: 4 to 7
5: S2C Variable B/I/D/B[]/I[]/D[]/
6: S3C LB/LI/LD/LB[]/LI[]/LD[]
7: S4C can be used.
3. PRMNO=Parameter No.

3 PRMNO=parameter Specify the parameter No. <Data3>
No. Variable B/I/D/B[]/I[]/D[]/
LB/LI/LD/LB[]/LI[]/LD[]
can be used.
4. MAX (Specifying the maximum value)

MIN (Specifying the minimum value)
GRPNO=Specifying the control group
The following tag can be added or omitted. However, one of the following
tags must be selected when KIND=4(S1CxG) is specified.

4 MAX Specify the largest specified parameter value in the <Data4>
control group which is included the job to operate the
GETPRM command. The job without control group
which operates the GETPRM command cannot retrieve
the parameter value.
5 MIN Specify the smallest specified parameter value in the <Data4>
control group which is included the job to operate the
GETPRM command. The job without control group
which operates the GETPRM command cannot retrieve
the parameter value.
6 GRPNP=Specify Specify the control group <Data4>
control group Control group: 1 to 16
Variable B/I/D/B[]/I[]/D[]/
can be used.
Example
GETPRM D000 KIND=4 PRMNO=800 GRPNO=1
Stores the soft limit values (+) of the Robot 1to D000.
2-203
2.3 Operating Instruction : SETPRM
SETPRM
Function
Changes the specified parameter into the specified variable.

It can be only used at the macro job when the macro command (optional)
is valid.
Syntax
SETPRM <Data1> <Data2> <Data3> <Data4>
Parameter Parameter
㪪㪜㪫㪧㪩㪤㪈㪢㪠㪥㪛㪔㪉㪧㪩㪤㪥㪦㪔㪘
type No.
㪛㪆㪣㪛 Variable
㪘㪋㪜㪥㪛
㪛㪲㩷㪴㪆㪣㪛㪲㩷㪴 No.
Specified control
㪊㪞㪩㪧㪥㪦㪔
group
Explanation
1. KIND=Parameter type

1 KIND=parameter Specify the parameter type. <Data1>
type 5: S2C Type: 5 to 6
6: S3C Variable B/I/D/B[]/I[]/D[]/
can be used.
2-204
2.3 Operating Instruction : SETPRM
2. PRMNO=Parameter No.

2 PRMNO=Parameter Specify the parameter number. <Data2>
No. The parameter range varies by specifying Variable B/I/D/B[]/I[]/D[]/
KIND=parameter type. LB/LI/LD/LB[]/LI[]/LD[]
KIND=5(S2C) : 3 to 194 can be used.
KIND=6(S3C) : 64 to 1087
3. GRPNO=Specify control group


3 GRPNO=Specify Specify the control group No. <Data3>
control group Tag is not used at this time for future use. Control group: 1 to 16
can be used.
4. D Variable number/ LD Variable number /D [Array

number]/ LD [Array number]

4 D Variable number/ Specify the number of the double precision type <Data4>
D [Array number]/
LD [Array number]
Example
In case of executing SETPRM KIND=5 PRMNO=67 D000 when D000 is

2, the signal method can be switched to the robot coordinate from cubic/
axis interference.
2-205
2.4 Move Instruction : MOVJ
2.4 Move Instruction
MOVJ
Function
Moves to the teaching position by joint interpolation.
Syntax
The tag which can be used is limited by the type of the job.

MOVJ 1 5 6 A B G
position file No. position file No. position file No.
P/LP/P[]/
2 Variable No. C D
LP[]
11 CHK
Station teaching
3 E F
position file No.
EX/LEX
/LEX[] 12 CHK
A B
Point Variable
7 T
No.
C D
BP/LBP EX/LEX
/LBP[] /LEX[]
E F
Point Variable
10 T
No.
2-206
G H
Positioning
13 VJ= Joint speed (%) 14 PL=
level
H I
Amount of
Amount of the station axis
16 MT=
T axis rotation
17 MTE=
rotation
I J
Acceleration
18 NWAIT 20 UNTIL 22 ACC= adjustment
ratio (%)
19 ENWAIT 21 NSRCH
J 25 +MOVJ END
Deceleration
23 DEC= adjustment 24 TRAP
ratio (%) 26 +MOVL
27 +MOVC
28 +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
2-207
Table 2-2: Availability of Each Tag

Control Group
No Tag Note
1 2 3 4 5 6 7
Robot teaching
1     ×  
position file number
2 P/LP/P[]/LP[]     ×  
Station teaching
3 × × × ×  × ×
4 EX/LEX/EX[]/LEX[] × × × ×  × ×
Base axis teaching
5 ×  ×  × × ×
Station teaching
6 × ×   × × ×
7 T     ×   Optional
8 BP/LBP/BP[]/LBP[] ×  ×  × × 
EX/LEX/EX[]/LEX[]
9 × ×   × × ×
10 T × × × ×  × × Optional
11 CHK     ×  
12 CHK × × × ×  × ×
13 VJ=       
14 PL=       
15 SPDL=     ×   Optional
16 MT=     × × × Optional
17 MTE= × ×    × × Optional
18 NWAIT       
19 ENWAIT        Optional
20 UNTIL       
21 NSRCH        Optional
22 ACC=       
23 DEC=       
24 TRAP       
25 +MOVJ × × × × ×   Optional
26 +MOVL × × × × ×   Optional
27 +MOVC × × × × ×   Optional
28 +MOVS × × × × ×   Optional
: Available
: Available only with optional function enabled
×: Not available
2-208
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/ Specify 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/ Specify the position variable number of the station axis. Variable number:
LEX Variable Moves to the position data set in the variable of the 000 to 127
number/ specified number.
EX [Array 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.
2-209
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 Specify 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 LBP

following tag can be added.

8 BP Variable number/ Specify 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
BP [Array number] /
LBP [Array number]
2-210



EX [Array number]/
LEX [Array number]

10 T Point Variable Specify the number of the point variable. Available only with the
number The point variable manages the teaching positions optional point variable
job.
8. CHK

11 CHK Specify the CHK instruction.
CHK evaluates if the manipulator can move to the
target position which is specified by the position
variable number. The results are stored in the system
variables($B050).
9. CHK
When a 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.

12 CHK Specify the CHK instruction.
CHK evaluates if the station can move to the target
position which is specified by the position variable
number. The results are stored in the system
variables($B050).
SUPPLE
For details of the system variables, refer to GETS in
-MENT chapter 2.3 “Operating Instruction”
2-211
10. VJ=Joint speed

13 VJ=Joint speed Specify 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%)
11. PL=Position level /SPDL=Speed level

14 PL=Position level Specify 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.
15 SPDL=Speed level Specify 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 For details, refer to
pulse of all axes goes below a constant value, and the YRC1000 OPTIONS
manipulator is considered to have stopped. INSTRUCTIONS FOR
SERVOFLOAT
FUNCTION(HW1483400)
2-212
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(μm)

Position level 5: SICxG37 (μm)
2-213
12. MT=Amount of the T axis rotation

16 MT=Amount of the T Specify 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.
13. MTE= Amount of the station axis rotation

17 MTE= Amount of the Specify 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.
14. NWAIT/ENWAIT

18 NWAIT Specify 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.
19 ENWAIT Specify 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. S2C714)
Refer to ENWAIT in
chapter 2.6 “Instruction
Which Adheres to an
Instruction” .
2-214
15. UNTIL/NSRCH

20 UNTIL Specify the UNTIL instruction. Refer to UNTIL in
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” .
When the condition of the input signal is full, the robot
executes the next instruction.
21 NSRCH Specify the NSRCH instruction. Available only with the
The NSRCH instruction carries out the position optional search-in-
detection without stopping the manipulator’s motion. motion function.
16. ACC=Acceleration adjustment ratio

22 ACC=Acceleration Specify 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.
17. DEC=Deceleration adjustment ratio

23 DEC=Deceleration Specify 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.
2-215
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
18. TRAP

24 TRAP Specify the TRAP instruction. Refer to TRAP in
When a limit is exceeded during the execution of the chapter 2.6 “Instruction
MOVJ instruction, the TRAP instruction interrupts the Which Adheres to an
execution of the MOVJ instruction and executes a jump Instruction”
to the label which is set as the TRAP instruction.
2-216
19. +MOVJ/+MOVL/+MOVC/+MOVS

25 +MOVJ Specify the joint interpolation motion instruction on the Available only with the optional
master manipulator’s side. coordinate function.
For details, refer to YRC1000
OPTIONS INSTRUCTIONS FOR
INDEPENDENT/COORDINATED
CONTROL FUNCTION
(HW1484042).
26 +MOVL Specify the linear interpolation motion instruction on the Available only with the optional
CONTROL FUNCTION
((HW1484042).
27 +MOVC Specify the circular interpolation motion instruction on Available only with the optional
the master manipulator’s side. coordinate function.
CONTROL FUNCTION
(HW1484042).
28 +MOVS Specify the spline interpolation motion instruction on the Available only with the optional
CONTROL FUNCTION
(HW1484042).
2-217
Example
(1) MOVJ P000 VJ=50.00

Move from the manipulator’s 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
2-218
2.4 Move Instruction : MOVL
MOVL
Function
Moves to the teaching position by linear interpolation.
Syntax

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

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

9 VR= speed (deg/s) 13 CR=
(mm)
External axis
10 VE=
speed (%)
VMAX speed
11 VMAX= (%)
2-219
F G
Amount of
15 MTE= station axis 16 NWAIT
rotation
17 ENWAIT
G H
Acceleration
18 UNTIL 23 ACC= adjustment
ratio (%)
19 SRCH
20 ASRCH
21 HPSRCH
22 NSRCH
NSRCH
H 26 +MOVJ END
Deceleration
ratio (%) 27 +MOVL
28 +MOVC
29 +MOVS

2-220

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
     
2 P/LP/P[]/LP[]      
3 Base axis teaching
×  ×  × 
4 Station teaching
× ×   × ×
5 T       Optional
6 BP/LBP/BP[]/LBP[] ×  ×  × 
7 EX/LEX/EX[]/LEX[]
× ×   × ×
8 V=      
9 VR=      
10 VE= × ×   × ×
11 VMAX=      
12 PL=      
13 CR=      
14 SPDL=       Optional
15 MTE= × ×   × × Optional
16 NWAIT      
17 ENWAIT       Optional
18 UNTIL      
19 SRCH       Optional
20 ASRCH       Optional
21 HPSRCH       Optional
22 NSRCH       Optional
23 ACC=      
24 DEC=      
25 TRAP      
26 +MOVJ × × × ×   Optional
27 +MOVL × × × ×   Optional
28 +MOVC × × × ×   Optional
29 +MOVS × × × ×   Optional
: Available
×: Not available
2-221
Explanation

[Array number]

2 P Variable number/ Specify the position variable number of the robot axis. Variable number: 000
LP Variable number/ Moves to the position data set in the variable of the to 127
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 Specify the point variable number. Available only with the
number The point variable manages the teaching position optional point variable
job.
2-222



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



7 EX Variable number/ Specify the position variable number of the station axis. Variable number: 000
LEX Variable Moves to the position data set in the variable of the to 127
EX [Array number]/
LEX [Array number]
7. V=Tool center point speed /VR=Position angular

speed /VE=External axis speed/VMAX=VMAX speed

8 V=Tool center point Specify the tool center point speed. Variable B/B[]/LB/LB[]/I/
speed Specify 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 Specify the position angular speed. Variable B/B[]/LB/LB[]/I/
speed I[]/LI/LI[]/D/D[]/ LD/LD[]
deg./s)
10 VE=External axis Specify the external axis speed. Speed: 0.01% to
speed 100.00%
Variable B/B[]/LB/LB[]/I/
I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
(Units: 0.01 %)
11 VMAX=VMAX speed Specify VMAX speed. Speed: 50% to 100%
VMAX speed is expressed as the rate with respect to Variable B/B[]/LB/LB[]/I/
the maximum speeds of each axes. I[]/LI/LI[]/D/D[]/ LD/LD[]
can be used.
(Units: %)
2-223
VMAX speed
By using this tag, the speed is specified as the rate with
respect to the maximum speed of each axes.
This tag can be added to MOVL (linear interpolation).
For example, if VMAX=100 is set, the linear interpolation
motion is performed at the TCP speed without exceeding the
maximum speed of each axes.
SUPPLE
-MENT If VMAX=50 is set, the motion is performed at the half speed
of TCP speed when VMAX=100 is set.
Since the speed of each axes is controlled not to exceed the
maximum speed, the TCP speed may not be stable.
Thus, VMAX speed must be used in the case where the
motion with the stable speed is not required for the opera-
tion. If the motion with stable speed is required, use the play
speed V.
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.
13 CR=Corner radius Specify 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 For details, refer to
manipulator is considered to have been stopped. YRC1000 OPTIONS
INSTRUCTIONS FOR
SERVOFLOAT
FUNCTION(HW1483400)
2-224
Corner radius
SUPPLE
-MENT
The manipulator operates by circular interpolation in which

the corner radius is specified.
Corner radius
If the move instruction with the CR is registered in a job, the

next move instruction must be registered in the same job.
NOTE If the next move instruction is not registered in the same
job, the move instruction is executed ignoring “CR=Corner
radius”.
9. MTE= Amount of station axis rotation


15 MTE=Amount of Specify the amount of station axis rotation. Amount of rotation:
number of rotations.
function.
Refer to the axis endless
function for details.
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” .
2-225
11. UNTIL/SRCH/ASRCH/HPSRCH/NSRCH

18 UNTIL Specify the UNTIL instruction. Refer to UNTIL in chapter 2.6
The UNTIL instruction is a tag by which the conditions “Instruction Which Adheres to
of the input signal are evaluated during operation. an Instruction” .
When the condition of the input signal is full, the robot
19 SRCH Specify the SRCH instruction. Available only with the optional
The SRCH instruction is a tag which detects the start searching function.
point. Refer to YRC1000 OPTIONS
INSTRUCTIONS FOR SEARCH
FUNCTION(HW1483392).
20 ASRCH Specify the ASRCH instruction. Available only with the optional
The ASRCH instruction detects input signal’s voltage. general-purpose sensor
function.
OPTIONS INSTRUCTIONS
FOR SENSOR FUNCTION
(HW1483394).
21 HPSRCH Specify the HPSRCH instruction.
The HPSRCH instruction detects the position of the
zero-point.
22 NSRCH Specify the NSRCH instruction. Available only with the optional
The NSRCH instruction detects a position without search-in-motion function.
stopping the motion. For details, refer to YRC1000
OPTIONS INSTRUCTIONS
FOR SEARCH FUNCTION IN
CONTINUOUS MOTION
(HW1483380).

can be used.

can be used.
2-226
14. TRAP

MOVL instruction, the TRAP instruction interrupts the Which Adheres to an
execution of the MOVL instruction and executes a jump Instruction”

26 +MOVJ Specify the joint interpolation motion instruction Available only with the optional
on the master manipulator’s side. coordinate function.
For details, refer to YRC1000 OPTIONS
INSTRUCTIONS FOR INDEPENDENT/
COORDINATED CONTROL FUNCTION
(HW1484042).
27 +MOVL Specify the linear interpolation motion instruction Available only with the optional
(HW1484042).
28 +MOVC Specify the circular interpolation motion Available only with the optional
instruction on the master manipulator’s side. coordinate function.
(HW1484042).
29 +MOVS Specify the spline interpolation motion instruction Available only with the optional
(HW1484042).
2-227
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
2-228
2.4 Move Instruction : MOVC
MOVC
Function
Moves to the teaching position by circular interpolation.
Syntax

MOVC 1 3 4 A B E
P/LP/P[]/
2 Variable No. C D
LP[]
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 (%)
2-229
F G
Amount of
13 MTE= station axis 14 N W AI T
rotation
15 EN W AI T
G H
Acceleration Deceleration
16 ACC= adjustment 17 DEC= adjustment
ratio (%) ratio (%)
H 21 +MOVJ END
Arc attitude control FPT 20 TRAP

18 COORD= 19
specification
22 +MOVL
23 +MOVC
24 +MOVS

2-230

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
     
2 P/LP/P[]/LP[]      
3 Base teaching
×  ×  × 
4 Station teaching
× ×   × ×
5 T       Optional
6 BP/LBP/BP[]/LBP[] ×  ×  × 
7 EX/LEX/EX[]/LEX[] × ×   × ×
8 V=      
9 VR=      
10 VE= × ×   × ×
11 PL=      
13 MTE= × ×   × × Optional
14 NWAIT      
16 ACC=      
17 DEC=      
18 COORD=      
19 FPT      
20 TRAP      
: Available
×: Not available
The three MOVC instructions for the three points which

define a circular arc must be registered in the same job.
NOTE If all of the three MOVC instructions are not registered in the
same job due to the JUMP/CALL instruction,
the manipulator cannot perform the circular interpolation
motion which passes the three points.
2-231
Example

[Array number]

LP Variable number/ Moves to the position data set in the variable of the 000 to 127
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.
2-232



LBP Variable Moves to the position data set in the variable of the 000 to 127
BP [Array number]/
LBP [Array number]



EX [Array number]/
LEX [Array number]

speed /VE=External axis speed

setting screen. can be used. (Units: 0.1
mm/s)
deg/s)
speed 100.00%
can be used.(Units: 0.01
%)
2-233

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
INSTRUCTIONS FOR
SERVOFLOAT
FUNCTION(HW1483400)
9. MTE=Amount of station axis rotation

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

Refer to ENWAIT in
Which Adheres to an
Instruction” .
2-234

can be used.

can be used.
2-235
13. COORD=Arc attitude control specification

18 COORD=Arc attitude Specify the attitude control of arc. Variable B/B[]/LB/LB[]/I/
control specification This is not usually needed, but depending on teaching, I[]/LI/LI[]/D/D[]/LD/LD[]
the intended circular motion may not be performed. can be used to specify
In this case, specify as follows. the attitude control.
When the circular surface is parallel with the robot
installation surface, specify as COORD = 0.
When the circular surface is not parallel with the robot
installation surface, specify as COORD = 1.
Example
NOP
MOVL V=138
MOVC V=138 COORD=1 Step 2
MOVL V=138
MOVL V=138
END
Step 2 to 4 performs the attitude control based on the circular surface.

Step 6 to 7 performs the attitude control based on the robot installation
surface.
Step3 Robot installation surface

MOVC
Step9
Step1
MOVL
MOVL
Step2
MOVC
Step5 Step8
MOVL MOVC Step7
MOVC
Step4
MOVC
Step6
MOVC
2-236
14. FPT Arc end-point setting

19 FPT Specify the end-point of the arc (the point at which the
curvature of the arc is to be changed).
Example
(1) NOP
MOVL V=138
MOVC V=138 Step 2
MOVC FPT V=138 Step 5
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
2-237
15. TRAP

MOVC instruction, the TRAP instruction interrupts the Which Adheres to an
execution of the MOVC instruction and executes a jump Instruction”

21 +MOVJ Specify the joint interpolation motion instruction on the Available only with the optional
CONTROL FUNCTION
(HW1484042).
22 +MOVL Specify the linear interpolation motion instruction on the Available only with the optional
CONTROL FUNCTION
(HW1484042).
23 +MOVC Specify the circular interpolation motion instruction on Available only with the optional
the master manipulator’s side. coordinate function.
CONTROL FUNCTION
(HW1484042).
24 +MOVS Specify the spline interpolation motion instruction on the Available only with the optional
CONTROL FUNCTION
(HW1484042).
2-238
2.4 Move Instruction : MOVS
MOVS
Function
Moves to the teaching position by spline interpolation.
Syntax

MOVS 1 3 4 A B E
P/LP/P[]/
2 Variable No. C D
LP[]
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 (%)
2-239
F G
Acceleration
13 NWAIT 15 ACC= adjustment
ratio (%)
14 ENWAIT
G 18 +MOVJ END
Deceleration
ratio (%) 19 +MOVL
20 +MOVC
21 +MOVS

No. Job type Control Group Remarks
2-240

Control Group
No Tag Note
1 2 3 4 5 6
1 Robot teaching
     
2 P/LP/P[]/LP[]      
3 Base teaching
×  ×  × 
4 Station teaching
× ×   × ×
5 T       Optional
6 BP/LBP/BP[]/LBP[] ×  ×  × 
7 EX/LEX/EX[]/LEX[] × ×   × ×
8 V=      
9 VR=      
10 VE= × ×   × ×
11 PL=      
13 NWAIT      
15 ACC=      
16 DEC=      
17 TRAP      
: Available
×: Not available
2-241
Explanation
[Array number]

2 P Variable number / Specify 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]



job.
2-242



6 BP Variable number / Specify 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]



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


mm/s)
deg/s)
speed 100.00%
%)
2-243

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
INSTRUCTIONS FOR
SERVOFLOAT
FUNCTION
(HW1483400).
9. NWAIT/ENWAIT

Refer to ENWAIT in
Which Adheres to an
Instruction” .
2-244

can be used.

can be used.
12. TRAP

MOVS instruction, the TRAP instruction interrupts the Which Adheres to an
execution of the MOVS instruction and executes a jump Instruction”
2-245

18 +MOVJ Specify the joint interpolation motion Available only with the optional coordinate
instruction on the master manipulator’s side. function.
For details, refer to the YRC1000 OPTIONS
(HW1484042).
19 +MOVL Specify the linear interpolation motion Available only with the optional coordinate
(HW1484042).
20 +MOVC Specify the circular interpolation motion Available only with the optional coordinate
(HW1484042).
21 +MOVS Specify the spline interpolation motion Available only with the optional coordinate
(HW1484042)
2-246
Example
(1) NOP
MOVL V=138
MOVS V=138  Step 2
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.
Step 3
MOVS
Step 4
MOVS Step 6 Step 6
Step 1 Step 2
MOVS MOVL
MOVL MOVS
Step 5
MOVS
2-247
2.4 Move Instruction : IMOV
IMOV
Function
Moves by linear interpolation from the current position for the specified
incremental value.
Syntax
P/LP/P[]/
IMOV 1 Variable No. A
LP[]
BP/LBP
/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
2-248
C E
11 BF 16 UNTIL
12 RF
17 SRCH
13 TF
User
14 UF# ( ) 18 NSRCH
coordinate No.
15 MTF
E F
Acceleration Deceleration
19 ACC= adjustment 20 DEC= adjustment
ratio (%) ratio (%)
F 22 +IMOV EN D
21 TRAP

5 Single Only station axis
2-249

Control Group
No Tag Note
1 2 3 4 5 6 7
1 P/LP/P[]/LP[]     ×  
2 EX/LEX/EX[]/LEX[] × × × ×  × ×
3 BP/LBP/BP[]/LBP[] ×  ×  ×  ×
4 VJ= × × × ×  × ×
5 EX/LEX/EX[]/LEX[]
× ×   × × ×
6 V=     ×  
7 VR=     ×  
8 VE= × ×   × × ×
9 PL=     ×  
10 NWAIT     ×  
11 BF     ×  
12 RF     ×  
13 TF     ×  
14 UF#()     ×  
15 MTF × × × × ×  
16 UNTIL     ×  
17 SRCH     ×   Optional
18 NSRCH     ×   Optional
19 ACC=       
20 DEC=       
21 TRAP       
22 +IMOV × × × × ×   Optional
: Available
×: Not available
2-250
Explanation

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

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



3 BP Variable number / Specify 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
BP [Array number]/
LBP [Array number]
3. VJ=Joint speed
The following tag can be added or omitted only when a 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 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[]
%)
2-251



LEX Variable number Moves the axis according to the position data set in the 000 to 127
EX [Array number]/
LEX [Array number]


6 V=Tool center point Specify the tool center point speed. Speed: 0.1 mm to
speed Specify 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 Specify 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.
2-252
7. NWAIT

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


11 BF Specify the increment value in the base coordinate
system.
12 RF Specify the increment value in the robot coordinate
system.
13 TF Specify the increment value in the tool coordinate
system.
14 UF#(User coordinate Specify 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 Specify 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 Specify the UNTIL instruction. Refer to UNTIL in
The UNTIL instruction is a tag by which the conditions chapter 2.6 “Instruction
of the input signal are evaluated during operation. Which Adheres to an
When the condition of the input signal is full, the robot Instruction” .
17 SRCH Specify the SRCH instruction. Available only with the
The SRCH instruction is a tag which detects the start optional searching
point. function.
For details, refer to
YRC1000 OPTIONS
INSTRUCTIONS FOR
SEARCH
FUNCTION(HW1483392)
18 NSRCH Specify the NSRCH instruction. Available only with the
The NSRCH instruction detects a position without optional search-in-
stopping the motion. motion function.
For details, refer to
YRC1000 OPTIONS
INSTRUCTIONS FOR
SEARCH FUNCTION IN
CONTINUOUS
MOTION(HW1483380).
2-253

can be used.

can be used.
12. TRAP

IMOV instruction, the TRAP instruction interrupts the Which Adheres to an
execution of the IMOV instruction and executes a jump Instruction”
13. +IMOV

22 +IMOV Specify the move instruction for an incremental value of Available only with the optional
the master manipulator. coordinate function.
CONTROL FUNCTION
(HW1484042).
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.
2-254
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.
Syntax
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=   
2 V=   ×
3 VR=   ×
4 VE= ×  ×
: Available
×: Not available
2-255
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%
%)
2-256
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.
2-257
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.
Syntax
Reference
REFP 1 A B END
point No.
2 RBn
3 STn C D
Robot teaching
A 4 B
position file No.
Base teaching Station teaching
6 position file No. 7 position file No.
P/LP/P[]/
5 Variable No. E F
LP[]
BP/LBP
/LBP[]
E F
EX/LEX
/LEX[]
Station teaching
C 10 D
position file No.
EX/LEX
/LEX[]
2-258

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)
2-259

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

1 Reference point Specify the reference point (REFP) number. Reference points:
number 1 to 8
2-260
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
2-261
2. RBn/STn

2 RBn Specify the robot to which the reference point is to be n: 1 to 8
input. RB1: Robot 1
3 STn Specify the station to which the reference point is to be n: 1 to 8
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.
2-262



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]



LEX Variable The position data set in the variable of the specified 000 to 127
EX [Array number]/
LEX [Array number]
8. Station teaching position file number/EX Variable

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

LEX Variable The position data set in the variable of a specified 000 to 127
EX [Array number]/
LEX [Array number]
2-263
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=25.00Approach point
MOVL V=138
ARCON ASF#(1)
REFP 2
MOVL V=138
2-264
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.
Syntax
P/LP/P[]/
SFTON 2 Variable No. A B END
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.
2-265

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#() ● ● ● ● × ● ● ● ●
: Available
×: Not available
Explanation
1. RBn

1 RBn Specify the robot that is to execute a shift operation. n: 1 to 8
RB1: Robot 1
2-266

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/ Specify the position variable number of the robot axis by Variable number:
LP Variable number/ which the shift value is set. 000 to 127
P [Array number]/ The shift is performed by the only increment value
LP [Array number] which is set in the variable of the specified number.
3 BP Variable number/ Specify the position variable number of the base axis by Variable number:
LBP Variable which the shift value is set. 000 to 127
number/ The shift is performed by the only increment value
BP [Array number]/ which is set in the variable of the specified number.
LBP [Array number]
4 EX Variable number/ Specify the position variable number of the station axis Variable number:
LEX Variable by which the shift value is set. 000 to 127
EX [Array number]/ which is set in the variable of the specified number.
LEX [Array number]



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



6 EX Variable number/ Specify the position variable number of the station axis Variable number:
LEX Variable by which the shift value is set. 000 to 127
EX [Array number]/ which is set in the variable of the specified number.
LEX [Array number]
2-267
5. BF/RF/TF/UF# (User coordinate number)


7 BF Specify the shift operation in the base coordinate
system.
8 RF Specify the shift operation in the robot coordinate
system.
9 TF Specify the shift operation in the tool coordinate
system.
10 UF#(User coordinate Specify the shift operation 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
The shift is performed between Step 3 and Step 5 in the user coordinate
system by the amount of the shift which is set in P000.
2-268
2.5 Shift Instruction : SFTOF
SFTOF
Function
Ends the parallel shift operation.
Syntax
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 × × ●
: Available
×: Not available
2-269
2.5 Shift Instruction : SFTOF
Explanation
1. RBn/ST

1 RBn Specify the robot that is to end the shift operation. n: 1 to 8
RB1: Robot 1
2 ST Ends the station axis shift operation.
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
The shift is performed between Step 3 and Step 5 in the user coordinate
system by the amount of the shift which is set in P000.
2-270
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).
Syntax
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[]
2-271
Explanation


1 PX Variable number/ Specify the number of the expanded position variable to <Data 1>
LPX Variable store the calculated shift.
number/
PX [Array number]/
LPX [Array number]
2. BF/RF/TF/UF# (User coordinate number)/MTF

2 BF Specify the calculation of the shift amount in the base
coordinate system.
3 RF Specify the calculation of the shift amount in the robot
coordinate system.
4 TF Specify the calculation of the shift amount in the tool
coordinate system.
5 UF# (User Specify 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 Specify the calculation of the shift amount in the master Available only with the
tool coordinate system. optional independent/
coordinated function.


7 PX Variable number/ Specify the expanded position type variable number of <Data 2>
LPX Variable the reference position to calculate the amount of the
number/ shift.
PX [Array number]/
LPX [Array number]
2-272


8 PX Variable number/ Specify the expanded position type variable number of <Data 3>
LPX Variable the target position to calculate the amount of the shift.
number/
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.
2-273
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.
Syntax
IF <Comparison element 1> =, <>, <=, >=, <, > <Comparison element 2>
IF 1 IN# ( Input No. ) A B END
3 FL Variable No.
4 TF Variable No.
5 IG# ( Input group No. ) C D
6 OG# ( Output group No. )
7 IGU# ( User group ) E F

input No.
8 User group
OGU# ( )
output No.
B/LB/
9 Variable No. G H
B[]/LB[]
I/LI/
10 Variable No. I J
I[]/LI[]
D/LD/
11 Variable No. K L
D[]/LD[]
12 TM Variable No.
R/LR/
13 Variable No. M N
R[]/LR[]
S/LS/
14 Variable No. O P
S[]/LS[]
2-274
B/LB/
A 15 = 16 Variable No. B
B[]/LB[]
17 ON/OFF
B/LB/
C 18 = 20 Variable No. D
B[]/LB[]
19 <>
D/LD/
E 22 = 28 Variable No. F
D[]/LD[]
23 <> Double-precision
29
type constant
24 >
25 >=
26 <
27 <=
Double-precision
G 30 = 36 H
type constant
B/LB/
31 <> 37 Variable No.
B[]/LB[]
32 > I/LI/
38 Variable No.
I[]/LI[]
33 >=
D/LD/
39 Variable No.
D[]/LD[]
34 <
R/LR/
40 Variable No.
35 <= R[]/LR[]
41 47 Integer type
I = J
constant
B/LB/
B[]/LB[]
43 > I/LI/
49 Variable No.
I[]/LI[]
44 >=
D/LD/
50 Variable No.
D[]/LD[]
45 <
R/LR/
51 Variable No.
46 <= R[]/LR[]
2-275
Double-precision
K 52 = 58 L
type constant
B/LB/
B[]/LB[]
54 > I/LI/
60 Variable No.
I[]/LI[]
55 >=
D/LD/
61 Variable No.
D[]/LD[]
56 <
R/LR/
62 Variable No.
57 <= R[]/LR[]
M 63 = 69 Real-type constant N
B/LB/
B[]/LB[]
65 > I/LI/
71 Variable No.
I[]/LI[]
66 >=
D/LD/
72 Variable No.
D[]/LD[]
67 <
R/LR/
73 Variable No.
68 <= R[]/LR[]
Character-type
O 74 = 80 P
constant
S/LS/
S[]/LS[]
76 >
77 >=
78 <
79 <=
2-276
Explanation
1. IN# (Input number) /OT# (Output number) /FL

Variable number /TF Variable number/IG# (Input
group number)/OG# (Output group number)/IGU#
(User group input number)/OGU# (User group output
number)/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] /TM
Variable 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]
Choose one of the tags from the following table.

1 IN# (Input number) Specify the number of the GP input signal to be <Comparison element
compared. 1>
No.: 1 to 4096
can be used.
2 OT# (Output Specify the number of the GP output signal to be <Comparison element
number) compared. 1>
No.: 1 to 4096
can be used.
3 FL Variable number Specify the flag variable number to be compared. <Comparison element
1>
4 TF Variable number Specify the timer flag variable number to be compared. <Comparison element
1>
5 IG# (Input group Specify the number of the GP input group signal <Comparison element
number) (1 group 8points) to be compared. 1>
No.: 1 to 512
can be used.
6 OG# (Output group Specify the number of the GP output group signal (1 <Comparison element
number) group 8points) to be compared. 1>
No.: 1 to 512
can be used.
7 IGU# (User group Specify the number of the user group input signal to be <Comparison element
Input number) compared. 1>
No.: 1 to 64
can be used.
8 OGU# (User group Specify the number of the user group output signal to <Comparison element
output number) be compared. 1>
No.: 1 to 64
can be used.
2-277

9 B Variable number/ Specify the byte type variable number to be compared. <Comparison element
LB Variable number/ 1>
B [Array number]/
LB [Array number]
10 I Variable number/ Specify the integer type variable number to be <Comparison element
LI Variable number/ compared. 1>
I [Array number]/
LI [Array number]
11 D Variable number/ Specify the double-precision type variable number to be <Comparison element
LD Variable number/ compared. 1>
D [Array number]/
LD [Array number]
12 TM Variable number Specify the timer variable number to be compared. <Comparison element
1>
13 R Variable number/ Specify the real type variable number to be compared. <Comparison element
LR Variable number/ 1>
R [Array number]/
LR [Array number]
14 R Variable number/ Specify the character type variable number to be <Comparison element
LR Variable number/ compared. 1>
R [Array number]/
LR [Array number]
2. =
When an IN# (Input number), OT# (Output number), FL Variable or TF

Variable is selected from the table in part 1 of this Explanation, add the
following tag.

15 = It is equal.

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

Variable is selected from the table in part 1 of this Explanation, one of the
tags from the following table is selected after the equal sign (=) which is
added from the table in part 2 of this Explanation.

16 B Variable number/ Specify 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
17 ON/OFF The comparison condition is specified as ON or OFF. <Comparison element
2>
2-278
4. =/<>
When an IG# (Input group number) or OG# (Output group number) is

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

18 = It is equal.

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

selected from the table in part 1 of this Explanation, one of the tags from
the following table is selected after “=” or “<>” which is added from the
table in part 4 of this Explanation.

B [Array number]/
LB [Array number]
21 Byte type constant The comparison condition is specified by byte type <Comparison element
constant. 2>
2-279
6. =/<>/>/>=/</<=
When an IGU# (User group input number) or OGU# (User group output
number) is selected from the table in part 1 of this Explanation, choose
one of the tags from the following table.

22 = It is equal.
25 >= It is greater than or equal.

number] /LD [Array number] /Double-precision type
constant
tags in the following table is selected after “=”, ”<>”, “>”, “>=”, “<“or “<=”
which is added from the table in part 6 of this Explanation.

28 D Variable number/ Specify the double precision type variable number <Comparison element
LD Variable number/ which becomes a comparison condition. 2>
D [Array number]/
LD [Array number]
29 Double-precision Specify the double precision type constant which <Comparison element
type constant becomes a comparison condition. 2>
2-280
8. =/<>/>/>=/</<=
When an B Variable number, LB Variable number, B [Array number] or LB

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

30 = It is equal.

ber] /LR [Array number]
When an B Variable number, LB Variable number, B [Array number], or LB

of the tags from the following table is selected after “=”, “<>”, “>”, “>=”, “<”
or “<=” which is added from the table in part 8 of this Explanation.

36 Byte type constant The comparison condition is specified by the byte type <Comparison element
constant. 2>
37 B Variable number/ Specify the byte type variable number which becomes a <Comparison element
B [Array number]/
LB [Array number]
38 I Variable number/ Specify the integer type variable number which <Comparison element
LI Variable number/ becomes a comparison condition. 2>
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
40 R Variable number/ Specify the real type variable number which becomes a <Comparison element
LR Variable number/ comparison condition. 2>
R [Array number]/
LR [Array number]
2-281
10. =/<>/>/>=/</<=
When a I Variable number, LI Variable number, I [Array number] or LI

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

41 = It is equal.
11. Integer type constant/ B Variable number /LB Vari-

When a I Variable number, LI Variable number, I [Array number], or LI

of the tags from the following table is selected after “=”, “<>”, “>”, “>=”,
“<“or “<=” which is added from the table in part 10 of this Explanation.

47 Integer type constant The comparison condition is specified by the integer <Comparison element
type constant. 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]
2-282
12. =/<>/>/>=/</<=
When an D Variable number, LD Variable number, D [Array number] or LD


52 = It is equal.
13. Double precision type constant /B Variable number

/LB Variable number /B [Array number] /LB [Array
number /R [Array number] /LR [Array number]
When an D Variable number, LD Variable number, D [Array number], LD

[Array number] or TM Variable number is selected from the table in part 1
of this Explanation, one of the tags from the following table is selected
after “=”, “<>”, “>”, “>=”, “<” or “<=” which is added from the table in part 12
of this Explanation.

58 Double precision The comparison condition is specified by the double <Comparison element
type constant precision type constant. 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]
2-283
14. =/<>/>/>=/</<=
When an R Variable number, LR Variable number, R [Array number] or LR


63 = It is equal.
15. Real 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
Variable number /D [Array number] /LD [Array num-
ber] /R Variable number /LR Variable number /R
[Array number] /LR [Array number]

one of the tags from the following table is selected after “=”, “<>”, “>”, “>=”,
“<” or “<=” which is added from the table in part 14 of this Explanation.

B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-284
16. =/<>/>/>=/</<=
When an S Variable number, LS Variable number, S [Array number] or LS


74 = It is equal.
17. Character type constant/S Variable number /LS

ber]


80 Character type The comparison condition is specified by the character <Comparison element
constant type constant. 2>
81 S Variable number/ Specify the character type variable number which <Comparison element
LS Variable number/ becomes a comparison condition. 2>
S [Array number]/
LS [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.
2-285
2.6 Instruction Which Adheres to an Instruction : UNTIL
UNTIL
Function
During the execution of move instruction to which UNTIL instruction is

added, the specified condition is evaluated. If the condition is satisfied,
the ongoing move instruction is forcibly completed and the next instruction
is executed. This instruction is added after other instructions for
processing.
Syntax
B/LB/B[]/
UNTIL 1 IN# ( Input No. ) 2 = 3 Variable No. END
LB[]
4 ON/OFF
Explanation
1. IN# (Input number)

1 IN# (Input number) Specify the number of the general-purpose input signal No.: 1 to 4096
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.
2-286
2.6 Instruction Which Adheres to an Instruction : UNTIL
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/ Specify the byte type variable to be the condition of Least significant bit:
LB Variable number/ execution. 0: OFF
B [Array number]/ 1: ON
LB [Array number]
4 ON/OFF Specify the condition as ON or OFF.
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
2-287
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 or distance, an instruction

other than a move instruction on the instruction line next to the move
instruction that was added with ENWAIT.
Syntax
ENWAIT 1 T= Time (s) EN D
2 DIS= Distance (mm)
Explanation
1. T=Time/DIS= Distance

1 T=Time Specify the time in which the next instruction excluding Time: 0.01 to 655.35
a move instruction is carried out. seconds
Variable I/LI/I []/LI [] can
be used.
2 DIS= Distance Specify the distance in which the next instruction Distance: 0.0 to 6553.5
excluding a move instruction is carried out. mm
can be used.
(Units: 0.1 mm)
2-288
2.6 Instruction Which Adheres to an Instruction : ENWAIT
Example
(1) Step 1 MOVL V=136

Step 2 MOVL V=136 ENWAIT T=3.00
ÉXÉe 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
2-289
2.6 Instruction Which Adheres to an 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.
Syntax
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
4 B/ LB/
Variable number C
B[]/ LB[]
B END
C
B/ LB/ Variable number S/ LS/
5 B[]/ LB[] 6 Variable number
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]
2-290

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

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

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

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

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

LB Variable number/
B [Array number]/
LB [Array number]
2-291
6. S Variable number / LS Variable number / S [Array num-

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

3 S Variable number/ Specify the character string type variable number.
LS Variable number/
S [Array number]/
LS [Array number]
2-292
2.6 Instruction Which Adheres to an Instruction : IFEXPRESS
IFEXPRESS
Function
Evaluates the conditions in which a instruction with this instruction is

executed.
Syntax
IFEXPRESS Conditional statement END

(RELEXPR)
AND
OR
Explanation
1. Conditional statement

- Conditional statement Specify the conditional statement For details of the setting
of conditional statement,
refer to chapter 1.5
“Registration of
Conditional Statement”
2. AND/OR
One of the following tags is selected.

- AND Take a logical product of two or more conditional
statements.
- OR Take a logical sum of two or more conditional
statements.
Example
(1) JUMP *1 IF(IN#(1)=ON AND IN#(2)=ON)

When both the GP input no.1 and 2 are ON, a jump to the label
“*1” is performed.
(2) CALL B000 IF( B000=0 OR B000=1 )

When the content of B000 is 0 or 1, the job “0” or “1” is called.
2-293
2.6 Instruction Which Adheres to an Instruction : FOREXPRESS
FOREXPRESS
Function
Evaluates the conditions in which a instruction with this instruction is

executed.
Syntax
FOREXPRESS Conditional statement END

(RELEXPR)
AND
OR
Explanation

“Registration of
2. AND/OR

statements.
statements.
Example
(1) WAIT FOR(IN#(1)=ON AND IN#(2)=ON)

Wait until both the GP input no.1 and 2 become ON.
(2) WAIT FOR(B000=1 OR I000=1)
Wait until the content of B000 becomes 1 or the content of I000
becomes 1.
2-294
2.6 Instruction Which Adheres to an Instruction : LOGICEXP
LOGICEXP
Function
Determines whether a conditional statement is true of false.
Syntax
LOGICEXP Conditional statement END

(RELEXPR)
AND
OR
Explanation

“Registration of
2. AND/OR

statements.
statements.
Example
(1) SET FL0000 LOGICEXP(IN#(1)=ON AND IN#(2)=ON)

When both the GP input no.1 and 2 are ON, FL0000 becomes ON.
Otherwise, FL0000 is OFF.
(2) SET FL0010 LOGICEXP( B000=1 OR I000=1)
When the content of B000 is 1 or the content of I000 is 1, FL0010
becomes ON. Otherwise, FL0010 is OFF.
2-295
2.6 Instruction Which Adheres to an Instruction : RELEXPR
RELEXPR
Function
Specifies the conditional statement.
Syntax
RELEXPR 1 IN# ( Input No. ) A B END
3 FL Variable No.
4 TF Variable No.
5 IG# ( Input group No. ) C D
6 OG# ( Output group No. )
7 User group
IGU# ( ) E F
input No.
8 User group
OGU# ( )
output No.
B/LB/
9 Variable No. G H
B[]/LB[]
I/LI/
10 Variable No. I J
I[]/LI[]
D/LD/
11 Variable No. K L
D[]/LD[]
12 TM Variable No.
R/LR/
13 Variable No. M N
R[]/LR[]
S/LS/
14 Variable No. O P
S[]/LS[]
2-296
B/LB/
A 15 = 16 Variable No. B
B[]/LB[]
17 ON/OFF
B/LB/
C 18 = 20 Variable No. D
B[]/LB[]
19 <>
D/LD/
E 22 = 28 Variable No. F
D[]/LD[]
23 <> Double precison

29
type constant
24 >
25 >=
26 <
27 <=
G 30 = 36 Byte type constant H
B/LB/
B[]/LB[]
32 > I/LI/
38 Variable No.
I[]/LI[]
33 >=
D/LD/
39 Variable No.
D[]/LD[]
34 <
R/LR/
40 Variable No.
35 <= R[]/LR[]
I 41 = 47 Integer type constant J
B/LB/
B[]/LB[]
43 > I/LI/
49 Variable No.
I[]/LI[]
44 >=
D/LD/
50 Variable No.
D[]/LD[]
45 <
R/LR/
51 Variable No.
46 <= R[]/LR[]
2-297
Double precison
K 52 = 58 type constant L
B/LB/
B[]/LB[]
54 > I/LI/
60 Variable No.
I[]/LI[]
55 >=
D/LD/
61 Variable No.
D[]/LD[]
56 <
R/LR/
62 Variable No.
57 <= R[]/LR[]
M 63 = 69 Real type constant N
B/LB/
B[]/LB[]
65 > I/LI/
71 Variable No.
I[]/LI[]
66 >=
D/LD/
72 Variable No.
D[]/LD[]
67 <
R/LR/
73 Variable No.
68 <= R[]/LR[]
O 74 = 80 Character type constant P
S/LS/
S[]/LS[]
76 >
77 >=
78 <
79 <=
2-298
Explanation
1. IN# (Input number) /OT# (Output number) /FL

Variable number /TF Variable number/IG# (Input
group number)/OG# (Output group number)/IGU#
(User group input number)/OGU# (User group output
number)/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] /TM
Variable 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]

1 IN# (Input number) Specify the number of the GP input signal to be <Comparison element
compared. 1>
No.: 1 to 4096
can be used.
2 OT# (Output Specify the number of the GP output signal to be <Comparison element
number) compared. 1>
No.: 1 to 4096
can be used.
3 FL Variable number Specify the flag variable number to be compared. <Comparison element
1>
4 TF Variable number Specify the timer flag variable number to be compared. <Comparison element
1>
5 IG# (Input group Specify the number of the GP input group signal <Comparison element
number) (1 group 8points) to be compared. 1>
No.: 1 to 512
can be used.
6 OG# (Output group Specify the number of the GP output group signal (1 <Comparison element
number) group 8points) to be compared. 1>
No.: 1 to 512
can be used.
7 IGU# (User group Specify the number of the user group input signal to be <Comparison element
Input number) compared. 1>
No.: 1 to 64
can be used.
8 OGU# (User group Specify the number of the user group output signal to <Comparison element
output number) be compared. 1>
No.: 1 to 64
can be used.
9 B Variable number/ Specify the byte type variable number to be compared. <Comparison element
LB Variable number/ 1>
B [Array number]/
LB [Array number]
2-299

10 I Variable number/ Specify the integer type variable number to be <Comparison element
LI Variable number/ compared. 1>
I [Array number]/
LI [Array number]
11 D Variable number/ Specify the double-precision type variable number to be <Comparison element
LD Variable number/ compared. 1>
D [Array number]/
LD [Array number]
12 TM Variable number Specify the timer variable number to be compared. <Comparison element
1>
13 R Variable number/ Specify the real type variable number to be compared. <Comparison element
LR Variable number/ 1>
R [Array number]/
LR [Array number]
14 S Variable number/ Specify the character type variable number to be <Comparison element
LS Variable number/ compared. 1>
S [Array number]/
LS [Array number]
2. =

Variable is selected from the table in part 1 of this Explanation, add the
following tag.

15 = It is equal.

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

Variable is selected from the table in part 1 of this Explanation, one of the
tags from the following table is selected after the equal sign (=) which is
added from the table in part 2 of this Explanation.

B [Array number]/ Least significant bit:
LB [Array number] 0: OFF
1: ON
17 ON/OFF The comparison condition is specified as ON or OFF. <Comparison element
2>
2-300
4. =/<>

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

18 = It is equal.

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

selected from the table in part 1 of this Explanation, one of the tags from
the following table is selected after “=” or “<>” which is added from the
table in part 4 of this Explanation.

B [Array number]/
LB [Array number]
21 Byte type constant The comparison condition is specified by byte type <Comparison element
constant. 2>
2-301
6. =/<>/>/>=/</<=
number) is selected from the table in part 1 of this Explanation, choose

22 = It is equal.

number] /LD [Array number] /Double-precision type
constant
tags in the following table is selected after “=”, ”<>”, “>”, “>=”, “<“or “<=”
which is added from the table in part 6 of this Explanation.

D [Array number]/
LD [Array number]
29 Double-precision Specify the double precision type constant which <Comparison element
type constant becomes a comparison condition. 2>
2-302
8. =/<>/>/>=/</<=
When an B Variable number, LB Variable number, B [Array number] or LB

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

30 = It is equal.

When an B Variable number, LB Variable number, B [Array number], or LB


36 Byte type constant The comparison condition is specified by the byte type <Comparison element
constant. 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]
2-303
10. =/<>/>/>=/</<=
When a I Variable number, LI Variable number, I [Array number] or LI


41 = It is equal.
11. Integer type constant/ B Variable number /LB Vari-

When a I Variable number, LI Variable number, I [Array number], or LI

of the tags from the following table is selected after “=”, “<>”, “>”, “>=”,
“<“or “<=” which is added from the table in part 10 of this Explanation.

47 Integer type constant The comparison condition is specified by the integer <Comparison element
type constant. 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]
2-304
12. =/<>/>/>=/</<=
When an D Variable number, LD Variable number, D [Array number] or LD


52 = It is equal.
13. Double precision type constant /B Variable number

/LB Variable number /B [Array number] /LB [Array
number /R [Array number] /LR [Array number]
When an D Variable number, LD Variable number, D [Array number], LD

[Array number] or TM Variable number is selected from the table in part 1
of this Explanation, one of the tags from the following table is selected
after “=”, “<>”, “>”, “>=”, “<“or “<=” which is added from the table in part 12
of this Explanation.

B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-305
14. =/<>/>/>=/</<=
When an R Variable number, LR Variable number, R [Array number] or LR


63 = It is equal.
15. Real 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
Variable number /D [Array number] /LD [Array num-
ber] /R Variable number /LR Variable number /R
[Array number] /LR [Array number]

one of the tags from the following table is selected after “=”, “<>”, “>”, “>=”,
“<” or “<=” which is added from the table in part 14 of this Explanation.

B [Array number]/
LB [Array number]
I [Array number]/
LI [Array number]
D [Array number]/
LD [Array number]
R [Array number]/
LR [Array number]
2-306
16. =/<>/>/>=/</<=


74 = It is equal.
17. Character type constant/S Variable number /LS

ber]


80 Character type The comparison condition is specified by the character <Comparison element
constant type constant. 2>
81 S Variable number/ Specify the character type variable number which <Comparison element
LS Variable number/ becomes a comparison condition. 2>
S [Array number]/
LS [Array number]
2-307
2.6 Instruction Which Adheres to an Instruction : TRAP
TRAP
Function
If a limit excess is detected during the execution of the move instruction to

which TRAP instruction is added, the TRAP instruction interrupts the
execution of the move instruction without the occurrence of Alarm and
jumps to the label which is set as TRAP instruction.
Syntax
TRAP 1 * Label character string END
Explanation
1. * Label string

1 * Label strings Specify the label which is the trap destination. String: 8 characters
Example
(1) STEP1 MOVL V=1500.0

SFTON P000
STEP2 MOVL V=1500.0 TRAP *ERR
SFTOF
:
*ERR
STEP3 MOVJ VJ=1500.0
If a limit excess is detected during the transfer to STEP2, the motion is

interrupted without the occurrence of Alarm, a jump to the label “*ERR” is
performed and the transfer to STEP3 starts.
2-308
2.6 Instruction Which Adheres to an Instruction : TRAP
A limit excess such as “AL4414: EXCESSIVE SEGMENT”

is detected.
SFTON P000
STEP1 STEP2
STEP3
2-309
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.
Syntax
ARCON END
Arc start condition

1 WELDn 2 ASF# ( )
file No.
Current output
3 AC= A B C
(A)
Voltage output
A 4 AV= B
(V)
Ratio to proper
5 AVP= voltage output 6 T= Time (s)
value (%)
B C
7 V= Welding speed 8 RETRY 9 REPLAY
2-310
Explanation
1. WELDn
Specify the welding power source number. The number is shown when
several robots (manipulators) for arc welding are used in a job, and not
shown when only one robot (manipulator) is used.

1 WELDn Specify the power source. n: 1 to 8
WELD1: Power source1
2. ASF# (Arc start condition file number) /AC=Current

output value

2 ASF#(Arc start Specify 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 AC=Current output Specify the output value of the welding current. Current value: 1 to 999A
value Variable B/I/D/B[]/I[]/D[]/
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
Explanation, one of the tags must be selected from the following table.

4 AV=Voltage output Specify the output value of the arc voltage (welding Voltage value:
value voltage). 0.1V to 50.0 V
When the power source is ’Individual’, the output value Variable B/I/D/B[]/I[]/D[]/
of the arc voltage is specified. LB/LI/LD/LB[]/LI[]/LD[]
can be used.
(Units: 0.1V)
5 AVP=Ratio to proper Specify 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 power source is ’Same’, the ratio to the LB/LI/LD/LB[]/LI[]/LD[]
aptitude output value of the arc voltage is specified. can be used.
2-311
4. T=Time
Explanation, the following tag can be added or omitted.

6 T=Time Specify the timer value at the welding start. Time: 0.01 to 655.35
Seconds
be used.
5. V=Welding speed

7 V=Welding speed Specify the speed while welding. Speed: 1 to 9000 cm/min
Specify the unit of rate using the operation condition Setting the parameter
setting screen. S2C221 can change the
units.
can be used.
(Units: 1 cm/min)
6. RETRY

8 RETRY Specify the RETRY function. Refer to the supplement
When an arc generation error occurs, the manipulator “RETRY function”.
does not stop its motion and the operation is not
interrupted.
7. REPLAY
When RETRY is selected from the table in part 6 of this Explanation, add
the following tag.

9 REPLAY Specify the REPLAY mode. Refer to the supplement
The manipulator moves in the direction of the previous “RETRY function”.
step, returns to the welding start point, and performs the
ARCON operation again.
2-312
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 YRC1000
-MENT ARC WELDING OPERATOR’S MANUAL(RE-CSO-A052).
2-313
Example
(1) Starts welding with the condition set to No.1 in the arc start condi-
tion file.
(2) NOP
WVON WEV#(2)  Weaving starts
ARCON AC=220 AVP=100 T=0.50  Welding starts
ARCOF  Welding ends
WVOF  Weaving ends
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-314
2.7 Arc Welding Instruction : ARCOF
ARCOF
Function
Outputs welding end command.
Syntax
ARCOF END
Arc end
condition file
1 WELDn 2 AEF# ( No.
)
Current output
3 AC= A B
(A)
Voltage output
A 4 AV= B
(V)
Ratio to proper 6 T= Time (s) 7 ANTSTK

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

WELD1: Power source 1
2-315
2. AEF# (Arc end condition file number) /AC=Current

output value

2 AEF#(Arc end Specify 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 Specify the output value of the welding current. Current value:
value 1 to 999A
can be used.

age output value
Explanation, choose one of the tags from the following table.

4 AV=Voltage output Specify the output value of the arc voltage (welding Voltage value: 0.1 V to
value voltage). 50.0 V
When the power source is ’Individual’ the output value Variable B/I/D/B[]/I[]/D[]/
can be used.
(Units: 0.1 V)
When the power source is ’Same’ the ratio to the LB/LI/LD/LB[]/LI[]/LD[]
4. T=Time

6 T=Time Specify the timer value at welding end. Time: 0.01 to 655.35
seconds
be used.
2-316
5. ANTSTK

7 ANTSTK Specify the automatic sticking release function. Refer to the supplement
By using this function, when the wire sticking is “Automatic wire sticking
detected, it is released automatically by putting out the release function”.
constant voltage without outputting the wire sticking
signal immediately.
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.
For details of the automatic wire sticking release function,

SUPPLE refer to the YRC1000 ARC WELDING OPERATOR’S MAN-
-MENT
UAL(RE-CSO-A052).
2-317
Example
(1) ARCOF AEF#(1)
The welding end condition is set in the arc end condition file No.1.
(2) NOP
ARCOF AC=160 AVP=90 T=0.50  Welding ends
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-318
2.7 Arc Welding Instruction : VWELD
VWELD
Function
Sets the welding voltage by the voltage command value.

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

2. Voltage command value
Specify the command value of the welding voltage.

2 Voltage command Specify the command value of the welding voltage. Command value:
value Specify the command value which is output from the -14.00 V to +14.00 V
power source I/F board. The command value and the Variable I/LI/I[]/LI[] can
actual welding voltage which is output from the power be used.
source are different depending on a model of the power (Units: 0.01 V)
source.
For details of the output characteristics of the power source,

SUPPLE refer to the YRC1000 ARC WELDING OPERATOR’S
-MENT
MANUAL (RE-CSO-A052).
2-319
2.7 Arc Welding Instruction : VWELD
Example
(1) VWELD 6.0
The command value of the welding voltage is set to 6.0V.
2-320
2.7 Arc Welding Instruction : AWELD
AWELD
Function
Sets the welding current by the current command position.

Syntax
Current reference
AWELD 2 END
value (A)
1 WELDn
Explanation
1. WELDn

2. Current command value
Specify the command value of the welding current.

2 Voltage command Specify the command value of the welding current. Command value:
value Specify the command value which is output from the -14.00 V to +14.00 V
power source I/F board. The command value and the Variable I/LI/I[]/LI[] can
actual welding current which is output from the power be used.
source are different depending on a model of the power (Units: 0.01 V)
source.
For details of the output characteristics of the power source,

SUPPLE refer to the YRC1000 ARC WELDING OPERATOR’S
-MENT
MANUAL(RE-CSO-A052).
2-321
2.7 Arc Welding Instruction : AWELD
Example
(1) AWELD 6.0
The command value of the welding current is set to 6.0V.
2-322
2.7 Arc Welding Instruction : ARCSET
ARCSET
Function
Sets and changes each welding condition individually.

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

3 AC= ) D E
file No.
A B
Voltage output
4 AV=
value (V)
6 V= Welding speed
Ratio to proper
5 AVP= voltage output
(%)
B C
Aimed value of Aimed value of
7 AN3= instruction 8 AN4= instruction
voltage (V) voltage (V)
㪛㪜
㪐㪘㪚㪦㪥㪛㪔 Specifying
the condition
2-323
Explanation
1. WELDn
Specify the welding power source number.

The number is shown when several robots (manipulators) for arc welding
are used in a job, and not shown when only one robot (manipulator) is
used.

2. AC=Current output value / ASF#(Arc start condition

file number)

2 AC=Current output Specify the output value of the welding current. Current value: 1 to 999 A
can be used.
3 ASF#(Arc start Specify 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 Specify the output value of the arc voltage (welding Voltage value:
value voltage). 0.1V to 50.0 V
When the power source is ’Individual’, the output value Variable B/I/D/B[]/I[]/D[]/
can be used.
(Units: 0.1V)
When the power source is ’Same’, the ratio to the LB/LI/LD/LB[]/LI[]/LD[]
2-324
4. V=Welding speed

6 V=Welding speed Specify the speed while welding. Speed:
Specify the unit of rate using the operation condition 1 to 9000 cm/min
setting screen. Setting the parameter
S2C221 can change the
units.
can be used.
(Units: 1 cm/min)
5. AN3=Aimed value of instruction voltage

7 AN3=Aimed value of Specify 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)
7. ACOND=Specifying the condition

When the enhanced welding condition file function is effective, the
following tag can be added or omitted. Also, when ASF# (the arc start
condition file number) is selected from the table in part 2 of this

9 ACOND= Specifying Specify the either the start condition or the main Condition: 0 to 1
the condition condition in the welding start condition file to be applied. 0: Start condition
If this tag is omitted, the main condition will be applied. 1: Main condition
Variable B/ I/D/LB/LI/LD
can be used.
For details of the enhanced welding condition file function,

SUPPLE refer to YRC1000 ARC WELDING OPERATOR’S MANUAL
-MENT
(RE-CSO-A052).
2-325
Example
(1) NOP
MOVJ VJ=80.00  Step 2(Arc start position)
ARCON AC=200 AVP=100 T=0.30  Arc starts
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
Waiting position
Step7
Step3 Step4
Step1
Step6
Step2
AC=200 Step5
AC=250
2-326
2.7 Arc Welding Instruction : WVON
WVON
Available Available Available Arc, laser welding,

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

2 Coordinated Two manipulators or more. The coordinated
operation
function(option).
This function can be
specified only when it's
effective.
2-327

No Tag Control Group Note
(manipulator)
1 2 or
more
1 RBn × ●
2 WEV#() ● ●
3 AMP= ● ●
4 FREQ= ● ●
5 ANGL= ● ●
6 DIR= ● ●
: Available
×: Not available
Explanation
1. RBn
Choose the following tag when two manipulators or more are used.

1 RBn Specify the robot (manipulator) which executes a n: 1 to 8
weaving operation. RB1: Robot 1
2. WEV# (Weaving condition file number)/AMP=Weav-

ing single amplitude

2 WEV#(Weaving Specify 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 Specify the amplitude of weaving. Single amplitude: 0.1
signal amplitude mm to 99.9 mm
mm)
2-328
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 Specify 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 Specify the weaving angle. Angle:
angle 0.1 deg. to 180.0 deg.
can be used.
(Units: 0.1 deg.)
5. DIR=Direction of weaving

6 DIR=Direction of Specify the direction of weaving. Refer to the Direction: 0 or 1
weaving supplement “Weaving conditions”. 0: Forward
1: Reversed
can be used.
2-329
Setting conditions for weaving

SUPPLE • Weaving half-amplitude
-MENT
Specify the amplitude size of weaving motion.
Half-amplitude
• Weaving angle
Specify the angle of weaving motion.
Wall direction Wall direction
Angle: 0.0 to 180.0 Vertical/horizontal distance:
1.0 to 25.0mm
Angle
Vertical Vertical
distance
Horizontal direction Horizontal direction
Horizontal Horizontal
distance
MODE: TRIANGLE, L-TYPE MODE: TRIANGLE, L-TYPE
• Starting direction of weaving

Specify the starting direction of weaving motion.
Forward Backward
SINGLE 2 3
1 4 2
3
4 1
direction direction
Forward Backward
2 2
TRIA NGLE 3 1
1 Horizontal 3 Horizontal
direction direction
Forward Backward
3 2
L-TYP E 4 1
2 3
1 Horizontal 4 Horizontal
direction direction
Forward Reverse
2 4 5
3
ELLIPS E
1 Travel 1 Travel
direction direction
4 5 3 2
direction direction
2-330
For details of the weaving condition file number, refer to the

SUPPLE YRC1000 ARC WELDING OPERATOR’S MANUAL
-MENT
(RE-CSO-A052).
Example
(1) WVON WEV#(1) DIR=1

Weaving starts with the conditions specified in the weaving condi-
tion file.
(2) NOP
WVON AMP=5.0 FREQ=3.0 ANGL40.0  Weaving starts
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-331
2.7 Arc Welding Instruction : WVOF
WVOF
Available Available Available Arc, laser welding,

material handling, press
tending, cutting, and
other applications
Function
Ends weaving operation.
Syntax
The tags to be added differ depending on the control group in the job.
WVOF END
1 RBn

2 Coordinated Two manipulators or more. The coordinated
operation function
(option).
This function can be
specified only when it's
effective.

No Tag Control Group Note
(manipulator)
1 2 or
more
1 RBn × ●
: Available
×: Not available
2-332
2.7 Arc Welding Instruction : WVOF
Explanation
1. RBn
Choose the following tag when two manipulators or more are used.

1 RBn Specify the robot (manipulator) which ends the weaving n: 1 to 8
operation. RB1: Robot 1
Example
(1) NOP
END
Waiting position
Step 6
Step 1
Step 5
Step 2
Step 3
Step 4
2-333
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 manipulator 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.
Syntax
ARCCTS EN D
Welding start
1 WELDn 2 ASF#
condition file No.
AC= Current output

3 (A) A B C
A B
Command
Voltage output
4 AV = 6 AN3= voltage aimed
(V)
value (V)
Ratio to proper
5 AV P= voltage output
value (%)
B C
Command
Excution
7 AN4= voltage aimed 8 DIS=
section (mm)
value (V)
2-334
Explanation
1. WELDn

used.

2. ASF# (Welding start condition fine number)/ AC=Cur-

rent output value

2 ASF# Specify the welding start condition file number. Current value: 1 to 1000
(Welding start The condition of when to start is registered in this Variable B/I/D/LB/LI/LD
condition file welding start condition file number can be used.
number)
3 AC=Current output Specify the aimed value of the welding current. Current value: 1 to 999A
can be used to specifiy
the current value.

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

4 AV=Voltage output Specify the aimed value of the welding voltage. Voltage value: 0.1 V to
value 50.0 V
can be used.
(Units: 0.1 V)
5 AVP=Ratio to proper Specify 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.
2-335

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

be used.
(Units: 0.01 V)
6. DIS=Performance interval

8 DIS= Execution Specify the execution section to change the current or Interval:
section the volt. 0.0 to 6553.5 mm
The execution section is set up by the distance from the Variable B/I/D/B[]/I[]/D[]/
move start point. If there is no specified section, the LB/LI/LD/LB[]/LI[]/LD[]]
whole move instruction will be target to be changed. can be used.
(Units: 0.1 mm)
Slope up/down function

SUPPLE
-MENT
The slope up/down function allows for the current and the
voltage value etc.,to be gradually changed during welding.
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 YRC1000

ARC WELDING OPERATOR’S MANUAL(RE-CSO-A052).
2-336
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.
Gradually Decreasing Current or Voltage Gradually Increasing Current or Voltage
Value immediately before execution ARCCTS aimed value

of move instruction
Value immediately before
ARCCTS execution of move
aimed value instruction
ARCCTS executed ARCCTS executed

DIS =100 DIS=100
Move distance specified Move distance specified
by move instruction by move instruction
Welding continues Welding continues
(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, the voltage, the analog output 3 and the analog output
4 are changed in the section of 100mm from the move start point.
2-337
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.
Syntax
ARCCTE EN D
Welding start
1 WELDn 2 ASF#
condition file No.
Current output A B C
3 AC= (A)
A B
Command
Voltage output
4 AV = 6 AN3= voltage aimed
(V)
value (V)
Ratio to proper
5 AV P= voltage output
value (%)
B C
Command
Excution
7 AN4= voltage aimed 8 DIS=
section (mm)
value (V)
2-338
Explanation
1. WELDn

used.

2. ASF# (Welding start condition fine number)/ AC=Cur-

rent output value

2 ASF# Specify the welding start condition file number. Current value: 1 to 1000
(Welding start The condition of when to start is registered in this Variable B/I/D/LB/LI/LD
condition file welding start condition file number can be used.
number)
3 AC=Current output Specify the aimed value of the welding current. Current value: 1 to 999A
can be used.

age output value

4 AV=Voltage output Specify the aimed value of the welding voltage. Voltage value: 0.1 V to
value 50.0 V
can be used.
(Units: 0.1 V)
5 AVP=Ratio to proper Specify 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.
2-339

be used.
(Units: 0.01 V)

be used.
(Units: 0.01 V)
6. DIS=Performance interval

8 DIS= Execution Specify the execution section to change the current or Interval:
section the volt. 0.0 to 6553.5 mm
The execution section is set up by the distance from the Variable B/I/D/B[]/I[]/D[]/
move start point. If there is no specified section, the LB/LI/LD/LB[]/LI[]/LD[]]
whole move instruction will be target to be changed. can be used.
(Units: 0.1 mm)
For details of the slope up/down function, refer to the

SUPPLE YRC1000 ARC WELDING OPERATOR’S MANUAL
-MENT
(RE-CSO-A052).
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.
2-340
Gradually Decreasing Current or Voltage Gradually Decreasing Current or Voltage
ARCCTE
Value immediately before execution of move instruction aimed value
Value immediately before
execution of move instruction
ARCCTE
aimed value
ARCCTE executed ARCCTE executed

DIS=100 DIS=100
Move distance specified Move distance specified
by move instruction by move instruction
Welding continues Welding continues
(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, the voltage, the analog output 3 and the analog output
4 are changed in the section of 100mm from the move end point.
2-341
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.
Syntax
B/LB/B[]/
HAND 1 Hand No. 2 Variable No. A
LB[]
3 ON/OFF
A END
4 ALL
Explanation
1. Hand number

1 Hand number Specify the hand number. No.: 1 to 4
can be used.
2-342
2.8 Handling Instruction : HAND

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

2 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 be 0: OFF
B [Array number]/ sent to the tool valve. 1: ON
LB [Array number]
3 ON/OFF Specify the ON/OFF status of the signal to be sent to
the tool valve.
3. ALL

4 ALL Specify the simultaneous control of Valve 1 and Valve 2. Used when a 3P
solenoid is used.
Example
HAND 1 OFF
Turns OFF the signal output to tool valve 1.
2-343
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” .
Syntax
B/LB/B[]/
HSEN 1 Sensor No. 2 Variable No. A
LB[]
3 ON/OFF
A END
4 T= Time (s)
5 FOREVER
Explanation
1. Sensor number

1 Sensor number Specify the sensor number. No.: 1 to 8
can be used.
2-344
2.8 Handling Instruction : HSEN

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

2 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]
3 ON/OFF Specify the ON/OFF status of the monitor input of the
tool sensor.
3. T=Time/FOREVER

4 T=Time Specify the time for monitoring the input status. Time: 0.01 to 655.35
seconds
be used.
5 FOREVER Specify 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.
2-345
2.9 General-purpose Instruction : TOOLON
2.9 General-purpose Instruction
TOOLON
Available Available Available Material handling,

press tending,
cutting, and other
applications
Function
Turns ON the work instruction.
Syntax
TOOLON END
1 UNITn
Explanation
1. UNITn
Choose one of the units. These tags are valid for a system with multiple
applications in which two or more applications are used for material
handling, press tending, cutting, or other applications.
These tags are not shown when there is only one application.
1 UNITn Specify the unit. n: 1 to 8

UNIT1: UNIT1
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.
2-346
2.9 General-purpose Instruction : TOOLOF
TOOLOF
Available Available Available Material handling,

press tending,
cutting, and other
applications
Function
Turns OFF the work instruction.
Syntax
TOOLOF END
1 UNITn
Explanation
1. UNITn
Choose one of the units. These tags are valid for a system with multiple
applications in which two or more applications are used for material
handling, press tending, cutting, and other applications.
These tags are not shown when there is only one application.

1 UNITn Specify the Unit. n: 1 to 8
UNIT1: UNIT1
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.
2-347
2 INFROM Explanation
2.10 Spot Welding Instruction : GUNCL
2.10 Spot Welding Instruction
GUNCL
Available Available Available Spot
Function
Applies pressure to the air gun.
Syntax
Gun pressure
GUNCL 1 GUN# ( Gun No. ) 2 T= A
time (s)
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=Gun pressure time

2 T=Gun pressure time Specifies the time during which the air gun is closed. Time: 0.01 to 655.35
seconds
be used.
2-348
2.10 Spot Welding Instruction : GUNCL
3. ATT= Anticipation time

3 ATT=Anticipaton Specifies the anticipation time for which the execution Time: 0.00 to 655.35
time of the GUNCL instruction is advanced. seconds
The GUNCL instruction is carried out in advance for the Variable I/LI/I[]/LI[] can
specified time before reaching the step immediately be used.
before the GUNCL instruction. (Units: 0.01 seconds)
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).
2-349
2.10 Spot Welding Instruction : SPOT
SPOT
Function
Starts the welding sequence after pressure has been applied to the air
gun.
Syntax
Gun 1 operation
SPOT 1 GUN# ( Gun 1 number ) 2 MODE= A
mode
Gun 1 welding
A 3 WTM=
conditions
D
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.
2-350
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.
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.
2-351
5. MODE=Gun 2 operation mode
When a Gun 2 number (GUN#) is selected from the table in part 4 of this
Explanation, add the following tag.

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.
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 Time: 0.00 to 655.35
time of the SPOT instruction is advanced. seconds
The SPOT instruction is carried out in advance for the Variable I/LI/I[]/LI[] can
specified time before reaching the step immediately be used.
before the SPOT instruction. (Units: 0.01 seconds)
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.
2-352
2.10 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.
Syntax
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.
2-353
2.10 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.
Syntax
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.
2-354
YRC1000 OPTIONS
INSTRUCTIONS
FOR INFORM LANGUAGE
HEAD OFFICE
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Phone +81-93-645-7703 Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)

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Phone +1-937-847-6200 Fax +1-937-847-6277
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YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542
YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513
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.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741
Specifications are subject to change without notice

for ongoing product modifications and improvements.
MANUAL NO. RE-CKI-A466 3

C Printed in Japan November 2017 16-10

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What safety classifications are used in the manual?

YRC1000 OPTIONS

MANUAL NO. RE-CKI-A466 3

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

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

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

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

Definition of Terms Used Often in This Manual

Equipment Manual Designation

Equipment Manual Designation

Description of the Operation Procedure

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

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

1.1.1 INFORM ............................................................................................................... 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 Registration of Conditional Statement ............................................................................. 1-12

1.5.1 Conditional Statement ........................................................................................ 1-12

1.5.2 Registration ........................................................................................................ 1-14

1.6 INFORM Syntax............................................................................................................... 1-17

1.6.1 Example of Syntax ............................................................................................. 1-17

1.6.2 INFORM Syntax Elements ................................................................................. 1-18

1.6.3 Meaning of INFORM Syntax............................................................................... 1-18

1.6.4 Explanation Table............................................................................................... 1-19

1.7 The Structured Language ................................................................................................ 1-20

1.7.1 The Type of the Structured Language................................................................ 1-20

1.7.3 Multiplexing of the Structured Language ............................................................ 1-30

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

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

2.2 Control Instruction............................................................................................................ 2-29

2.3 Operating Instruction........................................................................................................ 2-88

GETE .......................................................................................................... 2-151

2.4 Move Instruction ............................................................................................................ 2-206

2.5 Shift Instruction .............................................................................................................. 2-265

2.6 Instruction Which Adheres to an Instruction .................................................................. 2-274

2.7 Arc Welding Instruction .................................................................................................. 2-310

2.8 Handling Instruction ....................................................................................................... 2-342

2.9 General-purpose Instruction .......................................................................................... 2-346

2.10 Spot Welding Instruction .............................................................................................. 2-348

1.1 About INFORM

• 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

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