Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
425
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
SR1-X/SR1-P
Robot Language Table
Command Description
MOVA Moves to a point data position.
MOVI Moves from current position by amount of point data.
MOVF Moves until a specied DI input is received.
JMP Jumps to a specied label in the specied program.
JMPF
Jumps to a specied label in a specied program
according to the input condition.
JMPB
Jumps to a specied label in a specied program
when general-purpose input or memory input is in the
specied state.
L
Denes the jump destination for a JMP or JMPF
statement.
CALL Runs another program.
DO
Turns general-purpose output or memory output on or off.
WAIT
Waits until general-purpose input or memory input is
in the specied state.
TIMR
Waits the specied amount of time before advancing
to the next step.
P Denes point variable.
P+ Adds 1 to point variable.
P- Subtracts 1 from point variable.
SRVO Turns servo on or off.
STOP Temporarily stops program execution.
ORGN Performs return-to-origin.
TON Runs a specied task.
TOFF Stops a specied task.
JMPP
Jumps to a specied label when the axis position
condition meets the specied conditions.
MAT Denes a matrix.
MSEL Species a matrix to move.
MOVM Moves to a specied pallet work position on matrix.
JMPC
Jumps to a specied label when the counter array
variable C equals the specied value.
JMPD
Jumps to a specied label when the counter variable
D equals the specied value.
CSEL Species an array element for counter array variable C.
C Denes counter array variable C.
C+ Adds a specied value to counter array variable C.
C-
Subtracts a specied value from counter array variable C.
D Denes counter variable D.
D+ Adds a specied value to counter variable D.
D- Subtracts a specied value from counter variable D.
SHFT
Shifts the coordinate position by amount of specied
point data.
IN
Stores bit information on specied general-purpose
input or memory input into counter variable D.
OUT
Outputs the value of counter variable D to specied
general-purpose output or memory output.
LET
Shifts the coordinate position by amount of specied
point data.
Instruction manuals can be downloaded from our company website. Please use the following for more detailed information.
http://www.yamaha-motor.co.jp/global/industrial/robot/