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I want to...
What would happen if...
3 Ways
HOW / Where
Assume the POSITION
100
Repeat robot actions under certain conditions
What is using a JUMP *LABEL with a CONDITIONAL IF and placing the *LABEL before the command lines to be repeated?
100
JOB: DTRACE 000 NOP 001 MOVJ 002 MOVJ 003 MOVL 004 MOVC 005 MOVC 006 MOVC 007 MOVL 008 MOVJ 009 END
What is a job to trace the letter D?
100
3 ways to direct the controller to execute steps in another job
What is 1) CALL JOB, 2) JUMP JOB and 3) RET?
100
Send information from here to an external device or display
What is DOUT and BYTE variables?
100
How many numbers are stored in a POSITION Variable
What is 6...sometimes 7?
200
Skip lines of code under certain conditions
What is using JUMP *LABEL with a CONDITIONAL IF and placing the *LABEL after the command lines to be skipped?
200
JOB: DTRACE 000 NOP 001 MOVJ 002 MOVJ 003 MOVL 004 MOVC 005 MOVC 006 MOVC 007 MOVL 008 MOVJ 009 GETPOS P050 STEP #(3) 010 GETPOS P051 STEP #(4) 011 END
What is adding the capture of the COMMAND POSITIONS for Steps 3 and 4 in P050 and P051?
200
3 ways to create repetitive actions
What is 1) loop with motion steps, 2) loop with CALL JOB commands,and 3) copy and paste motion steps?
200
Count repetitions
What is INC and BYTE or INTEGER variables?
200
The types of arithmetic commands I can use with POSITION Variables
What are ADD, SUB, MUL, and DIV?
300
Make the robot cease operation until I have completed a switch setting
What is the WAIT IN#(5) ON followed by WAIT IN#(5) OFF command combination?
300
JOB: BTRACE 000 NOP 001 CLEAR I010 002 WAIT IN#(5) ON *Turn on switch #2 003 WAIT IN#(5) OFF 004 DIN IGH #(1) B011 005 *B 006 CALL DTRACE 007 INC I010 008 JUMP *B I010 < B011 009 END
What is calling the DTRACE job and having it repeat once for a total of two tracings?
300
3 ways to alter the number of repetitions
What is 1) manually put a value in a variable address, 2) use a command such as SET to enter a value into a variable address or 3) use a DIN command to input values from a switch setting to a variable address.
300
Store the switch setting here from an external device
What is DIN and BYTE variables?
300
The two types of data stored in a POSITION Variable
What are PULSE Type Data and RECTANGULAR Type Data?
400
Have the lights display the count of varying trace repetitions that is different from the count used to control the number of traces
What is establish a different variable address for counting the repetitions for display and repeat the INC command on that variable in each of the job loops?
400
JOB: DTRACE 000 NOP 001 MOVJ 002 MOVJ 003 MOVL 004 MOVC 005 MOVC 006 MOVC 007 MOVL 008 MOVJ 009 GETPOS P050 STEP #(3) 010 GETPOS P051 STEP #(4) 011 MSHIFT P052 RF P050 P051 012 END
What is calculating the difference between the COMMAND POSITIONS of Step #3 and Step #4 and placing that difference in P052?
400
3 ways to make sure selected variables have 0 values at the beginning of a job
What is 1) SET -- setting the value of a specific address to 0, 2) CLEAR -- clearing values in consecutive addresses to reset them to 0 and 3) using the variable display to manually set the addresses to 0.
400
Store the command position of a motion step
What is GETPOS and POSITION variable?
400
The two commands used during execution to offset COMMAND POSITIONS by the amount indicated in a POSITION Variable
What are SFTON and SFTOFF?
500
Change the number of repetitions executed WITHOUT modifying job code
What is inputting switch settings to a BYTE variable address with a DIN command?
500
JOB: BTRACE 000 NOP 001 CLEAR I050 002 WAIT IN#(5) ON *Turn on switch #2 003 WAIT IN#(5) OFF 004 DIN IGH #(1) B011 005 *B 006 CALL DTRACE 007 INC I010 008 SFTON P052 RF 009 JUMP *B I010 < B011 010 SFTOFF 011 END
What is shifting the second trace by the amount stored in P052?
500
3 ways to determine the exact COMMAND POSITION on a motion step
What is 1) cursor to the motion step, then press FWD to move the robot until the address stops flashing and display the position via the COMMAND POSITION or CURRENT POSITION screens, 2) cursor to the motion step and press DIRECT OPEN, 3) program the GETPOS command to store the COMMAND POSITION in a Position Variable address.
500
Determine the difference between two command positions
What is MSHIFT and POSITION variable?
500
The command that calculates the difference between two POSITION variables and places that value in a third POSITION Variable address
What is MSHIFT?