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．
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，
， ，

，
（ ） ，

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（ ）

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Datos de posición es valor que se encuentra de sistema de

coordenadas User lo que está seleccionado en este momento
Datos de posición siempre es el valor que se encuentra encima de
sistema de coordenadas world lo (estándar)

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53 J P [ 23] 1500mm/sec CNT50

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• Digital I/O Instrucción

• Robot I/O Instrucción
• Análogo I/O Instrucción
• Grupo I/O Instrucción

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Robot
mechanism
End effecter

(hand, etc.)

Sensor

R-J3
controller
Conveyer

Input
signals
Peripheral devices

⇒ “ ” Ｓｙｓｔｅｍ Ｄｉｇｉｔａｌ Ｏｕ Remote

controller Output signals

ｐｕｔ ⇒
“ ＤＩ” Ｓｙｓｔｅｍ Ｄｉｇｉｔａｌ Ｉｎｐｕｔ

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『Ｎｅｘｔ Ｐａｇｅ』

『 Ｓ 』

Ｆ１ 〔 〕

『 』 ～

＄
（ ）

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［ ］～ ［ ］
～ ／

Load discrimination sensor

IN conveyer

Load presence check sensor

sensor

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1 : J P [1] 100% FINE

2: DO [18] = Plus 0.4sec

3: WAIT DI [6] = ON

4: WAIT , 1,0 sec

5: R [1] = GI [1]

6: DO[17] = ON

7: SELECT R [1]= 1,CALL PROG1

8: = 2,CALL PROG2
［ ］＝ ［ ］
9: = 3,CALL PROG3

10 : = 4,CALL PROG4

11 : = 5,CALL PROG5

12 : = 6,CALL PROG6

13 : ELSE JMP LBL [99]

14 : DO[17] = OFF

15 : END

16 : LBL[99]

［ ］＝（ ） 17 : MESSAGE [UNMATCH]

18 : USER ALAM [1]

[END]

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［］ ［］ ［］

②
③ １ ［Ｔｙｐｅ］
１ ［Ｔｙｐｅ］
④ １ ［Ｔｙｐｅ］

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［ ／ ］

［ ］

［］
［］ ～ ［ ］

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【Ejemplo】 DO［1］

Número lógico

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Los botones y lámparas del panel de

operador se utilizan para iniciar el
programa de el robot o indicar algún
estado de el equipo. Y se puede
realizar respaldo de programa.
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Esta unidad controla la

alimentación a los motores,
encoders, frenos de motor, sobre
carrera de ejes y control de
colisión (hand broken).

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