Yamaha SRCP Bedienungsanleitung PDF herunterladen (Seite 116)

8-18

ROBOT LANGUAGE

8-4 Robot Language Description

8-4-22

MSEL

Function: Specifies a matrix where the robot moves with a MOVM statement.

Format: MSEL <pallet number>

Example: MSEL 0

Points where the robot moves with a MOVM statement are calculated

based on matrix data of pallet number 0.

Explanation: This command selects a matrix and is always used with a MOVM state-

ment as a pair.

(1) Pallet number

This number is used for matrix identification and can be set from 0

to 31.

Others: • The pallet number assigned with the MSEL statement is independent

of each task. For example, when different pallet numbers are assigned

to task 0 and task 1, then task 0 and task 1 execute the MOVM state-

ment based on different pallet data.

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Yamaha SRCP Bedienungsanleitung Seite 116