4.10. Collection of Function Commands

The operations that can be executed in a ROBCAD simulation are limited. Only some of the various HR-BASIC operations used in Hi5 controller are supported.

The list of supported functions is shown in [Table 4-2].

Table 4‑2 Function command and the list of corresponding function codes

Function		Function command
DO signal output (Digital Out)		DO?={1-0}
GO signal output (Group Out)		GO?={0-255} GO?={&B00000001-&B10000000}
DI signal input (Digital Input)		WAIT DI? WAIT DI?,{0-60.0},{loc} WAIT DI?,{0-60.0},{loc},{func.no}
Jump		GOTO {loc} [,{func no.}]
Call		GOSUB {loc} [,{func no.}]
Return		RETURN
Program call		CALL {1-999}
Program jump		JMPP {1-999}
Robot stop		STOP
Work end		END
Conditional statement	Single IF	IF DI?={0-1} THEN {loc.} [ELSE {loc.}] IF GI?={0-255} THEN {loc.} [ELSE {loc.}] IF _RN?={0-255} THEN {loc.} [ELSE {loc.}]
	Complex IF	IF DI?={0-1} THEN {CALL statement} or {JMPP statement} or {DELAY statement} or {STOP statement} or {END statement} ENDIF
		OR, IF GI?={0-255} THEN OR, IF _RN?={0-255} THEN
Iteration statement	FOR ~NEXT	FOR V{1-400}%={0-30000} TO {0-30000} {step or functions} NEXT
Time delay		DELAY {1.0-60.0}
Spot welding condition		SPOTCND {0-255}
Servo gun search		GUNSEA {1-2},{1-2},{50-999}
Retrieval register value setting		_RN?={0-255}
Retrieval register value increase		_RN?=_RN?+1
Comment		' {comment}

Unlike HR-BASIC, only CALL statement, JMPP statement, DELAY statement, STOP statement and END statement can be used in a complex IF block.

Only constant variable “V1%~V400%” can be used for an index variable of the FOR statement. Only a constant can be used for initial value and end value.

Another FOR~NEXT can be nested inside a FOR~NEXT, but no more than 4 layers can be nested in this manner

4.10. Collection of Function Commands​

4.10. Collection of Function Commands