1 Outline of INFORM
1.4 Registration of Expression
Data
The data type of the expression is indicated. The following types of data
can be registered.
• Constant (byte type, integer type, double-precision type, and real-
number type)
• Byte type variable (B, B[], LB, and LB[])
• Integer type variable (I, I[], LI, and LI[])
• Double-precision type variable (D, D[], LD, and LD[])
• Real-number type variable (R, R[], LR, and LR[])
Move the cursor to the desired position, and press [SELECT] to enter
the numeric value input status. Change the numeric value of the con-
stant data and the variable number.
Change the data type by using the Data type selection icon.
Data type selection icon
Change the data type in the following manner.
Move the cursor to the data type to be changed, and press [SELECT].
A dialog box with the selectable data types is displayed. Move the cur-
sor to the data type to be selected and press [SELECT].
Ending parentheses
Move the cursor to the parentheses and press [SELECT]. Each time
[SELECT] is pressed, three types of parentheses show up in the follow-
ing order.
Operator
Move the cursor to the operator to be changed and press [SELECT].
The operator selection dialog box is displayed. Move the cursor to the
operator to be selected and press [SELECT].
< Example of the DETAIL EDIT display for expression >
Result stored destination Expression
SET B000 ( B001 + B002 ) / B003 - ( B004 + B005 ) * B006
Data01 Data02 Data03 Data04 Data05 Data06
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1 Outline of INFORM
1.4 Registration of Expression
1.4.2 Registration
1. Select {JOB} under the main menu
2. Select {JOB}
3. Press [INFORM LIST]
4. Select “ARITH”
5. Select “SET”
6. Press [SELECT]
– The DETAIL EDIT window for the SET instruction appears.
7. Move the cursor to the icon beside “SOURCE(TOKEN)”
– The selection dialog box appears.
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1 Outline of INFORM
1.4 Registration of Expression
8. Select “EXPRESS”
– The DETAIL EDIT window for expression appears.
9. Enter the expression and press [ENTER]
– The DETAIL EDIT window for the SET instruction appears.
10. Press [ENTER]
– The JOB CONTENT window appears.
11. Press [ENTER]
– The SET instruction indicated in the input buffer line is registered.
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1 Outline of INFORM
1.5 Registration of Conditional Statement
1.5 Registration of Conditional Statement
1.5.1 Conditional Statement
With INFORM, the conditional statements can be registered on the
following instructions.
IFEXPRESS/FOREXPRESS/LOGICEXP/IFTHEN/ELESEIF/WHILE
<Example of the conditional statement>
SET FL0000 LOGICEXP (IN#(1)=ON AND IN#(2)=ON OR B000=0 )
Conditional statement
Result strored destination Conditional statement Conditional statement
Registration of conditional statement is processed in the DETAIL EDIT
window of the above-mentioned instructions. The following figure is the
DETAIL EDIT window of the conditional statement.
4 Logical operator
5 Ending parentheses
1 Starting parentheses 2 Conditional statement 3 Conditional statement edit icon
1 Starting parentheses
Move the cursor to this area. Every time [SELECT] is pressed,
the selected parenthesis is switched in the following order.
2 Conditional statement
Conditional statements are shown in this area. As for the contents
which can be registered as the conditional statement, refer to
RELEXPR inchapter 2.6 “Instruction Which Adheres to an Instruction”
3 Conditional statement edit icon
The DETAIL EDIT window of conditional statement is shown.
Move the cursor to this icon, press [SELECT] and the detail edit
window of the conditional statement (RELEXPR) is shown.
The conditional statement is edited in this window.
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1 Outline of INFORM
1.5 Registration of Conditional Statement
4 Ending parentheses
Move the cursor to this area. Every time [SELECT] is pressed,
the selected parenthesis is switched in the following order.
5 Logical operator
The logical operator is shown in this area.
Move the cursor to this area, press [SELECT] and the selection dialog
box of the logical operator is shown. Move the cursor to the logical
operator to be changed and press [SELECT].
<Example of the DETAIL EDIT window of the conditional statement>
SET FL0000 LOGICEXP (IN#(1)=ON AND IN#(2)=ON OR B000=0 )
Result strored destination Conditional statement
Conditional statement Conditional statement
Logical operator Logical operator
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1 Outline of INFORM
1.5 Registration of Conditional Statement
1.5.2 Registration
In the following procedures, the registration of the conditional statement is
explained with a example which shows how to edit the LOGICEXP
instruction in SET instruction. In the same procedures, the registration of
the conditional statement is available for IFEXPRESS, FOREEXPRESS,
LOGICEXP, IFTHEN, ELSEIF, and WHILE instructions.
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Press [INFORM LIST].
4. Select “ARITH”.
5. Select “SET”.
6. Press [SELECT].
– The DETAIL EDIT window of SET instruction is shown.
7. Move the cursor to the icon in “DESTINATION” and press
[SELECT] to choose the FL variable.
– “LOGICAL EXP. LOGICEXP” is shown.
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1 Outline of INFORM
1.5 Registration of Conditional Statement
8. Move the cursor to the icon in “LOGICAL EXP. LOGICEXP” and
press [SELECT].
– The DETAIL EDIT window of LOGICEXP instruction is shown..
9. Move the cursor to the conditional edit icon and press [SELECT].
– The DETAIL EDIT window of the conditional statement (RELEXPR
instruction) is shown.
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1 Outline of INFORM
1.5 Registration of Conditional Statement
10. Input the conditional statement and press [ENTER].
– The DETAIL EDIT window of LOGICEXP instruction is shown.
Register the logical operators or parentheses in this window, and
another conditional statement can be added.
11. Press [ENTER].
– The DETAIL EDIT window of the SET instruction is shown.
12. Press [ENTER].
– The JOB CONTENT window is shown.
13. Press [ENTER].
– The SET instruction indicated in the input buffer line is registered in
the job.
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1 Outline of INFORM
1.6 INFORM Syntax
1.6 INFORM Syntax
An example of the INFORM syntax is shown in the following syntax
flowchart.
The INFORM syntax chart is composed of the syntax elements
(instruction, tag, and data). The order of the rows is shown with the
numbers and arrows.
1.6.1 Example of Syntax
Robot teaching Base teaching Station teaching
MOVJ 1
point file No.
5
point file No.
6
point file No.
C
P/LP/P[]
2 Variable No. A B
/LP[]
3 Variable No.
EX/LEX
4 /EX[] Variable No.
/LEX[]
A B
BP/LBP EX/LEX
7 /BP[] Variable No. 8 /EX[] Variable No.
/LBP[] /LEX[]
C D
9 VJ= Joint Speed(%) 10 PL= Position level
11 SPDL= Speed level
D E
T-axis rotation Station axis
12 MT= 13 MTE=
count rotation count
E END
14 NWAIT 15 UNTIL
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1 Outline of INFORM
1.6 INFORM Syntax
1.6.2 INFORM Syntax Elements
INFORM Syntax Element Explanation Note
Indicates the instruction. In this example, the “MOVJ” instruction is indicated.
MOVJ
Indicates the tag. In this example, the “VJ=” instruction is indicated.
VJ=
Indicates the numeric data. In this example, “Joint speed” is set with the unit %.
Joint Speed(%)
Indicates the end of the
instruction.
END
Indicates the connection.
Indicates the tag order.
1
1.6.3 Meaning of INFORM Syntax
INFORM Syntax Meaning
This is an indispensable tag.
In this example, it is necessary to add a tag from [P
P/LP/P[]/ Variable /LP Variable /P Array /LP Array].
A Variable No. B
LP[]
This is a tag that can be omitted.
In this example, the NWAIT tag can be omitted.
A B
NWAIT
This is a tag that can be selected.
In this example, either PL= tag or SPDL= tag can
C D be selected.
PL= Position level
SPDL= Speed level
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