Part 4 Commands
1.13 Structural IF
IFXX (Structural IF)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Output
(Output, flag)
Operand 1 Operand 2
Optional Optional IFXX
Variable
number
Data CP
Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the corresponding
ELSE command, if any, or to the step next to the corresponding EDIF command.
If the input condition is not satisfied and the IFXX command is not executed, the program will
proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when ISXX and DWXX are combined.
≠
≥
≤
Set the current arm system in variable 99.
Read the current X coordinate into variable 100.
If the arm system is indeterminable, the arm
system whose flag 600 is turned OFF will be
determined. If this arm system is also
indeterminable, the operation will end.
600
IFEQ
99
1
If the X coordinate is 0 or greater:
Move the axis to position No. 1 in PTP mode.
Move the axis to position No. 2 in PTP mode.
If the X coordinate is 0 or greater:
Move the axis to position No. 3 in PTP mode.
Move the axis to position No. 4 in PTP mode.
If the current arm system is the right arm and the X coordinate is 0 or greater, the axis will
move to position No. 1; if the X coordinate is below 0, the axis will move to position No. 2.
If the current arm system is the left arm and the X coordinate is 0 or greater, the axis will
move to position No. 3; if the X coordinate is below 0, the axis will move to position No. 4.
Using a GOTO command to branch out of or into an IFXX-EDIF syntax is prohibited.
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