DX100 OPTIONS

INSTRUCTIONS
INFORM EXTENTION FUNCTION
STRUCTURED PROGRAM LANGUAGE

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN-……… INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

Part Number: 158349-1CD

Revision: 1

YASKAWA ELECTRIC CORPORATION

MANUAL NO.

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DX100

MANDATORY
• This manual explains the structured program language for INFORM
extension function of the DX100 system. Read this manual
carefully and be sure to understand its contents before handling the
DX100.
• General items related to safety are listed in Chapter 1: Safety of the
DX100 Instructions. To ensure correct and safe operation, carefully
read the DX100 Instructions before reading this manual.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
If such modification is made, the manual number will also be
revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.

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DX100

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
In this manual, the Notes for Safe Operation are classified as
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.

Always be sure to follow explicitly the

MANDATORY items listed under this heading.

Must never be performed.

PROHIBITED

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure to

NOTE follow all instructions, even if not designated as "CAUTION"
and "WARNING".

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DX100

WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Fig. : Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX100.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX100 and the programming pendant.

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DX100

CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the cabinet
of the DX100 after use.
The programming pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:
Equipment Manual Designation
DX100 controller DX100
DX100 programming pendant Programming pendant
Cable between the manipulator and the Manipulator cable
controller

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DX100

Descriptions of the programming pendant, buttons, and displays are

shown as follows:

Equipment Manual Designation

Programming Character The keys which have characters printed on
Pendant Keys them are denoted with [ ].
ex. [ENTER]
Symbol The keys which have a symbol printed on them
Keys are not denoted with [ ] but depicted with a small
picture.
GO
BACK

ex. page key PAGE

The cursor key is an exception, and a picture is
not shown.
Axis Keys “Axis Keys” and “Number Keys” are generic
Number Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

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DX100 Contents

1 Function of Structured Language.................................................................................................... 1-1

2 Instructions Detail ........................................................................................................................... 2-1

2.1 Branch ............................................................................................................................... 2-1

2.2 Selection ............................................................................................................................ 2-6

2.3 Repeat ............................................................................................................................... 2-8

3 Editing (Insertion into JOB and Modification).................................................................................. 3-1

3.1 Insert into JOB ................................................................................................................... 3-1

3.2 Modify Structured Instruction in JOB ................................................................................. 3-5

3.3 Delete Structured Instruction from JOB ............................................................................. 3-7

3.4 Copy/Cut and Paste Structured Instruction ..................................................................... 3-10

4 Format Conversion at External Output ........................................................................................... 4-1

4.1 IF ~ ENDIF Statements ..................................................................................................... 4-2

4.1.1 IF ~ ENDIF Statements (SINGLE Condition) ....................................................... 4-2

4.1.2 IF ~ ENDIF Statements (AND Condition) ............................................................. 4-2

4.1.3 IF ~ ENDIF Statements (OR Condition) ............................................................... 4-3

4.1.4 IF ~ ENDIF Statements (AND Condition of ELSEIF)............................................ 4-3

4.1.5 IF ~ ENDIF Statements (OR Condition of ELSEIF).............................................. 4-4

4.2 SWITCH ~ ENDSWITCH Statements ............................................................................... 4-5

4.3 FOR ~ NEXT Statements .................................................................................................. 4-6

4.4 WHILE ~ ENDWHILE Statements ..................................................................................... 4-7

4.4.1 WHILE ~ ENDWHILE Statements (SINGLE Condition) ....................................... 4-7

4.4.2 WHILE ~ ENDWHILE Statements (AND Condition)............................................. 4-7

4.4.3 WHILE ~ ENDWHILE Statements (OR Condition)............................................... 4-8

5 Related Parameter.......................................................................................................................... 5-1

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1 Function of Structured Language

DX100

1 Function of Structured Language

[Structured language] is for making easier to editing job by supporting
Branch, Selection, repeat instruction.

1. Branch
IF ~ THEN ~ ELSEIF ~ ELSE ~ ENDIF

2. Selection
SWITCH ~ CASE ~ DEFAULT ~ ENDSWITCH

3. Repeat
FOR ~ NEXT
WHILE ~ ENDWHILE

1-1

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2 Instructions Detail
DX100 2.1 Branch

2 Instructions Detail

2.1 Branch
• IF ~ THEN ~ ELSEIF ~ ELSE ~ ENDIF

Function
It is flow control statement to control branch execution based on
condition of equation result.
Syntax
IF condition THEN
[statements]
[ELSEIF condition-n THEN]
[elseifstatements]] . . .
[ELSE]
[elsestatements]]
ENDIF

Designated Contents
Item
condition Condition equation for checking (True) or (False)
Up to 3 individual conditions can be used by connecting “AND”
or “OR” condition.
statements If condition is (True), then this statement is executed.
condition-n Same as above described condition.
elseifstatements If condition-n is (True), then this statement is executed.
elsestatements If All defined conditions before Else are false, then this is
executed.

2-1

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2 Instructions Detail
DX100 2.1 Branch

Example 1 • Basic example

(1) If I000 = '1', then OT#(16) is ON.

IF I000 = 1 THEN

DOUT OT#(16) ON

ENDIF

START

No
I000 = 1?

Yes

DOUT OT#(16) ON

END

Example 2 • AND
(1) IF I000= '1' and I001 = '2', then OT#(16) is ON.

IF I000 = 1 AND I001 = 2 THEN

DOUT OT#(16) ON

ENDIF

START

No
I000 = 1?

Yes

No
I000 = 2?

Yes

DOUT OT#(16) ON

END

2-2

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2 Instructions Detail
DX100 2.1 Branch

Example 3 • OR
(1) If I000 = '1' or I001 = '2', then OT#(16) is ON.

IF I000 = 1 OR I001 = 2 THEN

DOUT OT#(16) ON

ENDIF

START

Yes
I000 = 1?

No

Yes
I000 = 2?

No
DOUT OT#(16) ON

END

Example 4 • ELSE
(1) IF I000 = '1' then OT#(16) is ON.
(2) Otherwise OT#(17) is ON.

IF I000 = 1 THEN

DOUT OT#(16) ON

ELSE

DOUT OT#(17) ON

ENDIF

START

No
I000 = 1?

Yes

DOUT OT#(16) ON DOUT OT#(17) ON

END

2-3

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2 Instructions Detail
DX100 2.1 Branch

Example 5 • ELSEIF
(1) If I000 = '1' then OT#(16) is ON.
(2) Else if I001 = '1', then OT#(17) is ON.

IF I000 = 1 THEN

DOUT OT#(16) ON

ELSEIF I000 = 1 THEN

DOUT OT#(17) ON

ENDIF

START

No
I000 = 1?

Yes
No
I000 = 1?

Yes

DOUT OT#(16) ON DOUT OT#(17) ON

END

2-4

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2 Instructions Detail
DX100 2.1 Branch

Example 6 • Multi condition

(1) If I000 >= '1' and I000 < 10, then OT#(16) is ON.
(2) Else if I001 = '1' or '2', then OT#(17) is ON.
(3) Else OT#(18) is ON.

IF I000 >= 1 AND I000 < 10 THEN

DOUT OT#(16) ON

ELSEIF I001 = 1 OR I001 = 2 THEN

DOUT OT#(17) ON

ELSE

DOUT OT#(18) ON

ENDIF

START

No
I000 = 1?

Yes

No
I000 < 10?

Yes No
I001 = 1?

Yes
No
I001 = 2?

Yes

DOUT OT#(16) ON DOUT OT#(17) ON DOUT OT#(18) ON

END

2-5

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2 Instructions Detail
DX100 2.2 Selection

2.2 Selection
• SWITCH ~ CASE ~ DEFAULT ~ ENDSWITCH

Function
Selection one of the statement based on condition result.
Syntax
SWITCH (testexpression) CASE expressionlist
[statements]
[CASE expressionlist-n]
[statements-n]] . . .
[DEFAULT]
[elsestatements-n]]
ENDSWITCH

Designated Contents
Item
condition Specify an arbitrary expression.
expressionlist Must be set.
statements If testexpression corresponds expressionlist, then this is
executed.
expressionlist-n If needed CASE must be set.
statements-n If testexpression corresponds one of the expressionlist-n, then
corresponded statements-n is executed.
elsestatements If testexpression doesn’t correspond any CASE, then this
elsestatements is executed.

Only "I variable" can be used for testexpression

SWITCH (I000) CASE 0

Explanation
If Argument testexpression corresponds any of the CASE
expressionlist, then corresponded statement described before next
CASE or ENDSWITCH is executed. After that flow is going to next
line of ENDSWITCH line. DEFAULT statement is executed if no
condition is corresponded.

2-6

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2 Instructions Detail
DX100 2.2 Selection

Example
(1) IF I000 = '0', OT#(16) is ON.
(2) IF I000 = '1', OT#(17) is ON.
(3) IF I000 is other than '0' or '1', OT#(18) is ON.

SWITCH (I000) CASE 0

DOUT OT#(16) ON

CASE 1

DOUT OT#(17) ON

DEFAULT

DOUT OT#(18) ON

ENDSWITCH

START

No
I000 = 0?

Yes
No
I000 = 1?

Yes

DOUT OT#(16) ON DOUT OT#(17) ON DOUT OT#(18) ON

END

2-7

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2 Instructions Detail
DX100 2.3 Repeat

2.3 Repeat
• FOR ~ NEXT

Function
Repeating one set of the statement by designated number of loop.
Syntax
FOR counter = start TO end [STEP stepcount]
[statements]
NEXT counter

Designated Contents
Item
counter Loop counter variable
start Start value of the counter
end End value of the Counter
statements One set of the statement of executed repeatedly
stepcount Count up vale by each loop

Only "I variable" can be used for counter

FOR (I000) = 1 TO 10

Explanation
The one set of the statement is executed repeatedly until the counter
value is over the end value.
The counter is set start value as initial value in the beginning.
If without [STEP stepcount] parameter, step value = 1.
If [STEP stepcount] exists, the counter is added the stepcount at
every loop times.

2-8

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2 Instructions Detail
DX100 2.3 Repeat

Example
(1) I000 is used for loop counter, and statements of OT#(16) setting
ON are executed 10 times. (As a result, OT#(16) is turned ON 10
times.)

FOR I000 = 1 TO 10

DOUT OT#(16) ON

NEXT I000

START

I000 = 1

No
I000 <= 10?

Yes

DOUT OT#(16) ON

I000 = I000 + 1

END

2-9

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2 Instructions Detail
DX100 2.3 Repeat

• WHILE ~ ENDWHILE

Function
While designated condition is (True), one set of the statements are
executed repeatedly.

Syntax
WHILE condition
[statements]
ENDWHILE

Designated Contents
Item
condition Condition for checking (True) or (False).
Using AND or OR enables you to specify three conditions in a
conditional expression.
statements Executed statements while the condition is (True).

Explanation
While condition is (True), all of the statement before ENDWHILE are
executed. When execution reaches ENDWHILE, control returns to
WHILE again, and the argument named “condition” is checked. This
processing is repeated while this argument is true. If the argument is
not true, control moves to the line after ENDWHILE.

Example
(1) While IN#(16) is ON, OT#(17) is ON repeatedly. As a result,
OT#(17) is repeatedly turned ON until IN#(16) is turned OFF.

WHILE IN#(16) = ON

DOUT OT#(17) ON

ENDWHILE

START

No
IN#(16) = ON?

Yes

DOUT OT#(17) ON

END

2-10

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3 Editing (Insertion into JOB and Modification)
DX100 3.1 Insert into JOB

3 Editing (Insertion into JOB and Modification)

3.1 Insert into JOB

Push the [Inform list] in job editing screen, and push one of the [IF],
[SWITCH], [FOR] or [WHILE].

Before using a structured language, set {Expanded} to

NOTE {Language level} on the teaching condition window dis-
played by selecting {Install controller} and then {Specify
teaching conditions} in the {Teach} mode.

∗ IF ~ ENDIF: Insert IF instruction

Selecting [IF] : Also [ENDIF] is inserted automatically.

Selecting [ELSE] : To Insert this, registered [IF ~ THEN] or [ELSEIF]
is needed.
Selection [ELSEIF] : To insert this, registered [IF ~ THEN] or [ELSEIF]
is needed
But if just before line of insertion is [ENDIF] or
[ELSE], insertion cannot be done.
[ENDIF] : It is inserted automatically when [IF] is inserted.

Example) Inserting [IF]

DOUT OT#(16) ON DOUT OT#(16) = ON

DOUT OT#(17) ON IF

ENDIF Automatic

DOUT OT#(17) ON

Example) Inserting [ELSE]

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) = ON

ENDIF ELSE

ENDIF

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) ON

ELSEIF I000 = 2 THEN ELSEIF I000 = 2 THEN

DOUT OT#(17) ON ELSE

ENDIF DOUT OT#(17) ON

ENDIF

3-1

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3 Editing (Insertion into JOB and Modification)

DX100 3.1 Insert into JOB

DOUT OT#(16) ON Not allowed

DOUT OT#(17) ON (Because there is no IF to THEN or ELSEIF)

Example) Inserting [ELSEIF]

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) = ON

ENDIF ELSEIF

ENDIF

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) ON

ELSEIF I000 = 2 THEN ELSEIF I000 = 2 THEN

DOUT OT#(17) ON ELSEIF

ENDIF DOUT OT#(17) ON

ENDIF

DOUT OT#(16) ON Not allowed

DOUT OT#(17) ON (Because there is no IF to THEN or ELSEIF)

IF I000 = 1 THEN

DOUT OT#(16) ON Not allowed

ELSE (Because there is ELSE or ELSEIF

DOUT OT#(17) ON in front of the insertion line.)

ENDIF

3-2

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3 Editing (Insertion into JOB and Modification)
DX100 3.1 Insert into JOB

∗ Insert SWITCH ~ ENDSWITCH

Selecting [SWITCH] : Also [CASE] and [ENDSWITCH] are inserted

automatically.
Selecting [CASE] : To insert it, [SWITCH] should be inserted before.
Selecting : To insert it, [SWITCH] should be inserted before.
[DEFAULT] But it is not allowed if [CASE] exists below of
insertion line.
[ENDSWITCH] : It is inserted automatically when [SWITCH] is
inserted.

Example) Inserting [SWITCH]

DOUT OT#(16) ON DOUT OT#(16) = ON

DOUT OT#(17) ON SWITCH CASE [CASE] is inserted automatically

ENDSWITCH Inserted automatically

DOUT OT#(17) ON

Example) Inserting [CASE]

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

ENDSWITCH CASE

ENDSWITCH

DOUT OT#(16) ON Not allowed

DOUT OT#(17) ON (Because of no [SWITCH])

Example) Inserting [DEFAULT]

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

ENDSWITCH DEFAULT

ENDSWITCH

DOUT OT#(16) ON Not allowed

DOUT OT#(17) ON (Because of no [SWITCH])

SWITCH (I000) CASE 0

DOUT OT#(16) ON Not allowed

CASE 1 (Because of [CASE] existing below)

DOUT OT#(17) ON

ENDSWITCH

3-3

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3 Editing (Insertion into JOB and Modification)

DX100 3.1 Insert into JOB

∗ Insert FOR ~ NEXT

Selecting [FOR] : Also [NEXT] is inserted automatically.

[NEXT] : Inserted it automatically at the time of [FOR]
insertion.

Example) Inserting [SWITCH]

DOUT OT#(16) ON DOUT OT#(16) = ON

DOUT OT#(17) ON FOR

NEXT Automatic

DOUT OT#(17) ON

∗ Insert WHILE ~ ENDWHILE

Selecting [WHILE] : Also [ENDWHILE] is inserted automatically.

[ENDWHILE] : Inserted it automatically at the time of [WHILE]
insertion.

Example) Inserting [WHILE]

DOUT OT#(16) ON DOUT OT#(16) = ON

DOUT OT#(17) ON WHILE

ENDWHILE Automatic

DOUT OT#(17) ON

3-4

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3 Editing (Insertion into JOB and Modification)
DX100 3.2 Modify Structured Instruction in JOB

3.2 Modify Structured Instruction in JOB

Select [edit] in the JOB edit screen, and select one of the structured
instruction.

∗ Modify IF ~ THEN

[IF] : Only allowed modification is like as line editing.

[ELSE] : Not allowed to modify
[ELSEIF] : Only allowed modification is like as line editing.
[ENDIF] : Not allowed to modify

Example) [IF] Æ [ELSE]

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) ON

ELSEIF I000 = 2 THEN ELSE

DOUT OT#(17) ON DOUT OT#(17) ON

ENDIF ENDIF

IF I000 = 1 THEN

DOUT OT#(16) ON

ELSE Not allowed

DOUT OT#(17) ON (Because of [ELSE] just above the modification line)

ELSEIF I000 = 2 THEN

DOUT OT#(18) ON

ENDIF

3-5

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3 Editing (Insertion into JOB and Modification)

DX100 3.2 Modify Structured Instruction in JOB

∗ Modify SWITCH ~ ENDSWITCH

[SWITCH] : Only allowed modification is like as line editing.

[CASE] : Possible to modify, but in case of other [CASE] existing
after modifying [CASE], [CASE]→[DEFAULT] can not
be changed.
[DEFAULT] : Not allowed to modify
[ENDSWITCH] : Not allowed to modify

Example) [CASE] → [DEFAULT]

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

CASE 1 CASE 1

DOUT OT#(17) ON DOUT OT#(17) ON

CASE 2 DEFAULT

DOUT OT#(18) ON DOUT OT#(18) ON

ENDSWITCH ENDSWITCH

SWITCH (I000) CASE 0

DOUT OT#(16) ON

CASE 1 Not allowed

DOUT OT#(17) ON (Because of [CASE] existing below of the

CASE 2 modifying line)

DOUT OT#(18) ON

ENDSWITCH

∗ Modify FOR ~ NEXT

[FOR] : Only allowed modification is like as line editing.

[NEXT] : Not allowed to modify

∗ Modify WHILE ~ ENDWHILE

[WHILE] : Only allowed modification is like as line editing.

[ENDWHILE] : Not allowed to modify

3-6

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3 Editing (Insertion into JOB and Modification)
DX100 3.3 Delete Structured Instruction from JOB

3.3 Delete Structured Instruction from JOB

Select [delete] in the JOB editing screen and select structured instruction
wanted to delete.

∗ Delete IF ~ ENDIF

[IF] : Delete all line from [IF] to [ENDIF] corresponded the

[IF]
[ELSE] : Allowed to delete
[ELSEIF] : Allowed to delete
[ENDIF] : Not allowed to delete just [ENDIF]

Example) Deleting [IF]

IF I000 = 1 THEN

DOUT OT#(16) ON

ELSEIF I000 = 2 THEN

DOUT OT#(17) ON All deleted

ELSE

DOUT OT#(18) ON

ENDIF

Example) Deleting [ELSE]

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(17) ON DOUT OT#(17) ON

ELSE DOUT OT#(18) ON

DOUT OT#(18) ON ENDIF

ENDIF

Example) Deleting [ELSEIF]

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(17) ON DOUT OT#(17) ON

ELSEIF I001 = 1 THEN DOUT OT#(18) ON

DOUT OT#(18) ON ENDIF

ENDIF

3-7

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3 Editing (Insertion into JOB and Modification)

DX100 3.3 Delete Structured Instruction from JOB

∗ Delete SWITCH ~ ENDSWITCH

[SWITCH CASE] : Delete all line from [SWITCH] to [ENDSWITCH]

corresponded the selected [SWITCH].
[CASE] : Allowed to delete
[DEFAULT] : Allowed to delete
[ENDSWITCH] : Not allowed to delete just [ENDSWITCH]

Example) Deleting [SWITCH]

SWITCH (I000) CASE 0

DOUT OT#(16) ON

CASE 1

DOUT OT#(17) ON All deleted

DEFAULT

DOUT OT#(18) ON

ENDSWITCH

Example) Deleting [CASE]

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

CASE 1 DOUT OT#(17) ON

DOUT OT#(17) ON DEFAULT

DEFAULT DOUT OT#(18) ON

DOUT OT#(18) ON ENDSWITCH

ENDSWITCH

Example) Deleting [DEFAULT]

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

CASE 1 CASE 1

DOUT OT#(17) ON DOUT OT#(17) ON

DEFAULT DOUT OT#(18) ON

DOUT OT#(18) ON ENDSWITCH

ENDSWITCH

3-8

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3 Editing (Insertion into JOB and Modification)
DX100 3.3 Delete Structured Instruction from JOB

∗ Delete FOR ~ NEXT

[FOR] : Delete all line from [FOR] to [NEXT] corresponded the

selected [FOR].
[NEXT] : Not allowed to delete

∗ Delete WHILE ~ ENDWHILE

[WHILE] : Delete all line from [WHILE] to [ENDWHILE]

corresponded the selected [WHILE].
[ENDWHILE] : Not allowed to delete

3-9

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3 Editing (Insertion into JOB and Modification)

DX100 3.4 Copy/Cut and Paste Structured Instruction

3.4 Copy/Cut and Paste Structured Instruction

Designate structured instruction in the JOB editing screen and select
[COPY]/[CUT].
* Reverse paste cannot be done if structured instruction included in the
selected area.
* The area not to be formation of the structure cannot be done copy/cut.

∗ Copy/cut IF ~ ENDIF

IF I000 = 1 THEN IF I000 = 1 THEN

DOUT OT#(16) ON DOUT OT#(16) ON

ELSEIF I000 = 2 THEN ELSEIF I000 = 2 THEN

DOUT OT#(17) ON DOUT OT#(17) ON Area of copy/cut

ELSE ELSE

DOUT OT#(18) ON DOUT OT#(18) ON

ENDIF ENDIF

SET I001 1 SET I001 1

IF I000 = 1 THEN

DOUT OT#(16) ON

ELSEIF I000 = 2 THEN

DOUT OT#(17) ON Not allowed area to copy/cut

ELSE (Because of no structured formation)

DOUT OT#(18) ON

ENDIF

SET I001 1

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HW1480235
3 Editing (Insertion into JOB and Modification)
DX100 3.4 Copy/Cut and Paste Structured Instruction

∗ Copy/cut SWITCH ~ ENDSWITCH

SWITCH (I000) CASE 0 SWITCH (I000) CASE 0

DOUT OT#(16) ON DOUT OT#(16) ON

CASE 1 CASE 1

DOUT OT#(17) ON DOUT OT#(17) ON Area of copy/cut

DEFAULT DEFAULT

DOUT OT#(18) ON DOUT OT#(18) ON

ENDSWITCH ENDSWITCH

SET I001 1 SET I001 1

SWITCH (I000) CASE 0

DOUT OT#(16) ON

CASE 1

DOUT OT#(17) ON Not allowed area to copy/cut

DEFAULT (Because of no structured formation)

DOUT OT#(18) ON

ENDSWITCH

SET I001 1

∗ Copy/cut FOR ~ NEXT

FOR I000 = 1 TO 10 FOR I000 = 1 TO 10

DOUT OT#(16) ON DOUT OT#(16) ON Area of copy/cut

NEXT I000 NEXT I000

DOUT OT#(17) ON DOUT OT#(17) ON

FOR I000 = 1 TO 10

DOUT OT#(16) ON Not allowed area to copy/cut

NEXT I000 (Because of no structured formation)

DOUT OT#(17) ON

3-11

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3 Editing (Insertion into JOB and Modification)

DX100 3.4 Copy/Cut and Paste Structured Instruction

∗ Copy/cut WHILE ~ ENDWHILE

WHILE IN#(16) = ON WHILE IN#(16) = ON

DOUT OT#(17) ON DOUT OT#(17) ON Area of copy/cut

ENDWHILE ENDWHILE

DOUT OT#(19) ON DOUT OT#(19) ON

WHILE IN#(16) = ON

DOUT OT#(17) ON Not allowed area to copy/cut

ENDWHILE (Because of no structured formation)

DOUT OT#(19) ON

3-12

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4 Format Conversion at External Output
DX100

4 Format Conversion at External Output

When a job created in a structured language is output to an external
memory unit such as CF, the formats of some commands are converted to
avoid name conflict between the existing instructions and the commands
in the structured language.

1. When a job is output to an external storage, if an existing instruction

has the same name as one of the structured language's commands
used in the job, the command is converted into a format that does not
cause conflict before output to the external storage.
When the output job containing an structured language command with
the converted format from an external storage to the controller, the
converted command is reverted to the original format and loaded.
Ex.) In the case of a job that includes the sequential processing, “IF”

Because the structured language command “IF” conflicts with the

existing instruction, “IF” is replaced with “IFTHEN” before output to
the external storage. When the output job is loaded into the
controller, “IFTHEN” is replaced with “IF”.

2. When a job is output to an external storage, if any existing instruction

does have the same name as one of the structured language's
commands used in the job, the displayed formats are output to the
external storage as is.
Ex.) In the case of a job that includes the repetitive processing, “FOR”

Because there is no existing instruction named “FOR” (that is,

conflict does not occur, and therefore, conversion is not necessary),
the job is output in the same format.

4-1

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4 Format Conversion at External Output

DX100 4.1 IF ~ ENDIF Statements

4.1 IF ~ ENDIF Statements

4.1.1 IF ~ ENDIF Statements (SINGLE Condition)

1. “IF ~ THEN” → Converted into “IFTHEN ~”

2. “ELSEIF ~ THEN” → Converted into “ELSEIF ~”
3. “ELSE” → No changes
4. “ENDIF” → No changes

After external storage output

Display (The formats of the red lines are converted)
IF I000 = 1 THEN IFTHEN I000 = 1
DOUT OT#(16) ON Output DOUT OT#(16) ON
ELSEIF I001 = 1 THEN ELSEIF I001 = 1
DOUT OT#(17) ON DOUT OT#(17) ON
ELSE ELSE
Input
DOUT OT#(18) ON DOUT OT#(18) ON
ENDIF ENDIF

4.1.2 IF ~ ENDIF Statements (AND Condition)

1. “IF ~ AND ~ THEN” → Converted into “IFTHEN ~ ANDIF”

2. “ELSEIF ~ THEN” → Converted into “ELSEIF ~”
3. “ELSE” → No changes
4. “ENDIF” → No changes

After external storage output

Display (The formats of the red lines are converted)
IF I000 >= 1 AND I000 < 10 THEN IFTHEN I000 >= 1 ANDIF I000 < 10
DOUT OT#(16) ON Output DOUT OT#(16) ON
ELSEIF I001 = 1 THEN ELSEIF I001 = 1
DOUT OT#(17) ON DOUT OT#(17) ON
ELSE ELSE
Input
DOUT OT#(18) ON DOUT OT#(18) ON
ENDIF ENDIF

4-2

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HW1480235
4 Format Conversion at External Output
DX100 4.1 IF ~ ENDIF Statements

4.1.3 IF ~ ENDIF Statements (OR Condition)

1. “IF ~ OR ~ THEN” → Converted into “IFTHEN ~ ORIF”

2. “ELSEIF ~ THEN” → Converted into “ELSEIF ~”
3. “ELSE” → No changes
4. “ENDIF” → No changes

After external storage output

Display (The formats of the red lines are converted)
IF I000 >= 1 OR I000 >= 10 THEN IFTHEN I000 = 0 ORIF I000 <= 10
DOUT OT#(16) ON Output DOUT OT#(16) ON
ELSEIF I001 = 1 THEN ELSEIF I001 = 1
DOUT OT#(17) ON DOUT OT#(17) ON
ELSE ELSE
Input
DOUT OT#(18) ON DOUT OT#(18) ON
ENDIF ENDIF

4.1.4 IF ~ ENDIF Statements (AND Condition of ELSEIF)

1. “IF ~ THEN” → Converted into “IFTHEN ~”

2. “ELSEIF ~ AND ~ THEN” → Converted into “ELSEIF ~ ANDIF ~”
3. “ELSE” → No changes
4. “ENDIF” → No changes

After external storage output

Display (The formats of the red lines are converted)
IF I000 = 0 THEN IFTHEN I000 = 0
DOUT OT#(16) ON Output DOUT OT#(16) ON
ELSEIF I001 = 2 AND I002 = 2 THEN ELSEIF I001 = 2 ANDIF I002 = 2
DOUT OT#(17) ON DOUT OT#(17) ON
ELSE ELSE
Input
DOUT OT#(18) ON DOUT OT#(18) ON
ENDIF ENDIF

4-3

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 HW1480235

4 Format Conversion at External Output

DX100 4.1 IF ~ ENDIF Statements

4.1.5 IF ~ ENDIF Statements (OR Condition of ELSEIF)

1. “IF ~ THEN” → Converted into “IFTHEN ~”

2. “ELSEIF ~ OR ~ THEN” → Converted into “ELSEIF ~ ORIF ~”
3. “ELSE” → No changes
4. “ENDIF” → No changes

After external storage output

Display (The formats of the red lines are converted)
IF I000 = 0 THEN IFTHEN I000 = 0
DOUT OT#(16) ON Output DOUT OT#(16) ON
ELSEIF I001 = 2 OR I001 = 3 THEN ELSEIF I001 = 2 ORIF I001 = 3
DOUT OT#(17) ON DOUT OT#(17) ON
ELSE ELSE
Input
DOUT OT#(18) ON DOUT OT#(18) ON
ENDIF ENDIF

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HW1480235
4 Format Conversion at External Output
DX100 4.2 SWITCH ~ ENDSWITCH Statements

4.2 SWITCH ~ ENDSWITCH Statements

* Because the commands in the structured language used between the
SWITCH and ENDSWITCH statements do not conflict with the existing
instructions, the formats are not converted at external output.

After external storage output

Display (The formats of the red lines are converted)
SWITCH (I000) CASE 1 SWITCH (I000) CASE 1
DOUT OT#(16) ON Output DOUT OT#(16) ON
CASE 2 CASE 2
DOUT OT#(17) ON DOUT OT#(17) ON
DEFAULT DEFAULT
Input
DOUT OT#(18) ON DOUT OT#(18) ON *formats are
not converted
ENDSWITCH ENDSWITCH

4-5

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4 Format Conversion at External Output

DX100 4.3 FOR ~ NEXT Statements

4.3 FOR ~ NEXT Statements

* Because the commands in the structured language used between the
FOR and NEXT statements do not conflict with the existing instructions,
the formats are not converted at external output.

After external storage output

Display (The formats of the red lines are converted)
FOR I000 = 1 TO 10 Output FOR I000 = 1 TO 10
DOUT OT#(16) ON DOUT OT#(16) ON
NEXT I000 NEXT I000

Input *formats are

not converted

4-6

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HW1480235
4 Format Conversion at External Output
DX100 4.4 WHILE ~ ENDWHILE Statements

4.4 WHILE ~ ENDWHILE Statements

4.4.1 WHILE ~ ENDWHILE Statements (SINGLE Condition)

* Because the commands in the structured language used between the
WHILE and ENDWHILE statements (single condition) do not conflict with
the existing instructions, the formats are not converted at external output.

After external storage output

Display (The formats of the red lines are converted)
WHILE IN#(16) = ON Output WHILE IN#(16) = ON

DOUT OT#(17) ON DOUT OT#(17) ON

ENDWHILE ENDWHILE

Input *formats are

not converted

4.4.2 WHILE ~ ENDWHILE Statements (AND Condition)

1. “WHILE ~ AND” → Converted into “WHILE ~ ANDIF ~”

2. “ENDWHILE” → No changes

After external storage output

Display (The formats of the red lines are converted)
WHILE IN#(16) = ON AND IN#(17) = ON Output WHILE IN#(16) = ON ANDIF IN#(17) = ON

DOUT OT#(18) ON DOUT OT#(18) ON

ENDWHILE ENDWHILE

Input

4-7

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4 Format Conversion at External Output

DX100 4.4 WHILE ~ ENDWHILE Statements

4.4.3 WHILE ~ ENDWHILE Statements (OR Condition)

1. “WHILE ~ OR ~” → Converted into “WHILE ~ ORIF ~”

2. “ENDWHILE” → No changes

After external storage output

Display (The formats of the red lines are converted)
WHILE IN#(16) = ON OR IN#(17) = ON Output WHILE IN#(16) = ON ORIF IN#(17) = ON

DOUT OT#(18) ON DOUT OT#(18) ON

ENDWHILE ENDWHILE

Input

4-8

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HW1480235
5 Related Parameter
DX100

5 Related Parameter
S2C693: Indent level for structured language nesting unit
[Number of character]

5-1

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DX100 OPTIONS INSTRUCTIONS
INFORM EXTENSION FUNCTION
STRUCTURED PROGRAM LANGUAGE

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745 Fax +81-93-645-7746

YASKAWA America Inc. MOTOMAN Robotics Division

805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999

YASKAWA Europe GmbH Robotics Division

Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Electric Korea Co., Ltd.

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone +66-2-693-2200 Fax +66-2-693-4200

Shougang MOTOMAN Robot Co. Ltd.

No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

MOTOMAN Motherson Robotics Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500 Fax +91-124-414-8016

Specifications are subject to change without notice

for ongoing product modifications and improvements.

C Printed in Japan January 2011 10-09

YASKAWA ELECTRIC CORPORATION

MANUAL NO.

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