Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
54
■ Waiting for a Start Signal: waitStart, waitStartBZ
This section explains the point job data commands to stop the robot until a start signal comes.
Command Category Command Parameter Job
waitStart – Stand by in place until a start signal comes.
Delay, Data In,
Wait Start
waitStartBZ –
Stand by in place while sounding a buzzer until
a start signal comes.
z The waitStart and waitStartBZ commands are deactivated at points where the (base) point type
[CP Passing Point] is set.
■ waitStart: Wait for start
Example:
set #genOut1
waitStart
reset #genOut1
Output an ON signal to #genOut1.
Stand by in place until a start signal comes.
Output an OFF signal to #genOut1 (if a start signal comes).
■ waitStartBZ: Wait for start (with buzzer)
Example: If #genIn1 does not come on within 2 seconds, it is recognized as an error, #genOut2
(connected to an external alarm or alarm lamp) comes on, and the robot stands by for a
start signal while sounding a buzzer.
When the operator fixes the problem and sends a start signal, #genOut2 goes off and the
operation will restart from Point 05.
waitCondTime 2000
ld #genIn1
Wait until #genIn1 comes on for 2 seconds.
timeUp
upZ 50,20
set #genOut2
waitStartBZ
reset #genOut2
goPoint PTP3,5
endWait
If #genIn1 does not come on within 2 seconds,
Raise the Z-Axis 50mm (at 20mm/sec),
Output ON signal to #genOut2,
Sound a buzzer and stand by in place until a start signal comes.
Output OFF signal to #genOut2 (when a start signal comes),
Go to Point 05.
End of the command if #genIn1 does not come on within 2 seconds
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