Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
80
■ How to Stop the Movement in the Middle of the CP Drive using Conditions
Example:
lineMoveSpeed 3
lineMoveX 20
lineMoveY 0
lineMoveZ 0
lineMoveR 0
lineMoveStopIf
ld #sysIn1
endLineMove
callJob11
If #sysIn1 comes on, the robot Axis stops moving and goes to the next
command (callJob11), even before the Z-Axis moves 20mm in the
plus direction.
If the movement in the CP drive is terminated by conditions, you can check whether or not the robot
Axis has moved the specified distance before it was stopped by referring to the system flag
(#sysFlag34).
0: The robot Axis has completed moving the specified distance in that direction.
1: The robot Axis has completed moving in that direction with conditions.
■ If the Robot Axis Exceeds the [Move Area Limit] defined by the lineMove Command
If the Arm exceeds the [Move Area Limit] by the lineMove command, it will stop at the position where
it reaches the move area limit and then go to the next command.
By referring the system flag (#sysFlag33), you can check
whether the robot Axis has completed moving the specified
distance before reaching the [Move Area Limit].
Complete: 0
Not complete: 1
[Wait Start] command: If the robot Axis reaches the [Move
Area Limit] before moving the specified distance, sound a
buzzer and stop until a start signal comes.
lineMoveSpeed 3
lineMoveX 20
lineMoveY 0
lineMoveZ 0
lineMoveR 0
endLineMove
if
ld #sysFlag33
then
waitStartBZ
endIf
Condition to stop in the middle of the movement
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