Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
84
G18 Get the work coordinates of the final position and the return
value is @71~@79
G1T18 Get the work coordinates of the final position and the return
value is #81~#89
17.15. Get the joint coordinates (G19, G1T19) of the final position
Examples
G19 Get the joint coordinates of the final position and the return
value is @81~@89
G1T19 Get the joint coordinates of the final position and the return
-value is #91~#99
17.16. Wait for Point I(G20)
Code description
I : Number of point I
S : Comparison value (waiting value)
T : Waiting time
F : Failure processing mode 0 continue to wait 1 skip this line 2 alarm
A: Alarm number
B : Alarm bit
Examples
G20 I100 S1 Wait for I100 to become 1.
G20 I110 S0 T1000 F1 Wait for I110 to become 0. If the waiting time exceeds
1000ms, skip this line.
G20 I120 S1 T2000 F2 A29010 B3 Wait for I120 to become 1, and if the waiting time
exceeds 2000ms, an alarm of alarm R29010.3 is issued.
17.17. Wait for R value (G21)
Code description
R : R value number
C : Comparison mode 0 equal, 1 unequal
M : Mode, 0 constant, 1R value
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