Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
85
V : 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
G21 R100 V1 Wait for R100 to become 1.
G21 R110 V0 T1000 F1 Wait for R110 to become 0. If the waiting time
exceeds 1000ms, skip this line.
G21 R110 M1 V99 T1000 F1 Wait for R110 to become equal to R99. If the
waiting time exceeds 1000ms, skip this line.
G21 R110 M1 V99 C1 T1000 F1 Wait for R110 to become unequal to R99. If the
waiting time exceeds 1000ms, skip this line.
G21 R120 V1 T2000 F2 A29010 B3 Wait for R120 to become 1, and if the waiting
time exceeds 2000ms, an alarm of alarm
R29010.3 is issued.
17.18. Set O(G22)
Code description
O: output point number
S: output point status
P: Waiting time, ms
Examples
G22 O201 S0 P200 After setting O201 to Off, pause for 200ms.
G22 O203 S1 Set O203 to On
G22 O205 S2 Switch the status of O205
G22 O205 S3 P100 Set O205 to on 100ms, then Off (the program will wait for
off before continuing).
G22 O205 S4 P100 Set O205 to on 100ms, then On (the program will wait for
on before continuing).
G22 O205 S5 P100 Set O205 to on, the program continues to run (using the
first set of auto off, after 100ms, the background program
will automatically turn it off).
G22 O205 S6 P100 Set O205 to on, the program continues to run (using the
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