Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
86
second set of auto off, after 100ms, the background
program will automatically turn it off).
G22 O205 S7P100 Set O205 to on, the program continues to run (using the
third set of auto off, after 100ms, the background program
will automatically turn it off).
G22 O205 S8 P100 Set O205 to on, the program continues to run (using the
fourth set of auto off, after 100ms, the background program
will automatically turn it off).
17.19. Set R(G23)
Code description
R: the number of R
T: Numerical type (0 absolute, 1 relative, 2 number, 3 cycles plus 1)
S: Output point status
P: Waiting time , ms
Examples
G23 R2010 T0 V3 P200 Set R2010 to 3, then pause for 200ms.
G23 R2011 T1 V2 R2011 = R2011+2
G23 R2012 T2 V2060 R2012 = R2060
G23 R2013 T3 V10 R2013 = R2013+1, if R2013>10, then set R2013=0
17.20. Sensing point I stop (Rbit comparison) (G31)
Code description
R: the number of R
S: The value of the R number to be used for the shielding value of the And operation. For
example, when only the bit 0 of the R value is monitored, S1 is used. When only the bit 1 of the
R value is used, S2 is used. When bit 0 and bit 1 are simultaneously monitored, S3 is used.
T: The value after the And operation must be the same as the value of this code to trigger the
action to stop.
L: 0 world, 1 work, 2 tool, 3 joint. (default: work)
M: 0 absolute, 1 relative. (Default: Absolute)
X: Coordinate X or J1.
Y: Coordinate Y or J2。
Z: Coordinate Z or J3。
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