Panasonic VR2 Series - Pulse; Flow Commands; Call; Delay

16-4
16-2-3. PULSE
Format
PULSE[Terminal type]([Terminal name]) T=[Time]
Terminal type Output terminal type (value or
variable (GB, LB)). O1#
1-bit input
Function Pulse output command.
It inverts the port signal for a specified period of
time.
Terminal name
Lock condition None.
Terminal label or number (value or
variable (GB, LB)).
Syntax check None. Time Output time.
Example Invert the signal of 1 bit output port #001 for 5
seconds.
PULSE O1#(001) T=5.00
The same command in
conventional models
PLSB
16-3. Flow commands
16-3-1. CALL
Format
CALL [File name]
Function Call a program and execute it. After completion
of the called program, it resumes operation of the
original program.
File name Name of the program you want to
call.
Condition Standard.
Lock condition None.
Syntax check The specified call program doesn’t exist.
Example Call the program named ‘PROG001.prg’.
CALL PRG001.prg
The same command in
conventional models
GOSUB PROG
16-3-2. DELAY
Format
DELAY T=[Timer]s
Function Delay.
It stops operation of the mechanism for a
specified period of time.
Timer Stop time. (Value, GR, LR)
[Set range: 0.00 - 99.99]
Condition Standard.
Lock condition None.
Syntax check None.
Example Stop operation for 10 seconds.
DELAY 10.00s
The same command in
conventional models
DELAY
16-3-3. HOLD
Format
HOLD [Message]
Function Temporary stop (or User error).
This function leads to an error state. Use it to
stop operation when the current condition may
cause an error, such as interlock.
Message To be displayed on the screen.
(8 bytes)
Condition Standard.
Lock condition None.
Syntax check None.
Example Display the message “No signal input” and bring
the robot to stop state.
HOLD No input
The same command in
conventional models
HOLD