Panasonic VR2 Series - Nop; Paracall; Pause

16-6
16-3-7. NOP
Format
NOP
Function No operation.
Use it to improve the legibility of the program.
Condition Standard.
Lock condition None.
Syntax check None.
Example
NOP
The same command in conventional models
NOP
16-3-8. PARACALL
Format
PARACALL [File] [ON/OFF]
File Character string. (The file name(s) to be
executed in parallel.
Function Parallel execution of files.
Use it to execute files in parallel with
the current file.
ON/OFF ON = to execute.
Condition None. OFF = to cancel
Lock condition None.
Syntax check None.
Example Execute PRG002 in parallel.
PARACALL PROG002 ON
Note:
·
Up to 6 files (or up to 4 if axes are included) can be
executed at a time in parallel.
·For parallel execution of mechanisms, it is necessary to
add “Multi-mechanism” function to the system of the
management tool.
Execution errors:
<In ON state> --- Error stop in all cases.
·The specified program does not exist.
·More than 7 programs have been executed.
·The specified program contains the same mechanism as
the running program.
<In OFF state>
* The specified program has already completed.---
Ignore the command.
16-3-9. PAUSE
Format
PAUSE [message]
Function Temporary stop. Message Character string.
(max. 32 characters)
Condition Standard.
Lock condition None.
Syntax check None.
Example Display the message “Test” and bring the robot to stop state.
PAUSE Test
Note When the PAUSE command is executed, the message specified in the argument appears.
Unlike the HOLD command, this function does not lead to an error state.