CALL: Difference between revisions
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[[File:Inst-call orig.gif|thumb|How to add a CALL instruction to a program.]]
=== CALL [Program] ===
CALL is a non-motion instruction that causes the robot to halt progression of its current running program, throw all of the currently-in-use data about that program into the processor's stack, and start another program.
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For situations where certain instructions are repetitive or may be seen in many programs, small operation programs may be made for the purpose of being called in larger programs.
Example:▼
When placing a CALL instruction, you are given a list of all available programs to choose from.
RO[4:Vacuum] = OFF▼
▲==== Example: ====
WAIT 1seconds▼
▲''RO[4:Vacuum] = OFF''
▲''WAIT 1seconds''
RO[4:Vacuum] = ON▼
▲''RO[4:Vacuum] = ON''
In this example the program has three lines. The first line turns the vacuum system off to let go of a part on the robot's tool. Since there may be a delay in response, a wait instruction is added to ensure the vacuum tool has had a chance to let go of the object. The third line returns the vacuum to its prior state, ready to pick up a new object.
==== Note: ====
=== END ===
The END instruction is included at the bottom of teach pendant programs, but additional instances can be added through the [INST] - CALL - END option.
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