|
|
|
* ACC - Acceleration. Use this to limit the acceleration of the motion instruction. Without this modifier, the robot will use normal calculations to determine acceleration and velocity (such as payload, joint limitations, speed variables)
* COORD
* SKIP,lbl[] Simple Task: Robot has to perform a spot welding(only 1 spot) when it sees a sheet metal which might be placed anywhere between two points (say P[1] and P[2]) 1: SKIP CONDITION DI[y]=ON; -------''(if a senor mounted on robot senses the sheet metal, then DI[y] will be ON and robot has to do a spot welding at that point)'' 2:J P[1] 5% CNT100 Skip,LBL[1]; ------ (''inserting skip instruction in this line means that monitoring for DI[y] has to start from P[1] )'' <br />3: SPOT(SD=2, P=1, S=5, ED= 4); -------''(As per skip instruction, if skip condition is satisfied i.e. DI[y]= ON, then robot will execute the next line which is a spot in our case)'' <nowiki>4: L PR[1 : home pos] 2000 CNT 100; ----(optional) </nowiki>''(optional)'' 4: LBL[1]; ------''(IF condition is not satisfied, execution jumps to this label directly from line2 and robot moves towards point P[2])'' 6:L P[2] 10 CNT100 ; ''-------(while moving towards P[2], if condition gets satisfied DI[y]=ON , then robot without moving further jumps to line3 immediately and performs the spot)'' <nowiki>7: L PR[1 : home pos] 2000 CNT 100 ;------</nowiki>''(optional)''<br /nowiki> Note: once condition is satisfied the monitoring will be stopped but the condition specified will be available throughout the program and can be called for checking anytime by inserting a skip instruction
* Offset
* Offset,PR[] - Offset by a Position Register. Whatever is in the position register for the offset will be added with the contents of the position used for the motion instruction. The result only affects that motion instruction, the position register and position variable for the instruction will be unchanged.
|