Non-Motion Instructions

Non-Motion instructions are program lines that don't directly result in motion of the robot joints. They can perform functions such as change variables, redirect program flow, operate devices, and read sensors.

The instructions most crucial to an intermediate program are:

• Registers

• I/O

• IF/SELECT

• JMP/LBL

• WAIT

• CALL

The options that aren't crucial but still offer considerable benefit to programming are:

• Miscellaneous

• Skip

• MACRO

• Tool_Offset

• FOR/ENDFOR

• Offset Frames

• Program Control

• Multiple Control

• Payload

• LOCK PREG

• MONITOR MON.END

• String

• Collision Detect

• Stick Detect

• DIAGNOSE