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 for the first semester course but still offer considerable benefit to programming are:

• Palletizing
• Miscellaneous

• Skip
• Payload
• Offset/Frames

• Multiple Control
• VISION

• Program Control

• MACRO

• FOR/ENDFOR

• Tool_Offset

• LOCK PREG
• Collision Detect

• MONITOR MON.END
• Stick Detect

• String

• DIAGNOSE
• LOCK VREG
• VOFFSET