Skip

The skip condition is defined ahead of time in the program as SKIP CONDITION [Variable] [Math] [Variable]. This sets up the variable for it to evaluate later on when called as a motion option.

https://www.robot-forum.com/robotforum/fanuc-robot-support-forum/skip-motion-option/

Instruction Syntax

SKIP CONDITION	DI[1]	=	ON
	R[7]

When This Instruction is Reached

The robot controller's processor will set a sort of interrupt that will trigger based on the evaluation of the equation. No motion or registers are changed by this instruction, and functionally works like a blank line.

When to Add This Instruction

When you intend to add a SKIP condition modifier to the end of a motion line, to affect the following lines.

What Else is Needed to Use This Instruction

This instruction doesn't have prerequisites and can be placed anywhere. This instruction is a prerequisite for the motion option SKIP.