Denso RC5 Dokumentacja Pobierz pdf (Strona 440)

Related Terms

GIVEARM, TAKEVIS, GIVEVIS

PROGRAM PRO1 '

TAKEARM 'Executes TAKEARM on the first line of the program which

'instructs the robot motion.

MOVE P, P1 '

MOVE P, P2 '

Releases robot control priority with GIVEARM when this is

This is not always required since the priority is automatically

released with END just after this

PROGRAM PRO2 '

MOVE P, P3 '×: If a MOVE instruction is executed without execution of

'TAKEARM, an error occurs.

PROGRAM PRO3 '

MOVE P, P4 '

PROGRAM SUB1 '

MOVE P, P5 '

An error does not occur since TAKEARM has already been executed

PROGRAM PRO4 '

CHANGEWORK 3 '

CHANGETOOL 1 '

MOVE P, P5 '

PROGRAM PRO5 '

TAKEARM 'An error does not occur even if TAKEARM is instructed

'by PRO4 since this is called as a subroutine of PRO4.

MOVE P, P6 '

However, the tool coordinates and the work coordinates are 0 and the

speed is 100.

Denso RC5 Dokumentacja Strona 440