Denso RC5 Dokumentacja Pobierz pdf (Strona 443)

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Chapter 14 Multitasking Control Statements

14-19

GIVEARM (Statement)

Function

Releases robot control priority.

Format

GIVEARM

Explanation

This statement releases the robot control priority. With this, other tasks can

obtain a control task.

If an attempt is made to execute a GIVEARM command although another task

has already obtained robot control priority, an error occurs.

Note: Robot control priority is automatically released in the

following cases. Therefore, it is possible to ignore a GIVEARM

command.

•

••

• If an END command is executed (Except for an END

command at the end of the program called)

•

••

• If a KILL command is executed.

•

••

• If the robot controller is initialized with the teach pendant or

I/O.

Related Terms

TAKEARM, TAKEVIS, GIVEVIS

Example

TAKEARM 'Executes TAKEARM at the head of the program which executes robot motion.

MOVE P, lp1 '

MOVE P, lp2 '

GIVEARM

'Releases robot control priority with GIVEARM when 1 is finished. This does

not always have to be executed since the robot is automatically released at the

'END just after this.

Notes

The system waits until the robot completely stops before executing GIVEARM.

Therefore, even if a pass motion is designated before GIVEARM, the pass

motion does not execute.

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