Robotics User Manual

Stopping the arm shift due to setting conditions while running.
lineMoveSpeed 3
X:20
Y:0
Z:0
R:0
lineMoveStopIf
ld #sysIn1
endLineMove
callJob11
If #sysIn1 comes ON, the tool unit stops shifting and
goes the next command (callJob11) even before the
movement in the Z direction does not reach +20.
In this case, you can check with the system flag (#sysFlag34) to find out whether it stopped before or
after shifting to the specified distance was complete.
0: Shifting to the specified distance is complete.
1: Shifting to the specified distance is not complete due to conditions.
Condition to stop shifting

Exceeding the “Move Area Limit” of “lineMoveSpeed”
If the arm exceeds the move area limit, it will stop shifting at the position where it reaches the move
area limit and advance the next command.
In this case, you can check with the system flag
(#sysFlag33) to find out whether it stopped before or
after shifting to the specified distance was complete.
Complete: 0, Not complete: 1
If the arm achieves the move area limit
before the shifting is complete, sound a
buzzer and stop. (Wait Start)
lineMoveSpeed 3
X:20
Y:0
Z:0
R:0
endLineMove
if
ld #sysFlag33
then
waitStartBZ
endIf
Features II CARTESIAN Benchtop Robot
71