46
Command
Fallback processing method
Movement command
（
J
、
L
、
C
）
Based on the motion attribute and motion mode
of the last executed motion instruction, move to
the target point of the movement instruction
recorded by the back pointer
Condition command
Ignore
Flow command
CALL
Ignore
GOTO
、
LBL
Encountering this instruction, Fallback is not
allowed
Cycle command
（
FOR
、
END FOR
、
WHILE
、
END WHILE
、
BREAK
）
Ignore
IO
（
DO
、
WAIT
、
PULSE
）
Ignore
Program control command
（
PALSE
、
ABORT
、
END
）
Encountering this instruction, Fallback is not
allowed
Other command
（
THROW
、
RUN
、
SET_TR
、
SET_TOOL
、
SET_FRAME
）
Ignore
Assignment command
Ignore
Move command attribute
（
VEL
、
VROT
、
CNT
、
CNT_TYPE
、
ACC
、
DEC
、
SKIP
）
Ignore
Move
command
contains
additional
commands
OFFSET
1. If the additional command is a direct position
compensation instruction (for example: L
P[0] ,OFFSET LR[2]), it can execute the
fallback. Using the movement attribute and
movement method of the last executed
movement instruction to move to the point,
which is the target point recorded by the motion
instruction recorded by the back pointer plus the
compensation amount
2. If the additional command is a position
compensation command (example:
LP[0] ,OFFSET), as long as the conditional
compensation instruction has been executed
once (for example: the global assignment
instruction OFFSET_CONDITION=LR[2]), the
fallback can be executed. If it has not been