ABB MultiMove, Руководство по применению

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6 Programming
6.7.3. Dummy instructions
3HAC021272-001 Revision: H 82
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6.7.3. Dummy instructions
About dummy instructions
The same number of move instructions must be executed between
SyncMoveOn
and
SyncMoveOff
in all task programs. If a move instruction is only executed under certain
circumstances, the number of move instructions may differ from the other task programs.
This can be solved by adding a move instruction to the point where the robot already is (a
dummy instruction) for the case where the original move instruction is not executed.
Example with dummy move instructions
In this example, the task program needs to execute two move instructions if di1 is set to 1. If
di1 is 0, two move instructions are executed that move the robot to the position where it
already is (dummy instructions).
Part of a task program:
SyncMoveOn sync1, all_tasks;
MoveL p1\ID:=10, v500, fine, tool1 \WObj:=wobj_stn1;
IF di1=1 THEN
! Instructions executed under certain conditions
MoveL p2\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
MoveL p1\ID:=30, v500, fine, tool1 \WObj:=wobj_stn1;
ELSE
! Add dummy move instructions
MoveL p1 \ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
MoveL p1 \ID:=30, v500, fine, tool1 \WObj:=wobj_stn1;
ENDIF
SyncMoveOff sync2;