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8-56 Chapter 8 Robot Language Lists
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DRIVEI
●
STOPON condition setting
Format
STOPON conditional expression
Explanation
Stops movement when the conditions specified by the <
conditional expression
>
are met.
Because this is a deceleration type stop, there will be some movement
(during deceleration) after the conditions are satisfied.
If the conditions are already satisfied before movement begins, no movement
occurs, and the command is terminated.
This option is enabled only by program execution.
• When the conditional expression used to designate the STOPON condition is a numeric
expression, expression value other than "0" indicates a TRUE status, and "0" indicates a FALSE
status.
SAMPLE
DRIVEI(1,10000),STOPON DI(20)=1
··········· Axis 1 of robot 1 moves from its current
position toward the "+10000 pulses" position
and stops at an intermediate point if the "DI
(20) = 1" condition become satisfied. The next
step is then executed.
MEMO
Содержание SCARA YRCX Series
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