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8-180 Chapter 8 Robot Language Lists
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94
PUSH
●
STOPON conditions 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 met.
If the conditions are already met before movement begins, no movement occurs,
and the command is terminated.
This option is enabled only by program execution.
SAMPLE
PUSH(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 is
met. The next step is then executed.
• When the conditional expression used to designate the STOPON conditions is a numeric
expression, an expression value other than “0” indicates a TRUE status, and “0” indicates a
FALSE status.
Related commands
PSHFRC, PSHTIME, PSHMTD, PSHSPD, PSHRSLT, CURTRQ, CURTQST
MEMO
Содержание SCARA YRCX Series
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