Rainbow Robotics RB Series, Руководство пользователя, Страница: 401 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
401
Script task pause
Descript. This command pauses the motion.
To resume the motion, use “task resume_a” command.
During pausing, the robot ignores all other commands.
Example “task pause”
Script task stop
Descript.
This command completely terminates the motion.
This command results in immediate stop of the motion. It is
recommended to use ‘task pause’ before this command to
smoothly stop the motion.
Example “task stop”
Script task resume_a
Descript.
This command resumes the moiton paused by “task pause”,
“alarm” or “debug”.
Example “task resume_a”
Script task resume_b
Descript. This command resumes the motion paused by the collision.
Example “task resume_b”
In order to use external control, the external computer must be connected to the control box.
The connection uses TCP / IP communication and the corresponding IP address can be set
in the pendant. The result is displayed on the screen on control panel. Ports 5000 and 5001
open for external control. Port 5000 is a port for receiving commands, and port 5001 is a
port for requesting and sending data indicating robot status. For convenience, port 5000 is
called the command port and port 5001 is called the data port.
The user can send the script command described above to the command port. The
command port has a filter for the first command, so if the start is not a script command as
described above, such as ‘jointall’, ‘movetcp’, ‘mc’, ‘pgmode’, etc., the response shows, "The
command is not allowed." If the command starts with a normal command and passes the
input statement to the parser, the response shows, “The command was executed.”