Denso RC5 Especificações descarregar pdf (Página 319)

100

101

Chapter 12 Robot Control Statements

12-43

Notes

(1) If the controller executes any relative motion command immediately

following an interrupt skip, then the subsequent relative motion will start

from the position where the robot stops. In program lines sandwiched by

the INTERRUPT pair, therefore, use an absolute motion command.

(2) The system does not perform a pass motion during INTERRUPT ON.

If the system finds the pass motion designated, all of then are executed in

the end motion.

(3) Turning an interrupt skip signal ON interrupts all motion commands

sandwiched by the INTERRUPT pair and stops all robot motions. Therefore

carefully design your robot system for multitasking if you use the

INTERRUPT.

Program Example

PRO1

TAKEARM 0

INTERRUPT ON

MOVE P,P0 'Motion command

INTERRUPT OFF

END

PRO2

TAKEARM 1

INTERRUPT ON

DRIVE(7,30) 'Motion command

INTERRUPT OFF

END

When the controller is running PRO1 and PRO2 programs concurrently in

multitasking mode, if an interrupt skip signal turns ON, then the controller

will interrupt all commands (MOVE in PRO1 and DRIVE in PRO2 in the

above example) running in both programs and make the programs

simultaneously proceed to the next step.

1 2 ... 314 315 316 317 318 319 320 321 322 323 324 ... 691 692

Comentários a estes Manuais

Sem comentários

Denso RC5 Especificações Página 319

Comentários a estes Manuais

Manuais e produtos relacionados com Robótica Denso RC5