Operation Termination Commands (Library) - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters
4.9.2

Operation Termination Commands (Library)

MotionSkip
Function
Syntax
Description
Macro definition
Related commands
Notes
Example
Aborts running motion commands.
MotionSkip
MotionSkip aborts motion commands running in the task in which the
MotionSkip executes.
Not needed.
GetJntData and GetSrvData
(1) Execute this command in a TAKEARMed task that holds an arm
semaphore. If not in a TAKEARMed task, the error "Not executable" will
result.
(2) Executing MotionSkip in a robot motion task will abort robot joint motion
commands. Executing it in an extended-joint motion task will abort
extended-joint motion commands.
If MotionSkip executes in a motion task holding an arm group involving
both robot joints and extended-joints, then both the robot and
extended-joint motions will be aborted.
defjnt lj1
defsng lf1
move p,P1,next
lj1=GetSrvState(2)
lf1=ABS(JOINT(2,lj1))
if lf1 > 10000 then
CALL MotionSkip
endif
'Get errors of each joint rotation angle.
'Select rotation error of J2.
'If the rotation error of J2 exceeds 10000
'(in pulses), then abort motion commands.
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