12-82
ST_OnSrvLock (Statement) [Ver.1.9 or later]
Function
Servo-locks a specified axis (exclusively designed for four-axis robots).
Format
ST_OnSrvLock <specified axis>
Explanation
Provides a function similar to that of the
ON SVLOCK
instruction in the conventional
language.
Servo lock means that robot arms are controlled and their positions are held.
Related Term
ST_OffSrvLock
Notes
(1) Set servo lock as the robot stops. If it is set during path operation, an error may
occur.
(2) Execute this command in a TAKEARMed task which has obtained arm
semaphore.
If the command is executed without arm semaphore obtained, Error "21F7
Cannot take arm semaphore" will result.
Example
ST_OnSrvLock 1 'Servo lock for the 1st axis.
ST_OnSrvLock 0 'Servo lock for all axes.
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