Denso RC5 Specifications download pdf (Page 439)

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101

Chapter 14 Multitasking Control Statements

14-15

Note 1: Robot control priority is automatically released in the

following cases.

•

••

• If an END command is executed (Except for an END

command at the end of a called program)

•

••

• If a KILL command is executed

•

••

• If a HALT command is executed

•

••

• If a STOP command is executed

•

••

• If the robot controller is initialized with the teach pendant

or I/O.

Note 2: If a TAKEARM command is executed, the system

automatically executes the following process.

•

••

• The TOOL definition is initialized to TOOL 0. The work

coordinates are set to the base coordinates of the robot.

•

••

• The internal speed, internal acceleration and internal

deceleration are set to 100.

Note 3: The system does not release during program suspension.

(2) extended-joints

If a task holding no arm group attempts to execute any of the following motion

commands, an error will occur. Before executing those commands, get the arm

semaphore (Arm Group) by using the TAKEARM command.

Commands Requiring Arm Group

Commands Requires:

HOME, TOOL, WORK, APPROACH, DEPART,

DRAW, GOHOME, MOVE, ROTATEH, ROTATE,

CHANGETOOL, CHANGEWORK, DRIVE, DRIVEA,

SPEED, JSPEED, ACCEL, JACCEL, DECEL,

JDECEL, INTERRUPT, LETENV, Motion

optimization library, and Arm motion library

Arm group involving

robot joints

DRIVE, DRIVEA, SPEED. JSPEED. ACCEL,

JACCEL, DECEL, JDECEL, INTERRUPT,

LETENV, and POSCLR

Arm group that may

or may not involve

robot joints

Notes

(1) The DRIVE and DRIVEA commands require an arm group involving a

joint(s) to move.

Example: DRIVE (7,10)

To move the 7th joint, the task should hold the arm group involving the 7th

joint.

(2) The MOVE command with EX (EXA) option requires the arm group involving

robot joints and extended-joints which are invoked by the EX (EXA) option.

Example: MOVEP,P0EX((7,10))

The arm group should involve robot joints as well as the 7th joint.

(3) The speed setting commands will only change the speed of joints involved

in an active arm group currently held in the task.

(4) The LETENV command requires an arm group involving joints associated

with parameters to be changed.

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Denso RC5 Specifications Page 439

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