Denso RC5 Specifications download pdf (Page 96)

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3.2.6 If Pass Motion Does Not Execute

In the following cases, even if a pass motion is designated, the robot moves

with end motion.

3.2.6.1 If Pass Motion Command Is at the End of the Main Program

The pass motion command to be executed at the end of the main program is

executed as the end motion command. For example, in Fig. 3-10, the robot

reaches the last position P3 with an end motion.

PROGRAM PRO10

TAKEARM

MOVE L, @P P1

MOVE L, @P P2

MOVE L, @P P3

END

Fig. 3-10 A Program Example of Pass Motion Command Present on the

Last Line of the Main Program.

However, if you continuously run the main program, P3 becomes a pass

motion as shown in Fig. 3-11.

Fig. 3-11 Main Program is Continuously Running.

3.2.6.2 If GIVEARM Is Present after Pass Motion Command

If you execute GIVEARM (refer to p.14-17 “ GIVEARM”), the robot waits until

the motion completely stops. Therefore, if you execute GIVEARM just after the

pass motion command, the robot does not execute the pass motion.

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