Denso RC5 Specifications download pdf (Page 386)

100

101

13-4

Notes

(1) Concurrent processing is not executed in the following cases.

i) If a motion option is added to a motion instruction

ii) If you execute CHANGEWORK, CHANGETOOL, SPEED, JSPEED,

ACCEL, or JACCEL.

iii) If you execute the conventional language library of [aspChange],

[aspACLD], arm motion library [mvSetPulseWidth], [mvSetTimeOut],

[mvReverseFlip], [mvResetPulsetWidth], or [mvResetTimeOut].

Execution of the next step should stop until the motion instruction is

finished (from designation of the pass motion until the pass motion starts)

in all cases.

(2) If the system is restarted after a step or instantaneously stop of the robot

during robot movement, the robot may not execute concurrent motion with

a non-motion command.

(3) If the robot is stopped after a step during the first motion when a motion

instruction is repeated twice in IOBLOCK, the robot stops after a step

once the next motion is finished. During execution of the first motion, if

you instantaneously stop and run the step, the robot also stops after the

step once the next motion is finished.

Example

IOBLOCK ON

MOVE P, JO ← During movement to JO, even if the robot is

stopped after a step, the next motion of MOVE P,

J1 is executed. After that, the robot stops after

a step.

MOVE P, J1

SET IO[1]

IOBLOCK OFF

(4) The range of IOBLOCK is valid only in a defined program, not in a

subprogram.

Example

PROGRAM PRO1

TAKEARM

DEFPOS 1p1, 1p2

IOBLOCK ON

CALL SUB1

MOVE P, 1p1, 1p2

SET IO[1]

SET IO[2]

IOBLOCK OFF

For this type of program, IOBLOCK defined in PRO1 is not valid in SUB1. The

valid IOBLOCK range is independent for each program.

(5) IOBLOCK is disabled in the teaching check mode.

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