
14-14
14.3 Arm Semaphore
TAKEARM (Statement)
Function
Gets an arm group. Upon execution of this statement, the programmed speed,
acceleration and deceleration will be set to 100. If the gotten arm group
includes any robot joint, this statement restores the tool coordinates and work
coordinates to the origin.
Format
TAKEARM[<ArmGroupNumber>][<KEEP=DefaultValue>]
Explanation
This statement continues the process as it is, if a TAKEARM command in a
task which already has control priority, or in a subroutine called by the task is
executed.
n
nn
n <ArmGroupNumber> [V1.5 or later]
If <ArmGroupNumber> is omitted, the TAKEARM gets the semaphore of Arm
Group 0 in which only robot joints are enabled.
n
nn
n <KEEP = Set value for initializing> [V1.4 or later]
Set value for initializing 0: The tool coordinate and the work coordinate are
returned to the origin, and the internal speed,
the internal acceleration, and the internal
deceleration are set to 100.
1: The tool coordinate, the work coordinate, the
internal speed, the internal acceleration, and the
internal deceleration are maintained to their
current setting.
If <KEEP = Set value for initializing> is omitted, KEEP=0 (the tool coordinate
and the work coordinate are returned to the origin, and the internal speed, the
internal acceleration, and the internal deceleration is set to 100) is assumed.
(1) Arm group includes any robot joint
An error will occur if a task without robot control priority attempts to execute a
robot motion instruction in the following table. Be sure to obtain a control
priority with a TAKEARM command for programs that are used to execute
these motion instructions.
Robot motion instructions requiring control priority
Type Commands
Declaration
statement
HOME, TOOL, WORK
Robot control
statement
APPROACH, DEPART, DRAW, DRIVE, DRIVEA, GOHOME,
MOVE, ROTATEH, ROTATE, SPEED, JSPEED, ACCEL,
JACCEL, DECEL, JDECEL, CHANGETOOL,
CHANGEWORK, LETENV
Proper portable mass setting library, Arm motion library
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