Loctite CARTESIAN 200 Manual Do Utilizador
Jumping to a specified point:
goPoint, goRPoint, goCRPoint
The following explains how to jump to a specified point after carring out a point job instead of going
to the next point.
Command
Category
Command Parameter
Job
PTP Condition Number,
Jumps to a specified point.
goPoint
Point Number
goRPoint
PTP Condition Number,
Relative Point Number
Relative Point Number
Jumps to a specified relative point.
Execute Flow
Control
Control
goCRPoint
PTP Condition Number,
Destination selection
Destination selection
Jumps to a specified destination while
running in CP drive.
running in CP drive.
The commands “goPoint”, “goRPoint” and “goCRPoint” are invalid at the CP Passing Point or a
point whose Base Type is CP Passing Point.
point whose Base Type is CP Passing Point.
Point Number or Relative Point Number of “goPoint” and “goRPoint” can be set using variables
or expressions.
or expressions.
A destination for “goCRPoint” can also be set using variables or expressions. In this case, the
value must be either “0” or “1,”
value must be either “0” or “1,”
#genIn2=ON
waitStartBZ
goRPoint PTP3,8
Example: Below: is the Point Job Data for the
operation shown in the chart to the right.
waitCondTime 500
ld #genIn2
timeUp
waitStartBZ
goRPoint PTP3,8
endWait
operation shown in the chart to the right.
waitCondTime 500
ld #genIn2
timeUp
waitStartBZ
goRPoint PTP3,8
endWait
The above commands carry out the following
operation:
When #genIn2 does not turn ON within 0.5 sec, the alarm buzzer will sound and the robot will wait
until a start signal is received. After a start signal is received, operation will restart at the current
reference point, plus 8.
Features II CARTESIAN Benchtop Robot
63