4-15 srvo, 4-16 stop, Robot language – Yamaha SRCP User Manual

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ROBOT LANGUAGE

8-4 Robot Language Description

8-4-15 SRVO

Function:

Turns the servo on and off.

Format:

SRVO

Example:

SRVO 1
This turns the servo on.
SRVO 0
This turns the servo off.

Explanation:

This command is used to prevent an overload on the motor that may
occur if the robot is locked mechanically after positioning is completed.
This command is executed after the specified axis enters the position-
ing-completed pulse range.
(1) Servo status

"1" means "on" and "0" means "off."

8-4-16 STOP

Function:

Temporarily interrupts program execution.

Format:

STOP

Example:

STOP
Temporarily interrupts program execution.

Explanation:

This command temporarily interrupts execution of a program. If two or
more tasks are being executed, then all those tasks are interrupted. This
command can be used at any point in a program. The next execution will
restart from the subsequent step.

Others:

• Normally, the program terminates when the last step is detected. At

the same time, the program is reset and the execution step number will
return to 1 (top line of the program).

• To interrupt only a subtask temporarily without stopping the main task,

use the TOFF statement. (Refer to "8-4-19 TOFF".)