ID : 7282

DiagnosisMove

Function

To execute diagnosis motion.

This command is available in Ver.2.6.* or higher.

Syntax

DiagnosisMove

Description

To execute diagnosis motion. For details, refer to "Method by Robot Program".

Attention

Example

The following is the sample program of "DiagnosisMove". In the following sample program, after the execution of "DiagnosisMove", the displayed message will differ depending on the result of diagnosis motion. For the judgment of the diagnosis motion result, "GetDiagnosisWarning" is used.

Sub Main

  'Execute the diagnosis motion
  DiagnosisMove
	
  '=== Display different message depending on the result of diagnosis motion ===

  'When diagnosis motion completes normally
  If GetDiagnosisWarning = 0 Then
    Msgbox "Position detection function and speed detection function of COBOTTA are normal."

  'When diagnosis motion ends with errors
  Else
    Msgbox "Either Position detection function or Speed detection function of COBOTTA has an error."
  End if

  '================================================
	
End Sub

Once "DiagnosisMove" command is executed, execution status of all axis are set to "not executed" first, and then diagnosis motion is executed.
If this command is executed in Simulation Function, nothing is executed and the program moves to the next line.