<< Prev        Next >>

ID : 151

TakeArm

Function

To acquire axis control.

Syntax

TakeArm [arm group number][ Keep = Keep option setting value]

Guaranteed entry

Arm group number
Specify the arm group number (0-31) to acquire control by integer type data. This is an optional value. 0 (arm group 0 = robot axis only) is specified if this is omitted.
Keep option setting value
Designate integer type data 0 or 1. This is an optional value. This should be "0" if this is omitted.
Setting value Function
0

Initialized when the control is acquired.

  • The acquired arm group internal speed setting value is set to 100. At the same time, the internal acceleration and internal deceleration are also set to 100.
  • The current tool coordinate number is initialized to Tool0.
  • The current work coordinate number is initialized to Work0.
1 Not initialized when the control is acquired.

Description

Axis control is acquired.

Related Terms

GiveArm

Attention

  • One task cannot acquire control of more than one arm group.
  • No error occurs even when the control of an arm group for which the system already has control is acquired by TakeArm command again.
  • For the supervisory task, axis control cannot be acquired and the TakeArm command cannot be executed.
  • Once a program that includes "Takearm" is executed, the priority of the program is set to "High" so as to process the robot operation in preference to other programs. When "Givearm" is executed, the priority of the program is set to the previous status (the state before Takearm execution). In order to disable this automatic priority setting change at Takearm/Givearm, go to [Program parameters] of the Teach Pendant. Then disable [30: When Takearm is executed, priority of a program is changed].
  • If “keep=1” is not specified, the settings described in the table above is initialized.
    Doing so, the speed and acceleration might change from the state before the command is executed.

Example

'!TITLE "Acquiring Axis Control of the Arm Group"
' Acquiring Axis Control of the Arm Group
Sub Sample_TakeArm

  Dim aaa As Position

  aaa = CurPos
  aaa = Dev( aaa, P( 10, 10, 10, 0, 0, 0 ) )

  ' Acquiring Axis Control of the Arm Group
  TakeArm Keep = 1

  Move P, aaa

End Sub

ID : 151

<< Prev        Next >>