ST_OffSrvLock (Statement) [Version 1.9 or later]


Releases servo lock for the specified axis (exclusively designed for four-axis robots).


ST_OffSrvLock <specified axis>


Provides a function similar to the OFF SVLOCK instruction in the conventional language.
Servo lock refers to the state where the robot arm is controlled to keep its position. When it is released, the robot arm is not kept in its position but moved by an external force applied to it.



  • No operation command can be executed for an axis for which servo lock is released.
  • Set release of servo lock while the robot is in stopped state. If set during path operation, an error may result.
  • Execute this command in a TAKEARMed task that has obtained arm semaphore. If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
  • If bit 2 of the value set to "25: Current limit reset" in the operating conditions is "0" (initial value), servo lock release is reset (to cause servo lock) upon motor power on. To validate servo lock release immediately after motor power on, set "+2" as the current limit reset value.
    Setting example of operating condition "25: Current limit reset"
    PWM
    SVLock
    Curlmt
    *
    *
    *
    If only SVLock is effective
    0
    1
    0
    = 2
    If all is effective
    1
    1
    1
    = 7



ST_OffSrvLock 1
'Release servo lock for the 1st axis.


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