INIT [Version 1.7 or later]


Turns on motors, carrier out CAL, and sets the speed according to the preset supervisory task parameters.


INIT [,<INIT option>]


  • If the supervisory task is disabled ("Not Use Supervisor TASK" parameter is selected), then the INIT command causes no operation.
  • If the supervisory task is enabled ("Use Supervisor TASK" parameter is selected), then the INIT command causes the following:
    When the INIT run mode is set to "without motor on and CAL":
    If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively.
    When the INIT run mode is set to "with motor on and CAL":
    If the INIT speed has been set to 10 or 100, this command sets the external speed of the robot controller to 10 or 100, respectively, turns motors on and carries out CAL.
  • If <INIT option> is "RESULT=variable," the supervisory task does not stop even if an internal error occurs during the execution of the INIT statement. It stores the error code in the variable specified by RESULT. [Ver. 2.6 or later]




  • Do not concurrently run robot operation programs and task programs which run only the INIT command in an infinite loop.
  • During execution of an INIT command, the status display of running programs may show "On standby." Be careful with restart of those programs.
  • Do not run INIT commands simultaneously in more than one supervisory task.


'!TITLE "Initialization"
PROGRAM TSR1
INTN, RESULT=l1
'Turn motors on, execute CAL, and set the speed.
'If INIT fails, store the error code in variable I1
'and proceed to the next line.
END


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