OffPWM (Library)


Releases PWM switching on the specified axis (exclusively for a four-axis robot).


OffPWM (<specified axis>)


PWM switching means that robot arms are controlled and their positions are held. When PWM switching is released, robot arm positions are not held, and they are displaced if external force is applied.


The pacman.h file is necessary.



  • Operation command cannot be executed on an axis with PWM switching released.
  • Set PWM switching release as the robot stops. If it is set during path operation, an error may occur.
  • Execute this command on a task that obtains robot control conditions (TAKEARM). If robot control conditions are not obtained, error message "21F7 Arm semaphore cannot be fetched." is reported.
  • When bit 3 of the "25: current limitation reset" set value is set to 0 (initial value) as a use condition, PWM switching release is reset (PWM switching) at motor power-on. To validate PWM switching release just after the motor power is turned on, set +4 to the "current limitation reset" set value.
    Use condition "25: current limitation reset" setting example
    PWM
    SVLock
    Curlmt
    *
    *
    *
    PWM only valid
    0
    1
    0
    = 2
    All valid
    1
    1
    1
    = 7



CALL OffPWM(1)
'PWM switching release on axis 1


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