MotionSkip
(Library)
[Version 1.5 or later]
Aborts running motion commands.
MotionSkip
MotionSkip aborts motion commands running in the task in which the MotionSkip executes.
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Execute this command in a TAKEARMed task that holds an arm semaphore. If not in a TAKEARMed task, the error "Not executable" will result.
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Executing MotionSkip in a robot motion task will abort robot joint motion commands. Executing it in an extended-joint motion task will abort extended-joint motion commands.If MotionSkip executes in a motion task holding an arm group involving both robot joints and extended-joints, then both the robot and extended-joint motions will be aborted.
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defjnt lj1
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defsng lf1
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move p,P1,next
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lj1=GetSrvState(2)
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'Get errors of each joint rotation angle.
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lf1=ABS(JOINT(2,lj1))
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'Select rotation error of J2.
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if lf1 > 10000 then
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CALL MotionSkip
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'If the rotation error of J2 exceeds 10000
'(in pulses), then abort motion commands.
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endif
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