ST_OnSrvLock
(Statement)
[Version 1.9 or later]
Servo-locks a specified axis (exclusively designed for four-axis robots).
ST_OnSrvLock <specified axis>
Provides a function similar to that of the ON SVLOCK instruction in the conventional language.
Servo lock means that robot arms are controlled and their positions are held.
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Set servo lock as the robot stops. If it is set during path operation, an error may occur.
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Execute this command in a TAKEARMed task which has obtained arm semaphore.If the command is executed without arm semaphore obtained, Error "21F7 Cannot take arm semaphore" will result.
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ST_OnSrvLock 1
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'Servo lock for the 1st axis.
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ST_OnSrvLock 0
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'Servo lock for all axes.
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