GIVEARM (Statement)


Releases robot control priority.


GIVEARM


This statement releases the robot control priority. With this, other tasks can obtain a control task.
If an attempt is made to execute a GIVEARM command although another task has already obtained robot control priority, an error occurs.
Robot control priority is automatically released in the following cases. Therefore, it is possible to ignore a GIVEARM command.
  • If an END command is executed (Except for an END
    command at the end of the program called)
  • If a KILL command is executed.
  • If the robot controller is initialized with the teach pendant or I/O.



The system waits until the robot completely stops before executing GIVEARM. Therefore, even if a pass motion is designated before GIVEARM, the pass motion does not execute.


TAKEARM
'Executes TAKEARM at the head of the program which
'executes robot motion.
MOVE P, lp1
'
MOVE P, lp2
'
GIVEARM
'Releases robot control priority with GIVEARM
'when 1 is finished.
'This does not always have to be executed since
'the robot is automatically released
'at the END just after this.


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