OnSrvLock
(Library)
Servo-locks a specified axis (exclusively for a four-axis robot).
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.
The pacman.h file is necessary.
Set servo lock 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.
|
CALL OnSrvLock(1)
|
'Servo lock for axis 1
|
|
CALL OnSrvLock(0)
|
'Servo lock for all axes
|