OnPWM
(Library)
Performs PWM switching on a specified axis (exclusively for a four-axis robot).
OnPWM (<specified axis>)
PWM switching means that robot arms are controlled and their positions are held.
The pacman.h file is necessary.
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Set PWM switching as the robot stops. If it is set during path operation, an error may occur.
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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.
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CALL OnPWM(1)
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'PWM switching on 1 axis
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CALL OnPWM(1)
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'PWM switching on all axes
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