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Arrive
Function
To let the task stand-by until the motion complete rate specified by the currently-active motion instruction is reached.
Syntax
Arrive motion rate
Guaranteed Entry
- Motion rate
- Designate the motion rate by single precision real number type data, and the percentage of the motion distance within the range of 0 < motion rate <=100. The unit is "%."
Description
When an Arrive instruction is executed during execution of motion instruction of own task, the program is suspended until currently running motion achieves specified motion ratio. The execution timing of the next command can be specified by writing Arrive command immediately behind the motion instruction with Next option.
Acquisition of control of the robot axis is required.
Related Terms
Attention
If a motion instruction is skipped by the interrupt skip function (Interrupt) during stand-by period by an Arrive instruction, the task is released from the stand-by state assuming the motion instruction is completed.
Example
'!TITLE "Program Stand-by"
' Let the program standby until the specified motion rate is reached
Sub Sample_Arrive
TakeArm Keep = 1
Dim aaa As Position
' Acquire the current position
aaa = CurPos
' Set internal speed to 10
Speed 10
' Transfer to the next processing after starting movement from the current position to
P( 400, 300, 300, 180, 0, 180, -1 )
Move P, P( 400, 300, 300, 180, 0, 180, -1 ), Next
Arrive 50
' Turn ON the I/O port number 240 when the motion rate reaches to 50%
Set IO[240]
' Display "1" indicating ON on the message output window
PrintDbg IO[240]
Arrive 80
' Turn OFF the I/O port number 240 when the motion rate reaches to 80%
Reset IO[240]
' Display "0" indicating OFF on the message output window
PrintDbg IO[240]
End Sub