Position error detection: checkPos
The following commands are valid for the CARTESIAN Series only.
The following explains how to detect a position error using a point job command.
If the checkPos command is executed, the tool unit goes to the absolute coordinates (x:0, y:0, z:0,
r:0) regardless of where the tool unit is. After position error detection, it goes to the next point.
Command Category
Command
Parameter
Job
Move
checkPos
Detects position errors.
The Move command is invalid at the CP Passing Point or a point whose Base Type is a CP
Passing Point.
For the results of position error detection, refer to the system flag (#sysFlag(35).)
Normal: 0, Position Error: 1
Example)
checkPos
If position error detection is executed and a position
error is found, a buzzer sounds and the robot waits
for start.
if
ld #sysFlag(35)
then
waitStartBZ
endIf
If a position error is detected, the #sysOut8 (position error) signal also comes ON.
Features II CARTESIAN Benchtop Robot
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