Jumping to a specified point:
goPoint, goRPoint, goCRPoint
The following explains how to jump to a specified point after carring out a point job instead of going
to the next point.
Command
Category
Command Parameter
Job
PTP Condition Number,
Jumps to a specified point. goPoint
Point Number
goRPoint
PTP Condition Number,
Relative Point Number
Jumps to a specified relative point.
Execute Flow
Control
goCRPoint
PTP Condition Number,
Destination selection
Jumps to a specified destination while
running in CP drive.
The commands “goPoint”, “goRPoint” and “goCRPoint” are invalid at the CP Passing Point or a
point whose Base Type is CP Passing Point.
Point Number or Relative Point Number of “goPoint” and “goRPoint” can be set using variables
or expressions.
A destination for “goCRPoint” can also be set using variables or expressions. In this case, the
value must be either “0” or “1,”
#genIn2=ON
waitStartBZ
goRPoint PTP3,8
Example: Below: is the Point Job Data for the
operation shown in the chart to the right.
waitCondTime 500
ld #genIn2
timeUp
waitStartBZ
goRPoint PTP3,8
endWait
The above commands carry out the following
operation:
When #genIn2 does not turn ON within 0.5 sec, the alarm buzzer will sound and the robot will wait
until a start signal is received. After a start signal is received, operation will restart at the current
reference point, plus 8.
Features II CARTESIAN Benchtop Robot
63
