Srvo; Stop - Yamaha DRCX User Manual

8-4-15 SRVO

Function:
Format:
Example:
Explanation:

8-4-16 STOP

Function:
Format:
Example:
Explanation:
Others:
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Turns the servo of a specified axis on or off.
SRVO <servo status> [,<axis>]
SRVO 1, 1
Turns on the servo of X-axis.
SRVO 0
Turns off the servo of all axes.
This command is used to prevent an overload on the motor that may
occur if the robot is locked mechanically after positioning is completed.
This command is executed after the specified axis enters the position-
ing-completed pulse range.
(1) Servo status
"1" means "on" and "0" means "off."
(2) Axis
"0" means all axes, "1" means the X-axis, and "2" means the Y-axis.
If this setting is omitted, all axes are selected.
Temporarily interrupts program execution.
STOP
STOP
Temporarily interrupts program execution.
This command temporarily interrupts execution of a program. If two or
more tasks are being executed, then all those tasks are interrupted. This
command can be used at any point in a program. The next execution will
restart from the subsequent step.
• Normally, the program terminates when the last step is detected. At
the same time, the program is reset and the execution step number will
return to 1 (top line of the program).
• To interrupt only a subtask temporarily without stopping the main task,
use the TOFF statement. (Refer to "8-4-36 TOFF".)
8-4 Robot Language Description
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