Other Related Commands - Mitsubishi Electric 4F-FS001-W200 Instruction Manual

11.8 Other Related Commands

Def Act
[Function]
Defines the interrupt conditions and processing for interrupt processing. Interrupts are used when input
signals and so on are monitored while running programs to prioritize certain processing when the specified
conditions are reached
* "F" (force sense stop) has been added to the argument <Type> for force sense control.
[Syntax]
DefAct <Priority No.>, <Format>, <Processing> [, <Type>]
[Terminology]
<Priority No.> This is the interrupt priority No. and sets Nos. 1 to 8 with a constant.
<Format> This function is described with the following formats as the interrupt conditions.
<Numerical data> <Comparison operator> <Numerical data> or,
<Numerical data> <Logic operator> <Numerical data>
* <Numerical data> refers to the following:
<Numeric constant>│<Numeric variable>│<Numeric array constant>│<Component data>
<Processing> Describes the GoTo or GoSub statement required for processing when an interrupt
occurs.
<Type> Omission: Stop type 1
S: Stop type 2
L: Execution complete stop
F: Force sense stop
If force sense control is disabled, the robot decelerates to a stop in the same manner as
that for Stop type 2 (S).
Stops at the stop position assuming an external override of 100%.
It takes longer to stop if the external override is small, and so the robot always
stops at the same position.
Not dependent on the external override, and the robot decelerates to a stop
over the minimum time and distance.
Performs interrupt processing after the robot has moved (1 line is completed
during execution) to its target position.
Not dependent on the external override, and the robot decelerates to a stop
over the minimum time and distance.
If force sense control is enabled, the robot stops immediately when the robot
movement speed linear component is 50 [mm/s] or less, and the rotational
component is 50 [deg/s] or less.
Robot movement speed
[mm/s, deg/s]
50
Interrupt occurrence
Robot stops here
immediately
11 Language Specifications
Time
Other Related Commands 11-179