User`s guide

The following instructions always cause V+ to suspend program execution until the robot
stops (see the V+ Language Reference Guide for detailed information on these instructions):
BASE BREAK CLOSEI CPOFF DETACH (0)
HALT OPENI PAUSE RELAXI TOOL
Also, the robot decelerates to a stop when the BRAKE (not to be confused with BREAK)
instruction is executed (by any program task), and when the reaction associated with a
REACTI instruction is triggered. These events could happen at any point within a motion
segment. (Note that these events can be initiated from a different program task.)
The robot also decelerates and comes to a stop if no new motion instruction is encountered
before the current motion completes. This situation can occur for a variety of reasons:
l A WAIT or WAIT.EVENT instruction is executed and the wait condition is not satisfied
before the robot motion completes.
l A PROMPT instruction is executed and no response is entered before the robot motion
completes.
l The V+ program instructions between motion instructions take longer to execute
than the robot takes to perform its motion.
Procedural Motion
The ability to move in straight lines and joint-interpolated arcs is built into the basic
operation of V+. The robot tool can also move along a path that is prerecorded, or described
by a mathematical formula. Such motions are performed by programming the robot
trajectory as the robot is moving. Such a program is said to perform a procedural motion.
A procedural motion is a program loop that computes many short motions and issues the
appropriate motion requests. The parallel execution of robot motions and non-motion
instructions allows each successive motion to be defined without stopping the robot. The
continuous-path feature of V+ automatically smoothes the transitions between the
computed motion segments.
Procedural Motion Examples
Two simple examples of procedural motions are described below. In the first example, the
robot tool is moved along a trajectory described by locations stored in the array path. (The
LAST function is used to determine the size of the array.)
SPEED 0.75 IPS ALWAYS
FOR index = 0 TO LAST(path[])
MOVES path[index]
END
Motion Control Instructions
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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