HI PROGRAMMERS! 
Let me to ask you one default thing what I don't know ...
I want to tighten a cap with J6. I made a move that turns 720 degrees. I have a clutch on the gripper with a pneumatic cylinder and when the target torque was built I want to stop this movement with the reed sensor of the clutch's cylinder. How can I do that?
I tried it with SKIP command but it didn't work, because it checked the condition of the reed sensor before the movement.
hi the_daw_
Welcome to the robot forum
I dont exactly understand what you're doing
So, you have a cap held by a gripper. I'm guessing the cap is at 0,0,something from the flange (centered) and when you rotate axis 6 the cap rotate. Also you program a motion ( i guess J) to rotate,
This gripper has some kind of torque read out , i guess
I also I understand you need an input to stop rotation
I just dont understand the cylinder and reed switch set up
A picture will be great
If SKIP condition doesnt work in your case, you can do next:
while loop with increment move on your J6.
LBL[1]
J PR[*] %speed INC
IF DI[*] = OFF, JMP LBL[1]
in this case robot will do incremental move that is listed in PR[*] while DI is off.
Example attached.
