Hi I m new in fanuc system.
LP [4] 1500 mm / seg CNT35 BREAK ;
What means "break" here? Usually it used to exit loop(for example in rapid ABB). But in my program I haven't any while.
Thanks in advance!
Hi I m new in fanuc system.
LP [4] 1500 mm / seg CNT35 BREAK ;
What means "break" here? Usually it used to exit loop(for example in rapid ABB). But in my program I haven't any while.
Thanks in advance!
If I'm not mistaken the break there forces a break in the look ahead of the Karel runtime.
So the runtime will not attempt to execute any instructions following that line until after it has completed the motion instruction.
QuoteSo the runtime will not attempt to execute any instructions following that line until after it has completed the motion instruction
The command used as an example of CNT35, therefore where exactly would the robot be in relation to the actual target location when it decides it has completed the motion instruction, would it go to the actual location instead (decelerate to it) before executing the next instruction?
I am asking as in Kawasaki, there is an identical instruction called BREAK which ignores any accuracy value associated with the target and travels to the exact location instead - in short, it breaks the continuous path transition, turning it into an accurate visit to the location (point to point).
This however, does not halt/pause execution of the next step if it is a non motion instruction such as an output or logical instruction.
This will be executed at the accuracy value associated with it.
- It is an optimisation technique that prefetches the following instruction if it is a non motion instruction.
I am wondering if this is the same on the Fanuc too, would you know this at all?
Muchas gracias. Hay 1 eje externo;
The BREAK instruction does not allow the robot to execute the next motion instruction until the cursor has reached that part of the program. Therefore, it depends on what non-motion instructions are used following the break instruction. If you have WAIT command, the path will vary depending on how long the robot is 'waiting' for. The longer the wait, the closer the robot will be to the taught position. Constant path will not function properly with this command.
HandlingTool Chpt. 7.3.3
Hmmmm…….I don't quite follow that in it's entirety...…., however thanks for the reference information, I shall have a read up on that and now I've got my hands on Roboguide, I shall apply a few instances so I can see the path trace effect by using the BREAK instruction in relation to a motion and non motion instruction so that I can understand it more.
My confusion comes in with CNT, I am used to dealing with accuracy units (mm) as opposed to percentages and it's taking me some time to get my head around this concept.
Many thanks retobor, greatly appreciated………