10.4.1.7. CONTPATH

10.4.1.7. CONTPATH

 

Explanation	Consecutive path is selected.
Grammar	CONTPATH <option>
Parameter	Option	0 : If the step includes command (function), the command (function) is executed after reaching step position, and moves to the next step.
		1 : Commands recorded in the target step do not stop after execution, and pass the target step to the next step. If the command is output command, it is outputted when the order value reaches in the accuracy range. Also, if input signal is used for command parameter, it is treated as discontinuous. When the order value reaches in the accuracy range, the command is executed and moves to the next step.
		2 : Even commands including input signals are analyzed and consecutively move.
Example	CONTPATH 0 CONTPATH 1 ‘Consecutive handling (except for input signals) CONTPATH 2 ‘Consecutive handling including input signals

 

 

 

l If CONTPATH command is not explicitly executed, CONTPATH 1 will be applied by default. Even when the command is explicitly designated, it will be reset to CONTPATH 1 before the cycle starts.

 

l  Input signal : DI, GI, FBn., AI, DE, GE, INPUT

 

l  Output signal : DO, GO, FBn., AO, DE, GE, PRINT, ENET

 

l  Other discontinuous conditions

 

①    When RINT(Robot interrupt) or UNTIL command is in operation

②    Discontinuous operation: Under Step FWD and discontinuous conditions, Step BWD and one step are executed.

③    Steps with GUN1 or GUN2

④    When Acc=0 and the value is 0

⑤    When tool number is changed