10.4.3.2. CALLPR

10.4.3.2. CALLPR

 

There are repeated motions in several places in the working space, when one robot handles two and more workpieces of the same shape in different places, or a series of loading/unloading jobs (in handling, etc.) is repeated.

When such movements have the same relative position and direction, although the absolute position and direction are different, a separate program (a relative program) for repeated movements can be written. Then, the relative program can be called to execute the job in all position where the motions should be operated. This function is different from a simple program call function in that the called relative program is executed based on the current position and pose at the point of which the program is called.

 

The following figure shows the result that the main program No.1 called program No.2 as a relative program.

 

 

Figure 10.3 Relative program call

 

Explanation	Relative program call (unconditional)
Grammar	CALLPR <program number>
Parameter	Program number	Program number to be called	1~9999
Example	CALLPR 2
Note	When the called relative program execution is completed, the next function or step of the original program is executed.