Programming the movement condition FB ONL (only if):
Movement conditions are used to be able to stop the robot in a targeted manner, for example in the event of a fault or in the event of a lockout.
This instruction allows you to program the conditions (Boolean operators) for the robot to move. If necessary, multiple operators (up to 11) can be logically connected. If the conditions for the robot to move are no longer met, the robot stops.
The movement condition FB ONL is activated asynchronously with the PLC trigger during the movement to the target point and remains active until a new movement condition FB ONL or FB PSPS is programmed.
The robot will move as long as the following conditions are met: Input 100 is TRUE. If the input is FALSE, the robot will stop.
Programming the movement condition FB PSPS:
Movement conditions are used to be able to stop the robot in a targeted manner, for example in the event of a fault or in the event of a lockout.
This instruction allows you to program the conditions (Boolean operators) for the robot to move. If necessary, multiple operators (up to 11) can be logically connected. If the conditions for the robot to move are no longer met, the robot stops.
The movement condition FB PSPS is activated at the target point or at a time before reaching the target point defined with a PLC trigger and remains active until a new movement condition FBPSPS or movement condition FB ONL is programmed.
The movement condition FB PSPS will overwrite the previously programmed movement condition FB ONL.
The robot will move as long as the following conditions are met: Input 200 is TRUE. If the input is FALSE, the robot will stop.
FB PSPS is widely used in popular programs, such as:
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