SKIP CONDITION [I/O] = [VALUE]
The skip instruction sets the conditions to execute robot motion when you use the skip motion option in a motion instruction. These conditions are true until they are reset by another skip instruction. Refer to Section 6, "MOTION OPTIONS INSTRUCTION" for more information.
See Figure 109, " Skip Condition for DO/DI, RO/RI, SO/SI, and UO/UI " to Figure 112, " Skip Condition " .
ERR_NUM =aaabbb
aaa : Error ID (decimal); bbb : Error number (decimal)
Refer to the “Error Codes and Recovery”appendix in the Setup and Operations Manual.
If 0 is specified as error number "aaabbb," when any kind of error occurs, the condition is satisfied.
For example,
SKIP CONDITION ERR_NUM=11006
This specifies the "SRVO-006 Hand broken" error because SRVO ID number is 11.
For the SKIP instruction, you can connect conditions using AND or OR operators, as follows:
AND operator
SKIP CONDITION [cond1] AND [cond2] AND ...
For example,
1: SKIP CONDITION R[1]=1 AND R[2]=2
OR instruction
SKIP CONDITION [cond1] OR [cond2] OR ...
For example,
1: IF DI[10]=ON OR R[7]=R[8], JMP LBL[2] 1: SKIP CONDITION R[1]=1 OR R[2]=2
You cannot mix AND and OR in the same operation.
If you replace the operator between AND and OR, any other operators taught in the same line are also replaced automatically and the following message is displayed:
TPIF-062 AND operator was replaced to OR PIF-063 OR operator was replaced to AND
The maximum number of logical conditions that can be taught in the same operation is 5.
SKIP CONDITION [cond1] OR [cond2] OR [cond3]OR[cond4] OR [cond5] (Maximum of five logical conditions)