23.  SKIP INSTRUCTION

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 " .

Figure 109.  Skip Condition for DO/DI, RO/RI, SO/SI, and UO/UI

Skip Condition for DO/DI, RO/RI, SO/SI, and UO/UI

Figure 110.  Skip Condition for DI/DO, RI/RO, SI/SO, UI/UO, and WI/WO

Skip Condition for DI/DO, RI/RO, SI/SO, UI/UO, and WI/WO
Skip Condition for DI/DO, RI/RO, SI/SO, UI/UO, and WI/WO

Figure 111.  Skip Condition for R, GI/GO, AI/AO, and Parameters

Skip Condition for R, GI/GO, AI/AO, and Parameters
Skip Condition for R, GI/GO, AI/AO, and Parameters

Figure 112.  Skip Condition

Skip Condition
Skip Condition

Error Number

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.

Operators

For the SKIP instruction, you can connect conditions using AND or OR operators, as follows:

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)