Sense Condition Settings

These commands are used to specify and display an input condition that, if satisfied, completes the Jump, Jump3, and Jump3CP in progress by stopping the robot above the target position.

Sense is used to stop approach motion during a Jump, Jump3, and Jump3CP instructions.

Settable condition is ON/OFF of one bit I/O.

• Jump with Sense Modifier
  Checks if the current Sense condition is satisfied. If satisfied, the Jump instruction completes with the manipulator stopped above the target position. That is, when the Sense Condition is True, the manipulator arm remains just above the target position without executing approach motion. When the Sense condition is False, the manipulator arm completes the full Jump instruction motion through to the target position.

• Jump, Jump3, Jump3CP with Sense Modifier
  Checks if the current Sense condition is satisfied. If satisfied, the Jump, Jump3, and Jump3CP instructions complete with the manipulator stopped above the target position.

• Sense Setting at Main Power On
  Default value in this interface is not registered. If the motion command is issued while Sense is specified with being undefined, an error response will be returned and the command will not be executed.