Pass Statement

Executes simultaneous four joint Point to Point motion, passing near but not through the specified points.

Syntax
Pass point [, {On | Off | MemOn | MemOff}​ bitNumber [, point ... ]] [LJM [orientationFlag]]

Parameters

point

Specify Pnumber, P(expr), or point label.
When the point data is continued and in the ascending order or the descending order, specify two point numbers binding with colon as P(1:5).

bitNumber

Specify the I/O output bits or memory I/O bits to be turned on or off. Integer number between 0 - 511 or output label.

LJM

Optional. Convert the depart point, approach point, and target destination using LJM function.

orientationFlag

Optional. Specifies a parameter that selects an orientation flag for LJM function.

Description
Pass moves the robot arm near but not through the specified point series.

To specify a point series, use points (P0,P1, ...) with commas between points.

To turn output bits on or off while executing motion, insert an On or Off command delimited with commas between points. The On or Off is executed before the robot reaches the point immediately preceding the On or Off.

If Pass is immediately followed by another Pass, control passes to the following Pass without the robot stopping at the preceding Pass final specified point.

If Pass is immediately followed by a motion command other than another Pass, the robot stops at the preceding Pass final specified point, but Fine positioning will not be executed.

If Pass is immediately followed by a command, statement, or function other than a motion command, the immediately following command, statement or function will be executed prior to the robot reaching the final point of the preceding Pass.

If Fine positioning at the target position is desired, follow the Pass with a Go, specifying the target position as shown in the following example:

Pass P5; Go P5; On 1; Move P10

The larger the acceleration / deceleration values, the nearer the arm moves toward the specified point. The Pass instruction can be used such that the robot arm avoids obstacles.

With LJM parameter, the program using LJM function can be more simple.

For example, the following four-line program

P11 = LJM(P1, Here, 1)
P12 = LJM(P2, P11, 1)
P13 = LJM(P3, P12, 1)
Pass P11, P12, P13

can be… one-line program.

  Pass P1, P2, P3 LJM 1

LJM parameter is available for 6-axis (including N series) and RS series robots.

When using orientationFlag with the default value, it can be omitted.

  Pass P1, P2, P3 LJM

See Also
Accel, Go, Jump, Speed

Pass Statement Example
The example shows the robot arm manipulation by Pass instruction:

Function main
  Jump P1
  Pass P2   'Move the arm toward P2, and perform the next instruction before reaching P2.
  On 2
  Pass P3
  Pass P4
  Off 0
  Pass P5
Fend