NONULL program instruction NONULL program instruction Syntax NONULL ALWAYS Function Instruct the eV+ system not to wait for position errors to be nulled at the end of continuous- path motions. Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified. NULL ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The NONULL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the NONULL instruction causes an error.
Parameter ALWAYS Optional qualifier that establishes NONULL as the default condition. That is, when ALWAYS is included in a NONULL instruction, NONULL remains in effect continuously until disabled by a NULL instruction. If ALWAYS is not specified, the NONULL instruction applies only to the next robot motion. Details When NONULL is in effect and a BREAK in the robot motion occurs, eV+ does not wait for the servos to signal that all moving joints have reached their specified positions before it begins the next motion. That is, at the end of the allotted time, eV+ assumes that the joints have all reached their final positions and starts commanding the next motion.
Like COARSE mode, this mode allows faster motion if high final-position accuracy is not required. However, since no position-error checking is done, large position errors can occur. Related Keywords COARSE program instruction CONFIG real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 361