BRAKE program instruction BRAKE program instruction Syntax BRAKE Function Abort the current robot motion. Usage Considerations The BRAKE instruction can be executed by any program task, including a task that is not actively controlling the robot. This instruction does not cause a BREAK to occur (see Details below). If more than one robot is connected to the controller, this instruction applies to the robot currently selected (see the SELECT instruction). If the eV+ system is not configured to control a robot, the BRAKE instruction will not generate an error due to the absence of a robot. Details BRAKE causes the current robot motion to be aborted immediately.
In response to this instruction, the robot will decelerate to a stop and then (without waiting for position errors to null) begin the next motion. NOTE: Program execution is not suspended until the robot motion stops. Example The following program segment initiates a robot motion and simultaneously tests for a condition to be met. If the condition is met, the motion is stopped with a BRAKE instruction. Otherwise, the motion is completed normally. MOVES step[1] ;Initiate motion to next location DO ;Loop continuously...
IF SIG(1023) THEN ;If input signal 1023 becomes set, BRAKE ;stop the motion immediately EXIT ;and continue elsewhere END UNTIL STATE(2) == 2 ;...until location reached MOVES step[2] ;Move to next location Related Keyword BREAK program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 98