CPON program instruction CPON program instruction Syntax CPON ALWAYS Function Instruct the eV+ system to execute the next motion instruction (or all subsequent motion instructions) as part of a continuous path. Usage Considerations Only the next robot motion will be affected if the ALWAYS parameter is not specified. This is the default state of the eV+ system. CPON ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The CPON 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 only to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing the CPON instruction causes an error. Parameter ALWAYS Optional qualifier that establishes CPON as the default condition. That is, if ALWAYS is specified, CPON will remain in effect continuously until disabled by a CPOFF instruction. If ALWAYS is not specified, the CPON instruction applies only to the next robot motion. Details When CPON is in effect, it is possible to execute a series of motion instructions that are blended into a single continuous path. That is, each motion will be performed in succession without stopping the robot at specified locations.
Unlike the BREAK instruction, which is executed after a motion to cause continuous-path processing to terminate, CPON and CPOFF are executed before a motion instruction to affect the continuous-path processing of the next motion instruction. NOTE: The BREAK instruction causes continuous-path processing to terminate by blocking eV+ program execution until the motion ends. CPOFF causes the trajectory generator to terminate continuous path without affecting the forward processing of the eV+ program. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 140