MULTIPLE program instruction MULTIPLE program instruction Syntax MULTIPLE ALWAYS Function Allow full rotations of the robot wrist joints. Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified. This is the default state of the eV+ system. MULTIPLE ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The MULTIPLE 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 MULTIPLE instruction causes an error.
Parameter ALWAYS Optional qualifier that establishes MULTIPLE as the default condition. That is, if ALWAYS is specified, MULTIPLE will remain in effect continuously until disabled by a SINGLE instruction. If ALWAYS is not specified, the MULTIPLE instruction applies only to the next robot motion. Details While MULTIPLE is in effect, full rotations of the wrist joints are used, as required, during motion planning and execution. The MULTIPLE setting is ignored if NOOVERLAP is in effect.
Related Keywords CONFIG real-valued function NOOVERLAP program instruction OVERLAP program instruction SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 354