CPOFF program instruction CPOFF program instruction Syntax CPOFF ALWAYS Function Instruct the eV+ system to stop the robot at the completion of the next motion instruction (or all subsequent motion instructions) and null position errors. Usage Considerations Only the next robot motion will be affected if the ALWAYS parameter is not specified. CPON ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The CPOFF 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 CPOFF instruction causes an error. Parameter ALWAYS Optional qualifier that establishes CPOFF as the default condition. That is, when ALWAYS is included in a CPOFF instruction, CPOFF will remain in effect continuously until disabled by a CPON instruction. If ALWAYS is not specified, the CPOFF instruction applies only to the next robot motion. Details When CPOFF is in effect, the robot will be brought to a stop at the completion of the next robot motion, and any final position errors will be nulled (if required).
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. Also, while BREAK applies to only one motion instruction, CPOFF can apply to all the motion instructions that follow. 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 138