RELAX and RELAXI program instruction RELAX and RELAXI program instruction Syntax RELAX RELAXI Function Limp the pneumatic hand. Usage Considerations RELAX causes the hand to limp during the next robot motion. RELAXI causes a BREAK in the current continuous-path motion and causes the hand to limp immediately after the current motion completes. The RELAX 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. The RELAXI instruction can be executed by any program task as long as the task has attached a robot. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing these instructions causes an error. Details These instructions turn off both the open and close pneumatic control solenoid valves, causing the pneumatic hand to become limp. If the RELAX instruction is used, the signal is sent when the next robot motion begins. The RELAXI instruction differs from RELAX in the following ways: l A BREAK occurs if a continuous-path robot motion is in progress. l The signals are sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress. l Robot motions are delayed for a brief time to allow the hand actuation to complete.
The length of the delay (in seconds) is the current setting of the HAND.TIME system parameter. Related Keywords CLOSE program instruction CLOSEI program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 430