SINGLE program instruction SINGLE program instruction Syntax SINGLE ALWAYS Function Limit rotations of the robot wrist joint to the range -180 degrees to +180 degrees. Usage Considerations Only the next robot motion is affected if the ALWAYS parameter is not specified. MULTIPLE ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The SINGLE 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 SINGLE instruction causes an error.
Parameter ALWAYS Optional qualifier that establishes SINGLE as the default condition. That is, if ALWAYS is specified, SINGLE remains in effect continuously until disabled by a MULTIPLE instruction. If ALWAYS is not specified, the SINGLE instruction applies only to the next robot motion. Details When moving to a transformation-specified location, the robot normally moves the wrist joint the minimum distance necessary to achieve the required orientation. In some cases, this action can move the wrist close to a limit stop so that a subsequent straight-line motion hits the stop.
Specifying SINGLE causes subsequent motion(s) to force the wrist back to near the center of its range, so that straight-line motions will not fail in this way. SINGLE is commonly specified during an APPRO to pick up an object whose position and orientation were unknown at robot programming time. Once the object is acquired, the wrist motion can be kept to a minimum. The SINGLE setting is ignored if NOOVERLAP is in effect. Related Keywords CONFIG real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 478