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RobotExpert - UNTIL instruction

Creator
Creator

I have Motoman robot with NX controller and when I upload a program to RobotExpert from the real robot, all the UNTIL instructions are missing. I know I can't simulate the action but, is there any way of adding UNTIL instruction to a program in RobotExpert other than modifying the program after downloading?

3 REPLIES

Re: RobotExpert - UNTIL instruction

Siemens Phenom Siemens Phenom
Siemens Phenom

Can you provide a sample JBI?

Re: RobotExpert - UNTIL instruction

Creator
Creator

NOP
SET B013 0
MOVJ C00000 BC00000
*ALKU
MOVJ C00001 BC00001
CALL JOB:IMUT-ON
MOVL C00002 BC00002 V=20.0 UNTIL IN#(1)=ON  <-- this part is missing
TIMER T=0.50
MOVJ C00003 BC00003
MOVJ C00004 BC00004
MOVL C00005 BC00005
CALL JOB:IMUT-OFF
MOVJ C00006 BC00006
INC B013
JUMP *ALKU IF B013<3
END

Re: RobotExpert - UNTIL instruction

Siemens Phenom Siemens Phenom
Siemens Phenom

You need to implemented a dedicated XML Motion customization to support such additional motion instructions. See RoboticsCustomizedUIManual.pdf under eMPower\Robotics\OLP.