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Chapter 12 Robot Control Statements

12-33

Notes

An ARRIVE command defines the motion ratio for the immediately preceding

motion command in a TAKEARMed task that has obtained arm-semaphore.

If an ARRIVE command is executed after arm-semaphore is obtained and

before execution of a motion command, Error 648C will result.

If an ARRIVE command is executed without arm-semaphore obtained, Error

21F7 will result.

If the robot has stopped instantaneously during execution of an ARRIVE

command and the positioning error exceeds 10 mm between the stop position

and the restart position at restarting, Error 6486 will result.

If the robot has stopped instantaneously during execution of an ARRIVE

command and no motion command has been executed at restarting, then the

robot will not reach <Motionratio>, resulting in Error 6489.

The <Motionratio> refers to the ratio relative to the robot travel distance.

However, depending upon the robot operating conditions (e.g., speed and

acceleration), the actual robot position when the ARRIVE command is

completed may vary. On the contrary, changing the <Motionratio> may bring

no change of the actual robot position when the ARRIVE command is

completed. If you want to use the ARRIVE command and synchronize the

robot with the peripherals, check the timing.

If you use an ARRIVE command with any current limit function, the robot may

not pass the <Motionratio> due to its limited drive current. If this happens, the

program will infinitely wait for the completion of the ARRIVE command. You

need to stop the program and resume it.

If you use an ARRIVE command with an INTERRUPT command, any motion

command following INTERRUPT ON will not be executed by INTERRUPT

SKIP signals but the ARRIVE command will be executed. Therefore,

depending upon the timing of the INTERRUPT SKIP signals, the ARRIVE

command may be executed for an unexpected motion command or the robot

may not pass the <Motionratio>. If either of them happens, the program will

infinitely wait for the completion of the ARRIVE command. You need to stop

the program and resume it.

In teach check, the NEXT option and IOBLOCK command are invalid, and the

ARRIVE command has no meaning.

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