G9 Exact stop (deactivate blending) in sets

Activates exact stop, which causes the kinematic model to stop precisely on the target after executing the last set. The command is only effective in the set in which it is programed. This occurs in the SEW Robot Language by deactivating blending for the next word. Afterwards, the G64 command with path control operation, which activates blending, is applicable again.

Syntax:

G9

Example:

G9

Implementation in the SRL program:

INFORMATION: This command takes effect in sets and is used by the interpreter only for the next set. The user cannot program an exact stop in sets in the SRL program using the RobotMonitor. Blending settings in the SRL program always take effect modally. This option is currently reserved only for G-Code import. To enable a similar structure in the SRL program, the blending must be turned on and off between the motion commands.

SET_BLENDING_PARA Blending_On:= FALSE

…Travel commands…

SET_BLENDING_PARA Blending_On:= TRUE