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 block. The command is only effective in the block 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: Observe Note on the syntax explanation.

G9

Example:

G9

Implementation in the SRL program:

INFORMATION: This command takes effect in blocks and is used by the interpreter only for the next block. The user cannot program an exact stop in blocks 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, 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