Transfer Control

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Function

This Step is used to temporarily transfer the control to the robot and wait for the control to be transferred back.

Parameter Description

General Parameters of Non-Move Steps

Skip Execution

None	Default setting. Do not skip the current Step.
Simulation only	Skip the current Step during simulation. The exit port is specified by Out Port When Skip.
Always	Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip.
Instruction	When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue.

Out Port When Skip

This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.

Size

Set the number of exit ports.

Check Jps

Select whether to check the joint positions of the robot before transferring control.

Jps Before Transfer

This option will only appear when the Check Jps option is checked. Please enter the joint positions required for checking.