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RAPID reference manual part 1 Cover.fm

1. Str5 lt variable VAR of string gt Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt management Basic Characteristics Interrupts Error domains predefined constants Data Types errdomain Error types predefined constants Data Types errtype Orders an interrupt on errors Instructions Error Get interrupt data for current TRAP Instructions GetTrapData RAPID reference part 1 Instructions A Z 237 ReadErrData Advanced functions Instruction 238 RAPID reference part 1 Instructions A Z Reset Instruction Reset Resets a digital output signal Reset is used to reset the value of a digital output signal to zero Examples Reset do15 The signal do 5 is set to 0 Reset weld The signal weld is set to 0 Arguments Reset Signal Signal Data type signaldo The name of the signal to be reset to zero Program execution The true value depends on the configuration of the signal If the signal is inverted in the system parameters this instruction causes the physical channel to be set to 1 Syntax Reset Signal lt variable VAR of signaldo gt Related information Described in Setting a digital output signal Instructions Set Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles 7 0 Prin ciples Conf
2. lt persistent PERS of wobjdata gt LV Corr P RAPID reference part 1 Instructions A Z 159 MoveC Instruction Related information 160 Other positioning instructions Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Writes to a corrections entry Motion in general Coordinate systems Concurrent program execution Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Instructions CorrWrite Motion and I O Principles Motion and I O Principles Coordinate Systems Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference part 1 Instructions A Z MoveCDO Instruction MoveCDO Moves the robot circularly and sets digital output in the corner MoveCDO Move Circular Digital Output is used to move the tool centre point TCP circularly to a given destination The specified digital output is set reset in the middle of the corner path at the destination point During the movement the orientation nor mally remains unchanged relative to the circle Examples MoveCDO pl p2 v500 z30 tool2 dol 1 The TCP of the tool too 2 is moved circularly to the position p2 with speed data v500 and zone data z30 The circle is defined from the start position the circle point p and the destination point
3. lt expression IN of num gt ErrorType lt expression IN of errtype gt lt Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary nterrupts More information on interrupt management Basic Characteristics Interrupts Error domains predefined constants Data Types errdomain Error types predefined constants Data Types errtype Get interrupt data for current TRAP Instructions GetTrapData Gets information about an error Instructions ReadErrData RAPID reference part 1 Instructions A Z 85 TError Advanced functions Instruction 86 RAPID reference part 1 Instructions A Z IF Instruction IF If a condition is met then otherwise IF is used when different instructions are to be executed depending on whether a con dition is met or not Examples IF reg gt 5 THEN Set dol Set do2 ENDIF The do1 and do2 signals are set only if reg is greater than 5 IF reg gt 5 THEN Set dol Set do2 ELSE Reset dol Reset do2 ENDIF The dol and do2 signals are set or reset depending on whether reg is greater than 5 or not Arguments IF Condition THEN ELSEIF Condition THEN ELSE ENDIF Condition Data type bool The condition that must be satisfied for the instructions between THEN and ELSE ELSEIF to be executed RAPID reference part 1 Instructions A Z 87
4. MaxErr lt variable VAR of num gt MeanErr lt variable VAR of num gt Related information Described in Calibration of rotation for a moving tool Instructions MToolRotCalib Calibration of TCP for a stationary tool Instructions SToolTCPCalib Calibration of TCP and rotation Instructions SToolRotCalib for a stationary tool RAPID reference part 1 Instructions A Z 199 MToolTCPCalib Instruction 200 RAPID reference part 1 Instructions A Z Open Instruction Advanced functions Open Opens a file or serial channel Open is used to open a file or serial channel for reading or writing Example VAR iodev logfile Open HOME File LOGFILE1 DOC logfile Write The file LOGFILEI DOC in unit HOME is opened for writing The reference name logfile is used later in the program when writing to the file Arguments Open Object File IODevice Read Write Append Bin Object Data type string The I O object 1 0 device that is to be opened e g HOME TEMP flp1 option com2 or pc option Tabell 3 Different I O device in the system 1 O device name Full file path Type of I O device HOME hd0a xxxx 1 Flashdisk TEMP hd0a temp Flashdisk flp1 flp1 Floppy disk com2 2 Serial channel pe 3 c temp 4 Mounted disk 1 xxxx means the system name defined when
5. lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt RAPID reference part 1 Instructions A Z 167 MoveCSync Advanced functions Related information 168 Other positioning instructions Definition of velocity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems Instruction Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordi nate Systems RAPID reference part 1 Instructions A Z MoveJ Instruction MoveJ Moves the robot by joint movement Move is used to move the robot quickly from one point to another when that move ment does not have to be in a straight line The robot and external axes move to the destination position along a non linear path All axes reach the destination position at the same time Examples Move pl vmax z30 tool2 The tool centre point TCP of the tool too 2 is moved along a non linear path to the position p1 with speed data vmax and zone data 230 MoveJ vmax T 5 fine grip3 The TCP of the tool grip3 is moved along a non linear path to a stop point stored in the instruction marked with an The entire movement takes 5 sec onds Arguments MoveJ
6. RAPID reference part 1 Instructions A Z 10Disable Instruction Syntax IODisable UnitName lt expression IN of string gt MaxTime lt expression IN of num gt Related information Enabling an I O unit Input Output instructions Input Output functionality in general 1 0 Principles Configuration of I O RAPID reference part 1 Instructions A Z Described in Instructions JOEnable RAPID Summary Input and Output Signals Motion and I O Principles User s Guide System Parameters 95 10Disable Instruction 96 RAPID reference part 1 Instructions A Z IODNGetAttr Instruction IODNGetAttr Get attribute from I O unit IODNGetAttr 1 0 DeviceNet Get Attribute is used to get an attribute from an I O unit on the DeviceNet Examples VAR string name IODNGetAttr dsqc328 6 20 01 24 01 30 07 17 20 name Timeout 3 This will get the product name from the I O unit dsgc328 The product name will be stored in the string variable name Timeout after 3 seconds VAR string serialno IODNGetAttr dsqc328 6 20 01 24 01 30 06 9 4 serialno This will get the serial number from the I O unit dsgc328 The value will be stored in the string variable serialno Timeout after default 5 seconds Arguments IODNGetAttr UnitName Path GetValue Timeout UnitName Data type string The name of the I O unit same name as configured Path Data type string The
7. RAPID reference part 1 Instructions A Z 177 MoveJSync Advanced functions Instruction WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified ProcName Procedure Name Data type string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point Program execution See the instruction MoveJ for more information about joint movements The specified RAPID procedure is executed when the TCP reaches the middle of the corner path in the destination point of the MoveJSync instruction as shown in Figure 15 MoveJSync p2 v1000 z30 tool2 my proc p3 When TCP is here my_proc is executed Figure 15 Execution of user defined RAPID procedure in the middle of the corner path For stop points we recommend the use of normal programming sequence with MoveJ other RAPID instructions in sequence 178 RAPID reference part 1 Instructions A Z Instruction MoveJSync Advanced functions Execution of the specified RAPID procedure in different execution modes Execution mode Continuously or Cycle Forward step Backward step Limitation Execution of RAPID procedur
8. execution of instruction SpyStop starting program execution from the beginning loading a new program next warm start up Limitations Avoid using the floppy disk option for recording since writing to the floppy is very time consuming Never use the spy function in production programs because the function increases the cycle time and consumes memory on the mass memory device in use RAPID reference part 1 Instructions A Z 285 SpyStart Instruction Error handling If the file in the SpyStart instruction can t be opened then the system variable ERRNO is set to ERR_FILEOPEN see Data types errnum This error can then be handled in the error handler File format TASK INSTR IN CODE OUT MAIN FOR i FROM 1 TO 3 DO 0 READY 0 MAIN mynum mynumti 1 READY 1 MAIN ENDFOR 2 READY 2 MAIN mynum mynum i 2 READY 2 MAIN ENDFOR 2 READY 2 MAIN mynum mynum i 2 READY 2 MAIN ENDFOR 2 READY 3 MAIN SetDO dol 1 3 READY 3 MAIN IF dil 0 THEN 3 READY 4 MAIN MoveL pl v1000 fine tool0 4 WAIT 14 SYSTEM TRAP MAIN MoveL pl v1000 fine tool0 111 READY 111 MAIN ENDIF 108 READY 108 MAIN MoveL p2 v1000 fine tool0 111 WAIT 118 SYSTEM TRAP MAIN MoveL p2 v1000 fine tool0 326 READY 326 MAIN SpyStop 326 TASK column shows executed program task INSTR column shows executed instruction in specified program task IN column shows the time in ms at enter
9. lt expression IN of num gt 102 RAPID reference part 1 Instructions A Z Instruction Related information More examples Disabling an I O unit Input Output instructions Input Output functionality in general Configuration of I O RAPID reference part 1 Instructions A Z TOEnable Described in Instructions JODisable Instructions JODisable RAPID Summary Input and Output Signals Motion and I O Principles 1 0 Principles User s Guide System Parameters 103 TOEnable Instruction 104 RAPID reference part 1 Instructions A Z 1ISignalAI Instruction Advanced functions ISignalAI Interrupts from analog input signal ISignalAI Interrupt Signal Analog Input is used to order and enable interrupts from an analog input signal Example VAR intnum siglint CONNECT siglint WITH iroutinel ISignalAI Single ail AIO BETWEEN 1 5 0 5 0 siglint Orders an interrupt which is to occur the first time the logical value of the analog input signal ail is between 0 5 and 7 5 A call is then made to the iroutinel trap routine ISignalAI ail AIO BETWEEN 1 5 0 5 0 1 sig lint Orders an interrupt which is to occur each time the logical value of the analog input signal ail is between 0 5 and 5 and the absolute signal difference com pared to the stored reference value is bigger than 0 1 ISignalAI ail AIO OUTSIDE 1 5 0 5 0 1 siglint Orders an interrupt which is to occur each tim
10. 268 Circular searches Writes to a corrections entry Linear movement Definition of velocity Definition of tools Definition of work objects Using error handlers Motion in general Instruction Described in Instructions SearchC Instructions CorrWrite Motion and I O Principles Position ing during Program Execution Data Types speeddata Data Types tooldata Data Types wobjdata RAPID Summary Error Recovery Motion and I O Principles RAPID reference part 1 Instructions A Z Set Instruction Set Sets a digital output signal Set is used to set the value of a digital output signal to one Examples Set dol5 The signal do 5 is set to 1 Set weldon The signal weldon is set to 1 Arguments Set Signal Signal Data type signaldo The name of the signal to be set to one Program execution There is a short delay before the signal physically gets its new value If you do not want the program execution to continue until the signal has got its new value you can use the instruction SetDO with the optional parameter Sync The true value depends on the configuration of the signal If the signal is inverted in the system parameters this instruction causes the physical channel to be set to zero Syntax Set Signal lt variable VAR of signaldo gt RAPID reference part 1 Instructions A Z 269 Set Instruction Related information Described in Setting a digi
11. Example Static selection of procedure call TEST reg1 CASE 1 lf door door loc CASE 2 rf door door loc CASE 3 Ir_ door door loc CASE 4 rr_door door loc DEFAULT EXIT ENDTEST Depending on whether the value of register reg is 1 2 3 or 4 different proce dures are called that perform the appropriate type of work for the selected door The door location in argument door loc RAPID reference part 1 Instructions A Z 11 CallBy Var Instruction Dynamic selection of procedure call with RAPID syntax regl 2 proc NumToStr reg1 0 door_loc The procedure proc2 is called with argument door loc Limitation All procedures must have a specific name e g procl proc2 proc3 Dynamic selection of procedure call with CallByVar regl 2 CallByVar proc reg1 The procedure proc2 is called Limitation All procedures must have specific name e g procl proc2 proc3 and no arguments can be used Limitations Can only be used to call procedures without parameters Execution of CallByVar takes a little more time than execution of a normal procedure call Error handling In the event of a reference to an unknown procedure the system variable ERRNO is set to ERR REFUNKPRC In the event of the procedure call error not procedure the system variable ERRNO is set to ERR CALLPROC These errors can be handled in the error handler Syntax CallByVar Name lt expression IN of st
12. GOp Group OutPut Data type signalgo The name of the signal when a group of digital output signals shall be changed AOp Analog Output Data type signalao The name of the signal when a analog output signal shall be changed ProcID Process Identity Data type num Not implemented for customer use The identity of the IPM process to receive the event The selector is specified in the argument SetValue 358 RAPID reference part 1 Instructions A Z TriggIO Instruction Advanced functions SetValue Data type num Desired value of output signal within the allowed range for the current signal DODelay Digital Output Delay Data type num Time delay in seconds positive value for a digital group or analog output sig nal Only used to delay setting of output signals after the robot has reached the spec ified position There will be no delay if the argument is omitted The delay is not synchronised with the movement Program execution When running the instruction 7rigg O the trigger condition is stored in a specified variable for the argument 7riggData Afterwards when one of the instructions 7riggL TriggC or TriggJ is executed the fol lowing are applicable with regard to the definitions in Trigg O The distance specified in the argument Distance Linear movement The straight line distance Circular movement The circle arc length Non linear movement The approximate arc length along the pat
13. PERS tooldata tool1 FALSE 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0J 0 0 OJ Instructions for creating or ModPos of pos_tip pos_z and pos x Move pos _ tip v10 fine point tool Move pos _z v10 fine point tool Move pos x v10 fine point tool SToolRotCalib pos_tip pos z pos x tooll The position of the TCP tframe trans and the tool orientation tframe rot of tool in the world coordinate system is calculated and updated 298 RAPID reference part 1 Instructions A Z SToolRotCalib Instruction Arguments SToolRotCalib RefTip ZPos XPos Tool RefTip Data type robtarget The reference tip point ZPos Data type robtarget The elongator point that defines the positive z direction XPos Data type robtarget The elongator point that defines the positive x direction Tool Data type tooldata The name of the tool that is to be calibrated Program execution The system calculates and updates the TCP rame trans and the tool orientation tfame rot in the specified tooldata The calculation is based on the specified 3 rob target The remaining data in tooldata is not changed Syntax SToolRotCalib RefTip lt expression IN of robtarget gt ZPos lt expression IN of robtarget gt XPos lt expression IN of robtarget gt Tool lt persistent PERS of tooldata gt Related information Described in C
14. ReadErrData TrapEvent ErrorDomain Errorld ErrorType Str1 Str2 Str3 Str4 Str5 TrapEvent Data type trapdata Variable containing the information about what caused the trap to be executed ErrorDomain Data type errdomain The error domain to which the error state change or warning that occurred belongs Ref to predefined data of type errdomain Errorld Data type num The number of the error that occurred The error number is returned without the first digit error domain and without the initial zeros of the complete error number E g 10008 Program restarted is returned as 8 RAPID reference part 1 Instructions A Z 235 ReadErrData Advanced functions Instruction ErrorType Data type errtype The type of event such as error state change or warning that occurred Ref to predefined data of type errtype Str1 Str5 Data type string The string holding information that is intermixed into the error message There could be up to five strings in a message Str holds the first string Str2 holds the second string and so on Information about how many strings there are in a mes sage is found in User Guide Error Management System and Error Messages The intermixed string are maked as s d or of in that document Program execution The ErrorDomain Errorld ErrorType and Strl Str5 variables are updated accord ing to the contents of 7rapEvent If different events are connected to the sa
15. Related information Described in Positioning instructions RAPID Summary Motion Motion settings data Data Types motsetdata Reduction of acceleration Instructions AccSet Limitation of acceleration along the path Instructions PathAccLim 408 RAPID reference part 1 Instructions A Z Write Instruction Advanced functions Write Writes to a character based file or serial channel Write is used to write to a character based file or serial channel The value of certain data can be written as well as text Examples Write logfile Execution started The text Execution started is written to the file with reference name logfile Write logfile No of produced parts Num reg 1 The text No of produced parts 5 for example is written to the file with the ref erence name logfile assuming that the contents of reg is 5 Arguments Write IODevice String Num Bool Pos Orient NoNewLine IODevice Data type iodev The name reference of the current file or serial channel String Data type string The text to be written Num Numeric Data type num The data whose numeric values are to be written after the text string Bool Boolean Data type bool The data whose logical values are to be written after the text string Pos Position Data type pos The data whose position is to be written after the text string Orient Orientation Data type orient The data whose orientation is to b
16. T O events with time with the argument 7ime is intended for stop points I O events with time using flying points results in worse accuracy than specified below T O events with time can only be specified from the end point of the movement This time cannot exceed the current braking time of the robot which is max approx 0 5 s typical values at speed 500 mm s for IRB2400 150 ms and for IRB6400 250 ms If the specified time is greater that the current braking time the event will be generated anyhow but not until braking is started later than specified However the whole of the movement time for the current movement can be utilised during small and fast movements Typical absolute accuracy values for set of digital outputs 5 ms Typical repeat accuracy values for set of digital outputs 2 ms 360 RAPID reference part 1 Instructions A Z TriggIO Instruction Advanced functions Syntax TrigglO TriggData lt variable VAR of triggdata gt Distance lt expression IN of num gt V Start V Time DOp lt variable VAR of signaldo gt P GOp lt variable VAR of signalgo gt V AOp lt variable VAR of signalao gt V ProcID lt expression IN of num gt SetValue lt expression IN of num gt DODelay lt expression IN of num gt Related information Descri
17. lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt Related information Other positioning instructions Definition of velocity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordi nate Systems 191 MoveLSync Advanced functions Instruction 192 RAPID reference part 1 Instructions A Z MToolRotCalib MToolRotCalib Calibration of rotation for moving tool MToolRotCalib Moving Tool Rotation Calibration is used to calibrate the rotation of a moving tool The position of the robot and its movements are always related to its tool coordinate system i e the TCP and tool orientation To get the best accuracy it is important to define the tool coordinate system as correctly as possible The calibration can also be done with a manual method using the TPU described in User s Manual Calibration Description To define the tool orientation you need a world fixed tip within the robot s working space Before using the instruction M7oo RotCalib some preconditions must be fulfilled The tool that is to
18. CONST jointtarget pos tip CONST jointtarget pos_z CONST jointtarget pos x PERS tooldata tool1 TRUE 20 30 100 1 0 0 0 0 001 0 0 0 001 1 0 0 0 0 0 OJ Instructions for creating or ModPos of pos_tip pos_z and pos x MoveAbsJ pos _ tip v10 fine tool0 MoveAbsJ pos_z v10 fine tool0 MoveAbsJ pos x v10 fine tool0 Only tool calibration in the z direction MToolRotCalib pos_tip pos_z tooll The tool orientation frame rot in the z direction of tool is calculated The x and y directions of the tool orientation are calculated to coincide with the wrist coordinate system Calibration with complete tool orientation MToolRotCalib pos tip pos z XPos pos x tooll The tool orientation frame rof of tool is calculated 194 RAPID reference part 1 Instructions A Z MToolRotCalib Instruction Arguments MToolRotCalib RefTip ZPos XPos Tool RefTip Data type jointtarget The reference tip point ZPos Data type jointtarget The elongator point that defines the positive z direction XPos Data type jointtarget The elongator point that defines the x positive direction If this point is omitted the x and y directions of the tool will coincide with the corresponding axes in the wrist coordinate system Tool Data type tooldata The name of the tool that is to be calibrated Program execution The system calculates and updates the tool orienta
19. Conc ToPoint Speed V T Zone Z Inpos Tool WObj Conc Concurrent Data type switch Subsequent instructions are executed while the robot is moving The argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required Using the argument Conc the number of movement instructions in succession is limited to 5 In a program section that includes StorePath RestoPath move ment instructions with the argument Conc are not permitted If this argument is omitted and the ToPoint is not a stop point the subsequent instruction is executed some time before the robot has reached the programmed zone ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction RAPID reference part 1 Instructions A Z 169 MoveJ 170 Instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the tool reorientation and external axes V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed data T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It
20. More information on interrupt management Basic Characteristics Interrupts RAPID reference part 1 Instructions A Z 133 ITimer Instruction 134 RAPID reference part 1 Instructions A Z Var Value Instruction IVar Value Orders a variable value interrupt IVarVal Interrupt Variable Value is used to order and enable an interrupt when the value of a variable accessed via the serial sensor interface has been changed This instruction can be used for example to get seam volume or gap values from a seam tracker Examples LOCAL PERS num adtVI1t 25 1 1 2 1 4 1 6 1 8 2 2 16667 2 33333 2 5 LOCAL PERS num adptWfd 25 2 2 2 2 4 2 6 2 8 3 3 16667 3 33333 3 5 LOCAL PERS num adptSpd 25 10 12 14 16 18 20 21 6667 23 3333 25 LOCAL CONST num GAP_VARIABLE_NO 11 PERS num gap _ value VAR intnum IntAdap PROC main Setup the interrupt The trap routine AdapTrp will be called when the gap variable with number GAP_VARIABLE_NO in the sensor interface has been changed The new value will be available in the PERS gp _ value variable CONNECT IntAdap WITH AdapTrp IVarValue GAP_VARIABLE_NO gap_value IntAdap Start welding ArcL On v100 adaptSm adaptWd adaptWv z10 tool j Track track ArcL On v100 adaptSm adaptWd adaptWv z10 tool j Track track ENDPROC TRAP AdapTrap VAR num Arrind Scale the raw gap value received ArrInd ArrIndx gap_value Update active welddata PER
21. RAPID reference part 1 Instructions A Z Instruction Related information Summary of interrupts Definition of constants Interrupt from analog output signal Interrupt from digital input signal Interrupt from digital output signal More information on interrupt management More examples Related system parameters filter RAPID reference part 1 Instructions A Z ISignalAI Advanced functions Described in RAPID Summary Interrupts Data Types aiotrigg Instructions SignalAO Instructions SignalDI Instructions SignalDO Basic Characteristics Interrupts Data Types intnum System Parameters JO Signals 115 1SignalAI Advanced functions Instruction 116 RAPID reference part 1 Instructions A Z ISignalAO Instruction Advanced functions ISignalAO Interrupts from analog output signal ISignalAO Interrupt Signal Analog Output is used to order and enable interrupts from an analog output signal Example VAR intnum siglint CONNECT siglint WITH iroutinel ISignalAO Single aol AIO BETWEEN 1 5 0 5 0 sig lint Orders an interrupt which is to occur the first time the logical value of the analog output signal aol is between 0 5 and 5 A call is then made to the iroutinel trap routine ISignalAO aol AIO BETWEEN 1 5 0 5 0 1 siglint Orders an interrupt which is to occur each time the logical value of the analog output signal ao is between 0 5 and 5 and the absolute signal di
22. The value to set the attribute to The string length is limited to 30 characters Timeout Data type num The period of waiting time permitted expressed in seconds Default timeout 5 second if this argument is omitted Program execution The program is waiting until the I O unit has answered If the Timeout runs out before the I O unit has answered the error handler will be called if there is one with the error code ERR IODN TIMEOUT If there is no error handler the execution will be stopped RAPID reference part 1 Instructions A Z 99 IODNS etAttr Error handling Syntax Instruction Following recoverable errors can be generated The errors can be handled in an error handler The system variable ERRNO will be set to ERR IODN TIMEOUT If the timeout time runs out before the unit has answered back to confirm ready ERR NAME INVALID ERR MSG PENDING If the unit name doesn t exist A message is already sent to the unit Wait a short while e g 100ms and try again IODNSetAttr UnitName lt expression IN of string gt Path lt expression IN of string gt SetValue lt expression IN of string gt gt V Timeout lt expression IN of num gt Related information 100 Open DeviceNet Vendor Association Configuration of I O Configuration of I O Configuration of I O Input Output functionality in general Input Output ins
23. WZDisable Instruction WorldZone lt variable or persistent INOUT of wztemporary gt Related information 428 World Zones World zone shape Temporary world zone data Activate world zone limit supervision Activate world zone set digital output Activate world zone Erase world zone Described in Motion and I O Principles World Zones Data Types shapedata Data Types wztemporary Instructions WZLimSup Instructions WZDOSet Instructions WZEnable Instructions WZF ree RAPID reference part 1 Instructions A Z WZDOSet Instruction Advanced functions WZDOSet Activate world zone to set digital output WZDOSet World Zone Digital Output Set is used to define the action and to activate a world zone for supervision of the robot movements After this instruction is executed when the robot s TCP or the robot external axes zone in joints is inside the defined world zone or is approaching close to it a digital output signal is set to the specified value Example VAR wztemporary service PROC zone_output VAR shapedata volume CONST pos p_ service 500 500 700 WZSphDef Inside volume p_service 50 WZDOSet Temp service Inside volume do service 1 ENDPROC Definition of temporary world zone service in the application program that sets the signal do_service when the robot s TCP is inside the defined sphere during program execution or when jogging Arguments
24. v2000 z40 grip3 The tool grip3 is moved along a non linear path to an absolute joint position stored in the instruction Subsequent logical instructions are executed while the robot moves MoveAbsJ Conc NoEOffs v2000 z40 grip3 Same movement as above but the movement is not affected by active offsets for external axes GripLoad obj_mass MoveAbsJ start v2000 z40 grip3 WObj obj The robot moves the work object obj in relation to the fixed tool grip3 along a non linear path to an absolute axis position start Error handling When running the program a check is made that the arguments Tool and WObj do not contain contradictory data with regard to a movable or a stationary tool respectively Limitations In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding problems with singular points or ambiguous areas it is essential that the sub sequent instructions fulfil certain requirements as follows see Figure 1 Singular point gt MoveJ MoveAbsJ Ambiguous area gt C ete Any Move instr MoveAbsJ Figure 9 Limitation for backward execution with MoveAbsJ 152 RAPID reference part 1 Instructions A Z MoveAbsJ Instruction Syntax MoveAbsJ V Conc ToJointPos lt expression IN of jointtarget gt V NoEoffs Speed lt expression IN of speeddata gt V V lt expression IN
25. Define test signal TestSignDefine is used to define one test signal for the robot motion system A test signal continuously mirrors some specified motion data stream for example torque reference for some specified axis The actual value at a certain time can be read in RAPID with the function ZestSignRead Only test signals for external robot axes can be reached For use of the test signal for the master robot axes or the need for use of not predefined test signals please contact the nearest ABB Flexible Automation centre Example TestSignDefine 1 resolver_ angle Orbit 2 0 1 Test signal resolver_angle connected to channel will give the value of the resolver angle for external robot Orbit axis 2 sampled at 100 ms rate Arguments TestSignDefine Channel Signalld MechUnit Axis SampleTime Channel Data type num The channel number 1 12 to be used for the test signal The same number must be used in the function 7estSignRead for reading the actual value of the test signal Signalld Data type testsignal The name or number of the test signal Refer to predefined constants described in data type testsignal MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit Axis Data type num The axis number within the mechanical unit RAPID reference part 1 Instructions A Z 313 TestSignDefine Instruction SampleTime Data type num Sample time in seconds For sample time lt 0 004 s the function 7
26. If this is not pos sible using the programmed position and orientation program execution stops The IRB5400 robot will move to the programmed axis configuration or to an axis configuration close the programmed one Program execution will not stop if it is impossible to reach the programmed axis configuration Off Data type switch The robot always moves to the closest axis configuration RAPID reference part 1 Instructions A Z 37 ConfJ Instruction Program execution If the argument On or no argument is chosen the robot always moves to the pro grammed axis configuration If this is not possible using the programmed position and orientation program execution stops before the movement starts If the argument Offis chosen the robot always moves to the closest axis configuration This may be different to the programmed one if the configuration has been incorrectly specified manually or if a program displacement has been carried out The control is active by default This is automatically set at a cold start up when a new program is loaded when starting program executing from the beginning Syntax Conf On 21 Off Ea Related information Described in Handling different configurations Motion Principles Robot Configuration Robot configuration during linear movement Instructions ConfL 38 RAPID reference part 1 Instructions A Z ConfL Instruction ConfL Monitors the configur
27. It can also be used to tune the execution of the robot path to avoid warning 50024 Corner path failure or error 40082 Deceleration limit Using the argument Conc the number of movement instructions in succession is limited to 5 In a program section that includes StorePath RestoPath movement instructions with the argument Conc are not permitted If this argument is omitted and the ToPoint is not a stop point the subsequent instruction is executed some time before the robot has reached the programmed zone ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the external axes and of the tool reorientation T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Trigg 1 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions 7rigg O TriggEquip or TriggInt T2 Trigg 2 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions Trigg O TriggEquip or TriggInt T3 Trigg 3 D
28. Related information Described in Calibration of TCP for a moving tool Instructions MToolTCPCalib Calibration of rotation for a moving tool Instructions MToolRotCalib Calibration of TCP and rotation Instructions SToolRotCalib for a stationary tool 304 RAPID reference part 1 Instructions A Z Stop Instruction Stop Stops program execution Stop is used to temporarily stop program execution Program execution can also be stopped using the instruction EXIT This however should only be done if a task is complete or if a fatal error occurs since program exe cution cannot be restarted with EXIT Example TPWrite The line to the host computer is broken Stop Program execution stops after a message has been written on the teach pendant Arguments Stop NoRegain NoRegain Data type switch Specifies for the next program start in manual mode whether or not the robot and external axes should regain to the stop position In automatic mode the robot and external axes always regain to the stop position If the argument NoRegain is set the robot and external axes will not regain to the stop position if they have been jogged away from it If the argument is omitted and if the robot or external axes have been jogged away from the stop position the robot displays a question on the teach pendant The user can then answer whether or not the robot should regain to the stop posi tion Program execution
29. example be used in a particularly sensitive part of the program where no interrupts may be permitted to take place in case they disturb normal program execution Example IDisable FOR i FROM 1 TO 100 DO character i ReadBin sensor ENDFOR IEnable No interrupts are permitted as long as the serial channel is reading Program execution Interrupts that occur during the time in which an Disable instruction is in effect are placed in a queue When interrupts are permitted once more the interrupt s of the pro gram then immediately starts generating executed in first in first out order in the queue Enable is active by default ZEnable is automatically set at a cold start up when starting program execution from the beginning of main after executing one cycle passing main or executing ExitCycle Syntax IDisable Related information Described in Summary of interrupts RAPID Summary Interrupt Permitting interrupts Instructions Enable RAPID reference part 1 Instructions A Z 79 IDisable Instruction 80 RAPID reference part 1 Instructions A Z IEnable Instruction IEnable Enables interrupts Enable Interrupt Enable is used to enable interrupts during program execution Example IDisable FOR i FROM 1 TO 100 DO character i ReadBin sensor ENDFOR IEnable No interrupts are permitted as long as the serial channel is reading When it has finished reading int
30. in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity for the tool centre point the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point moved to the specified destination position RAPID reference part 1 Instructions A Z 189 MoveLSync Advanced functions Instruction WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified ProcName Procedure Name Data type string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point Program execution See the instruction MoveL for more information about linear movements The specified RAPID procedure is executed when the TCP reaches the middle of the corner path in the destination point of the MoveLSync ins
31. tooll WZFree wzone ENDPROC When moving to p_pick the position of the robot s TCP is checked so that it will not go inside a specified volume wzone This supervision is not performed when going to p_place but is reactivated before going to p_home When this position is reached the world zone definition is erased Arguments WZFree WorldZone WorldZone Data type wztemporary Variable or persistent variable of the type wztemporary which contains the iden tity of the world zone to be erased Program execution The temporary world zone is first deactivated and then its definition is erased Once erased a temporary world zone cannot be either re activated nor deactivated Limitations Only a temporary world zone can be deactivated reactivated or erased A stationary world zone is always active RAPID reference part 1 Instructions A Z 435 WZFree Advanced functions Syntax WZFree Instruction WorldZone lt variable or persistent INOUT of wztemporary gt Related information 436 World Zones World zone shape Temporary world zone data Activate world zone limit supervision Activate world zone set digital output Deactivate world zone Activate world zone Described in Motion and I O Principles World Zones Data Types shapedata Data Types wztemporary Instructions WZLimSup Instructions WZDOSet Instructions WZDisable Instructions WZEnable RAPID reference part 1
32. variable VAR of signaldi gt Flanks SearchPoint lt var or pers INOUT of robtarget gt CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LV V lt expression IN of num gt V T gt lt expression IN of num gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt V Corr f RAPID reference part 1 Instructions A Z Instruction Related information Linear searches Writes to a corrections entry Circular movement Definition of velocity Definition of tools Definition of work objects Using error handlers Motion in general More searching examples RAPID reference part 1 Instructions A Z SearchC Described in Instructions SearchL Instructions CorrWrite Motion and I O Principles Position ing during Program Execution Data Types speeddata Data Types tooldata Data Types wobjdata RAPID Summary Error Recovery Motion and I O Principles Instructions SearchL 259 SearchC Instruction 260 RAPID reference part 1 Instructions A Z SearchL Instruction SearchL Searches linearly using the robot SearchL Search Linear is used to search for a position when moving the tool centre point TCP linearly During the mov
33. wobj1 MoveL p20 v1000 z50 tooll WObj wobj1 MoveL p30 v1000 z50 tooll WObj wobj1 MoveL p40 v1000 z50 tooll WObj wobj1 WaitLoad load 1 routine_x UnLoad HOME PART_A MOD Load the program module PART_A MOD from HOME into the program mem ory In parallel move the robot Then connect the new program module to the program task and call the routine routine x in the module PART A Arguments WaitLoad UnloadPath UnloadFile LoadNo UnloadPath Data type string The file path and the file name to the file that will be unloaded from the program neem The file name should be excluded when the argument UnloadFile is UnloadFile Data type string When the file name is excluded in the argument UnloadPath then it must be defined with this argument RAPID reference part 1 Instructions A Z 393 WaitLoad Instruction LoadNo Data type loadsession This is a reference to the load session fetched by the instruction SfartLoad to connect the loaded program module to the program task Program execution The instruction WaitLoad will first wait for the loading to be completed if it is not already done and then it will be linked and initialised The initialisation of the loaded module sets all variables at module level to their init values Unsolved references will be accepted if the system parameter for Tasks BindRef is set to NO However when the program is started or the teach pendant function Progr
34. 1 counter is incremented by one Arguments Data Value Data Data type All The data that is to be assigned a new value Value Data type Same as Data The desired value Examples tooll tframe trans x tooll tframe trans x 20 The TCP for tool is shifted 20 mm in the X direction pallet 5 8 Abs value An element in the pallet matrix is assigned a value equal to the absolute value of the value variable RAPID reference part 1 Instructions A Z 7 6 9 e Limitations Instruction The data whose value is to be changed must not be a constant anon value data type The data and value must have similar the same or alias data types Syntax EBNF lt assignment target gt lt expression gt lt assignment target gt lt variable gt lt persistent gt lt parameter gt lt VAR gt Related information Expressions Non value data types Assigning an initial value to data Manually assigning a value to data Described in Basic Characteristics Expressions Basic Characteristics Data Types Basic Characteristics Data Programming and Testing Programming and Testing RAPID reference part 1 Instructions A Z Instruction Break Break program execution Break Break is used to make an immediate break in program execution for RAPID program code debugging purposes Example Break Program execution stops and it is possible to analyse variable
35. 1 Instructions A Z 93 10Disable Instruction Error handling Example 94 Following recoverable errors can be generated The errors can be handled in an error handler The system variable ERRNO will be set to ERR IODISABLE if the time out time runs out before the unit is disabled ERR CALLIO INTER if an IOEnable or IODisable request is interrupted by another request to the same unit ERR NAME INVALID if the unit name don t exist or if the unit isn t allowed to be disabled PROC go_home VAR num recover flag 0 Start to disable I O unit cell recover flag 1 IODisable cell1 0 Move to home position Move home v1000 fine tool1 Wait until disable of I O unit cell is ready recover flag 2 IODisable cell1 5 ERROR IF ERRNO ERR IODISABLE THEN IF recover_flag 1 THEN TRYNEXT ELSEIF recover_flag 2 THEN RETRY ENDIF ELSEIF ERRNO ERR EXCRTYMAX THEN ErrWrite IODisable error Not possible to disable I O unit cell1 Stop ENDIF ENDPROC To save cycle time the I O unit cell is disabled during robot movement to the home position With the robot at the home position a test is done to establish whether or not the I O unit cell is fully disabled After the max number of retries 5 with a waiting time of 5 s the robot execution will stop with an error message The same principle can be used with JOEnable this will save more cycle time compared with ODisable
36. 180 tune_ti 50 100 Tune_kp should not be used for robot axes Values of tune_kv tune_ti which are too high or too low will cause vibrations or oscillations Be careful if trying to exceed these recommended values Make changes in small steps and avoid oscillating motors Always tune one axis at a time Change the tuning values in small steps Try to improve the path where this specific axis changes its direction of movement or where it accelerates or decelerates Never use these tune types at high speeds or when the required path accuracy is ful filled Friction compensation tune_fric_lev and tune_fric_ramp These tune types can be used to reduce robot path errors caused by friction and back lash at low speeds 10 200 mm s These path errors appear when a robot axis changes direction of movement Activate friction compensation for an axis by setting the system parameter Friction ffw on to TRUE topic Manipulator type Control parameters The friction model is a constant level with opposite sign of the axis speed direction Friction ffw level Nm is the absolute friction level at low speeds and is greater than Friction ffw ramp rad s see figure A Low speed motor friction Nm Friction ffw level Nm Friction ffw ramp rad s Axis motor speed rad s go Figure 48 Friction model Tune fric lev overrides the value of the system parameter Friction ffw level Tuning Friction ffw level
37. Activation of a program displacement including a rotation This is calculated based on the difference between positions p 0 and p20 Arguments PDispOn Rot ExeP ProgPoint Tool WObj Rot Rotation Data type switch The difference in the tool orientation is taken into consideration and this involves a rotation of the program ExeP Executed Point Data type robtarget The robot s new position at the time of the program execution If this argument is omitted the robot s current position at the time of the program execution is used ProgPoint Programmed Point Data type robtarget The robot s original position at the time of programming RAPID reference part 1 Instructions A Z 215 PDispOn Instruction Tool Data type tooldata The tool used during programming 1 e the TCP to which the ProgPoint position is related WObj Work Object Data type wobjdata The work object coordinate system to which the ProgPoint position is related This argument can be omitted and if it is the position is related to the world coor dinate system However if a stationary TCP or coordinated external axes are used this argument must be specified The arguments Tool and WObj are used both to calculate the ProgPoint during programming and to calculate the current position during program execution if no ExeP argument is programmed Program execution 216 Program displacement means that the ProgDisp coordinate
38. Distance lt expression IN of num gt V Start V Time Interrupt lt variable VAR of intnum gt RAPID reference part 1 Instructions A Z Instruction Related information Use of triggers Definition of position fix I O More examples Interrupts RAPID reference part 1 Instructions A Z Trigg Int Advanced functions Described in Instructions TriggL TriggC Trigg J Instruction Trigg O TriggEquip Data Types triggdata Basic Characteristics Interrupts 355 Trigg Int Advanced functions Instruction 356 RAPID reference part 1 Instructions A Z TriggIO Instruction Advanced functions TriggIO Defines a fixed position I O event TriggIO is used to define conditions and actions for setting a digital a group of digital or an analog output signal at a fixed position along the robot s movement path To obtain a fixed position I O event Trigg O compensates for the lag in the control system lag between robot and servo but not for any lag in the external equipment For compensation of both lags use TriggEquip The data defined is used for implementation in one or more subsequent TriggL TriggC or TriggJ instructions Examples VAR triggdata gunon TriggIO gunon 10 DOp gun 1 TriggL pl v500 gunon z50 gun1 The digital output signal gun is set to the value 7 when the TCP is 0 mm before the point p Start point TriggL p1 v500 gunon
39. I IDelete 77 IDisable 79 TEnable 81 IError 83 IF 35 87 Incr 89 increment 89 interrupt activate 137 at a position 351 connect 43 deactivate 129 451 delete 77 disable 79 enable 81 from digital input 121 timed 131 InvertDO 91 IO unit disable 93 enable 101 IODisable 93 IOEnable 101 ISignalDI 121 ISignalDO 125 ISleep 129 ITimer 131 IVarValue 135 IWatch 137 J joint movement 169 173 177 jump 73 L label 139 linear movement 181 185 189 Load 141 249 291 load activate payload 75 M maximum velocity 403 mechanical unit activate 3 deactivate 45 MechUnitLoad 145 MoveAbsJ 149 MoveC 155 MoveCDO 161 MoveCSync 165 Move 169 MoveJDO 173 MoveJSync 177 MoveL 181 MoveLDO 185 MoveLSync 189 movement circle 155 161 165 452 joint 169 173 177 linear 181 185 189 O Open file 201 serial channel 201 output at a position 339 357 P path resolution change 209 PathResol 209 payload activate 75 PDispOff 213 PDispOn 215 position fix I O 357 ProcCall 223 procedure call 11 223 program displacement activate 215 deactivate 213 PulseDO 225 R RAISE 229 read function key 321 ReadErrData 235 repeat 65 405 Reset 239 RestoPath 241 RETRY 243 RETURN 245 Rewind 247 routine call 223 S SearchC 253 SearchL 261 serial channel close 23 41 file 231 413 415 419 open 201 rewind 247 RAPID reference part 1 Instructions A Z write 409 Set 269 SetAO 271 SetDO 2
40. Instructions A Z WZHomeJointDef Instruction Advanced functions WZHomeJointDef Define a world zone for home joints WZHomeJointDef World Zone Home Joint Definition is used to define a world zone in joints coordinates for both the robot and external axes to be used as a HOME or SERVICE position Example VAR wzstationary home PROC power_on VAR shapedata joint_space CONST jointtarget home_pos 0 0 0 0 0 45 0 9E9 9E9 9E9 9E9 9E9 CONST jointtarget delta_ pos 2 2 2 2 2 2 5 9E9 9E9 9E9 9E9 9E9 WZHomeJointDef Inside joint space home pos delta pos WZDOSet Stat home Inside joint space do home 1 ENDPROC Definition and activation of stationary world zone home that sets the signal do_home to 1 when all robot axes and the external axis extax eax_a are at the joint position home_pos within delta_pos for each axes during program execution and jogging The variable joint_space of data type shapedata are used to transfer data from the instruction WZHomeJointDef to the instruction WZDOSet Arguments WZHomeJointDef Inside Outside Shape MiddleJointVal DeltaJointVal Inside Data type switch Define the joint space inside the MiddleJointVal DeltaJointVal Outside Data type switch Define the joint space outside the MiddleJointVal DeltaJointVal inverse joint space Shape Data type shapedata Variable for storage of the defined joint space pri
41. MaxTime before an input from the operator the sys tem variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler If digital input is set parameter D Break before an input from the operator the sys tem variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler These situations can then be dealt with by the error handler Predefined data CONST string stEmpty The predefined constant stEmpty should be used for Function Keys without prompts Using stEmpty instead of saves about 80 bytes for every Function Key without prompts RAPID reference part 1 Instructions A Z 323 TPReadFK Syntax Related information 324 Instruction TPReadFK Answer lt var or pers INOUT of num gt Text lt expression IN of string gt FK1 lt expression IN of string gt FK2 lt expression IN of string gt FK3 lt expression IN of string gt FK4 lt expression IN of string gt FK5 lt expression IN of string gt MaxTime lt expression IN of num gt DIBreak lt variable VAR of signaldi gt BreakFlag lt var or pers INOUT of errnum gt Described in Writing to and reading from RAPID Summary Communication the teach pendant Replying via the teach pendant Running Pro
42. POWER _ON VAR shapedata volume WZBoxDef Outside volume cornerl corner2 WZLimSup Stat max_workarea volume ENDPROC Definition and activation of stationary world zone max_workarea with the shape of the area outside a box temporarily stored in volume and the action work area supervision The robot stops with an error message before entering the area outside the box Arguments WZLimSup Temp Stat WorldZone Shape Temp Temporary Data type switch The world zone to define is a temporary world zone Stat Stationary Data type switch The world zone to define is a stationary world zone One of the arguments Temp or Stat must be specified WorldZone Data type wztemporary Variable or persistent variable that will be updated with the identity numeric value of the world zone If use of switch 7emp the data type must be wztemporary If use of switch Stat the data type must be wzstationary RAPID reference part 1 Instructions A Z 445 WZLimSup Advanced functions Instruction Shape Data type shapedata The variable that defines the volume of the world zone Program execution Example 446 The defined world zone is activated From this moment the robot s TCP position or the robot external axes joint position is supervised If it reaches the defined area the move ment is stopped Ifuse of WZLimJointDef or WZHomeJointDef with outside joint space argument Out side together with WZLimSup the
43. RAPID reference part 1 Instructions A Z Instruction Related information Test signal Read test signal Reset test signals RAPID reference part 1 Instructions A Z TestSignDefine Described in Data Types testsignal Functions TestSignRead Instructions TestSignReset 315 TestSignDefine Instruction 316 RAPID reference part 1 Instructions A Z TestSignReset Instruction TestSignReset Reset all test signal definitions TestSignReset is used to deactivate all previously defined test signals Example TestSignReset Deactivate all previously defined test signals Program execution The definitions of all test signals are deactivated and the robot system stops the sam pling of any test signals The sampling of defined test signals is active until A warm start of the system Execution of this instruction JestSignReset Syntax TestSignReset Related information Described in Define test signal Instructions TestSignDefine Read test signal Functions ZestSignRead RAPID reference part 1 Instructions A Z 317 TestSignReset Instruction 318 RAPID reference part 1 Instructions A Z TPErase Instruction TPErase Erases text printed on the teach pendant TPErase Teach Pendant Erase is used to clear the display of the teach pendant Example TPErase TPWrite Execution started The teach pendant display is cleared before Execution started is writt
44. Recovery 246 RAPID reference part 1 Instructions A Z Rewind Instruction Advanced functions Rewind Rewind file position Rewind sets the file position to the beginning of the file Example Rewind iodev1 The file referred to by iodev1 will have the file position set to the beginning of the file Arguments Rewind IODevice IODevice Data type iodev Name reference of the file to be rewound Program execution The specified file is rewound to the beginning Example IO device and numeric variable for use together with a binary file VAR iodev dev VAR num bindata Open the binary file with Write switch to erase old contents Open HOME File bin _file dev Write Close dev Open the binary file with Bin switch for binary read and write access Open HOME File bin_file dev Bin WriteStrBin dev Hello world RAPID reference part 1 Instructions A Z 247 Rewind Advanced functions Instruction Rewind the file pointer to the beginning of the binary file Read contents of the file and write the binary result on TP gives 72 101 108 108 111 32 119 111 114 108 100 Rewind dev bindata ReadBin dev WHILE bindata lt gt EOF_BIN DO TPWrite Num bindata bindata ReadBin dev ENDWHILE Close the binary file Close dev The instruction Rewind is used to rewind a binary file to the beginning so that the contents of the file can be read back with ReadBin Error han
45. The instruction does not limit the total acceleration of the equipment 1 e the acceler ation in world frame so it can not be directly used to protect the equipment from large accelerations PROGRAMMED PATH ROBOT TCP WITH LINACC LIMITATION ROBOT TCP Example PathAccLim TRUE AccMax 4 TRUE AccMin 4 TCP acceleration and TCP deceleration is limited to 4m s PathAccLim FALSE FALSE The TCP acceleration and deceleration is reset to maximum default RAPID reference part 1 Instructions A Z 205 PathAccLim Instruction Arguments PathAccLim AccLim AccMax DecelLim DecelMax AccLim Data type bool TRUE if there is to be a limitation of the acceleration FALSE otherwise AccMax Data type num The absolute value of the acceleration limitation in m s Only to be used when AccLim is TRUE DecelLim Data type bool TRUE if there is to be a limitation of the deceleration FALSE otherwise DecelMax Data type num The absolute value of the deceleration limitation in m s Only to be used when DecelLim is TRUE Program execution The acceleration deceleration limitations applies for the next executed robot segment and is valid until a new PathAccLim instruction is executed The maximum acceleration deceleration PathAccLim FALSE FALSE are automati cally set at a cold start up when a new program is loaded when starting program executing from the beginning If combinati
46. The instruction stops program execution as soon as the robot and external axes reach the programmed destination point for the movement it is performing at the time Pro gram execution can then be restarted from the next instruction RAPID reference part 1 Instructions A Z 305 Stop Instruction Example MoveL p1 v500 fine tooll TPWrite Jog the robot to the position for pallet corner 1 Stop NoRegain pl_read CRobT MoveL p2 v500 z50 tooll Program execution stops with the robot at p The operator jogs the robot to pl_read For the next program start the robot does not regain to p1 so the posi tion p _read can be stored in the program Limitations If this instruction is preceded by a move instruction that move instruction must be pro grammed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible Syntax Stop V NoRegain Related information Described in Stopping after a fatal error Instructions EXIT Terminating program execution Instructions EXIT Only stopping robot movements Instructions StopMove 306 RAPID reference part 1 Instructions A Z StopMove Instruction StopMove Stops robot motion StopMove is used to stop robot and external axes movements temporarily If the instruction StartMove is given movement resumes This instruction can for example be used in a trap routine to stop the robot tempora
47. The name of the signal Value Data type dionum The desired value of the signal MaxTime Maximum Time Data type num The maximum period of waiting time permitted expressed in seconds If this time runs out before the condition is met the error handler will be called if there is one with the error code ERR WAIT MAXTIME If there is no error handler the execution will be stopped TimeFlag Timeout Flag Data type bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met If this parameter is included in the instruction it is not considered to be an error if the max time runs out This argument is ignored if the MaxTime argument is not included in the instruc tion RAPID reference part 1 Instructions A Z 391 Wait DO Instruction Program Running If the value of the signal is correct when the instruction is executed the program sim ply continues with the following instruction If the signal value is not correct the robot enters a waiting state and when the signal changes to the correct value the program continues The change is detected with an interrupt which gives a fast response not polled When the robot is waiting the time is supervised and if it exceeds the max time value the program will continue if a Time Flag is specified or raise an error if its not Ifa Time Flag is specified this will be set to true if the time is exceeded
48. Upper joint bound Lower joint bound Example VAR wzstationary work_ limit PROC power_on VAR shapedata joint_space CONST jointtarget low_pos 90 9E9 9E9 9E9 9E9 9E9 1000 9E9 9E9 9E9 9E9 CONST jointtarget high_pos 90 9E9 9E9 9E9 9E9 9E9 9E9 9E9 9E9 9E9 9E9 9E9 WZLimJointDef Outside joint space low pos high pos WZLimSup Stat work limit joint space ENDPROC Definition and activation of stationary world zone work limit that limit the working area for robot axis 1 to 90 and 90 degreeds and the external axis extax eax_a to 1000 mm during program execution and jogging The variable joint_space of data type shapedata are used to transfer data from the instruction WZLimJointDef to the instruction WZLimSup Arguments WZLimJointDef Inside Outside Shape LowJointVal HighJointVal Inside Data type switch Define the joint space inside the LowJointVal HighJointVal Outside Data type switch Define the joint space outside the LowJointVal HighJointVal inverse joint space Shape Data type shapedata Variable for storage of the defined joint space private data for the system RAPID reference part 1 Instructions A Z 441 WZLimJointDef Advanced functions Instruction LowJointVal Data type jointtarget The position in joint coordinates for the low limit of the joint space to define Specifies for each robot axes and external axes degrees for rotati
49. WZDOSet Temp Stat WorldZone Inside Before Shape Signal SetValue Temp Temporary Data type switch The world zone to define is a temporary world zone Stat Stationary Data type switch The world zone to define is a stationary world zone One of the arguments Zemp or Stat must be specified WorldZone Data type wztemporary Variable or persistent variable that will be updated with the identity numeric value of the world zone If use of switch 7emp the data type must be wztemporary If use of switch Stat the data type must be wzstationary RAPID reference part 1 Instructions A Z 429 WZDOSet Advanced functions Instruction Inside Data type switch The digital output signal will be set when the robot s TCP is inside the defined volume Before Data type switch The digital output signal will be set before the robot s TCP reaches the defined volume as soon as possible before the volume One of the arguments nside or Before must be specified Shape Data type shapedata The variable that defines the volume of the world zone Signal Data type signaldo The name of the digital output signal that will be changed If a stationary worldzone is used the signal must be write protected for access from the user RAPID TP Set Access System for the signal in System Param eters SetValue Data type dionum Desired value of the signal 0 or 1 when the robot s TCP is inside the volume or just be
50. and the execution continues in the error handler These situations can then be dealt with by the error handler Syntax TPReadNum Answer lt var or pers INOUT of num gt String lt expression IN of string gt MaxTime lt expression IN of num gt DIBreak lt variable VAR of signaldi gt BreakFlag lt var or pers INOUT of errnum gt 326 RAPID reference part 1 Instructions A Z Instruction Related information Writing to and reading from the teach pendant Entering a number on the teach pendant Examples of how to use the arguments MaxTime DIBreak and BreakFlag RAPID reference part 1 Instructions A Z TPReadNum Described in RAPID Summary Communication Production Running Instructions TPReadFK 327 TPReadNum Instruction 328 RAPID reference part 1 Instructions A Z TPShow Instruction TPShow Switch window on the teach pendant TPShow Teach Pendant Show is used to select Teach Pendant Window from RAPID Examples TPShow TP_PROGRAM The Production Window will be active if the system is in AUTO mode and the Program Window will be active if the system is in MAN mode after execution of this instruction TPShow TP_LATEST The latest used Teach Pendant Window before the current Teach Pendant Win dow will be active after execution of this instruction Arguments TPShow Window Window Data
51. and updated max_err and mean_err will hold the max error in mm from the calculated TCP and the mean error in mm from the calculated TCP respectively Arguments 198 MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr Pos1 Data type jointtarget The first approach point Pos2 Data type jointtarget The second approach point Pos3 Data type jointtarget The third approach point Pos4 Data type jointtarget The fourth approach point Tool Data type tooldata The name of the tool that is to be calibrated RAPID reference part 1 Instructions A Z MToolTCPCalib Instruction MaxErr Data type num The maximum error in mm for one approach point MeanErr Data type num The average distance that the approach points are from the calculated TCP i e how accurately the robot was positioned relative to the tip Program execution The system calculates and updates the TCP value in the wrist coordinate system tfame trans in the specified tooldata The calculation is based on the specified 4 joint target The remaining data in tooldata such as tool orientation rame rot is not changed Syntax MToolTCPCalib Pos lt expression IN of jointtarget gt Pos2 lt expression IN of jointtarget gt Pos3 lt expression IN of jointtarget gt Pos4 lt expression IN of jointtarget gt Tool lt persistent PERS of tooldata gt
52. arguments nside or Outside must be specified Shape Data type shapedata Variable for storage of the defined volume private data for the system RAPID reference part 1 Instructions A Z 421 WZBoxDef Advanced functions LowPoint Instruction Data type pos Position x y x in mm defining one lower corner of the box HighPoint Data type pos Position x y z in mm defining the corner diagonally opposite to the previous one Program execution The definition of the box is stored in the variable of type shapedata argument Shape for future use in WZLimSup or WZDOSet instructions Limitations Syntax The LowPoint and HighPoint positions must be valid for opposite corners with differ ent x y and z coordinate values If the robot is used to point out the LowPoint or HighPoint work object wobj0 must be active use of component trans in robtarget e g pl trans as argument WZBoxDef Inside PV Outside Shape lt variable VAR of shapedata gt LowPoint lt expression IN of pos gt HighPoint lt expression IN of pos gt Related information 422 World Zones World zone shape Define sphere shaped world zone Define cylinder shaped world zone Define a world zone for home joints Define a world zone for limit joints Activate world zone limit supervision Activate world zone digital output set Described in Motion an
53. at a specified distance from the start point or end point in the instruction 7riggL or TriggC Accuracy specified below is valid for positive EquipLag parameter lt 60 ms equivalent to the lag in the robot servo without changing the system parameter Event Preset Time Accuracy specified below is valid for positive EquipLag parameter lt config ured Event Preset Time system parameter Accuracy specified below is not valid for positive EquipLag parameter gt con figured Event Preset Time system parameter In this case an approximate method is used in which the dynamic limitations of the robot are not taken into consideration SingArea Wrist must be used in order to achieve an acceptable accuracy Accuracy specified below is valid for negative EquipLag 348 RAPID reference part 1 Instructions A Z TriggEquip Instruction Advanced functions I O events with time with the argument Zime is intended for stop points I O events with time using flying points results in worse accuracy than specified below I O events with time can only be specified from the end point of the movement This time cannot exceed the current braking time of the robot which is max approx 0 5 s typ ical values at speed 500 mm s for IRB2400 150 ms and for IRB6400 250 ms If the specified time is greater that the current braking time the event will be generated any how but not until braking is started later than specified However the wh
54. be calibrated must be mounted on the robot and defined with correct component robhold TRUE If using the robot with absolute accuracy the load and centre of gravity for the tool should already be defined LoadIdentify can be used for the load definition The TCP value of the tool must already be defined The calibration can be done with the instruction M7ToolTCPCalib Tool0 wobj0 and PDispOff must be activated before jogging the robot Jog the TCP of the actual tool as close as possible to the world fixed tip origin of the tool coordinate system and define a jointtarget for the reference point RefTip Jog the robot without changing the tool orientation so the world fixed tip is pointing at some point on the positive z axis of the tool coordinate system and define a jointtarget for point ZPos Jog optionally the robot without changing the tool orientation so the world fixed tip is pointing at some point on the positive x axis of the tool coordinate system and define a jointtarget for point XPos As a help for pointing out the positive z axis and x axis some type of elongator tool can be used RAPID reference part 1 Instructions A Z 193 MToolRotCalib Instruction RefTip XPos X Elongator tooly World fixed ip ZPos W Z Figure 18 Definition of jointtarget for RefTip ZPos and optional XPos Example Created with the world fixed tip pointing at origin positive z axis and positive x axis
55. be outside the HOME joint position and the digital output will be reset WZHomeJointDef PV Inside Outside Shape lt variable VAR of shapedata gt MiddleJointVal lt expression IN of jointtarget gt DeltaJointVal lt expression IN of jointtarget gt Related information Described in World Zones Motion and I O Principles World Zones World zone shape Data Types shapedata Define box shaped world zone Instructions WZBoxDef Define cylinder shaped world zone Instructions WZCylDef Define sphere shaped world zone Instructions WZSphDef Define a world zone for limit joints Instruction WZLimJointDef Activate world zone limit supervision Instructions WZLimSup Activate world zone digital output set Instructions WZDOSet RAPID reference part 1 Instructions A Z 439 WZHomeJointDef Advanced functions Instruction 440 RAPID reference part 1 Instructions A Z WZLimJointDef Instruction Advanced functions WZLimJointDef Define a world zone for limitation in joints WZLimJointDef World Zone Limit Joint Definition is used to define a world zone in joints coordinates for both the robot and external axes to be used for limitation of the working area With WZLimJointDef it is possible to limitate the working area for each robot and external axes in the RAPID program besides the limitation that can be done with System Parameters Manipulator Arm irb_
56. bool timeout WaitUntil start_input 1 AND grip status 1 MaxTime 60 TimeFlag timeout IF timeout THEN TPWrite No start order received within expected time ELSE start_next_cycle ENDIF If the two input conditions are not met within 60 seconds an error message will be written on the display of the teach pendant WaitUntil Inpos di4 1 Program execution waits until the robot has come to a standstill and the di4 input has been set Limitation If the argument npos is used and the instruction is preceded by a move instruction that move instruction must be programmed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible Argument npos can t be used together with SoftServo 400 RAPID reference part 1 Instructions A Z WaitUntil Instruction Syntax WaitUntil InPos Cond lt expression IN of bool gt MaxTime lt expression IN of num gt TimeFlag lt variable VAR of bool Related information Described in Waiting until an input is set reset Instructions WaitDI Waiting a given amount of time Instructions WaitTime Expressions Basic Characteristics Expressions RAPID reference part 1 Instructions A Z 401 WaitUntil Instruction 402 RAPID reference part 1 Instructions A Z VelSet Instruction VelSet Changes the programmed velocity VelSet is used to
57. by point otherwise restart after power failure will not be possible Syntax PathResol PathSampleTime lt expression IN of num gt 210 RAPID reference part 1 Instructions A Z Instruction Related information Positioning instructions ments Motion settings Configuration of path resolution RAPID reference part 1 Instructions A Z PathResol Described in Motion and I O Principles Move RAPID Summary Motion Settings System Parameters CPU Optimization 211 PathResol Instruction 212 RAPID reference part 1 Instructions A Z PDispOff Instruction PDispOff Deactivates program displacement PDispOff Program Displacement Off is used to deactivate a program displacement Program displacement is activated by the instruction PDispSet or PDispOn and applies to all movements until some other program displacement is activated or until program displacement is deactivated Examples PDispOff Deactivation of a program displacement MoveL p10 v500 z10 tooll PDispOn ExeP p 10 p11 tooll MoveL p20 v500 z10 tooll MoveL p30 v500 z10 tooll PDispOff MoveL p40 v500 z10 tooll A program displacement is defined as the difference between the positions p 0 and p11 This displacement affects the movement to p20 and p30 but not to p40 Program execution Active program displacement is reset This means that the program displacement coor dinate system is t
58. data T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruc tion is related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a stationary TCP or coordinated exter nal axes are used this argument must be specified for a linear movement relative to the work object to be performed Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present Program execution See the instruction MoveL for information about linear movement The movement always ends with a stop point i e the robot stops at the destination point If a flying search is used i e the Sup argument is specified the robot movement always continues to the programmed destination point If a search is made using the switch Stop PStop or SStop the robot movement stops when the first signal is detected RAPID reference part 1 Instructions A Z 263 SearchL In
59. digital output will be reset WZLimJointDef PV Inside Outside Shape lt variable VAR of shapedata gt LowJointVal lt expression IN of jointtarget gt HighJointVal lt expression IN of jointtarget gt RAPID reference part 1 Instructions A Z 443 WZLimJointDef Advanced functions Related information 444 World Zones World zone shape Define box shaped world zone Define cylinder shaped world zone Define sphere shaped world zone Define a world zone for home joints Activate world zone limit supervision Activate world zone digital output set Instruction Described in Motion and I O Principles World Zones Data Types shapedata Instructions WZBoxDef Instructions WZCylDef Instructions WZSphDef Instruction WZHomeJointDef Instructions WZLimSup Instructions WZDOSet RAPID reference part 1 Instructions A Z WZLimSup Instruction Advanced functions WZLimSup Activate world zone limit supervision WZLimSup World Zone Limit Supervision is used to define the action and to activate a world zone for supervision of the working area of the robot After this instruction is executed when the robot s TCP reaches the defined world zone or when the robot external axes reaches the defined world zone in joints the movement is stopped both during program execution and when jogging Example VAR wzstationary max_workarea PROC
60. end point is passed if the specified distance from the end point start point is not within the length of movement of the current instruction 7rigg Examples This example describes programming of the instructions that interact to generate posi tion related interrupts VAR intnum intno2 VAR triggdata trigg2 Declaration of the variables intno2 and trigg2 shall not be initiated CONNECT intno2 WITH trap2 Allocation of interrupt numbers that are stored in the variable intno2 The interrupt number is coupled to the interrupt routine trap2 TriggInt trigg2 0 intno2 The interrupt number in the variable intno2 is flagged as used The interrupt is activated Defined trigger conditions and interrupt number are stored in the variable trigg2 TriggL pl v500 trigg2 z50 gunl The robot is moved to the point p1 When the TCP reaches the point p an interrupt is generated and the interrupt routine frap2 is run RAPID reference part 1 Instructions A Z 353 Trigg Int Advanced functions Instruction TriggL p2 v500 trigg2 z50 gunl The robot is moved to the point p2 When the TCP reaches the point p2 an interrupt is generated and the interrupt routine trap2 is run once more IDelete intno2 The interrupt number in the variable intno2 is de allocated Limitations Syntax 354 Interrupt events with distance without the argument 7ime is intended for flying points corner path In
61. expression IN of zonedata gt V Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt LV Corr P RAPID reference part 1 Instructions A Z 337 TriggC Advanced functions Related information 338 Linear movement with triggers Joint movement with triggers Definition of triggers Writes to a corrections entry Circular movement Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Motion in general Instruction Described in Instructions TriggL Instructions TriggJ Instructions Trigg O TriggEquip TriggInt or TriggCheckIO Instructions CorrWrite Motion Principles Positioning during Program Execution Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Motion Principles RAPID reference part 1 Instructions A Z TriggCheckIO Instruction Advanced functions TriggCheckIO Defines IO check at a fixed position TriggCheckIO is used to define conditions for testing the value of a digital a group of digital or an analog input or output signal at a fixed position along the robot s move ment path If the condition is fulfilled there will be no specific action but if it is not an interrupt routine will be run after the robot
62. functions ReadAnyBin Read data from a binary serial channel or file ReadAnyBin Read Any Binary is used to read any type of data from a binary serial channel or file Example VAR iodev channel2 VAR robtarget next target Open com2 channel Bin ReadAnyBin channel2 next target The next robot target to be executed next_target is read from the channel referred to by channel2 Arguments ReadAnyBin IODevice Data Time I0Device Data type iodev The name reference of the binary serial channel or file to be read Data Data type ANYTYPE The VAR or PERS to which the read data will be stored Time Data type num The max time for the reading operation timeout in seconds If this argument is not specified the max time is set to 60 seconds If this time runs out before the read operation is finished the error handler will be called with the error code ERR DEV MAXTIME If there is no error han dler the execution will be stopped The timeout function is in use also during program stop and will be noticed in the RAPID program at program start Program execution As many bytes as required for the specified data are read from the specified binary serial channel or file RAPID reference part 1 Instructions A Z 231 ReadAnyBin Advanced functions Instruction Limitations This instruction can only be used for serial channels or files that have been opened for binary reading The data to be read by
63. is stopped as soon as one active axes with joint space supervision reach the joint space 438 RAPID reference part 1 Instructions A Z Instruction WZHomeJointDef Advanced functions If use of WZHomeJointDef with inside joint space argument nside together with WZLimSup the robot is stopped as soon as the last active axes with joint space super vision reach the joint space That means that one or several axes but not all active and supervised axes can be inside the joint space at the same time At execution of the instruction ActUnit or DeactUnit for activation or deactivation of mechanical units will the supervision status for HOME position or work area limita tion be updated Limitations A Syntax Only active mechanical units and it s active axes at activation time of the word zone with instruction WZDOSet resp WZLimSup are included in the supervision of the HOME position resp the limitatation of the working area Besides that the mecanical unit and it s axes must still be active at the movement from the program or jogging to be supervised For example if one axis with supervision is outside it s HOME joint position but is deactivated doesn t prevent the digital output signal for the HOME joint position to be set ifall other active axes with joint space supervision are inside the HOME joint posi tion At activation of that axis again will it bee included in the supervision and the robot system will the
64. is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Z Zone Data type num This argument is used to specify the position accuracy of the robot TCP directly in the instruction The length of the corner path is given in mm which is substi tuted for the corresponding zone specified in the zone data Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point moved to the specified destination point WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified RAPID reference part 1 Instructions A Z MoveJ Instruction Program execution The tool centre point is moved to the destination point with interpolation of the axis angles This means that each axis is moved with constant axis velocity and that all axes reach the destination point at the same tim
65. key 1 is pressed 1 is returned and so on Text Data type string The information text to be written on the display a maximum of 80 characters FKx Function key text Data type string The text to be written as a prompt for the appropriate function key a maximum of 7 characters FK1 is the left most key Function keys without prompts are specified by the predefined string constant stEmpty with value empty string RAPID reference part 1 Instructions A Z 321 TPReadFK Program 322 Instruction MaxTime Data type num The maximum amount of time s that program execution waits If no function key is depressed within this time the program continues to execute in the error handler unless the BreakFlag is used see below The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed DIBreak Digital Input Break Data type signaldi The digital signal that may interrupt the operator dialog If no function key is depressed when the signal is set to 1 or is already 1 the program continues to execute in the error handler unless the BreakFlag is used see below The con stant ERR_TP_DIBREAK can be used to test whether or not this has occurred BreakFlag Data type errnum A variable that will hold the error code if maxtime or dibreak is used If this optional variable is omitted the error handler will be executed The constants ERR_TP_MAXTIME and ERR_TP_ DIBREAK can be used to
66. last stored reference value is greater than 1 0 RAPID reference part 1 Instructions A Z 113 ISignalAI Advanced functions Instruction Error handling Ifthere is a subscription of interrupt on an analog input signal an interrupt will be given for every change in the analog value that satisfies the condition specified when ordering the interrupt subscription If the analog value is noisy many interrupts can be gener ated even if only one or two bits in the analog value are changed To avoid generating interrupts for small changes of the analog input value set the Delta Value to a level greater than 0 Then no interrupts will be generated until a change of the analog value is greater than the specified Delta Value Limitations Syntax 114 The HighValue and LowValue arguments should be in the range logical maximum value logical minimum value defined for the signal HighValue must be above LowValue DeltaValue must be 0 or positive The limitations for the interrupt identity are the same as for ZSignalDI ISignalAI Single Signal lt variable VAR of signalai gt Condition lt expression IN of aiotrigg gt HighValue lt expression IN of num gt LowValue lt expression IN of num gt DeltaValue lt expression IN of num gt DPos DNeg Interrupt Kvariable VAR of intnum gt
67. loaded program or system modules Set PP to main from TP Open new RAPID program Program Module Not affected Unloaded System Module Not affected Not affected Dynamic mode Tabell 6 How different operations affect a dynamic loaded program or system modules Set PP to main from TP Open new RAPID program Program Module Unloaded Unloaded System Module Unloaded Unloaded Both static and dynamic loaded modules can be unloaded by the instruction UnLoad RAPID reference part 1 Instructions A Z 291 Load Instruction Example VAR loadsession load1 Start loading of new program module PART B containing routine routine_b in dynamic mode StartLoad Dynamic diskhome File PART B MOD load1 Executing in parallel in old module PART_A containing routine_a routine _a Unload of old program module PART A UnLoad diskhome File PART_A MOD Wait until loading and linking of new program module PART B is ready WaitLoad load1 Execution in new program module PART B routine _b Starts the loading of program module PART _B MOD from diskhome into the pro gram memory with instruction StartLoad In parallel with the loading the pro gram executes routine_a in module PART _A MOD Then instruction WaitLoad waits until the loading and linking is finished The module is loaded in dynamic mode Variable oad1 holds the identity of the load session updated by StartLoad and referenc
68. mounting flange of the robot all together Example WorldAccLim On 3 5 Acceleration is limited to 3 5m s WorldAccLim Off The acceleration is reset to maximum default Arguments WorldAccLim On Off On Data type num The absolute value of the acceleration limitation in m s Off Data type switch Maximum acceleration default Program execution The acceleration limitations applies for the next executed robot segment and is valid until a new WorldAccLim instruction is executed The maximum acceleration WorldAccLim Off is automatically set at a cold start up when a new program is loaded when starting program executing from the beginning RAPID reference part 1 Instructions A Z 407 WorldAccLim Instruction It is recommended to use just one type of limitation of the acceleration If a combina tion of instructions WorldAccLim AccSet and PathAccLim is done the system reduces the acceleration deceleration in following order according WorldAccLim according AccSet according PathAccLim Limitations Can only be used together with robot type IRB5400 04 with track motion The minimum acceleration allowed is 1 m s2 Error handling If the argument On is set to a value too low the system variable ERRNO is set to ERR ACC TOO LOW This error can then be handled in the error handler Syntax WorldAccLim On lt expression IN of num gt Off
69. of num gt DV T lt expression IN of num gt Zone lt expression IN of zonedata gt LV Z lt expression IN of num gt V Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt Related information Other positioning instructions Definition of jointtarget Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Motion in general Concurrent program execution RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types jointtarget Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Synchronisation Using Logical Instructions 153 MoveAbsJ Instruction 154 RAPID reference part 1 Instructions A Z MoveC Instruction MoveC Moves the robot circularly MoveC is used to move the tool centre point TCP circularly to a given destination During the movement the orientation normally remains unchanged relative to the cir cle Examples MoveC pl p2 v500 z30 tool2 The TCP of the tool too 2 is moved circularly to the position p2 with speed data v500 and zone data z30 The circle is defined from the start position
70. orientation at the destination point The reorientation is performed relative to the circular path Thus if the orien tation relative to the path is the same at the start and the destination points the relative orientation remains unchanged during the movement see Figure 11 CirPoint Tool orientatio Start point ToPoint Figure 11 Tool orientation during circular movement RAPID reference part 1 Instructions A Z 157 MoveC Instruction The orientation at the circle point is not critical It is only used to distinguish between two possible directions of reorientation The accuracy of the reorientation along the path depends only on the orientation at the start and destination points Uncoordinated external axes are executed at constant velocity in order for them to arrive at the destination point at the same time as the robot axes The position in the circle position is not used If it is not possible to attain the programmed velocity for the reorientation or for the external axes the velocity of the TCP will be reduced A corner path is usually generated when movement is transferred to the next section of a path If a stop point is specified in the zone data program execution only continues when the robot and external axes have reached the appropriate position Examples MoveC v500 V 550 z40 Z 45 grip3 The TCP of the tool grip3 is moved circularly to a position stored in the instruc tion T
71. p100 v100 fine tool1 MoveL pl v100 fine tooll RestoPath StartMove ENDTRAP When an interrupt occurs that activates the trap routine machine_ready the movement path which the robot is executing at the time is stopped at the end of the instruction ToPoint and stored After this the robot remedies the interrupt by for example replacing a part in the machine and the normal movement is restarted RAPID reference part 1 Instructions A Z 309 StorePath Advanced functions Instruction Limitations Only the movement path data is stored with the instruction StorePath If the user wants to order movements on the new path level the actual stop position must be stored directly after StorePath and before RestoPath make a movement to the stored stop position on the path Only one movement path can be stored at a time Syntax StorePath Related information Described in Restoring a path Instructions RestoPath More examples Instructions RestoPath 310 RAPID reference part 1 Instructions A Z TEST Instruction TEST Depending on the value of an expression TEST is used when different instructions are to be executed depending on the value of an expression or data If there are not too many alternatives the ZF ELSE instruction can also be used Example TEST reg1 CASE 1 2 3 routine CASE 4 routine2 DEFAULT TPWrite Illegal choice Stop ENDTEST Different instructions are exe
72. p2 Output do is set in the middle of the corner path at p2 Arguments MoveCDO CirPoint ToPoint Speed T Zone Tool WObj Signal Value CirPoint Data type robtarget The circle point of the robot The circle point is a position on the circle between the start point and the destination point To obtain the best accuracy it should be placed about halfway between the start and destination points If it is placed too close to the start or destination point the robot may give a warning The circle point is defined as a named position or stored directly in the instruction marked with an in the instruction The position of the external axes are not used ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the TCP the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot and external axes move It is then substituted for the corresponding speed data RAPID reference part 1 Instructions A Z 161 MoveCDO Instruction Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the ro
73. p20 Activation of an offset for external axes This is calculated for each axis based on the difference between positions p 0 and p20 MoveL p10 v500 fine Inpos inpos50 tool EOffsOn Activation of an offset for external axes Since a stop point that is accurately defined has been used in the previous instruction the argument ExeP does not have to be used The displacement is calculated on the basis of the difference between the actual position of each axis and the programmed point stored in the instruction Arguments EOffsOn ExeP ProgPoint ExeP Executed Point Data type robtarget The new position of the axes at the time of the program execution If this argu ment is omitted the current position of the axes at the time of the program exe cution is used ProgPoint Programmed Point Data type robtarget The original position of the axes at the time of programming Program execution The offset is calculated as the difference between ExeP and ProgPoint for each sepa rate external axis If ExeP has not been specified the current position of the axes at the time of the program execution is used instead Since it is the actual position of the axes that is used the axes should not move when EOffsOn is executed RAPID reference part 1 Instructions A Z 55 EOffsOn Instruction This offset is then used to displace the position of external axes in subsequent position ing instructions and remains a
74. program Example VAR pose xp100 100 0 0 1 0 0 0 PDispSet xp100 Activation of the xp 00 program displacement meaning that The ProgDisp coordinate system is displaced 100 mm from the object coordi nate system in the direction of the positive x axis see Figure 23 As long as this program displacement is active all positions will be displaced 100 mm in the direction of the x axis Object ProgDisp 100 X Figure 23 A 100 mm program displacement along the x axis Arguments PDispSet DispFrame DispFrame Displacement Frame Datatyp pose The program displacement is defined as data of the type pose RAPID reference part 1 Instructions A Z 219 PDispSet Instruction Program execution Program displacement involves translating and or rotating the ProgDisp coordinate system relative to the object coordinate system Since all positions are related to the ProgDisp coordinate system all programmed positions will also be displaced See Figure 24 New y position e y onena New rigina orientation X position e Ori a orientation Program di Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 24 Translation and rotation of a programmed position Program displacement is activated when the instruction PDispSet is executed and remains active until some other program displacement is activated the instruction PDispSet or PDispOn or until program di
75. robhold TRUE must be defined and calibrated with the cor rect TCP values If using the robot with absolute accuracy the load and centre of gravity for the pointing tool should be defined LoadIdentify can be used for the load definition The pointing tool wobj0 and PDispOff must be activated before jogging the robot Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool origin of the tool coordinate system and define a robtarget for the refer ence point RefTip Jog the robot without changing the tool orientation so the TCP of the pointing tool is pointing at some point on the positive z axis of the tool coordinate sys tem and define a robtarget for point ZPos Jog the robot without changing the tool orientation so the TCP of the pointing tool is pointing at some point on the positive x axis of the tool coordinate sys tem and define a robtarget for point XPos RAPID reference part 1 Instructions A Z 297 SToolRotCalib Instruction As a help for pointing out the positive z axis and x axis some type of elongator tool can be used Pointing tool Elongator tool Xa A XPos D z ZPos Stationary tool RefTip Figure 33 Definition of robtargets RefTip ZPos and XPos Example Created with pointing TCP pointing at the stationary tool coordinate system CONST robtarget pos tip CONST robtarget pos_z CONST robtarget pos x
76. robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruc tion is related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a stationary TCP or coordinated exter nal axes are used this argument must be specified for a linear movement relative to the work object to be performed RAPID reference part 1 Instructions A Z 365 TriggJ Advanced functions Instruction Program execution See the instruction MoveJ for information about joint movement As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point the defined trigger activities are carried out The trigger conditions are fulfilled either at a certain distance before the end point of the instruction or at a certain distance after the start point of the instruction or at a certain point in time limited to a short time before the end point of the instruction During stepping execution forwards the I O activities are carried out but the interrupt routines are not run During stepping execution backwards no trigger activities at all are car
77. robot and external axes have reached the appropriate position Examples MoveL v2000 V 2200 240 Z 45 grip3 The TCP of the tool grip3 is moved linearly to a position stored in the instruc tion The movement is carried out with data set to v2000 and z40 The velocity and zone size of the TCP are 2200 mm s and 45 mm respectively MoveL p5 v2000 fine Inpos inpos50 grip3 The TCP of the tool grip3 is moved linearly to a stop point p5 The robot con siders it to be in the point when 50 of the position condition and 50 of the speed condition for a stop point fine are satisfied It waits at most for 2 seconds for the conditions to be satisfied See predefined data inpos50 of data type stop pointdata MoveL Conc v2000 240 grip3 The TCP of the tool grip3 is moved linearly to a position stored in the instruc tion Subsequent logical instructions are executed while the robot moves MoveL start v2000 z40 grip3 WObj fixture The TCP of the tool grip3 is moved linearly to a position start This position is specified in the object coordinate system for fixture RAPID reference part 1 Instructions A Z 183 MoveL Conc Instruction ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LV V lt expression IN of num gt EPV T lt expression IN of num gt Zone lt expression IN of
78. robot is stopped as soon as one active axes with joint space supervision reach the joint space If use of WZLimJointDef or WZHomeJointDef with inside joint space argument Unside together with WZLimSup the robot is stopped as soon as the last active axes with joint space supervision reach the joint space That means that one or several axes but not all active and supervised axes can be inside the joint space at the same time At execution of the instruction ActUnit or DeactUnit will the supervision status be updated VAR wzstationary box1_invers VAR wzstationary box2 PROC wzone_power_on VAR shapedata volume CONST pos box1_c1 500 500 0 CONST pos box1_c2 500 500 500 CONST pos box2_c 1 500 500 0 CONST pos box2_ 2 200 200 300 WZBoxDef Outside volume box cl box c2 WZLimSup Stat box1_invers volume WZBoxDef Inside volume box2_cl box2_c2 WZLimSup Stat box2 volume ENDPROC Limitation of work area for the robot with the following stationary world zones Outside working area when outside box1_invers Outside working area when inside box2 If this routine is connected to the system event POWER ON these world zones will always be active in the system both for program movements and manual jogging RAPID reference part 1 Instructions A Z Instruction Limitations WZLimSup Advanced functions A world zone cannot be redefined using the same variable in argument WorldZone A
79. select the rea son execution The information text is always written on a new line If the display is full of text this body of text is moved up one line first Strings longer than the width of the teach pen dant 40 characters are split into two lines Prompts are written above the appropriate function keys Keys without prompts are deactivated Program execution waits until one of the activated function keys is depressed Description of concurrent TPReadFK or TPReadNum request on Teach Pendant TP request from same or other program tasks e New TP request from other program task will not take focus new put in queue e New TP request from TRAP in the same program task will take focus old put in queue e Program stop take focus old put in queue e New TP request in program stop state takes focus old put in queue RAPID reference part 1 Instructions A Z TPReadFK Instruction Example VAR errnum errvar TPReadFK reg Go to service position stEmpty stEmpty stEmpty Yes No MaxTime 600 DIBreak di5 BreakFlag errvar IF reg 4 or OR errvar ERR TP DIBREAK THEN MoveL service v500 fine tool Stop ENDIF IF errvar ERR TP MAXTIME EXIT The robot is moved to the service position if the forth function key Yes is pressed or if the input 5 is activated Ifno answer is given within 10 minutes the execution is terminated Error handling If there is a timeout parameter
80. start the next cycle if the signal di error is set Program execution Execution of ExitCycle in the MAIN program task results in the following in the MAIN task On going robot movements stops All robot paths that are not performed at all path levels both normal and Store Path level are cleared All instructions that are started but not finished at all execution levels both nor mal and TRAP level are interrupted The program pointer is moved to the first instruction in the main routine The program execution continues to execute the next cycle RAPID reference part 1 Instructions A Z 63 ExitCycle Instruction Execution of ExitCycle in some other program task besides MAIN results in the fol lowing in the actual task All instructions that are started but not finished on all execution levels both normal and TRAP level are interrupted The program pointer is moved to the first instruction in the main routine The program execution continues to execute the next cycle All other modal things in the program and system are not affected by ExitCycle such as The actual value of variables or persistents Any motion settings such as StorePath RestoPath sequence world zones etc Open files directories etc Defined interrupts etc When using ExitCycle in routine calls and the entry routine is defined with Move PP to Routine or Call Routine ExitCycle breaks the current cycle and mo
81. stationary world zone cannot be deactivated activated again or erased in the RAPID program A temporary world zone can be deactivated WZDisable activated again WZEnable or erased WZFree in the RAPID program Syntax WZLimSup Temp Stat WorldZone lt variable or persistent INOUT of wztemporary gt Shape lt variable VAR of shapedata gt Related information World Zones World zone shape Temporary world zone Stationary world zone Define straight box shaped world zone Define sphere shaped world zone Define cylinder shaped world zone Define a world zone for home joints Define a world zone for limit joints Activate world zone digital output set RAPID reference part 1 Instructions A Z Described in Motion and I O Principles World Zones Data Types shapedata Data Types wztemporary Data Types wzstationary Instructions WZBoxDef Instructions WZSphDef Instructions WZCylDef Instruction WZHomeJointDef Instruction WZLimJointDef Instructions WZDOSet 447 WZLimSup Advanced functions Instruction 448 RAPID reference part 1 Instructions A Z WZSphDef Instruction Advanced functions WZSphDef Define a sphere shaped world zone WZSphDef World Zone Sphere Definition is used to define a world zone that has the shape of a sphere Example z C1 R1 min 5 mm x World Coordinate System VAR shapedat
82. switch The robot movement is stopped as quickly as possible without keeping the TCP on the path hard stop when the value of the search signal changes to active However the robot is moved a small distance before it stops and is not moved back to the searched position i e to the position where the signal changed PStop Path Stop Data type switch The robot movement is stopped as quickly as possible while keeping the TCP on the path soft stop when the value of the search signal changes to active However the robot is moved a distance before it stops and is not moved back to the searched position i e to the position where the signal changed RAPID reference part 1 Instructions A Z 253 SearchC Instruction SStop Smooth Stop Data type switch The robot movement is stopped as quickly as possible while keeping the TCP close to or on the path smooth stop when the value of the search signal changes to active However the robot is moved only a small distance before it stops and is not moved back to the searched position 1 e to the position where the signal changed SStop is faster then PStop But when the robot is running faster than 100 mm s it stops in the direction of the tangent of the movement which causes it to marginally slide of the path Sup Supervision Data type switch The search instruction is sensitive to signal activation during the complete move ment flying search i e even after
83. system is translated in rela tion to the object coordinate system Since all positions are related to the ProgDisp coordinate system all programmed positions will also be displaced See Figure 20 New position ExeP e y Original position ProgPoint e Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 20 Displacement of a programmed position using program displacement Program displacement is activated when the instruction PDispOn is executed and remains active until some other program displacement is activated the instruction PDispSet or PDispOn or until program displacement is deactivated the instruction PDispOff Only one program displacement can be active at any one time Several PDispOn instructions on the other hand can be programmed one after the other and in this case the different program displacements will be added Program displacement is calculated as the difference between ExeP and ProgPoint If ExeP has not been specified the current position of the robot at the time of the program execution is used instead Since it is the actual position of the robot that is used the robot should not move when PDispOn is executed If the argument Rot is used the rotation is also calculated based on the tool orientation RAPID reference part 1 Instructions A Z PDispOn Instruction at the two positions The displacement will be calculated in such a way that the new pos
84. the programmed points The path for the wrist centre point is dot ted in the figure The PathFrame mode make it easy to get the same angle of the tool around the cylinder The robot wrist will not go through the programmed orientation in the CirPoint RAPID reference part 1 Instructions A Z 17 CirPathMode Instruction Use of standard mode PathFrame with fixed tool orientation This picture shows the obtained orienta tion of the tool in the middle of the circle using a leaning tool and PathFrame mode Compare with the figure below when ObjectFrame mode is used ObjectFrame Use of modified mode ObjectFrame with fixed tool orientation This picture shows the obtained orienta tion of the tool in the middle of the circle using a leaning tool and ObjectFrame mode This mode will make a linear reorientation of the tool in the same way as for MoveL The robot wrist will not go through the programmed orientation in the CirPoint Compare with the figure above when PathFrame mode is used CirPointOri The picture shows the different tool reorientation between the standard mode PathFrame and the modified mode CirPointOri The arrows shows the tool from wrist cen tre point to tool centre point for the pro grammed points The different paths for the wrist centre point are dotted in the figure Pathframe saeia CirPointOri The CirPointOri mode will make the robot wrist to go through the prog
85. the movement is acceptable A change in the movement will not be noticeable until the optimum value is approached A low value will impair the movement considerably Typical tuning value 25 IRB 6400 upper parts of working area Axis 1 can often be optimised with a tuning value of 85 95 IRB 6400 short movement lt 80 mm Axis 1 can often be optimised with a tuning value of 94 98 IRB 2400 with track motion In some cases axes 2 3 can be optimised with a tuning value of 110 130 The movement along the track can require a different tuning value compared with movement at right angles to the track Overshoots and oscillations can be reduced by decreasing the acceleration or the accel eration ramp AccSet which will however increase the cycle time This is an alterna tive method to the use of TuneServo Tune _dg Tune dg can reduce overshoots on rare occasions Normally it should not be used Tune _df should always be tried first in cases of overshoots Tuning of tune dg can be performed with large steps in tune value e g 50 100 200 400 Never use tune dg when the robot is moving RAPID reference part 1 Instructions A Z TuneServo Instruction Tune dh Tune _dh can be used for reducing vibrations and overshoots e g large flexible load Tune value must always be lower than 100 Tune_dh increases path deviation and nor mally also increases cycle time Example IRB6400 with large flexible load
86. type tpnum The window to show TP_PROGRAM Production Window if in AUTO mode Program Window if in MAN mode TP_LATEST Latest used Teach Pendant Window before current Teach Pendant Window TP_SCREENVIEWER Screen Viewer Window if the Screen Viewer option is active Predefined data CONST tpnum TP_PROGRAM 1 CONST tpnum TP LATEST 2 CONST tpnum TP_SCREENVIEWER 3 RAPID reference part 1 Instructions A Z 329 TPShow Instruction Program execution The selected Teach Pendant Window will be activated Syntax TPShow Window lt expression IN of tpnum gt Related information Described in Communicating using RAPID Summary Communication the teach pendant Teach Pendant Window number Data Types tpnum 330 RAPID reference part 1 Instructions A Z TPWrite Instruction TPWrite Writes on the teach pendant TPWrite Teach Pendant Write is used to write text on the teach pendant The value of certain data can be written as well as text Examples TPWrite Execution started The text Execution started is written on the teach pendant TPWrite No of produced parts Num reg 1 If for example the answer to No of produced parts 5 enter 5 instead of reg on the teach pendant Arguments TPWrite String Num Bool Pos Orient String Data type string The text string to be written a maximum of 80 characters Num Numeric Data type num The data whose numeri
87. unit JIRBP_K axis 3 MoveL homeside2 v1000 fine gun1 The axes of the mechanical unit JRBP_K move to the switch position homeside2 with mounted payload on both axes 2 and 3 Limitations The movement instruction previous to this instruction should be terminated with a stop point in order to make a restart in this instruction possible following a power failure Syntax MechUnitLoad MechUnit lt variable VAR of mecunit gt AxisNo lt expression IN of num Load lt persistent PERS of loaddata gt RAPID reference part 1 Instructions A Z 147 MechUnitLoad Related information 148 Identification of payload for external mechanical units Mechanical units Definition of load data Definition of payload for the robot Instruction Described in LoadID amp CollDetect Program muloadid prg Data Types mecunit Data Types loaddata Instructions GripLoad Data Types tooldata RAPID reference part 1 Instructions A Z MoveAbsJ Instruction MoveAbsJ Moves the robot to an absolute joint position MoveAbsJ Move Absolute Joint is used to move the robot to an absolute position defined in axes positions Example of use the end point is a singular point for ambiguous positions on the IRB 6400C e g for movements with the tool over the robot The final position of the robot during a movement with MoveAbsJ is neither affected by the g
88. value ENDIF ENDFUNC The function returns the absolute value of a number Arguments RETURN Return value Return value Data type According to the function declaration The return value of a function The return value must be specified in a RETURN instruction present in a func tion If the instruction is present in a procedure or trap routine a return value may not be specified RAPID reference part 1 Instructions A Z 245 RETURN Instruction Program execution The result of the RETURN instruction may vary depending on the type of routine it is used in Main routine If a program stop has been ordered at the end of the cycle the pro gram stops Otherwise program execution continues with the first instruction of the main routine Procedure Program execution continues with the instruction following the pro cedure call Function Returns the value of the function Trap routine Program execution continues from where the interrupt occurred Error handler In a procedure Program execution continues with the routine that called the routine with the error handler with the instruction following the procedure call In a function The function value is returned Syntax EBNF RETURN lt expression gt Related information Described in Functions and Procedures Basic Characteristics Routines Trap routines Basic Characteristics Interrupts Error handlers Basic Characteristics Error
89. value 1 HighValue Signal Value ae LowValue p 0 1 2 3 4 5 6 7 8 9 10 11 12 Samples Time for order of interrupt subscription m Storage of reference value Assuming the interrupt is ordered between sample 0 and 1 the following instruction will give the following results ISignalAI ail AIO BETWEEN 6 1 2 2 1 0 sig lint sample 1 will generate an interrupt because the signal value is between High Value and LowValue and the signal difference compared to sample 0 is more than DeltaValue sample 2 will generate an interrupt because the signal value is between High Value and LowValue and the signal difference compared to sample 1 is more than DeltaValue samples 3 4 5 will not generate any interrupt because the signal difference is less than DeltaValue sample 6 will generate an interrupt samples 7 to 10 will not generate any interrupt because the signal is above HighValue sample 11 will not generate any interrupt because the signal difference compared to sample 6 is equal to Delta Value sample 12 will not generate any interrupt because the signal difference compared to sample 6 is less than Delta Value 110 RAPID reference part 1 Instructions A Z 1ISignalAI Instruction Advanced functions Example 2 of interrupt generation Signal logical value HighValue Signal Value LowValue a 0 1 2 3 4
90. values for the path are found in the EDS file For a more detailed description see the Open DeviceNet Vendor Association DeviceNet Specification rev 2 0 GetValue Data type string The value of the attribute will be stored in this string variable The string length is limited to 30 characters Timeout Data type num The period of waiting time permitted expressed in seconds Default timeout 5 second if this argument is omitted RAPID reference part 1 Instructions A Z 97 IODNGetAttr Instruction Program execution The program is waiting until the I O unit has answered If the Timeout runs out before the I O unit has answered the error handler will be called if there is one with the error code ERR_IODN_TIMEOUT If there is no error handler the execution will be stopped Error handling Following recoverable errors can be generated The errors can be handled in an error handler The system variable ERRNO will be set to ERR IODN TIMEOUT If the timeout time runs out before the unit has answered back to confirm ready ERR NAME INVALID If the unit name doesn t exist ERR MSG_PENDING A message is already sent to the unit Wait a short while e g 100ms and try again Syntax IODNGetAttr UnitName lt expression IN of string gt Path lt expression IN of string gt GetValue lt variable VAR of string gt V Timeout lt expression IN of
91. velocity and that all axes reach the destination joint position at the same time which results in a non linear path Generally speaking the TCP is moved at approximate programmed velocity The tool is reoriented and the external axes are moved at the same time as the TCP moves If the programmed velocity for reorientation or for the external axes cannot be attained the velocity of the TCP will be reduced A corner path is usually generated when movement is transferred to the next section of the path If a stop point is specified in the zone data program execution only continues when the robot and external axes have reached the appropriate joint position Examples MoveAbsJ v2000 V 2200 z40 Z 45 grip3 The tool grip3 is moved along a non linear path to an absolute joint position stored in the instruction The movement is carried out with data set to v2000 and z40 The velocity and zone size of the TCP are 2200 mm s and 45 mm respec tively MoveAbsJ p5 v2000 fine Inpos inpos50 grip3 The tool grip3 is moved along a non linear path to an absolute joint position p5 The robot considers it to be in the point when 50 of the position condition and 50 of the speed condition for a stop point fine are satisfied It waits at most for 2 seconds for the conditions to be satisfied See predefined data inpos50 of data type stoppointdata RAPID reference part 1 Instructions A Z 151 MoveAbsJ Instruction MoveAbsJ Conc
92. z50 gun1 End point p1 p ec eye The output signal gun is set when the TCP is here Figure 44 Example of fixed position IO event RAPID reference part 1 Instructions A Z 357 TriggIO Advanced functions Instruction Arguments TrigglIO TriggData Distance Start Time DOp GOp AOp ProcID SetValue DODelay TriggData Data type triggdata Variable for storing the triggdata returned from this instruction These triggdata are then used in the subsequent 7riggL TriggC or TriggJ instructions Distance Data type num Defines the position on the path where the I O event shall occur Specified as the distance in mm positive value from the end point of the move ment path applicable if the argument Start or Time is not set See the section entitled Program execution for further details Start Data type switch Used when the distance for the argument Distance starts at the movement start point instead of the end point Time Data type switch Used when the value specified for the argument Distance is in fact a time in sec onds positive value instead of a distance Fixed position I O in time can only be used for short times lt 0 5 s before the robot reaches the end point of the instruction See the section entitled Limitations for more details DOp Digital OutPut Data type signaldo The name of the signal when a digital output signal shall be changed
93. 1 Instructions A Z 19 CirPathMode Instruction Limitations Syntax The instruction only affects circular movements When using the CirPointOri mode the CirPoint must be between the points A and B according to the figure below to make the circle movement to go through the programmed orientation in the CirPoint 1 4 B A 1 4 1 4 1 4 CirPoint If working in wrist singularity area and the instruction SingArea Wrist has been exe cuted the instruction CirPathMode has no effect because the system then select another tool reorientation mode for circular movements joint interpolation This instruction replace the old instruction CirPathReori will work even in future but will not be documented any more CirPathMode PathFrame ObjectFrame CirPointOri lt Related information 20 Described in Interpolation Motion Principles Positioning during Program Execution Motion settings data Data Types motsetdata Circular move instruction Instructions MoveC RAPID reference part 1 Instructions A Z Clear Instruction Clear Clears the value Clear is used to clear a numeric variable or persistent 1 e it sets it to 0 Example Clear reg1 Regl is cleared i e reg1 0 Arguments Clear Name Name Data type num The name of the variable or persistent to be cleared Syntax Clear Name lt var or pers INOUT of num gt Related inf
94. 15 CancelLoad Instruction Syntax CancelLoad LoadNo lt variable VAR of loadsession gt Related information Described in Load a program module during execution Instructions StartLoad Connect the loaded module to the task Instructions WaitLoad Load session Data Types loadsession Load a program module Instructions Load Unload a program module Instructions UnLoad Accept unsolved references System Parameters Controller Task BindRef 16 RAPID reference part 1 Instructions A Z CirPathMode Instruction CirPathMode Tool reorientation during circle path CirPathMode Circle Path Mode makes it possible to select different modes to reori entate the tool during circular movements Example CirPathMode PathFrame Standard mode for tool reorientation in the actual path frame from the start point to the ZoPoint during all succeeding circular movements This is default in the system CirPathMode ObjectFrame Modified mode for tool reorientation in actual object frame from the start point to the ZoPoint during all succeeding circular movements CirPathMode CirPointOri Modified mode for tool reorientation from the start point via the programmed CirPoint orientation to the 7oPoint during all succeeding circular movements Description PathFrame The picture shows the tool reorientation for the standard mode PathFrame The arrows shows the tool from wrist centre point to tool centre point for
95. 2 v500 trigg1 fine gunl IDelete intnol The interrupt routine trap is run when the work point is at a position 0 s before the point p1 or p2 respectively Error handling If the programmed Scale Value argument for the specified analog output signal AOp in some of the connected TriggSpeed instructions results in out of limit for the analog sig nal together with the programmed Speed in this instruction the system variable ERRNO is set to ERR AO LIM If the programmed DipLag argument in some of the connected TriggSpeed instruc tions is too big in relation to the Event Preset Time used in System Parameters the system variable ERRNO is set to ERR DIPLAG LIM These errors can be handled in the error handler 372 RAPID reference part 1 Instructions A Z Instruction TriggL Advanced functions Limitations Syntax If the current start point deviates from the usual so that the total positioning length of the instruction 7riggL is shorter than usual e g at the start of 7riggL with the robot position at the end point it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position In such cases the sequence in which the trigger activities are carried out will be undefined The program logic in the user program may not be based on a normal sequence of trigger activities for an incom plete movement TriggL PVY Conc ToPoint lt expression IN o
96. 32 World Zones World zone shape Temporary world zone Stationary world zone Define straight box shaped world zone Define sphere shaped world zone Define cylinder shaped world zone Activate world zone limit supervision Signal access mode Described in Motion and I O Principles World Zones Data Types shapedata Data Types wztemporary Data Types wzstationary Instructions WZBoxDef Instructions WZSphDef Instructions WZCylDef Instructions WZLimSup User s Guide System Parameters 1 O Signals RAPID reference part 1 Instructions A Z WZEnable Instruction Advanced functions WZEnable Activate temporary world zone supervision WZEnable World Zone Enable is used to re activate the supervision of a temporary world zone previously defined either to stop the movement or to set an output Example VAR wztemporary wzone PROC WZLimSup Temp wzone volume MoveL p_pick v500 z40 tooll WZDisable wzone MoveL p place v200 z30 tooll WZEnable wzone MoveL p_home v200 z30 tooll ENDPROC When moving to p_pick the position of the robot s TCP is checked so that it will not go inside the specified volume wzone This supervision is not performed when going to p_place but is reactivated before going to p_home Arguments WZEnable WorldZone WorldZone Data type wztemporary Variable or persistent variable of the type wztemporary which contains the iden tity of the world zone to be a
97. 5 6 7 8 9 10 11 12 Samples Time for order of interrupt subscription m Storage of reference value Assuming the interrupt is ordered between sample 0 and 1 the following instruction will give the following results ISignalAI ail AIO BETWEEN 6 1 2 2 1 0 DPos sig lint A new reference value is stored at sample 1 and 2 because the signal is within limits and the absolute signal difference between the current value and the last stored reference value is greater than 1 0 No interrupt will be generated because the signal changes are in the negative direction sample 6 will generate an interrupt because the signal value is between High Value and LowValue and the signal difference in the positive direction compared to sample 2 is more than Delta Value RAPID reference part 1 Instructions A Z 111 1SignalAI Advanced functions Instruction Example 3 of interrupt generation Signal logical value HighValue Signal Value LowValue D 0 1 2 3 4 5 6 7 8 9 10 11 12 Time for order of interrupt subscription m Storage of reference value Samples Assuming the interrupt is ordered between sample 0 and 1 the following instruction will give the following results ISignalAI Single ail AIO OUTSIDE 6 1 2 2 1 0 DPos sig int A new reference value is stored at sample 7 because the signal is within limits and the absolute signal difference
98. 73 SetGO 275 SingArea 277 SkipWarn 279 soft servo activating 281 deactivating 283 SoftAct 281 SoftDeact 283 SpyStart 105 117 285 SpyStop 289 StartMove 295 Stop 305 StopMove 307 stopwatch 29 StorePath 309 T TEST 311 TestSignDefine 313 TestSignReset 317 TPErase 319 TPReadFK 321 TPReadNum 325 TPShow 329 TPWrite 331 TriggC 333 TriggCheckIO 339 TriggEquip 345 TriggInt 351 TriggIO 357 TriggJ 363 TriggL 369 TRYNEXT 375 TuneReset 377 TuneServo 379 U UnLoad 385 393 V velocity decrease 403 max 403 RAPID reference part 1 Instructions A Z Index VelSet 403 W wait a specific time 397 any condition 399 digital input 389 digital output 391 until the robot is in position 397 WaitDI 389 WaitDO 391 WaitTime 397 WaitUntil 399 WHILE 405 Write 409 write error message 59 on the teach pendant 329 331 WriteBin 415 WriteStrBin 231 413 419 WZBoxDef 421 WZCylDef 423 WZDisable 427 WZDOSet 429 WZEnable 433 WZFree 435 WZLimJointDef 441 WZLimSup 445 WZSphDef 449 453 454 RAPID reference part 1 Instructions A Z AA ED ED FPR EDID ABB Automation Technology Products AB Robotics SE 721 68 V ster s SWEDEN Telephone 46 0 21 34 40 00 Telefax 46 0 21 13 25 92
99. A Z 29 CIkStart Instruction Error handling If the clock runs for 4 294 967 seconds 49 days 17 hours 2 minutes 47 seconds it becomes overflowed and the system variable ERRNO is set to ERR_ OVERFLOW The error can be handled in the error handler Syntax ClkStart Clock lt variable VAR of clock gt Related information Described in Other clock instructions RAPID Summary System amp Time 30 RAPID reference part 1 Instructions A Z ClkStop Instruction ClkStop Stops a clock used for timing ClkStop is used to stop a clock that functions as a stop watch used for timing Example ClkStop clock1 The clock clock is stopped Arguments ClkStop Clock Clock Data type clock The name of the clock to stop Program execution When a clock is stopped it will stop running If a clock is stopped it can be read started again or reset Error handling If the clock runs for 4 294 967 seconds 49 days 17 hours 2 minutes 47 seconds it becomes overflowed and the system variable ERRNO is set to ERR OVERFLOW The error can be handled in the error handler Syntax ClkStop Clock lt variable VAR of clock gt RAPID reference part 1 Instructions A Z 31 ClkStop Instruction Related Information Described in Other clock instructions RAPID Summary System amp Time More examples Instructions ClAStart 32 RAPID reference part 1 Instruction
100. Defines the minimum logical signal difference before generation of a new inter rupt The current signal value compared to the stored reference value must be greater than the specified Delta Value before generation of a new interrupt DPos Data type switch Specifies that only positive logical signal differences will give new interrupts DNeg Data type switch Specifies that only negative logical signal differences will give new interrupts If none of DPos and DNeg argument is used both positive and negative differ ences will generate new interrupts Interrupt Data type intnum The interrupt identity This interrupt should have previously been connected to a trap routine by means of the instruction CONNECT 106 RAPID reference part 1 Instructions A Z ISignalAI Instruction Advanced functions Program execution When the signal fulfils the specified conditions both Condition and Delta Value a call is made to the corresponding trap routine When this has been executed program execution continues from where the interrupt occurred Conditions for interrupt generation Before the interrupt subscription is ordered each time the signal is sampled the value of the signal is read saved and later used as a reference value for the DeltaValue con dition At the interrupt subscription time if specified Delta Value 0 and after the interrupt subscription time always at each time the signal is sampled its value is then comp
101. EOffsOff Instruction EOffsOff Deactivates an offset for external axes EOffsOff External Offset Off is used to deactivate an offset for external axes The offset for external axes is activated by the instruction EOffsSet or EOffsOn and applies to all movements until some other offset for external axes is activated or until the offset for external axes is deactivated Examples EOffsOff Deactivation of the offset for external axes MoveL p10 v500 z10 tooll EOffsOn ExeP p10 p11 MoveL p20 v500 z10 tooll MoveL p30 v500 z10 tooll EOffsOff MoveL p40 v500 z10 tooll An offset is defined as the difference between the position of each axis at p10 and p11 This displacement affects the movement to p20 and p30 but not to p40 Program execution Active offsets for external axes are reset Syntax EOffsOff Related information Described in Definition of offset using two positions Instructions EOffsOn Definition of offset using values Instructions EOffsSet Deactivation of the robot s motion displacementInstructions PDispOff RAPID reference part 1 Instructions A Z 53 EOffsOff Instruction 54 RAPID reference part 1 Instructions A Z EOffsOn Instruction EOffsOn Activates an offset for external axes EOffsOn External Offset On is used to define and activate an offset for external axes using two positions Examples MoveL p10 v500 z10 tooll EOffsOn ExeP p10
102. FOR Repeats a given number Of times sseseessrerrssossooesrooeessooesssosesssoee 65 GetSysData Get System Date ives scscscccsacscessesscaddssentecdsecssecesestseadssducsdsneasssedesssesccvondsseckencteecscauses 69 GetTrapData Get interrupt data for current TRAP ccssccssssssecsssssssscssesssssssssseseoees 71 GOTO Goes to a new instruction eessossssesssesssocssooesoossssessoesssoessoosssssssesssocssoossosssssssssesssosse 73 GripLoad Defines the payload of the robot eessoessoesssesssesssoesoossssessseossosssoossoosssssessesesoses 75 ID let Cancels an Miterru pe lt cicesiccssscssscsstessccsvesssacessoupsesoundpcesessongadestespuesuossoucessenpseevsugsesassenea 77 IDisable Disables interrupts s cscccsesccisccssscesvssencasbcssacsocatenesvucsencssvasassananstancavecbanesonsdancascenavenecs 79 IEnable Enables interrupts sssessseessoossoossocesssesssoessoossossssoessosssoossoosssocsssecsssesssossosessseessesssso 81 RAPID reference part 1 Instructions A Z I Contents TError Orders an interrupt on errors e sseeessoessosssecssoossoosssosesoesssoessoossoosssoessoesssoessosessesssee 83 IF If a condition is met then otherwise ccccscscscscscscscscscscscscscscscscscscscscesesesesesesesesss 87 Incr mi reme nts DY MU vcisianussscasinnteih veces cdusshiswssiioues ntvintesnucdiadess voneaseduaiedsesancianavsnuehcsaseeasucseseeaness 89 InvertDO Inverts the value of a digital output
103. ID Summary Motion Data Types motsetdata Instructions AccSet RAPID reference part 1 Instructions A Z PathResol Instruction PathResol Override path resolution PathResol Path Resolution is used to override the configured geometric path sample time defined in the system parameters for the manipulator Description The path resolution affects the accuracy of the interpolated path and the program cycle time The path accuracy is improved and the cycle time is often reduced when the parameter PathSampleTime is decreased A value for parameter PathSampleTime which is too low may however cause CPU load problems in some demanding appli cations However use of the standard configured path resolution PathSampleTime 100 will avoid CPU load problems and provide sufficient path accuracy in most sit uations Example of PathResol usage Dynamically critical movements max payload high speed combined joint motions close to the border of the work area may cause CPU load problems Increase the parameter PathSampleTime Low performance external axes may cause CPU load problems during coordination Increase the parameter PathSampleTime Arc welding with high frequency weaving may require high resolution of the interpo lated path Decrease the parameter PathSampleTime Small circles or combined small movements with direction changes can decrease the path performance quality and increase the cycle time Decrease the paramete
104. IF Example Instruction IF counter gt 100 THEN counter 100 ELSEIF counter lt 0 THEN counter 0 ELSE counter counter 1 ENDIF Counter is incremented by 1 However if the value of counter is outside the limit 0 100 counter is assigned the corresponding limit value Program execution Syntax The conditions are tested in sequential order until one of them is satisfied Program execution continues with the instructions associated with that condition If none of the conditions are satisfied program execution continues with the instructions following ELSE If more than one condition is met only the instructions associated with the first of those conditions are executed EBNF IF lt conditional expression gt THEN lt instruction list gt ELSEIF lt conditional expression gt THEN lt instruction list gt lt EIF gt ELSE lt instruction list gt ENDIF Related information 88 Described in Conditions logical expressions Basic Characteristics Expressions RAPID reference part 1 Instructions A Z Incr Instruction Incr Increments by 1 Incr is used to add to a numeric variable or persistent Example Incr reg1 1 is added to reg i e regl reg1 1 Arguments Incr Name Name Data type num The name of the variable or persistent to be changed Example WHILE stop_production 0 DO produce_part Incr no_of_parts TPWrite No of produced parts Num no_ of parts ENDWHI
105. If the interrupt variable is not a variable reference the system variable ERRNO is set to ERR CNTNOTVAR If no more interrupt numbers are available the system variable ERRNO is set to ERR INOMAX These errors can be handled in the ERROR handler EBNF CONNECT lt connect target gt WITH lt trap gt lt connect target gt lt variable gt lt parameter gt lt VAR gt lt trap gt lt identifier gt Related information 44 Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt management Basic Characteristics Interrupts RAPID reference part 1 Instructions A Z DeactUnit Instruction DeactUnit Deactivates a mechanical unit DeactUnit is used to deactivate a mechanical unit It can be used to determine which unit is to be active when for example common drive units are used Examples DeactUnit orbit_a Deactivation of the orbit_a mechanical unit MoveL p10 v100 fine tooll DeactUnit track_motion MoveL p20 v100 z10 tooll MoveL p30 v100 fine tooll ActUnit track_motion MoveL p40 v100 z10 tooll The unit track_motion will be stationary when the robot moves to p20 and p30 After this both the robot and track_motion will move to p40 MoveL p10 v100 fine tooll DeactUnit orbit ActUnit orbit2 MoveL p20 v100 z10 tooll The unit orbit is deactivated and orbit2 activated Arguments DeactUnit MechUnit MechUnit Mechanical Un
106. Instruction WZLimJointDef Advanced functions Ifuse of WZLimJointDef with outside joint space argument Outside together with WZLimSup the robot is stopped as soon as one active axes with joint space supervi sion reach the joint space If use of WZLimJointDef with inside joint space argument nside together with WZLimSup the robot is stopped as soon as the last active axes with joint space super vision reach the joint space That means that one or several axes but not all active and supervised axes can be inside the joint space at the same time At execution of the instruction ActUnit or DeactUnit will the supervision status be updated Limitations A Syntax Only active mechanical units and it s active axes at activation time of the word zone with instruction WZDOSet resp WZLimSup are included in the supervision of the HOME position resp the limitatation of the working area Besides that the mecanical unit and it s axes must still be active at the movement from the program or jogging to be supervised For example if one axis with supervision is outside it s HOME joint position but is deactivated doesn t prevent the digital output signal for the HOME joint position to be set ifall other active axes with joint space supervision are inside the HOME joint posi tion At activation of that axis again will it bee included in the supervision and the robot system will the be outside the HOME joint position and the
107. LE The number of parts produced is updated on the teach pendant each cycle Production continues to run as long as the signal stop production is not set Syntax Incr Name lt var or pers INOUT of num gt Related information Described in Decrementing a variable by 1 Instructions Decr Adding any value to a variable Instructions Add Changing data using an arbitrary Instructions expression e g multiplication RAPID reference part 1 Instructions A Z 89 Incr Instruction 90 RAPID reference part 1 Instructions A Z Invert DO Instruction InvertDO Inverts the value of a digital output signal InvertDO Invert Digital Output inverts the value of a digital output signal 0 gt 1 and 1 gt 0 Example InvertDO dol5 The current value of the signal do 5 is inverted Arguments InvertDO Signal Signal Data type signaldo The name of the signal to be inverted Program execution The current value of the signal is inverted see Figure 3 1 Signal level 0 vu Execution of the instruction InvertDO Execution of the instruction InvertDO 1 Signal level 0 Figure 3 Inversion of a digital output signal Syntax InvertDO Signal lt variable VAR of signaldo gt RAPID reference part 1 Instructions A Z 91 Invert DO Related information Input Output instructions Input Output functionality in general Configuration of I O 92 Instructi
108. Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles O Princi ples Configuration of I O System Parameters 272 RAPID reference part 1 Instructions A Z SetDO Instruction SetDO Changes the value of a digital output signal SetDO is used to change the value of a digital output signal with or without a time delay or synchronisation Examples SetDO dois 1 The signal do 5 is set to SetDO weld off The signal weld is set to off SetDO SDelay 0 2 weld high The signal weld is set to high with a delay of 0 2 s Program execution however continues with the next instruction SetDO Sync dol 0 The signal do is set to 0 Program execution waits until the signal is physically set to the specified value Arguments SetDO SDelay Sync Signal Value SDelay Signal Delay Data type num Delays the change for the amount of time given in seconds max 32s Program execution continues directly with the next instruction After the given time delay the signal is changed without the rest of the program execution being affected Sync Synchronisation Data type switch If this argument is used the program execution will wait until the signal is phys ically set to the specified value If neither of the arguments SDelay or Sync are used the signal will be set as fast as possible and the next instruction will be execut
109. PID reference part 1 Instructions A Z 367 TriggJ Advanced functions Instruction 368 RAPID reference part 1 Instructions A Z TriggL Instruction Advanced functions TriggL Linear robot movements with events TriggL Trigg Linear is used to set output signals and or run interrupt routines at fixed positions at the same time as the robot is making a linear movement One or more max 6 events can be defined using the instructions Trigg O TriggEquip or TriggInt and afterwards these definitions are referred to in the instruc tion TriggL Examples VAR triggdata gunon TriggIO gunon 0 Start DOp gun on MoveJ pl v500 z50 gunl TriggL p2 v500 gunon fine gun1 The digital output signal gun is set when the robot s TCP passes the midpoint of the corner path of the point p Start point p Se TriggL p2 v500 gunon fine gun1 a End point p2 a The output signal gun is set to on when the robot s TCP is here Figure 47 Example of fixed position IO event RAPID reference part 1 Instructions A Z 369 TriggL Advanced functions Instruction Arguments TriggL Conc ToPoint Speed T Trigg 1 T2 T3 T4 TS T6 Zone Inpos Tool WObj Corr Conc Concurrent Data type switch Subsequent instructions are executed at once This argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required
110. Point and ToPoint from the start point is 1 degree The accuracy can be poor near the limits e g if the start point and the 7oPoint on the circle are close to each other the fault caused by the leaning of the circle can be much greater than the accuracy with which the points have been programmed A change of execution mode from forward to backward or vice versa while the robot is stopped on a circular path is not permitted and will result in an error message The instruction MoveC or any other instruction including circular movement should never be started from the beginning with TCP between the circle point and the end point Otherwise the robot will not take the programmed path positioning around the circular path in another direction compared with that programmed Make sure that the robot can reach the circle point during program execution and divide the circle segment if necessary Syntax MoveC Y Conc CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V V lt expression IN of num gt LV T lt expression IN of num gt Zone lt expression IN of zonedata gt LV Z lt expression IN of num gt V Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt V WObj
111. R intnum siglint 126 RAPID reference part 1 Instructions A Z Instruction PROC main CONNECT siglint WITH iroutinel ISignalDO dol 1 siglint WHILE TRUE DO ENDWHILE ENDPROC All activation of interrupts is done at the beginning of the program These instructions are then kept outside the main flow of the program PROC main VAR intnum sig 1 int CONNECT siglint WITH iroutinel ISignalDO dol 1 siglint IDelete sig int ENDPROC ISignalDO The interrupt is deleted at the end of the program and is then reactivated It should be noted in this case that the interrupt is inactive for a short period Syntax ISignalDO V Single Signal lt variable VAR of signaldo gt TriggValue lt expression IN of dionum gt Interrupt lt variable VAR of intnum gt Related information Summary of interrupts Interrupt from an input signal More information on interrupt management More examples RAPID reference part 1 Instructions A Z Described in RAPID Summary nterrupts Instructions SignalDI Basic Characteristics Interrupts Data Types intnum 127 ISignalDO Instruction 128 RAPID reference part 1 Instructions A Z ISleep Instruction ISleep Deactivates an interrupt ISleep Interrupt Sleep is used to deactivate an individual interrupt temporarily During the deactivation time any generated interrupts of the specifi
112. RAPID reference manual BaseWare RAPID reference part 1 Instructions A Z RobotWare OS 4 0 AA ED ID FAIDID RAPID reference manual 3HAC 7774 1 Revision B BaseWare RAPID reference part 1 Instructions A Z Table of contents RobotWare OS 4 0 Instructions A Z Index RAPID reference part 1 Instructions A Z The information in this manual is subject to change without notice and should not be construed as a commitment by ABB ABB assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual nothing herein shall be construed as any kind of guar antee or warranty by ABB for losses damages to persons or property fitness for a specific purpose or the like This manual and parts thereof must not be reproduced or copied without ABB s written permission and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be pros ecuted Additional copies of this manual may be obtained from ABB at its then current charge 2003 ABB All rights reserved ABB Automation Technology Products AB Robotics SE 721 68 Vasteras Sweden RAPID reference part 1 Instructions A Z Contents AccS t Reduces the acceleration i c scsiccorcsscevesscorecsocsassecavcobeceescvonssoestdecessovencsoscatecensnasennsoceaes 1 ActUnit Activates a mechanical Wit ccsesscsesssesevsscensssovedssvesssesenssnvoscv
113. RB6400 250 ms If the specified time is greater that the current braking time the IO check will be gener ated anyhow but not until braking is started later than specified However the whole of the movement time for the current movement can be utilised during small and fast movements Typical absolute accuracy values for test of digital inputs 5 ms Typical repeat accuracy values for test of digital inputs 2 ms 342 RAPID reference part 1 Instructions A Z TriggCheckIO Instruction Advanced functions Syntax TriggCheckIO TriggData lt variable VAR of triggdata gt Distance lt expression IN of num gt V Start V Time Signal lt variable VAR of anytype gt Relation lt expression IN of opnum gt Check Value lt expression IN of num gt V StopMove Interrupt lt variable VAR of intnum gt Related information Described in Use of triggers Instructions TriggL TriggC TriggJ Definition of position time I O event Instruction Trigg O TriggEquip Definition of position related interrupts Instruction Trigg nt More examples Data Types triggdata Definition of comparison operators Data Types opnum RAPID reference part 1 Instructions A Z 343 TriggCheckIO Advanced functions Instruction 344 RAPID reference part 1 Instructions A Z TriggEquip Instructi
114. S variable adaptWd with new data from the arrays of predefined parameter arrays The scaled gap value is used as index in the voltage wirefeed and speed arrays adaptWd weld voltage adptVIt ArrInd adaptWd weld_ wirefeed adptWfd ArrInd adaptWd weld_speed adptSpd ArrInd Request a refresh of AW parameters using the new data i adaptWd ArcRefresh ENDTRAP RAPID reference part 1 Instructions A Z 135 Var Value Instruction Arguments IVarValue VarNo Value Interrupt VarNo Data type num The number of the variable to be supervised Value Data type num A PERS variable which will hold the new value of Varno Interrupt Data type intnum The variable interrupt identity of the interrupt This should have previously been connected to a trap routine by means of the instruction CONNECT Program execution The corresponding trap routine is automatically called at a given time following the interrupt order When this has been executed program execution continues from where the interrupt occurred Limitations The same variable for interrupt identity cannot be used more than five times without first being deleted Syntax IVarValue VarNo lt expression IN of num gt Value lt persistent PERS of num gt Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary Interrupts More informa
115. SetGO SDelay 0 4 go2 10 The signal go is set to 0 If go2 comprises 4 signals e g outputs 6 9 outputs 6 and 8 are set to zero while outputs 7 and 9 are set to one with a delay of 0 4 s Program execution however continues with the next instruction Arguments SetGO SDelay Signal Value SDelay Signal Delay Data type num Delays the change for the period of time stated in seconds max 32s Program execution continues directly with the next instruction After the speci fied time delay the value of the signals is changed without the rest of the pro gram execution being affected If the argument is omitted the value is changed directly Signal Data type signalgo The name of the signal group to be changed Value Data type num The desired value of the signal group a positive integer The permitted value is dependent on the number of signals in the group RAPID reference part 1 Instructions A Z 275 SetGO No of signals Permitted value 0 1 0 3 0 7 0 15 0 31 0 63 0 127 0 255 D I Dn RA ND Program execution Syntax Instruction No of signals Permitted value 9 10 11 12 13 14 15 16 0 511 0 1023 0 2047 0 4095 0 8191 0 16383 0 32767 0 65535 The programmed value is converted to an unsigned binary number This binary number is sent on the signal group with the result that individual signals in the group are set to 0 or 1 Due to internal del
116. TCP the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot and external axes move It is then substituted for the corresponding speed data RAPID reference part 1 Instructions A Z 165 MoveCSync Advanced functions Instruction Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination point WObj Work Object Data type wobjdata The work object object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified ProcName Procedure Name Data type string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point Program execution See the instruction MoveC for more information about circular movements The specified RAPID procedure is executed when the TCP reaches the middle of the corner path in the destination point of the MoveCSync instruction as shown in Figure 13 MoveCSync p2 p3 v1000 z30 tool2 my proc When TCP is here p4 my_proc is
117. THEN MoveL p10 v100 fine tooll RETRY ELSEIF ERRNO ERR_SIGSUPSEARCH THEN TPWrite The signal of the SearchL instruction is already high TPReadFK fk Try again after manual reset of signal YES NO IF fk 1 THEN MoveL p10 v100 fine tooll RETRY ELSE Stop ENDIF ENDIF If the signal is already active at the beginning of the search process a user dialog will be activated TPReadFK Reset the signal and push YES on the user dia log and the robot moves back to p10 and tries once more Otherwise program execution will stop If the signal is passive at the beginning of the search process the robot searches from position p 0 to p20 If no signal detection occurs the robot moves back to p10 and tries once more Syntax SearchL PVP Stop EV PStop VP SStop V Sup Signal lt variable VAR of signaldi gt Flanks SearchPoint lt var or pers INOUT of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V V lt expression IN of num gt DY T lt expression IN of num gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt V Corr P RAPID reference part 1 Instructions A Z 267 SearchL Related information
118. The radius of the cylinder in mm Height Data type num The height of the cylinder in mm If it is positive z direction the CentrePoint argument is the centre of the lower end of the cylinder as in the above example If it is negative z direction the CentrePoint argument is the centre of the upper end of the cylinder Program execution The definition of the cylinder is stored in the variable of type shapedata argument Shape for future use in WZLimSup or WZDOSet instructions Limitations If the robot is used to point out the CentrePoint work object wobj0 must be active use of component trans in robtarget e g pl trans as argument Syntax WZCylDef Inside PV Outside Shape lt variable VAR of shapedata gt CentrePoint lt expression IN of pos gt Radius lt expression IN of num gt Height lt expression IN of num gt 424 RAPID reference part 1 Instructions A Z Instruction Related information World Zones World zone shape Define box shaped world zone Define sphere shaped world zone Define a world zone for home joints Define a world zone for limit joints Activate world zone limit supervision Activate world zone digital output set RAPID reference part 1 Instructions A Z WZCylDef Advanced functions Described in Motion and I O Principles World Zones Data Types shapedata Instructions WZBoxDef Instru
119. TriggC Advanced functions Limitations Syntax General limitations according to instruction MoveC If the current start point deviates from the usual so that the total positioning length of the instruction 7riggC is shorter than usual it may happen that several or all of the trig ger conditions are fulfilled immediately and at the same position In such cases the sequence in which the trigger activities are carried out will be undefined The program logic in the user program may not be based on a normal sequence of trigger activities for an incomplete movement The instruction 7riggC should never be started from the beginning with the robot in position after the circle point Otherwise the robot will not take the programmed path positioning around the circular path in another direction compared with that pro grammed TriggC PVY Conc CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LY T gt lt expression IN of num gt Trigg 1 lt variable VAR of triggdata gt V T2 lt variable VAR of triggdata gt V T3 lt variable VAR of triggdata gt V T4 lt variable VAR of triggdata gt TS lt variable VAR of triggdata gt V T6 lt variable VAR of triggdata gt Zone lt
120. TriggIO TriggEquip or TriggInt Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruc tion is related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a stationary TCP or coordinated exter nal axes are used this argument must be specified for a linear movement relative to the work object to be performed Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present RAPID reference part 1 Instructions A Z 335 TriggC Advanced functions Instruction Program execution See the instruction MoveC for information about circular movement As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point the defined trigger a
121. UNE_DI Type TUNE_DK and TUNE_DL only for ABB internal use These types are predefined in the system with constants This argument can be omitted when using tuning type TUNE DF Example TuneServo MHAI60R1 1 110 Type TUNE KP Activating of tuning type TUNE_KP with the tuning value 0 on axis in the mechanical unit MHA 60R1 RAPID reference part 1 Instructions A Z 383 TuneServo Instruction Program execution The specified tuning type and tuning value are activated for the specified axis This value is applicable for all movements until a new value is programmed for the current axis or until the tuning types and values for all axes are reset using the instruction TuneReset The default servo tuning values for all axes are automatically set by executing instruc tion TuneReset at a cold start up when a new program is loaded when starting program execution from the beginning Limitations Any active servo tuning are always set to default values at power fail This limitation can be handled in the user program at restart after power failure Syntax TuneServo MecUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt Tune Value lt expression IN of num gt P Type lt expression IN of tunetype gt Related information Described in Other motion settings Summary Rapid Motion Settings Types of servo tuning Da
122. V File lt expression IN of string gt Related information Described in Program tasks Data Types taskid RAPID reference part 1 Instructions A Z 251 Save Instruction 252 RAPID reference part 1 Instructions A Z SearchC Instruction SearchC Searches circularly using the robot SearchC Search Circular is used to search for a position when moving the tool centre point TCP circularly During the movement the robot supervises a digital input signal When the value of the signal changes to the requested one the robot immediately reads the current posi tion This instruction can typically be used when the tool held by the robot is a probe for surface detection Using the SearchC instruction the outline coordinates of a work object can be obtained Examples SearchC dil sp cirpoint p10 v100 probe The TCP of the probe is moved circularly towards the position p 0 at a speed of v100 When the value of the signal di changes to active the position is stored in sp SearchC Stop di2 sp cirpoint p10 v100 probe The TCP of the probe is moved circularly towards the position p 0 When the value of the signal di2 changes to active the position is stored in sp and the robot stops immediately Arguments SearchC Stop PStop SStop Sup Signal Flanks SearchPoint CirPoint ToPoint Speed V T Tool WObj Corr Stop Stiff Stop Data type
123. VAR of intnum gt Related information Summary of interrupts Enabling an interrupt Disabling all interrupts Cancelling an interrupt 130 Described in RAPID Summary Interrupts Instructions Watch Instructions Disable Instructions Delete RAPID reference part 1 Instructions A Z ITimer Instruction ITimer Orders a timed interrupt ITimer Interrupt Timer is used to order and enable a timed interrupt This instruction can be used for example to check the status of peripheral equipment once every minute Examples VAR intnum timeint CONNECT timeint WITH iroutinel ITimer 60 timeint Orders an interrupt that is to occur cyclically every 60 seconds A call is then made to the trap routine iroutinel ITimer Single 60 timeint Orders an interrupt that is to occur once after 60 seconds Arguments ITimer Single Time Interrupt Single Data type switch Specifies whether the interrupt is to occur once or cyclically If the argument Single is set the interrupt occurs only once If the argument is omitted an interrupt will occur each time at the specified time Time Data type num The amount of time that must lapse before the interrupt occurs The value is specified in second if Single is set this time may not be less than 0 05 seconds The corresponding time for cyclical interrupts is 0 25 seconds Interrupt Data type intnum The variable interrupt identity of the inter
124. a robtarget or a wobjdata is read from the serial channel Syntax ReadAnyBin IODevice lt variable VAR of iodev gt Data lt var or pers INOUT of ANYTYPE gt Time lt expression IN of num gt Related information Described in Opening etc of serial channels RAPID Summary Communication or files Write data to a binary serial channel Instructions WriteAnyBin or file RAPID reference part 1 Instructions A Z 233 ReadAnyBin Advanced functions Instruction 234 RAPID reference part 1 Instructions A Z ReadErrData Instruction Advanced functions ReadErrData Gets information about an error ReadErrData is to be used in a trap routine to get information domain type number and intermixed strings s about an error a state change or a warning that caused the trap routine to be executed Refer to User Guide Error Management System and Error Messages for more information Example VAR errdomain err domain VAR num err number VAR errtype err_type VAR trapdata err data VAR string string VAR string string2 TRAP trap_err GetTrapData err_data ReadErrData err_data err_domain err number err_type Strl stringl Str2 string2 ENDTRAP When an error is trapped to the trap routine trap_err the error domain the error number the error type and the two first intermixed strings in the error message are saved into appropriate variables Arguments
125. a volume CONST pos C1 300 300 200 CONST num R1 200 WZSphDef Inside volume C1 R1 Define a sphere named volume by its centre C and its radius R Arguments WZSphDef Inside Outside Shape CentrePoint Radius Inside Data type switch Define the volume inside the sphere Outside Data type switch Define the volume outside the sphere inverse volume One of the arguments nside or Outside must be specified Shape Data type shapedata Variable for storage of the defined volume private data for the system RAPID reference part 1 Instructions A Z 449 WZSphDef Advanced functions CentrePoint Instruction Data type pos Position x y z in mm defining the centre of the sphere Radius The radius of the sphere in mm Program execution Data type num The definition of the sphere is stored in the variable of type shapedata argument Shape for future use in WZLimSup or WZDOSet instructions Limitations Syntax If the robot is used to point out the CentrePoint work object wobj0 must be active use of component trans in robtarget e g pl trans as argument WZSphDef Inside PV Outside Shape lt variable VAR of shapedata gt CentrePoint lt expression IN of pos gt Radius lt expression IN of num gt Related information 450 World Zones World zone shape Define box shaped world zone Define cylinde
126. ad is used to define a payload for an external mechanical unit The payload for the robot is defined with instruction GripLoad This instruction should be used for all mechanical units with dynamic model in servo to achieve the best motion performance The MechUnitLoad instruction should always be executed after execution of the instruction ActUnit Example IRBP L C axis 1 Figure 6 A mechanical unit named IRBP_L of type IRBP L ActUnit IRBP_L MechUnitLoad IRBP_L 1 load0 Activate mechanical unit JRBP_L and define the payload oad0 corresponding to no load at all mounted on axis ActUnit IRBP_L MechUnitLoad IRBP_L 1 fixture Activate mechanical unit JRBP_L and define the payload fixture corresponding to fixture fixture mounted on axis ActUnit IRBP_L MechUnitLoad IRBP_L 1 workpiece Activate mechanical unit JRBP_L and define the payload workpiece corre sponding to fixture and work piece named workpiece mounted on axis 1 Arguments MechUnitLoad MechUnit AxisNo Load MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit RAPID reference part 1 Instructions A Z 145 MechUnitLoad Instruction AxisNo Axis Number Data type num The axis number within the mechanical unit that holds the load Load Data type loaddata The load data that describes the current payload to be defined Program execution After execution of MechUnitLoad when the robot and external
127. ading the modules with Save argument will again make the main proce dures to be global in the saved program If You when the module car or window are loaded in the system set program pointer to main from any part of the program the program pointer will always be set to the global main procedure in the main program carprg in this example RAPID reference part 1 Instructions A Z 143 Load Instruction Limitations Avoid ongoing robot movements during the loading Avoid using the floppy disk for loading since reading from the floppy drive is very time consuming Error handling If the file in the Load instructions cannot be found then the system variable ERRNO is set to ERR FILNOTEND If the module already is loaded into the program memory then the system variable ERRNO is set to ERR LOADED see Data types errnum The errors above can be handled in an error handler Syntax Load Dynamic FilePath lt expression IN of string gt File lt expression IN of string gt Related information Described in Unload a program module Instructions UnLoad Load a program module in parallel Instructions StartLoad WaitLoad with another program execution Accept unresolved references System Parameters Controller Tasks BindRef 144 RAPID reference part 1 Instructions A Z MechUnitLoad Instruction MechUnitLoad Defines a payload for a mechanical unit MechUnitLo
128. al TCP values The RAPID function MaxRobSpeed returns the same value Example VelSet 50 800 MoveL p1 v1000 z10 tooll MoveL p2 v2000 z10 tooll MoveL p3 v1000 T 5 z10 tooll The speed is 500 mm s to point p and 800 mm s to p2 It takes 70 seconds to move from p2 to p3 Limitations The maximum speed is not taken into consideration when the time is specified in the positioning instruction Syntax VelSet Override lt expression IN of num gt Max lt expression IN of num gt Related information Described in Definition of velocity Data Types speeddata Max TCP speed for this robot Function MaxRobSpeed Positioning instructions RAPID Summary Motion 404 RAPID reference part 1 Instructions A Z WHILE Instruction WHILE Repeats as long as WHILE is used when a number of instructions are to be repeated as long as a given con dition expression evaluates to a TRUE value Example WHILE regl lt reg2 DO regl regl 1 ENDWHILE Repeats the instructions in the WHILE block as long as reg lt reg2 Arguments WHILE Condition DO ENDWHILE Condition Data type bool The condition that must be evaluated to a TRUE value for the instructions in the WHILE block to be executed Program execution 1 The condition expression is evaluated If the expression evaluates to a TRUE value the instructions in the WHILE block are executed 2 The
129. alibration of TCP for a moving tool Instructions MToolTCPCalib Calibration of rotation for a moving tool Instructions MToo RotCalib Calibration of TCP for a stationary tool Instructions SToolTCPCalib RAPID reference part 1 Instructions A Z 299 SToolRotCalib Instruction 300 RAPID reference part 1 Instructions A Z SToolTCPCalib Instruction SToolTCPCalib Calibration of TCP for stationary tool SToolTCPCalib Stationary Tool TCP Calibration is used to calibrate the Tool Centre Point TCP for a stationary tool The position of the robot and its movements are always related to its tool coordinate system i e the TCP and tool orientation To get the best accuracy it is important to define the tool coordinate system as correctly as possible The calibration can also be done with a manual method using the TPU described in User s Manual Calibration Description To define the TCP of a stationary tool you need a movable pointing tool mounted on the end effector of the robot Before using the instruction S7oo TCPCalib some preconditions must be fulfilled The stationary tool that is to be calibrated must be stationary mounted and defined with the correct component robhold FALSE The pointing tool robhold TRUE must be defined and calibrated with the cor rect TCP values If using the robot with absolute accuracy the load and centre of gravity for the pointing tool should be defined LoadIdentify c
130. allows slower acceleration and deceler ation which results in smoother robot movements Examples AccSet 50 100 The acceleration is limited to 50 of the normal value AccSet 100 50 The acceleration ramp is limited to 50 of the normal value Arguments AccSet Acc Ramp Ace Data type num Acceleration and deceleration as a percentage of the normal values 100 corresponds to maximum acceleration Maximum value 100 Input value lt 20 gives 20 of maximum acceleration Ramp Data type num The rate at which acceleration and deceleration increases as a percentage of the normal values see Figure 1 Jerking can be restricted by reducing this value 100 corresponds to maximum rate Maximum value 100 Input value lt 10 gives 10 of maximum rate Acceleration Time AccSet 100 100 i e normal acceleration Acceleration Acceleration Time Time AccSet 30 100 AccSet 100 30 Figure 1 Reducing the acceleration results in smoother movements RAPID reference part 1 Instructions A Z 1 AccSet Instruction Program execution The acceleration applies to both the robot and external axes until a new AccSet instruc tion is executed The default values 100 are automatically set at a cold start up when a new program is loaded when starting program executing from the beginning Syntax AccSet Acc lt expression IN of num gt Ramp lt expression IN of nu
131. alue will automatically be set to 1 or 1 if the start value is greater than the end value RAPID reference part 1 Instructions A Z 65 FOR Instruction Example FOR i FROM 10 TO 2 STEP 1 DO afi a i 1 ENDFOR The values in an array are adjusted upwards so thata 10 a 9 a 9 a 8 etc Program execution 1 The expressions for the start end and step values are evaluated 2 The loop counter is assigned the start value 3 The value of the loop counter is checked to see whether its value lies between the start and end value or whether it is equal to the start or end value If the value of the loop counter is outside of this range the FOR loop stops and program execution con tinues with the instruction following ENDFOR 4 The instructions in the FOR loop are executed 5 The loop counter is incremented or decremented in accordance with the step value 6 The FOR loop is repeated starting from point 3 Limitations The loop counter of data type num can only be accessed from within the FOR loop and consequently hides other data and routines that have the same name It can only be read not updated by the instructions in the FOR loop Decimal values for start end or step values in combination with exact termination con ditions for the FOR loop cannot be used undefined whether or not the last loop is run ning Remarks If the number of repetitions is to be repeated as long as a given expression is eva
132. am Window File Check Program is used no check for unsolved references will be done if BindRef NO There will be a run time error on execution of an unsolved reference Another way to use references to instructions that are not in the task from the begin ning is to use Late Binding This makes it possible to specify the routine to call with a string expression quoted between two In this case the BindRef parameter could be set to YES default behaviour The Late Binding way is preferable To obtain a good program structure that is easy to understand and maintain all loading and unloading of program modules should be done from the main module which is always present in the program memory during execution For loading of program that contains a main procedure to a main program with another main procedure see instruction Load Examples 394 StartLoad HOME DOORDIR DOOR2 MOD load1 WaitLoad UnloadPath HOME DOORDIR DOOR1 MOD load1 Load the program module DOOR2 MOD from HOME in the directory DOORDIR into the program memory and connect the new module to the task The program module DOOR1 MOD will be unloaded from the program memory StartLoad HOME File DOORDIR DOOR2 MOD load1 The robot can do some other work WaitLoad UnloadPath HOME File DOORDIR DOORI MOD load1 Is the same as the instructions below but the robot can do some other work during the loading time and also do it faster only one lin
133. an be used for the load definition The pointing tool wobj0 and PDispOff must be activated before jogging the robot Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool and define a robtarget for the first point p1 Define a further three positions p2 p3 and p4 all with different orientations It is recommended that the TCP is pointed out with different orientations to obtain a reliable statistical result although it is not necessary RAPID reference part 1 Instructions A Z 301 SToolTCPCalib Example 302 Instruction Pointing tool Figure 34 Definition of 4 robtargets p1 p4 Created with pointing TCP pointing at the stationary TCP CONST robtarget p1 CONST robtarget p2 CONST robtarget p3 CONST robtarget p4 gt PERS tooldata tool1 FALSE 0 0 0 1 0 0 0 0 001 0 0 0 001 1 0 0 0 0 0 0 VAR num max err VAR num mean_err Instructions for creating or ModPos of p1 p4 Move pl v10 fine point tool Move p2 v10 fine point tool Move p3 v10 fine point tool Move p4 v10 fine point tool MToolTCPCalib p1 p2 p3 p4 tooll max _err mean _err The TCP value fframe trans of tool1 will be calibrated and updated max_err and mean_err will hold the max error in mm from the calculated TCP and the mean error in mm from the calculated TCP respectively RAPID reference part 1 Ins
134. an interrupt RAPID reference part 1 Instructions A Z 107 1SignalAI Advanced functions Instruction Condition for interrupt generation at interrupt subscription time Sample before interrupt subscription RefValue CurrentValue Interrupt subscription palpe CurrentValue tested against Condition HighValue and LowValue True False lt DeltaValue 0 True Interrupt generated Continue 108 RAPID reference part 1 Instructions A Z ISignalAI Instruction Advanced functions Condition for interrupt generation at each sample after interrupt subscription New Sample fale CurrentValue checked against Condition HighValue and LowValue True True No DPos or DNeg specified and ABS CurrentValue RefValue gt DeltaValue False DPos specified and True CurrentValue RefValue gt DeltaValue gt False DNeg specified and RefValue CurrentValue gt DeltaValue True False Yy RefValue CurrentValue ABS CurrentValue RefValue gt DeltaValue Interrupt generated False True ag D RefValue CurrentValue a Y Continue RAPID reference part 1 Instructions A Z 109 1SignalAI Advanced functions Instruction Example 1 of interrupt generation Signal logical
135. and the ToPoint is not a stop point the subsequent instruction is executed some time before the robot has reached the programmed zone ToJointPos To Joint Position Data type jointtarget The destination absolute joint position of the robot and external axes It is defined as anamed position or stored directly in the instruction marked with an in the instruction NoEOffs No External Offsets Data type switch If the argument NoEOffs is set then the movement with MoveAbsJ is not affected by active offsets for external axes Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the tool reorientation and external axes V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed data T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Z Zone Data type num This argument is used to specify the position accuracy of the robot TCP directly in the instruction The length of the corner path is given in mm which is substi tuted for the corresponding zone specified in the zone da
136. ared to HighValue and LowValue according to Condition and with consideration to DeltaValue to generate or not generate an interrupt If the new read value satisfies the specified HighValue and LowValue Condition but its difference compared to the last stored reference value is less or equal to the Delta Value argument no interrupt occurs If the signal difference is not in the specified direction no interrupts will occur argument DPos or DNeg The stored reference value for the DeltaValue condition is updated with a newly read value for later use at any sample if the following conditions are satisfied Argument Condition with specified HighValue and LowValue within limits Argument DeltaValue sufficient signal change in any direction independently of specified switch DPos or DNeg The reference value is only updated at the sample time not at the interrupt subscription time An interrupt is also generated at the sample for update of the reference value if the direction of the signal difference is in accordance with the specified argument any direction DPos or DNeg When the Single switch is used only one interrupt at the most will be generated If the switch Single cyclic interrupt is not used a new test of the specified conditions both Condition and DeltaValue is made at every sample of the signal value com pared to the current signal value and the last stored reference value to generate or not generate
137. ary serial channel Syntax WriteAnyBin IODevice lt variable VAR of iodev gt Data lt var or pers INOUT of ANYTYPE gt Related information Opening etc of serial channels or files Read data from a binary serial channel or file 414 Described in RAPID Summary Communication Functions ReadAnyBin RAPID reference part 1 Instructions A Z WriteBin Instruction Advanced functions WriteBin Writes to a binary serial channel WriteBin is used to write a number of bytes to a binary serial channel Example WriteBin channel2 text buffer 10 10 characters from the text_buffer list are written to the channel referred to by channel2 Arguments WriteBin IODevice Buffer NChar IODevice Data type iodev Name reference of the current serial channel Buffer Data type array of num The list array containing the numbers characters to be written NChar Number of Characters Data type num The number of characters to be written from the Buffer Program execution The specified number of numbers characters in the list is written to the serial channel Limitations This instruction can only be used for serial channels that have been opened for binary reading and writing Error handling If an error occurs during writing the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler RAPID reference part 1 Instructio
138. ata v1000 and zone data z30 Output do is set in the middle of the corner path at p Arguments MoveLDO ToPoint Speed T Zone Tool WObj Signal Value ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity for the tool centre point the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point moved to the specified destination position RAPID reference part 1 Instructions A Z 185 MoveLDO Instruction WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified Signal Data type signaldo The name of the digital output signa
139. ata type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt 370 RAPID reference part 1 Instructions A Z TriggL Instruction Advanced functions T4 Trigg 4 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt TS Trigg 5 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt T6 Trigg 6 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO TriggEquip or TriggInt Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the
140. ated information Described in Arguments parameters Basic Characteristics Routines More examples Program Examples 224 RAPID reference part 1 Instructions A Z PulseDO Instruction PulseDO Generates a pulse on a digital output signal PulseDO is used to generate a pulse on a digital output signal Examples PulseDO dol5 A pulse with a pulse length of 0 2 s is generated on the output signal do 5 PulseDO PLength 1 0 ignition A pulse of length 7 0 s is generated on the signal ignition Program task MAIN PulseDO High do3 At almost the same time in program task BCK1 PulseDO High do3 Positive pulse value 1 is generated on the signal do3 from two program tasks at almost the same time It will result in one positive pulse with a pulse length longer than the default 0 2 s or two positive pulses after each other with a pulse length of 0 2 s Arguments PulseDO High PLength Signal High High level Data type switch Specifies that the signal value should always be set to high value 1 when the instruction is executed independently of its current state PLength Pulse Length Data type num The length of the pulse in seconds 0 1 32s If the argument is omitted a 0 2 second pulse is generated Signal Data type signaldo The name of the signal on which a pulse is to be generated RAPID reference part 1 Instructions A Z 225 PulseDO Instruction Program execution A
141. ation during linear movement ConfL Configuration Linear is used to specify whether or not the robot s configura tion is to be monitored during linear or circular movement If it is not monitored the configuration at execution time may differ from that at programmed time It may also result in unexpected sweeping robot movements when the mode is changed to joint movement NOTE For the IRB 5400 robot the monotoring is always off independent of what is specified in ConfL Examples ConfL On MoveL v1000 fine tool Program execution stops when the programmed configuration is not possible to reach from the current position SingArea Wrist ConfL On MoveL v1000 fine tool The robot moves to the programmed position orientation and wrist axis config uration If this is not possible program execution stops ConfL Off MoveL v1000 fine tooll The robot moves to the programmed position and orientation but to the closest possible axis configuration which can be different from the programmed Arguments ConfL On Off On Data type switch The robot configuration is monitored Off Data type switch The robot configuration is not monitored RAPID reference part 1 Instructions A Z 39 ConfL Instruction Program execution During linear or circular movement the robot always moves to the programmed posi tion and orientation that has the closest possible axis configuration If the argume
142. axes have come to a standstill the specified load is defined for the specified mechanical unit and axis This means that the payload is controlled and monitored by the control system The default payload at cold start up for a certain mechanical unit type is the pre defined maximal payload for this mechanical unit type When some other payload is used the actual payload for the mechanical unit and axis should be redefined with this instruction This should always be done after activation of the mechanical unit The defined payload will survive a power failure restart The defined payload will also survive a restart of the program after manual activation of some other mechanical units from the jogging window X Fixture End effector coordinate system for the mechanical unit Z Work piece The centre of gravity for the payload fixture work piece Mechanical unit Figure 7 Payload mounted on the end effector of a mechanical unit 146 RAPID reference part 1 Instructions A Z MechUnitLoad Instruction Example IRBP K M axis 2 axis 1 axis 3 Figure 8 A mechanical unit named IRBP_K of type IRBP K with three axes MoveL homesidel v1000 fine gun1 ActUnit IRBP K The whole mechanical unit JRBP_K is activated MechUnitLoad IRBP_K 2 workpiecel Defines payload workpiece on the mechanical unit JRBP_K axis 2 MechUnitLoad IRBP_K 3 workpiece2 Defines payload workpiece2 on the mechanical
143. ays the value of the signal may be undefined for a short period of time SetDO V SDelay lt expression IN of num gt Signal lt variable VAR of signalgo gt Value lt expression IN of num gt Related information 276 Other input output instructions Input Output functionality in general Configuration of I O system parameters Described in RAPID Summary Input and Output Signals Motion and I O Principles I O Princi ples System Parameters RAPID reference part 1 Instructions A Z SingArea Instruction SingArea Defines interpolation around singular points SingArea is used to define how the robot is to move in the proximity of singular points SingArea is also used to define linear and circular interpolation for robots with less than six axes Examples SingArea Wrist The orientation of the tool may be changed slightly in order to pass a singular point axes 4 and 6 in line Robots with less than six axes may not be able to reach an interpolated tool ori entation By using SingArea Wrist the robot can achieve the movement but the orientation of the tool will be slightly changed SingArea Off The tool orientation is not allowed to differ from the programmed orientation If a singular point is passed one or more axes may perform a sweeping movement resulting in a reduction in velocity Robots with less than six axes may no
144. bed in Use of triggers Instructions Trigg TriggC Trigg J Definition of position time I O event Instruction TriggEquip Definition of position related interrupts Instruction Trigg nt More examples Data Types triggdata Set of I O Instructions SetDO SetGO SetAO RAPID reference part 1 Instructions A Z 361 TriggIO Advanced functions Instruction 362 RAPID reference part 1 Instructions A Z Instruction TriggJ Advanced functions TriggJ Axis wise robot movements with events TriggJ TriggJoint is used to set output signals and or run interrupt routines at fixed positions at the same time as the robot is moving quickly from one point to another when that movement does not have be in a straight line One or more max 6 events can be defined using the instructions Trigg O TriggEquip or TriggInt and afterwards these definitions are referred to in the instruc tion TriggJ Examples VAR triggdata gunon TriggIO gunon 0 Start DOp gun on MoveL pl v500 z50 gunl TriggJ p2 v500 gunon fine gunl The digital output signal gun is set when the robot s TCP passes the midpoint of the corner path of the point p Start point p TriggJ p2 v500 gunon fine gun1 Pa End point p2 AS The output signal gun is set to on when the robot s TCP is here Figure 46 Example of fixed position IO event RAPID reference part 1 Instructions A Z 363 TriggJ Advanced funct
145. between the current value and the last stored reference value is greater than 1 0 sample 8 will generate an interrupt because the signal value is above High Value and the signal difference in the positive direction compared to sample 7 is more than DeltaValue 112 RAPID reference part 1 Instructions A Z Instruction 1ISignalAI Advanced functions Example 4 of interrupt generation Signal logical value HighValue Signal Value LowValue D 1 2 3 4 5 6 7 8 9 10 11 12 Samples Time for order of interrupt subscription m Storage of reference value Assuming the interrupt is ordered between sample 0 and 1 the following instruction will give the following results ISignalAI ail AIO ALWAYS 6 1 2 2 1 0 DPos siglint A new reference value is stored at sample 1 and 2 because the signal is within limits and the absolute signal difference between the current value and the last stored reference value is greater than 1 0 sample 6 will generate an interrupt because the signal difference in the positive direction compared to sample 2 is more than Delta Value sample 7 and 8 will generate an interrupt because the signal difference in the positive direction compared to previous sample is more than DeltaValue A new reference value is stored at sample 11 and 12 because the signal is within limits and the absolute signal difference between the current value and the
146. booting the system 2 User defined serial channel name defined in system parameters 3 Application protocol local path defined in system parameters 4 Application protocol server path defined in system parameters File Data type string The name of the file to be opened e g LOGFILE1 DOC or LOGDIR LOGFILE1 DOC The complete path can also be specified in the argument Object HOME LOGDIR LOGFILE DOC RAPID reference part 1 Instructions A Z 201 Open Advanced functions Instruction IODevice Data type iodev A reference to the file or serial channel to open This reference is then used for reading from and writing to the file or serial channel Read Data type switch Opens a file or serial channel for reading When reading from a file the reading is started from the beginning of the file Write Data type switch Opens a file or serial channel for writing If the selected file already exists its contents are deleted Anything subsequently written is written at the start of the file Append Data type switch Opens a file or serial channel for writing If the selected file already exists any thing subsequently written is written at the end of the file Open a file or serial channel with Append and without the Bin arguments The instruction opens a character based file or serial channel for writing Open a file or serial channel with Append and Bin arguments The instruction opens a binary fi
147. bot moves The tool centre point is the point that is moved to the specified destination point WObj Work Object Data type wobjdata The work object object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified in order for a circle relative to the work object to be executed Signal Data type signaldo The name of the digital output signal to be changed Value Data type dionum The desired value of signal 0 or 1 Program execution See the instruction MoveC for more information about circular movement The digital output signal is set reset in the middle of the corner path for flying points as shown in Figure 12 Set Reset the signal k Next ToPoint point Zone Figure 12 Set Reset of digital output signal in the corner path with MoveCDO 162 RAPID reference part 1 Instructions A Z Instruction MoveCDO For stop points we recommend the use of normal programming sequence with MoveC Set DO But when using stop point in instruction MoveCDO the digital out put signal is set reset when the robot reaches the stop point The specified I O signal is set reset in execution mode continuously and stepwise for ward but not in stepwise backward Limitations G
148. c value is to be written after the text string Bool Boolean Data type bool The data whose logical value is to be written after the text string Pos Position Data type pos The data whose position is to be written after the text string Orient Orientation Data type orient The data whose orientation is to be written after the text string RAPID reference part 1 Instructions A Z 331 TPWrite Instruction Program execution Text written on the teach pendant always begins on a new line When the display is full of text this text is moved up one line first Strings that are longer than the width of the teach pendant 40 characters are divided up into two lines If one of the arguments Num Bool Pos or Orient is used its value is first converted to a text string before it is added to the first string The conversion from value to text string takes place as follows Argument Value Text string Num 23 247 Num 1 141367 1 14137 Bool TRUE TRUE Pos 1817 3 905 17 879 11 1817 3 905 17 879 11 Orient 0 96593 0 0 25882 0 0 96593 0 0 25882 0 The value is converted to a string with standard RAPID format This means in principle 6 significant digits If the decimal part is less than 0 000005 or greater than 0 999995 the number is rounded to an integer Limitations The arguments Num Bool Pos and Orient are mutually exclusive and thus cannot be used simultaneously in the same instruction S
149. cal units Instructions DeactUnit Mechanical units Data Types mecunit More examples Instructions DeactUnit 4 RAPID reference part 1 Instructions A Z Instruction Add Add Adds a numeric value Add is used to add or subtract a value to or from a numeric variable or persistent Examples Add reg 3 3 is added to reg i e regl reg1 3 Add reg reg2 The value of reg2 is subtracted from reg i e regl regl reg2 Arguments Add Name AddValue Name Data type num The name of the variable or persistent to be changed AddValue The value to be added Data type num Syntax Add Name lt var or pers INOUT of num gt AddValue lt expression IN of num gt Related information Incrementing a variable by 1 Decrementing a variable by 1 Changing data using an arbitrary expression e g multiplication RAPID reference part 1 Instructions A Z Described in Instructions Incr Instructions Decr Instructions Add Instruction 6 RAPID reference part 1 Instructions A Z 9 e Instruction Assigns a value The instruction is used to assign a new value to data This value can be anything from a constant value to an arithmetic expression e g reg 5 reg3 Examples regl 5 regl is assigned the value 5 regl reg2 reg3 regl is assigned the value that the reg2 reg3 calculation returns counter counter
150. cation 24 RAPID reference part 1 Instructions A Z ClearPath Instruction ClearPath Clear current path ClearPath Clear Path clear the whole motion path on the current motion path level base level or StorePath level With motion path means all the movement segments from any move instructions which has been executed in RAPID but not performed by the robot at the execution time of ClearPath The robot must be in a stop point position or must be stopped by StopMove before the instruction ClearPath can be executed Example Start point home MoveL pl v500 fine gripper End point p1 x px The robot drops its payload here and execution continues in the trap routine In the following program example the robot moves from the position home to the posi tion p1 At the point px the signal di will indicate that the payload has been dropped The execution continues in the trap routine gohome The robot will stop moving start the braking at px the path will be cleared the robot will move to position home The error will be raised up to the calling routine minicycle and the whole user defined pro gram cycle proc proc2 will be executed from beginning one more time VAR intnum drop_payload CONST errnum ERR DROP LOAD 1 PROC minicycle ERROR ERR_DROP_ LOAD RETRY ENDPROC RAPID reference part 1 Instructions A Z 25 ClearPath Instruction PROC procl ENDPROC PROC proc2 CONNECT
151. condition expression is then evaluated again and if the result of this evaluation is TRUE the instructions in the WHILE block are executed again 3 This process continues until the result of the expression evaluation becomes FALSE The iteration is then terminated and the program execution continues from the instruction after the WHILE block If the result of the expression evaluation is FALSE at the very outset the instructions in the WHILE block are not executed at all and the program control transfers imme diately to the instruction that follows after the WHILE block Remarks If it is possible to determine the number of repetitions the FOR instruction can be used RAPID reference part 1 Instructions A Z 405 WHILE Instruction Syntax EBNF WHILE lt conditional expression gt DO lt instruction list gt ENDWHILE Related information Described in Expressions Basic Characteristics Expressions Repeats a given number of times Instructions FOR 406 RAPID reference part 1 Instructions A Z WorldAccLim Instruction WorldAccLim Control acceleration in world coordinate sys tem WorldAccLim World Acceleration Limitation is used to limit the acceleration decel eration of the tool and gripload in the world coordinate system Only implemented for robot type IRB5400 04 with track motion The limitation will be achieved in the gravity centre point of the actual tool actual grip load if present and the
152. ctions WZSphDef Instruction WZHomeJointDef Instruction WZLimJointDef Instructions WZLimSup Instructions WZDOSet 425 WZCylDef Advanced functions Instruction 426 RAPID reference part 1 Instructions A Z WZDisable Instruction Advanced functions WZDisable Deactivate temporary world zone supervision WZDisable World Zone Disable is used to deactivate the supervision of a temporary world zone previously defined either to stop the movement or to set an output Example VAR wztemporary wzone PROC WZLimSup Temp wzone volume MoveL p_pick v500 z40 tooll WZDisable wzone MoveL p place v200 z30 tooll ENDPROC When moving to p_pick the position of the robot s TCP is checked so that it will not go inside the specified volume wzone This supervision is not performed when going to p place Arguments WZDisable WorldZone WorldZone Data type wztemporary Variable or persistent variable of type wztemporary which contains the identity of the world zone to be deactivated Program execution The temporary world zone is deactivated This means that the supervision of the robot s TCP relative to the corresponding volume is temporarily stopped It can be re activated via the WZEnable instruction Limitations Only a temporary world zone can be deactivated A stationary world zone is always active RAPID reference part 1 Instructions A Z 427 WZDisable Advanced functions Syntax
153. ctivated Program execution The temporary world zone is re activated Please note that a world zone is automatically activated when it is created It need only be re activated when it has previously been deactivated by WZDisable Limitations Only a temporary world zone can be deactivated and reactivated A stationary world zone is always active RAPID reference part 1 Instructions A Z 433 WZEnable Advanced functions Syntax WZEnable Instruction WorldZone lt variable or persistent INOUT of wztemporary gt Related information 434 World Zones World zone shape Temporary world zone data Activate world zone limit supervision Activate world zone set digital output Deactivate world zone Erase world zone Described in Motion and I O Principles World Zones Data Types shapedata Data Types wztemporary Instructions WZLimSup Instructions WZDOSet Instructions WZDisable Instructions WZF ree RAPID reference part 1 Instructions A Z WZFree Instruction Advanced functions WZFree Erase temporary world zone supervision WZFree World Zone Free is used to erase the definition of a temporary world zone previously defined either to stop the movement or to set an output Example VAR wztemporary wzone PROC WZLimSup Temp wzone volume MoveL p_pick v500 z40 tooll WZDisable wzone MoveL p place v200 z30 tooll WZEnable wzone MoveL p_home v200 z30
154. ctive until some other offset is activated the instruction EOffsSet or EOffsOn or until the offset for external axes is deactivated the instruction EOffsOff Only one offset for each individual external axis can be activated at any one time Sev eral EOffsOn on the other hand can be programmed one after the other and if they are the different offsets will be added The external axes offset is automatically reset at a cold start up when a new program is loaded when starting program executing from the beginning Example Syntax SearchL sen1 psearch p10 v100 tooll PDispOn ExeP psearch tool EOffsOn ExeP psearch A search is carried out in which the searched position of both the robot and the external axes is stored in the position psearch Any movement carried out after this starts from this position using a program displacement of both the robot and the external axes This is calculated based on the difference between the searched position and the programmed point stored in the instruction EOffsOn V ExeP lt expression IN of robtarget gt ProgPoint lt expression IN of robtarget gt Related information 56 Deactivation of offset for external axes Definition of offset using values Displacement of the robot s movements Coordinate Systems Described in Instructions EOffsOff Instructions EOffsSet Instructions PDispO
155. ctivities are carried out The trigger conditions are fulfilled either at a certain distance before the end point of the instruction or at a certain distance after the start point of the instruction or at a certain point in time limited to a short time before the end point of the instruction During stepping execution forwards the I O activities are carried out but the interrupt routines are not run During stepping execution backwards no trigger activities at all are carried out Examples VAR intnum intnol VAR triggdata trigg1 CONNECT intnol WITH trap1 TriggInt trigg1 0 1 Time intnol TriggC pl p2 v500 trigg1 fine gun1 TriggC p3 p4 v500 trigg1 fine gunl IDelete intnol The interrupt routine trap is run when the work point is at a position 0 s before the point p2 or p4 respectively Error handling If the programmed Scale Value argument for the specified analog output signal AOp in some of the connected 7riggSpeed instructions results is out of limit for the analog sig nal together with the programmed Speed in this instruction the system variable ERRNO is set to ERR AO LIM If the programmed DipLag argument in some of the connected TriggSpeed instruc tions is too big in relation to the used Event Preset Time in System Parameters the system variable ERRNO is set to ERR DIPLAG LIM These errors can be handled in the error handler 336 RAPID reference part 1 Instructions A Z Instruction
156. cuted depending on the value of reg If the value is 1 3 routine is executed If the value is 4 routine2 is executed Otherwise an error message is printed and execution stops Arguments TEST Test data CASE Test value Test value DEFAULT ENDTEST Test data Data type All The data or expression with which the test value will be compared Test value Data type Same as test data The value which the test data must have for the associated instructions to be exe cuted RAPID reference part 1 Instructions A Z 311 TEST Instruction Program execution The test data is compared with the test values in the first CASE condition If the com parison is true the associated instructions are executed After that program execution continues with the instruction following ENDTEST If the first CASE condition is not satisfied other CASE conditions are tested and so on If none of the conditions are satisfied the instructions associated with DEFAULT are executed if this is present Syntax EBNF TEST lt expression gt CASE lt test value gt lt test value gt lt instruction list gt lt CSE gt DEFAULT lt instruction list gt ENDTEST lt test value gt lt expression gt Related information Described in Expressions Basic Characteristics Expressions 312 RAPID reference part 1 Instructions A Z TestSignDefine Instruction TestSign Define
157. cution Instructions StartLoad Load session Data Types loadsession Load a program module Instructions Load Unload a program module Instructions UnLoad Cancel loading of a program module Instructions CancelLoad Accept unsolved references System Parameters Controller Task BindRef RAPID reference part 1 Instructions A Z 395 WaitLoad Instruction 396 RAPID reference part 1 Instructions A Z WaitTime Instruction WaitTime Waits a given amount of time WaitTime is used to wait a given amount of time This instruction can also be used to wait until the robot and external axes have come to a standstill Example WaitTime 0 5 Program execution waits 0 5 seconds Arguments WaitTime InPos Time InPos Data type switch If this argument is used the robot and external axes must have come to a stand still before the waiting time starts to be counted Time Data type num The time expressed in seconds that program execution is to wait Min value 0 s Max value no limit Resolution 0 001 s Program execution Program execution temporarily stops for the given amount of time Interrupt handling and other similar functions nevertheless are still active In manual mode if the argument npos is used and Time is greater than 3 s an alert box will pop up asking if you want to simulate the instruction If you don t want the alert box to appear you can set system parameter SimMenu to NO System Para
158. d I O Principles World Zones Data Types shapedata Instructions WZSphDef Instructions WZCylDef Instruction WZHomeJointDef Instruction WZLimJointDef Instructions WZLimSup Instructions WZDOSet RAPID reference part 1 Instructions A Z WZCylDef Instruction Advanced functions WZCylDef Define a cylinder shaped world zone WZCylDef World Zone Cylinder Definition is used to define a world zone that has the shape of a cylinder with the cylinder axis parallel to the z axis of the World Coordinate System Example R2 min 5 mm Z Y I D x World Coordinate System H2 min 10 mm VAR shapedata volume CONST pos C2 300 200 200 CONST num R2 100 CONST num H2 200 WZCylDef Inside volume C2 R2 H2 Define a cylinder with the centre of the bottom circle in C2 radius R2 and height H2 Arguments WZCylDef Inside Outside Shape CentrePoint Radius Height Inside Data type switch Define the volume inside the cylinder Outside Data type switch Define the volume outside the cylinder inverse volume One of the arguments nside or Outside must be specified RAPID reference part 1 Instructions A Z 423 WZCylDef Advanced functions Instruction Shape Data type shapedata Variable for storage of the defined volume private data for the system CentrePoint Data type pos Position x y z in mm defining the centre of one circular end of the cylinder Radius Data type num
159. d LowValue HighValue Data type num High logical value to define the condition Low Value Data type num Low logical value to define the condition Delta Value Data type num Defines the minimum logical signal difference before generation of a new inter rupt The current signal value compared to the previous stored reference value must be greater than the specified Delta Value before generation of a new inter rupt DPos Data type switch Specifies that only positive logical signal differences will give new interrupts DNeg Data type switch Specifies that only negative logical signal differences will give new interrupts If neither of the DPos and DNeg arguments are used both positive and negative differences will generate new interrupts Interrupt Data type intnum The interrupt identity This interrupt should have previously been connected to a trap routine by means of the instruction CONNECT 118 RAPID reference part 1 Instructions A Z ISignalAO Instruction Advanced functions Program execution See instruction SignalAI for information about Program execution Condition for interrupt generation More examples Same principles are valid for JSignalAO as for ISignalAl Limitations The HighValue and LowValue arguments should be in the range logical maximum value logical minimum value defined for the signal HighValue must be above Low Value DeltaValue must be 0 or positive The limitati
160. data GetTrapData err_data Store interrupt information in the non value variable err_data Arguments GetTrapData TrapEvent TrapEvent Data type trapdata Variable for storage of the information about what caused the trap to be exe cuted Limitation This instruction can only be used in a TRAP routine Example VAR errdomain err_domain VAR num err_number VAR errtype err_type VAR trapdata err_data TRAP trap_err GetTrapData err_data ReadErrData err_data err_domain err_number err_type ENDTRAP When an error is trapped to the trap routine trap_err the error domain the error number and the error type are saved into appropriate non value variables of the type trapdata RAPID reference part 1 Instructions A Z 71 GetTrapData Advanced functions Instruction Syntax GetTrapData TrapEvent lt variable VAR of trapdata gt Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt management Basic Characteristics Interrupts Interrupt data for current TRAP Data Types trapdata Orders an interrupt on errors Instructions Error Get interrupt data for current TRAP Instructions GetTrapData Gets information about an error Instructions ReadErrData 72 RAPID reference part 1 Instructions A Z GOTO Instruction GOTO Goes to a new instruction GOTO is used to transfer program execution to another line a label within th
161. dling If an error occurs during the rewind the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler Syntax Rewind IODevice lt variable VAR of iodev gt Related information Described in Opening etc of files RAPID Summary Communication 248 RAPID reference part 1 Instructions A Z Save Instruction Save Save a program module Save is used to save a program module The specified program module in the program memory will be saved with the original specified in Load or StartLoad or specified file path It is also possible to save a system module at the specified file path Example Load HOME PART_B MOD Save PART B Load the program module with the file name PART B MOD from HOME into the program memory Save the program module PART B with the original file path HOME and with the original file name PART B MOD Arguments Save Task ModuleName FilePath File Task Data type taskid The program task in which the program module should be saved If this argument is omitted the specified program module in the current execut ing program task will be saved For all program tasks in the system predefined variables of the data type taskid will be available The variable identity will be taskname Id e g for the MAIN task the variable identity will be MAINId TSK1 TSK1Id etc ModuleName Data type string The program modu
162. drop_payload WITH gohome ISignalDI Single dil 1 drop payload MoveL pl v500 fine gripper IDelete drop payload ENDPROC TRAP gohome StopMove Quick ClearPath IDelete drop_payload MoveL home v500 fine gripper RAISE ERR DROP LOAD ERROR RAISE ENDTRAP If the same program is being run but without StopMove and ClearPath in the trap routine gohome the robot will continue to position p before going back to position home If programming MoveL home with flying point zone instead of stop point fine the movement is going on during the RAISE to the error handler in proce dure minicycle and further until the movement is ready Syntax ClearPath Related information Described in Stop robot movements Instructions StopMove Error recovery RAPID Summary Error Recovery Basic Characteristics Error Recovery 26 RAPID reference part 1 Instructions A Z ClkReset Instruction ClikReset Resets a clock used for timing ClkReset is used to reset a clock that functions as a stop watch used for timing This instruction can be used before using a clock to make sure that it is set to 0 Example ClkReset clock1 The clock clock is reset Arguments ClikReset Clock Clock Data type clock The name of the clock to reset Program execution When a clock is reset it is set to 0 If a clock is running it will be stopped and then reset Syntax ClkReset Clock lt variab
163. duction RAPID reference part 1 Instructions A Z TPReadNum Instruction TPReadNum Reads a number from the teach pendant TPReadNum Teach Pendant Read Numerical is used to read a number from the teach pendant Example TPReadNum reg1 How many units should be produced The text How many units should be produced is written on the teach pendant display Program execution waits until a number has been input from the numeric keyboard on the teach pendant That number is stored in reg Arguments TPReadNum Answer String MaxTime DIBreak BreakFlag Answer Data type num The variable for which the number input via the teach pendant is returned String Data type string The information text to be written on the teach pendant a maximum of 80 char acters MaxTime Data type num The maximum amount of time that program execution waits If no number is input within this time the program continues to execute in the error handler unless the BreakFlag is used see below The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed DIBreak Digital Input Break Data type signaldi The digital signal that may interrupt the operator dialog If no number is input when the signal is set to 1 or is already 1 the program continues to execute in the error handler unless the BreakFlag is used see below The constant ERR_TP_DIBREAK can be used to test whether or not this has
164. e According to this description In the stop point Not at all Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error This error tells the user that the mode switch can result in missed execution of a RAPID procedure in the queue for execution on the path This error can be avoided if the program is stopped with StopInstr before the mode switch Instruction MoveJSync cannot be used on TRAP level The specified RAPID procedure cannot be tested with stepwise execution Syntax MoveJSync ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V T lt expression IN of num gt Zone lt expression IN of zonedata gt V Z lt expression IN of num gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt Related information Other positioning instructions Definition of velocity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Princip
165. e Offsets cannot be added to one another using EOffsSet The external axes offset is automatically reset at a cold start up when a new program is loaded when starting program executing from the beginning Syntax EOffsSet EAxOffs lt expression IN of extjoini gt Related information Described in Deactivation of offset for external axes Definition of offset using two positions Displacement of the robot s movements Definition of data of the type extjoint Coordinate Systems Instructions EOffsOff Instructions EOffsOn Instructions PDispOn Data Types extjoint Motion Principles Coordinate Sys tems RAPID reference part 1 Instructions A Z ErrWrite Instruction ErrWrite Write an error message ErrWrite Error Write is used to display an error message on the teach pendant and write it in the robot message log Example ErrWrite PLC error Fatal error in PLC RL2 Call service Stop A message is stored in the robot log The message is also shown on the teach pen dant display ErrWrite W Search error No hit for the first search RAISE try_search_again A message is stored in the robot log only Program execution then continues Arguments ErrWrite W Header Reason RL2 RL3 RL4 W Warning Data type switch Gives a warning that is stored in the robot error message log only not shown directly on the teac
166. e which results in a non linear path Generally speaking the TCP is moved at the approximate programmed velocity regardless of whether or not the external axes are coordinated The tool is reoriented and the external axes are moved at the same time as the TCP moves If the programmed velocity for reorientation or for the external axes cannot be attained the velocity of the TCP will be reduced A corner path is usually generated when movement is transferred to the next section of the path If a stop point is specified in the zone data program execution only continues when the robot and external axes have reached the appropriate position Examples MoveJ v2000 V 2200 z40 Z 45 grip3 The TCP of the tool grip3 is moved along a non linear path to a position stored in the instruction The movement is carried out with data set to v2000 and 240 the velocity and zone size of the TCP are 2200 mm s and 45 mm respectively MoveJ p5 v2000 fine Inpos inpos50 grip3 The TCP of the tool grip3 is moved a non linear path to a stop point p5 The robot considers it to be in the point when 50 of the position condition and 50 of the speed condition for a stop point fine are satisfied It waits at most for 2 sec onds for the conditions to be satisfied See predefined data inpos50 of data type stoppointdata MoveJ Conc v2000 240 grip3 The TCP of the tool grip3 is moved along a non linear path to a position stored in the i
167. e di4 input has been set WaitDI grip_status 0 Program execution continues only after the grip_ status input has been reset Arguments WaitDI Signal Value MaxTime TimeFlag Signal Data type signaldi The name of the signal Value Data type dionum The desired value of the signal MaxTime Maximum Time Data type num The maximum period of waiting time permitted expressed in seconds If this time runs out before the condition is met the error handler will be called if there is one with the error code ERR WAIT MAXTIME If there is no error handler the execution will be stopped TimeFlag Timeout Flag Data type bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met If this parameter is included in the instruction it is not considered to be an error if the max time runs out This argument is ignored if the MaxTime argument is not included in the instruc tion RAPID reference part 1 Instructions A Z 389 Wait DI Instruction Program execution If the value of the signal is correct when the instruction is executed the program sim ply continues with the following instruction If the signal value is not correct the robot enters a waiting state and when the signal changes to the correct value the program continues The change is detected with an interrupt which gives a fast response not polled When the robot is waiting the tim
168. e enable steps a recoverable error will be generated After a sequence of JODisable IOEnable all outputs for the current I O unit will be set to the old values before JODisable RAPID reference part 1 Instructions A Z 101 TOEnable Instruction Error handling Following recoverable errors can be generated The errors can be handled in an error handler The system variable ERRNO will be set to ERR_IOENABLE if the time out time runs out before the unit is enabled ERR CALLIO INTER if an IOEnable or 10Disable request is interrupted by another request to the same unit ERR NAME INVALID if the unit name don t exist or if the unit isn t allowed to be disabled Example IOEnable can also be used to check whether some I O unit is disconnected for some reason VAR num max_retry 0 IOEnable cell1 0 SetDO celll_sig3 1 ERROR IF ERRNO ERR IOENABLE THEN IF max_retry lt 5 THEN WaitTime 1 max_retry max_retry 1 RETRY ELSE RAISE ENDIF ENDIF Before using signals on the I O unit cell1 a test is done by trying to enable the I O unit with timeout after 0 sec If the test fails a jump is made to the error han dler In the error handler the program execution waits for sec and a new retry is made After 5 retry attempts the error ERR_IOENABLE is propagated to the caller of this routine Syntax IOEnable UnitName lt expression IN of string gt MaxTime
169. e end point Time Data type switch Used when the value specified for the argument Distance is in fact a time in sec onds positive value instead of a distance Position related interrupts in time can only be used for short times lt 0 5 s before the robot reaches the end point of the instruction See the section entitled Limita tions for more details Interrupt Data type intnum Variable used to identify an interrupt Program execution 352 When running the instruction 7rigg nt data is stored in a specified variable for the argument 7riggData and the interrupt that is specified in the variable for the argument Interrupt is activated Afterwards when one of the instructions 7riggL TriggC or TriggJ is executed the fol lowing are applicable with regard to the definitions in Trigg nt RAPID reference part 1 Instructions A Z Trigg Int Instruction Advanced functions The distance specified in the argument Distance Linear movement The straight line distance Circular movement The circle arc length Non linear movement The approximate arc length along the path to obtain adequate accuracy the distance should not exceed one half of the arc length End point with corner path a If the Distance is 0 the interrupt will be generated when the robot s TCP is here Figure 43 Position related interrupt on a corner path The position related interrupt will be generated when the start point
170. e is supervised and if it exceeds the max time value the program will continue if a Time Flag is specified or raise an error if it s not If a Time Flag is specified this will be set to true if the time is exceeded otherwise it will be set to false In manual mode if the argument npos is used and Time is greater than 3 s an alert box will pop up asking if you want to simulate the instruction If you don t want the alert box to appear you can set system parameter SimMenu to NO System Parameters Topics Communication Types System misc Syntax WaitDI Signal lt variable VAR of signaldi gt Value lt expression IN of dionum gt MaxTime lt expression IN of num gt TimeFlag lt variable VAR of bool gt Related information Described in Waiting until a condition is satisfied Instructions WaitUntil Waiting for a specified period of time Instructions WaitTime 390 RAPID reference part 1 Instructions A Z Wait DO Instruction WaitDO Waits until a digital output signal is set WaitDO Wait Digital Output is used to wait until a digital output is set Example WaitDO dod 1 Program execution continues only after the do4 output has been set WaitDO grip_status 0 Program execution continues only after the grip_status output has been reset Arguments WaitDO Signal Value MaxTime TimeFlag Signal Data type signaldo
171. e movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point moved to the specified destination point RAPID reference part 1 Instructions A Z 173 MoveJDO Instruction WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary TCP or coordinated external axes are used this argument must be specified Signal Data type signaldo The name of the digital output signal to be changed Value Data type dionum The desired value of signal 0 or 1 Program execution See the instruction MoveJ for more information about joint movement The digital output signal is set reset in the middle of the corner path for flying points as shown in Figure 14 p3 Sets the signal dol to 1 MoveJDO p2 v1000 z30 tool2 dol 1 Zone Figure 14 Set Reset of digital output signal in the corner path with MoveJDO For stop points we recommend the use of normal programming sequence with MoveJ SetDO But when using stop point in instruction Move DO the digital output signal is set reset when the robot reaches the stop point The specified I O signal is set reset in execution mode continuously and stepwi
172. e robot s working space Before using the instruction M7oolTCPCalib some preconditions must be fulfilled The tool that is to be calibrated must be mounted on the robot and defined with correct component robhold TRUE If using the robot with absolute accuracy the load and centre of gravity for the tool should already be defined LoadIdentify can be used for the load definition Tool0 wobj0 and PDispOff must be activated before jogging the robot Jog the TCP of the actual tool as close as possible to the world fixed tip and define a jointtarget for the first point p1 Define a further three positions p2 p3 and p4 all with different orientations World fixed tip Figure 19 Definition of 4 jointtargets pl p4 RAPID reference part 1 Instructions A Z 197 MToolTCPCalib Example Instruction Created with actual TCP pointing at the world fixed tip CONST jointtarget p1 CONST jointtarget p2 CONST jointtarget p3 CONST jointtarget p4 PERS tooldata tool1 TRUE 0 0 0 1 0 0 0 0 001 0 0 0 001 1 0 0 0 0 0 0 VAR num max err VAR num mean_err Instructions for createing or ModPos of p1 p4 MoveAbsJ p1 v10 fine tool0 MoveAbs J p2 v10 fine tool0 MoveAbsJ p3 v10 fine tool0 MoveAbsJ p4 v10 fine tool0 MToolTCPCalib pl p2 p3 p4 tooll max_err mean_err The TCP value tframe trans of tool 1 will be calibrated
173. e same routine Examples GOTO next next Program execution continues with the instruction following next regl 1 next regl regl 1 IF reg1 lt 5 GOTO next The next program loop is executed five times IF reg1 gt 100 GOTO highvalue lowvalue GOTO ready highvalue ready If reg is greater than 100 the highvalue program loop is executed otherwise the lowvalue loop is executed Arguments GOTO Label Label Identifier The label from where program execution is to continue RAPID reference part 1 Instructions A Z 73 GOTO Instruction Limitations It is only possible to transfer program execution to a label within the same routine It is only possible to transfer program execution to a label within an IF or TEST instruc tion if the GOTO instruction is also located within the same branch of that instruction It is only possible to transfer program execution to a label within a FOR or WHILE instruction if the GOTO instruction is also located within that instruction Syntax EBNF GOTO lt identifier gt Related information Described in Label Instructions label Other instructions that change the program RAPID Summary flow Controlling the Program Flow 74 RAPID reference part 1 Instructions A Z GripLoad Instruction GripLoad Defines the payload of the robot GripLoad is used to define the payload which the robot holds in its gripper Description It is impor
174. e search signal changes to active However the robot is moved a distance before it stops and is not moved back to the searched position i e to the position where the signal changed RAPID reference part 1 Instructions A Z 261 SearchL Instruction SStop Smooth Stop Data type switch The robot movement is stopped as quickly as possible while keeping the TCP close to or on the path smooth stop when the value of the search signal changes to active However the robot is moved only a small distance before it stops and is not moved back to the searched position i e to the position where the signal changed SStop is faster then PStop But when the robot is running faster than 100 mm s it stops in the direction of the tangent of the movement which causes it to marginally slide off the path Sup Supervision Data type switch The search instruction is sensitive to signal activation during the complete move ment flying search i e even after the first signal change has been reported If more than one match occurs during a search program execution stops If the argument Stop PStop SStop or Sup is omitted the movement continues flying search to the position specified in the 7oPoint argument same as with argument Sup Signal Data type signaldi The name of the signal to supervise Flanks Data type switch The positive and the negative edge of the signal is valid for a search hit If the argument Fla
175. e the logical value of the analog input signal ai is lower than 0 5 or higher than 5 and the absolute signal dif ference compared to the stored reference value is bigger than 0 1 Arguments ISignalAT Single Signal Condition HighValue LowValue DeltaValue DPos DNeg Interrupt Single Data type switch Specifies whether the interrupt is to occur once or cyclically If the argument Single is set the interrupt occurs once at the most If the argu ment is omitted an interrupt will occur each time its condition is satisfied Signal Data type signalai The name of the signal that is to generate interrupts RAPID reference part 1 Instructions A Z 105 1SignalAI Advanced functions Instruction Condition Data type aiotrigg Specifies how HighValue and LowValue define the condition to be satisfied AIO ABOVE HIGH logical value of the signal is above HighValue AIO BELOW HIGH logical value of the signal is below HighValue AIO ABOVE LOW logical value of the signal is above LowValue AIO BELOW LOW logical value of the signal is below LowValue AIO_BETWEEN logical value of the signal is between LowValue and HighValue AIO_OUTSIDE logical value of the signal is above HighValue or below LowValue AIO_ALWAYS independently of HighValue and LowValue HighValue Data type num High logical value to define the condition LowValue Data type num Low logical value to define the condition DeltaValue Data type num
176. e types description below Tuning friction compensation parameters see below These two methods can be combined Other possibilities to improve the path accuracy Decreasing path resolution can improve the path Note a value of path resolu tion which is too low will cause CPU load problems The accuracy of straight lines can be improved by decreasing acceleration using AccSet Example AccSet 20 10 RAPID reference part 1 Instructions A Z 379 TuneServo Instruction Description 380 Tune _df Tune_df is used for reducing overshoots or oscillations along the path There is always an optimum tuning value that can vary depending on position and movement length This optimum value can be found by changing the tuning in small steps 1 2 on the axes that are involved in this unwanted behavior Normally the optimal tuning will be found in the range 70 130 Too low or too high tuning val ues have a negative effect and will impair movements considerably When the tuning value at the start point of a long movement differs considerably from the tuning value at the end point it can be advantageous in some cases to use an inter mediate point with a corner zone to define where the tuning value will change Some examples of the use of TuneServo to optimise tuning follow below IRB 6400 in a press service application extended and flexible load axes 4 6 Reduce the tuning value for the current wrist axis until
177. e velocity of the tool centre point the external axes and of the tool reorientation T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Trigg 1 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions 7rigg O TriggEquip or TriggInt T2 Trigg 2 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt 334 RAPID reference part 1 Instructions A Z TriggC Instruction Advanced functions T3 Trigg 3 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt T4 Trigg 4 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO TriggEquip or TriggInt TS Trigg 5 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO TriggEquip or TriggInt T6 Trigg 6 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions
178. e written after the text string NoNewLine Data type switch Omits the line feed character that normally indicates the end of the text RAPID reference part 1 Instructions A Z 409 Write Advanced functions Instruction Program execution The text string is written to a specified file or serial channel If the argument WoNew Line is not used a line feed character LF is also written If one of the arguments Num Bool Pos or Orient is used its value is first converted to a text string before being added to the first string The conversion from value to text string takes place as follows Argument Value Text string Num 23 2g Num 1 141367 1 14137 Bool TRUE TRUE Pos 1817 3 905 17 879 11 1817 3 905 17 879 11 Orient 0 96593 0 0 25882 0 0 96593 0 0 25882 0 The value is converted to a string with standard RAPID format This means in principle 6 significant digits If the decimal part is less than 0 000005 or greater than 0 999995 the number is rounded to an integer Example VAR iodev printer Open com2 printer Write WHILE DInput stopprod 0 DO produce_part Write printer Produced part Num reg1 NoNewLine Write printer NoNewLine Write printer CTime ENDWHILE Close printer A line including the number of the produced part and the time is output to a printer each cycle The printer is connected to serial channel com2 The printed message could look like this Produced
179. ecuted before the SpyStop instruction is ignored Examples IF debug TRUE SpyStart HOME spy log produce_sheets IF debug TRUE SpyStop If the debug flag is true start recording execution data in the file spy og on the HOME disk perform actual production stop recording and close the file spy log Limitations Avoid using the floppy disk option for recording since writing to the floppy is very time consuming Never use the spy function in production programs because the function increases the cycle time and consumes memory on the mass memory device in use Syntax SpyStop RAPID reference part 1 Instructions A Z 289 SpyStop Instruction Related information Described in Start recording of execution data Instructions SpyStart 290 RAPID reference part 1 Instructions A Z Load Instruction StartLoad Load a program module during execution StartLoad is used to start the loading of a program module into the program memory during execution When loading is in progress other instructions can be executed in parallel The loaded module must be connected to the program task with the instruction Wait Load before any of its symbols routines can be used The loaded program module will be added to the modules already existing in the pro gram memory A program or system module can be loaded in static default or dynamic mode Static mode Tabell 5 How different operations affect a static
180. ecuting instruc tion TuneReset at a cold start up when a new program is loaded when starting program execution from the beginning Syntax TuneReset Related information Described in Tuning servos Instructions TuneServo RAPID reference part 1 Instructions A Z 377 TunekReset Instruction 378 RAPID reference part 1 Instructions A Z Instruction TuneServo TuneServo Tuning servos A TuneServo is used to tune the dynamic behavior of separate axes on the robot It is not necessary to use TuneServo under normal circumstances but sometimes tuning can be optimised depending on the robot configuration and the load characteristics For exter nal axes TuneServo can be used for load adaptation Incorrect use of the TuneServo can cause oscillating movements or torques that can damage the robot You must bear this in mind and be careful when using the TuneServo Avoid doing TuneServo commands at the same time as the robot is moving It can result in momentary high CPU loads causing error indication and stops Note To obtain optimal tuning it is essential that the correct load data is used Check on this before using TuneServo Generally optimal tuning values often differ between different robots Optimal tuning may also change with time Improving path accuracy For robots running at lower speeds TuneServo can be used to improve the path accu racy by Tuning tune_kv and tune ti see the tun
181. ed at once without waiting for the sig nal to be physically set Signal Data type signaldo The name of the signal to be changed RAPID reference part 1 Instructions A Z 273 Set DO Instruction Value Data type dionum The desired value of the signal 0 or 1 Tabell 4 System interpretation of specified Value Specified Value Set digital output to 0 0 Any value except 0 1 Program execution The true value depends on the configuration of the signal If the signal is inverted in the system parameters the value of the physical channel is the opposite Syntax SetDO V SDelay lt expression IN of num gt Sync Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Described in Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles O Princi ples Configuration of I O User s Guide System Parameters 274 RAPID reference part 1 Instructions A Z SetGO Instruction SetGO Changes the value of a group of digital output signals SetGO is used to change the value of a group of digital output signals with or without a time delay Example SetGO go2 12 The signal go is set to 2 If go2 comprises 4 signals e g outputs 6 9 outputs 6 and 7 are set to zero while outputs 8 and 9 are set to one
182. ed by WaitLoad To save linking time the instruction UnLoad and WaitLoad can be combined in the instruction WaitLoad by using the option argument UnLoadPath Arguments StartLoad Dynamic FilePath File LoadNo Dynamic Data type switch The switch enables loading of a program module in dynamic mode Otherwise the loading is in static mode FilePath Data type string The file path and the file name to the file that will be loaded into the program memory The file name shall be excluded when the argument File is used 292 RAPID reference part 1 Instructions A Z Load Instruction File Data type string When the file name is excluded in the argument Fi ePath then it must be defined with this argument LoadNo Data type loadsession This is a reference to the load session that should be used in the instruction Wait Load to connect the loaded program module to the program task Program execution Execution of StartLoad will only order the loading and then proceed directly with the next instruction without waiting for the loading to be completed The instruction WaitLoad will then wait at first for the loading to be completed if it is not already finished and then it will be linked and initialised The initialisation of the loaded module sets all variables at module level to their init values Unsolved references will be accepted if the system parameter for Zasks BindRef is set to NO However when the program is
183. ed type are dis carded without any trap execution Example Sleep siglint The interrupt sig int is deactivated Arguments ISleep Interrupt Interrupt Data type intnum The variable interrupt identity of the interrupt Program execution Any generated interrupts of the specified type are discarded without any trap execu tion until the interrupt has been re activated by means of the instruction JWatch Inter rupts which are generated while S eep is in effect are ignored Example VAR intnum timeint CONNECT timeint WITH check_serialch ITimer 60 timeint Sleep timeint WriteBin chl buffer 30 IWatch timeint TRAP check serialch WriteBin ch1 buffer 1 IF ReadBin ch1 Time 5 lt 0 THEN TPWrite The serial communication is broken EXIT ENDIF RAPID reference part 1 Instructions A Z 129 ISleep ENDTRAP Instruction Communication across the ch1 serial channel is monitored by means of interrupts which are generated every 60 seconds The trap routine checks whether the com munication is working When however communication is in progress these interrupts are not permitted Error handling Interrupts which have neither been ordered nor enabled are not permitted If the inter rupt number is unknown the system variable ERRNO will be set to ERR UNKINO see Data types errnum The error can be handled in the error handler Syntax ISleep Interrupt lt variable
184. ement the robot supervises a digital input signal When the value of the signal changes to the requested one the robot immediately reads the current posi tion This instruction can typically be used when the tool held by the robot is a probe for surface detection Using the SearchL instruction the outline coordinates of a work object can be obtained Examples SearchL dil sp p10 v100 probe The TCP of the probe is moved linearly towards the position p10 at a speed of v100 When the value of the signal di changes to active the position is stored in sp SearchL Stop di2 sp p10 v100 probe The TCP of the probe is moved linearly towards the position p 0 When the value of the signal di2 changes to active the position is stored in sp and the robot stops immediately Arguments SearchL Stop PStop SStop Sup Signal Flanks SearchPoint ToPoint Speed V T Tool WObj Corr Stop Stiff Stop Data type switch The robot movement is stopped as quickly as possible without keeping the TCP on the path hard stop when the value of the search signal changes to active However the robot is moved a small distance before it stops and is not moved back to the searched position i e to the position where the signal changed PStop Path Stop Data type switch The robot movement is stopped as quickly as possible while keeping the TCP on the path soft stop when the value of th
185. en Program execution The teach pendant display is completely cleared of all text The next time text is writ ten it will be entered on the uppermost line of the display Syntax TPErase Related information Described in Writing on the teach pendant RAPID Summary Communication RAPID reference part 1 Instructions A Z 319 TPErase Instruction 320 RAPID reference part 1 Instructions A Z TPReadFK Instruction TPReadFK Reads function keys TPReadFK Teach Pendant Read Function Key is used to write text above the func tions keys and to find out which key is depressed Example TPReadFK reg1 More stEmpty stEmpty stEmpty Yes No The text More is written on the teach pendant display and the function keys 4 and 5 are activated by means of the text strings Yes and No respectively see Fig ure 35 Program execution waits until one of the function keys 4 or 5 is pressed In other words reg will be assigned 4 or 5 depending on which of the keys is depressed More Yes No Figure 35 The operator can input information via the function keys Arguments TPReadFK Answer Text FK1 FK2 FK3 FK4 FK5 MaxTime DIBreak BreakFlag Answer Data type num The variable for which depending on which key is pressed the numeric value 1 5 is returned If the function
186. eneral limitations according to instruction MoveC Syntax MoveCDO CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Other positioning instructions Definition of velocity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems Movements with I O settings RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordi nate Systems Motion and I O Principles Synchro nisation Using Logical Instructions 163 MoveCDO Instruction 164 RAPID reference part 1 Instructions A Z MoveCSync Instruction Advanced functions MoveCSync Moves the robot circularly and executes a RAPID procedure MoveCSync Move Circular Synchronously is used to move the tool centre point TCP circular
187. enerates the error ERR WHLSEARCH more than one signal detection occurred this generates the error ERR_WHLSEARCH only if the Sup argument is used the signal has already a positive value at the beginning of the search process this generates the error ERR_SIGSUPSEARCH only if the Flanks argument is omitted Errors can be handled in different ways depending on the selected running mode Continuous forward ERR_WHLSEARCH No position is returned and the movement always continues to the programmed desti nation point The system variable ERRNO is set to ERR WHLSEARCH and the error can be handled in the error handler of the routine RAPID reference part 1 Instructions A Z 257 SearchC Instruction Continuous forward Instruction forward ERR_SIGSUPSEARCH No position is returned and the movement always stops as quickly as possible at the beginning of the search path The system variable ERRNO is set to ERR_SIGSUPSEARCH and the error can be handled in the error handler of the rou tine Instruction forward ERR_WHLSEARCH No position is returned and the movement always continues to the programmed desti nation point Program execution stops with an error message Instruction backward During backward execution the instruction just carries out the movement without any signal supervision Syntax SearchC 258 PV Stop PStop EVP SStop V Sup Signal lt
188. ent to be decremented Example TPReadNum no _ of _ parts How many parts should be produced WHILE no_of_parts gt 0 DO produce_part Decr no_of parts ENDWHILE The operator is asked to input the number of parts to be produced The variable no_of_parts is used to count the number that still have to be produced Syntax Decr Name lt var or pers INOUT of num gt RAPID reference part 1 Instructions A Z 47 Decr Related information 48 Incrementing a variable by 1 Subtracting any value from a variable Changing data using an arbitrary expression e g multiplication Instruction Described in Instructions Incr Instructions Add Instructions RAPID reference part 1 Instructions A Z DitherAct Instruction DitherAct Enables dither for soft servo DitherAct is used to enable the dither functionality which will reduce the friction in soft servo for IRB 7600 Examples SoftAct MechUnit IRB 2 100 WaitTime 2 DitherAct MechUnit IRB 2 WaitTime 1 DitherDeact SoftDeact Dither is enabled only for one second while in soft servo DitherAct MechUnit IRB 2 SoftAct MechUnit IRB 2 100 WaitTime 1 MoveL pl v50 z20 tooll SoftDeact DitherDeact Dither is enabled for axis 2 Movement is delayed one second to allow sufficient transition time for the SoftAct ramp If DitherAct is called before SoftAct dither will start whenever a SoftAc
189. equip not in robot work area WZDisable equip 1 ENDPROC Definition of temporary world zones home and service in the application pro gram that sets the signals do_home and do service when the robot is inside the sphere home or service respectively during program execution or when jogging Also definition of a temporary world zone equip which is active only in the part of the robot program when equip is inside the working area for the robot At that time the robot stops before entering the equip volume both during pro gram execution and manual jogging equip can be disabled or enabled from other program tasks by using the persistent variable equip1 value RAPID reference part 1 Instructions A Z 431 WZDOSet Advanced functions Limitations Syntax Instruction A world zone cannot be redefined by using the same variable in the argument World Zone A stationary world zone cannot be deactivated activated again or erased in the RAPID program A temporary world zone can be deactivated WZDisable activated again WZEnable or erased WZFree in the RAPID program WZDOSet Temp VStat WorldZone lt variable or persistent INOUT of wztemporary gt Inside Before Shape lt variable VAR of shapedata gt Signal lt variable VAR of signaldo gt SetValue lt expression IN of dionum gt Related information 4
190. er pro gram may not be based on a normal sequence of trigger activities for an incomplete movement TriggJ PVY Conc ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V T gt lt expression IN of num gt Trigg 1 lt variable VAR of triggdata gt V T2 lt variable VAR of triggdata gt V T3 lt variable VAR of triggdata gt V T4 lt variable VAR of triggdata gt V TS lt variable VAR of triggdata gt V T6 lt variable VAR of triggdata gt Zone lt expression IN of zonedata gt V Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt Related information Described in Linear movement with triggs Instructions TriggL Circular movement with triggers Instructions TriggC Definition of triggers Instructions TrigglO TriggEquip TriggInt or TriggCheckIO Joint movement Motion Principles Positioning during Program Execution Definition of velocity Data Types speeddata Definition of zone data Data Types zonedata Definition of stop point data Data Types stoppointdata Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata Motion in general Motion Principles RA
191. errupts are once more permitted Program execution Interrupts which occur during the time in which an Disable instruction is in effect are placed in a queue When interrupts are permitted once more Enable the interrupt s of the program then immediately start generating executed in first in first out order in the queue Program execution then continues in the ordinary program and interrupts which occur after this are dealt with as soon as they occur Interrupts are always permitted when a program is started from the beginning Inter rupts disabled by the S eep instruction are not affected by the Enable instruction Syntax TEnable Related information Described in Summary of interrupts RAPID Summary Interrupts Permitting no interrupts Instructions Disable RAPID reference part 1 Instructions A Z 81 IEnable Instruction 82 RAPID reference part 1 Instructions A Z LError Instruction Advanced functions IError Orders an interrupt on errors Error Interrupt Errors is used to order and enable an interrupt when an error occurs Error warning or state change can be logged with ZError Refer to the User Guide Error Management System and Error Messages for more information Example VAR intnum err_int CONNECT err_int WITH err_trap IError COMMON ERR TYPE ALL err int Orders an interrupt in RAPID and execution of the TRAP routine err_trap each time an error warning or state c
192. es IO check at a fixed position sscccssscssssssssesssesssscssssssssossees 339 TriggEquip Defines a fixed position time I O event 345 TriggInt Defines a position related interrupt ss 351 TrigglO Defines a fixed position I O event 357 TriggJ Axis wise robot movements With events cscscscssscccssccssscssssssssssssssssssssssseees 363 TriggL Linear robot movements With events 369 TRYNEXT Jumps over an instruction which has caused an error ss 375 TuneReset Resetting servo tuning sseessoesssesssesssossoossssssssesssoessoossoosssossssesssesssoossoossoesssose 377 TuneServo Tuning Servos eessoesssesssoessooesoossoossssesssosssooesoosssossssesssosssoossoosssssessssssosssoosssosos 379 UnLoad Unload a program module during execution e sesssesssocesooesooesssssssesssecssoossossses 385 WaitDI Waits until a digital input signal is Set oesssesssesssoossoossosssssesssesssoososssssssssesssosee 389 WaitDO Waits until a digital output signal is set sessssessseeseeseessnesse 391 WaitLoad Connect the loaded module to the task ressens 393 WaitTime Waits a given amount Of time e sesesooossosssesssocesoossoossssesssesssocssosssosesssesssesesosso 397 WaitUntil Waits until a condition is Met sessoeseessessoesoossessoesossoossessossoossessoesoossoesoesoossoese 399 VelSet Changes the programmed velocity e sseeesooesoossssssssosssoossoossoossssesssesesoossosssssess
193. esssosse 403 WHILE Repeats as long as iia eesssesesooesooesssesssesssocsoossosesssesssocssooesoossssssssesssoessoossosossssessoessossso 405 WorldAccLim Control acceleration in world coordinate system 407 Write Writes to a character based file or serial channel 409 WriteAnyBin Writes data to a binary serial channel or a file 413 WriteBin Writes to a binary serial channel sssssssssssssssesssessesssesesesse 415 WriteStrBin Writes a string to a binary serial channel 419 WZBoxDef Define a box shaped world ZONE scccsccccssscccsecessscccssscscssssccsssecsessessesees 421 WZCylDef Define a cylinder shaped world ZONE cccsscccsssccscssccssscccsssescssescesseseesees 423 WZDisable Deactivate temporary world Zone SUPErVISION ccccscccerccscsscscssseseesees 427 WZDOSet Activate world zone to set digital output sense 429 WZEnable Activate temporary World zone supervision ses 433 WZFree Erase temporary world Zone supervision ssssesseesseesesesesssssee 435 WZHomeJointDef Define a world zone for home joints 437 WZLimJointDef Define a world zone for limitation in joints cccsscccscssseeseeeees 441 WZLimSup Activate world zone limit supervision ses 445 WZSphDef Define a sphere shaped world Zone 449 RAPID reference part 1 Instructions A Z IV AccSet Instruction AccSet Reduces the acceleration AccSet is used when handling fragile loads It
194. estSignRead returns the mean value of the latest available internal samples as shown in the table below Tabell 7 Specification of sample time Sample Time in seconds Result from TestSignRead 0 Mean value of the latest 8 samples generated each 0 5 ms 0 001 Mean value of the latest 4 samples generated each ms 0 002 Mean value of the latest 2 samples generated each 2 ms Greater or equal to 0 004 Momentary value generated at specified sample time 0 1 Momentary value generated at specified sample time 100 ms Program execution The definition of test signal is activated and the robot system starts the sampling of the test signal The sampling of the test signal is active until A new TestSignDefine instruction for the actual channel is executed All test signals are deactivated with execution of instruction TestSignReset All test signals are deactivated with a warm start of the system Error handling If there is an error in the parameter MechUnit the system parameter ERRNO is set to ERR_UNIT_PAR If there is an error in the parameter Axis ERRNO is set to ERR_AXIS PAR Syntax TestSignDefine Channel lt expression IN of num gt Signalld lt expression IN of testsignal gt MechUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt SampleTime lt expression IN of num gt 314
195. estart will then be blocked 1 e the program can only be restarted from the first instruction of the main routine if the start point is not moved manually The EXIT instruction should be used when fatal errors occur or when program execu tion is to be stopped permanently The Stop instruction is used to temporarily stop pro gram execution Example ErrWrite Fatal error Illegal state EXIT Program execution stops and cannot be restarted from that position in the pro gram Syntax EXIT Related information Described in Stopping program execution temporarily Instructions Stop RAPID reference part 1 Instructions A Z 61 EXIT Instruction 62 RAPID reference part 1 Instructions A Z ExitCycle Instruction ExitCycle Break current cycle and start next ExitCycle is used to break the current cycle and move the PP back to the first instruc tion in the main routine If the program is executed in continuous mode it will start to execute the next cycle If the execution is in cycle mode the execution will stop at the first instruction in the main routine Example VAR num cyclecount 0 VAR intnum error_intno PROC main IF cyclecount 0 THEN CONNECT error_intno WITH error_trap ISignalDI di_error 1 error_intno ENDIF cyclecount cyclecount 1 start to do something intelligent ENDPROC TRAP error_trap TPWrite ERROR I will start on the next item ExitCycle ENDTRAP This will
196. ete err_interrupt TRAP trap _err GetTrapData err_ data ReadErrData err data err domain err number err_ type Set domain no 1 13 SetGO go errl err domain Set error no 1 9999 SetGO go _err2 err number ENDTRAP When an error occurs only error not warning or state change the error number is retrieved in the trap routine and its value is used to set 2 groups of digital out puts Limitation It is not possible to order an interrupt on internal errors The same variable for interrupt identity cannot be used more than once without first deleting it Interrupts should therefore be handled as shown in one of the alternatives below VAR intnum err_interrupt 84 RAPID reference part 1 Instructions A Z LError Instruction Advanced functions PROC main CONNECT err_interrupt WITH err_trap IError COMMON _ERR TYPE _ ERR err_interupt WHILE TRUE DO ENDWHILE ENDPROC Interrupts are activated at the beginning of the program These instructions are then kept outside the main flow of the program PROC main VAR intnum err_interrupt CONNECT err_interrupt WITH err_trap IError COMMON _ERR TYPE _ ERR err_interupt Delete err_interrupt ENDPROC The interrupt is deleted at the end of the program and is then reactivated It should be noted in this case that the interrupt is inactive for a short period Syntax IError ErrorDomain lt expression IN of errdomain gt Errorld
197. executed pl A Zone p2 Figure 13 Execution of user defined RAPID procedure at the middle of the corner path For stop points we recommend the use of normal programming sequence with MoveC other RAPID instructions in sequence 166 RAPID reference part 1 Instructions A Z MoveCSync Instruction Advanced functions Execution of the specified RAPID procedure in different execution modes Execution mode Execution of RAPID procedure Continuously or Cycle According to this description Forward step In the stop point Backward step Not at all Limitation General limitations according to instruction MoveC Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error This error tells the user that the mode switch can result in missed execution of a RAPID procedure in the queue for execution on the path This error can be avoided if the program is stopped with StopInstr before the mode switch Instruction MoveCSync cannot be used on TRAP level The specified RAPID procedure cannot be tested with stepwise execution Syntax MoveCSync CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LV T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool
198. f robtarget gt Speed lt expression IN of speeddata gt V T lt expression IN of num gt Trigg 1 lt variable VAR of triggdata gt V T2 lt variable VAR of triggdata gt V T3 lt variable VAR of triggdata gt V T4 lt variable VAR of triggdata gt V TS lt variable VAR of triggdata gt V T6 lt variable VAR of triggdata gt Zone lt expression IN of zonedata gt V Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt LV Corr P RAPID reference part 1 Instructions A Z 373 TriggL Advanced functions Related information 374 Circular movement with triggers Joint movement with triggers Definition of triggers Writes to a corrections entry Linear movement Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Motion in general Instruction Described in Instructions TriggC Instructions Trigg J Instructions Trigg O TriggEquip TriggInt or TriggCheckIO Instructions CorrWrite Motion Principles Positioning during Program Execution Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Motion P
199. f the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity for the tool centre point the tool reorientation and external axes RAPID reference part 1 Instructions A Z 181 MoveL 182 Instruction V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed data T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Z Zone Data type num This argument is used to specify the position accuracy of the robot TCP directly in the instruction The length of the corner path is given in mm which is substi tuted for the corresponding zone specified in the zone data Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre po
200. ference part 1 Instructions A Z 341 TriggCheckIO Advanced functions Instruction Examples VAR triggdata checkgate VAR intnum gateclosed CONNECT gateclosed WITH waitgate TriggCheckIO checkgate 150 gatedi EQ 1 StopMove gateclosed TriggL p1 v600 checkgate z50 grip1 TRAP waitgate log some information WaitDI gatedi 1 StartMove ENDTRAP The gate for the next workpiece operation is checked to be open digital input sig nal gatedi is checked to have the value 7 when the TCP is 50 mm before the point p1 If it is open the robot will move on to p and continue if it is not open the robot is stopped on path and the interrupt routine waitgate is run This inter rupt routine logs some information and typically waits for the conditions to be OK to execute a StartMove instruction in order to restart the interrupted path Limitations T O checks with distance without the argument Zime is intended for flying points corner path I O checks with distance using stop points results in worse accuracy than specified below T O checks with time with the argument Zime is intended for stop points I O checks with time using flying points results in worse accuracy than specified below T O checks with time can only be specified from the end point of the movement This time cannot exceed the current braking time of the robot which is max approx 0 5 s typical values at speed 500 mm s for IRB2400 150 ms and for I
201. fference com pared to the previous stored reference value is bigger than 0 1 ISignalAO aol AIO OUTSIDE 1 5 0 5 0 1 sig lint Orders an interrupt which is to occur each time the logical value of the analog output signal ao is lower than 0 5 or higher than 5 and the absolute signal dif ference compared to the previous stored reference value is bigger than 0 1 Arguments ISignalAO Single Signal Condition HighValue LowValue DeltaValue DPos DNeg Interrupt Single Data type switch Specifies whether the interrupt is to occur once or cyclically If the argument Single is set the interrupt occurs once at the most If the argu ment is omitted an interrupt will occur each time its condition is satisfied Signal Data type signalao The name of the signal that is to generate interrupts Condition Data type aiotrigg Specifies how HighValue and LowValue define the condition to be satisfied RAPID reference part 1 Instructions A Z 117 ISignalAO Advanced functions Instruction AIO ABOVE HIGH logical value of the signal is above HighValue AIO BELOW HIGH logical value of the signal is below HighValue AIO ABOVE LOW logical value of the signal is above LowValue AIO BELOW LOW logical value of the signal is below LowValue AIO BETWEEN logical value of the signal is between LowValue and HighValue AIO OUTSIDE logical value of the signal is above HighValue or below LowValue AIO ALWAYS independently of HighValue an
202. fore it enters the volume When outside or just outside the volume the signal is set to the opposite value Program execution The defined world zone is activated From this moment the robot s TCP position or robot external joint position is supervised and the output will be set when the robot s TCP position or robot external joint position is inside the volume nside or comes close to the border of the volume Before If use of WZHomeJointDef or WZLimJointDef together with WZDOSet the digital out put signal is set only if all active axes with joint space supervision are before or inside the joint space 430 RAPID reference part 1 Instructions A Z WZDOSet Instruction Advanced functions Example VAR wztemporary home VAR wztemporary service PERS wztemporary equip 1 0 PROC main Definition of all temporary world zones zone_output equip in robot work area WZEnable equip1 equip out of robot work area WZDisable equip 1 No use for equip any more WZFree equip 1 ENDPROC PROC zone _output VAR shapedata volume CONST pos p_home 800 0 800 CONST pos p_ service 800 800 800 CONST pos p_ equip1 800 800 0 WZSphDef Inside volume p_ home 50 WZDOSet Temp home Inside volume do home 1 WZSphDef Inside volume p_ service 50 WZDOSet Temp service Inside volume do service 1 WZCylDef Inside volume p_equip1 300 1000 WZLimSup Temp equip1 volume
203. ft servo SoftAct Soft Servo Activate is used to activate the so called soft servo on any axis of the robot or external mechanical unit Example SoftAct 3 20 Activation of soft servo on robot axis 3 with softness value 20 SoftAct 1 90 Ramp 150 Activation of the soft servo on robot axis with softness value 90 and ramp factor 150 SoftAct MechUnit orbit1 1 40 Ramp 120 Activation of soft servo on axis for the mechanical unit orbit with softness value 40 and ramp factor 120 Arguments SoftAct MechUnit Axis Softness Ramp MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit If this argument is omitted it means activation of the soft servo for specified robot axis Axis Data type num Number of the robot or external axis to work with soft servo Softness Data type num Softness value in percent 0 100 0 denotes min softness max stiffness and 100 denotes max softness Ramp Data type num Ramp factor in percent gt 100 The ramp factor is used to control the engagement of the soft servo A factor 100 denotes the normal value with greater values the soft servo is engaged more slowly longer ramp The default value for ramp factor is 100 RAPID reference part 1 Instructions A Z 281 SoftAct Instruction Program execution Softness is activated at the value specified for the current axis The softness value is valid for all moveme
204. functions Instruction Arguments TriggC Conc CirPoint ToPoint Speed T Trigg 1 T2 T3 T4 T5 T6 Zone Inpos Tool WObj Corr Conc Concurrent Data type switch Subsequent instructions are executed at once This argument is used to shorten the cycle time when for example communicating with external equipment and synchronisation is not required It can also be used to tune the execution of the robot path to avoid warning 50024 Corner path failure or error 40082 Deceleration limit When using the argument Conc the number of movement instructions in succes sion is limited to 5 In a program section that includes StorePath RestoPath movement instructions with the argument Conc are not permitted If this argument is omitted and the ToPoint is not a stop point the subsequent instruction is executed some time before the robot has reached the programmed zone CirPoint Data type robtarget The circle point of the robot See the instruction MoveC for a more detailed description of circular movement The circle point is defined as a named position or stored directly in the instruction marked with an in the instruction ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named posi tion or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines th
205. h to obtain adequate accuracy the distance should not exceed one half of the arc length End point with corner path x If the Distance is 0 the output signal is set when the robot s work point is here Figure 45 Fixed position 1 0 on a corner path The fixed position I O will be generated when the start point end point is passed if the specified distance from the end point start point is not within the length of move ment of the current instruction Trigg RAPID reference part 1 Instructions A Z 359 TriggIO Advanced functions Instruction Examples VAR triggdata glueflow TrigglO glueflow 1 Start AOp glue 5 3 Move p1 v1000 z50 tooll TriggL p2 v500 glueflow z50 tooll The analog output signal glue is set to the value 5 3 when the work point passes a point located mm after the start point p Trigg p3 v500 glueflow z50 tooll The analog output signal glue is set once more to the value 5 3 when the work point passes a point located mm after the start point p2 Error handling If the programmed SetValue argument for the specified analog output signal AOp is out of limit the system variable ERRNO is set to ERR AO LIM This error can be han dled in the error handler Limitations T O events with distance without the argument 7ime is intended for flying points corner path I O events with distance using stop points results in worse accuracy than specified below
206. h pendant display Header Data type string Error message heading max 24 characters Reason Data type string Reason for error line 1 of max 40 characters RL2 Reason Line 2 Data type string Reason for error line 2 of max 40 characters RL3 Reason Line 3 Data type string Reason for error line 3 of max 40 characters RL4 Reason Line 4 Data type string Reason for error line 4 of max 40 characters RAPID reference part 1 Instructions A Z 59 ErrWrite Instruction Program execution An error message max 5 lines is displayed on the teach pendant and written in the robot message log ErrWrite always generates the program error no 80001 or in the event of a warning argument W generates no 80002 Limitations Total string length Header Reason RL2 RL3 RL4 is limited to 145 characters Syntax ErrWrite VW Header lt expression IN of string gt lt Reason lt expression IN of string gt V RL2 lt expression IN of string gt VY RL3 lt expression IN of string gt VY RL4 lt expression IN of string gt Related information Described in Display a message on Instructions TPWrite the teach pendant only Message logs Service 60 RAPID reference part 1 Instructions A Z EXIT Instruction EXIT Terminates program execution EXTT is used to terminate program execution Program r
207. hange is generated in the system Arguments IError ErrorDomain ErrorId ErrorType Interrupt ErrorDomain Data type errdomain The error domain that is to be monitored Refer to predefined data of type errdomain To specify any domain use COMMON ERR Errorld Data type num Optionally the number of a specific error that is to be monitored The error number must be specified without the first digit error domain of the complete error number E g 10008 Program restarted must be specified as 0008 or only 8 ErrorType Data type errtype The type of event such as error warning or state change that is to be monitored Refer to predefined data of type errtype To specify any type use TYPE ALL Interrupt Data type intnum The interrupt identity This should have been previously connected to a trap rou tine by means of the instruction CONNECT RAPID reference part 1 Instructions A Z 83 LError Advanced functions Instruction Program execution The corresponding trap routine is automatically called when an error occurs in the specified domain of the specified type and optionally with the specified error number When this has been executed program execution continues from where the interrupt occurred Example VAR intnum err_interrupt VAR trapdata err_ data VAR errdomain err_ domain VAR num err number VAR errtype err_type CONNECT err_interrupt WITH trap_ err IError COMMON _ERR TYPE_ERR err_interupt IDel
208. has optionally stopped on path as fast as possible To obtain a fixed position I O check TriggCheckIO compensates for the lag in the con trol system lag between servo and robot The data defined is used for implementation in one or more subsequent TriggL TriggC or TriggJ instructions Examples VAR triggdata checkgrip VAR intnum intnol CONNECT intnol WITH trap1 TriggCheckIO checkgrip 100 airok EQ 1 intnol TriggL pl v500 checkgrip z50 gripl The digital input signal airok is checked to have the value when the TCP is 00 mm before the point p1 If it is set normal execution of the program continues if it is not set the interrupt routine trap is run Start point TriggL p1 v500 checkgrip z50 grip 1 End point p1 p sA x The input signal airok is tested when the TCP is here Figure 37 Example of fixed position IO check Arguments TriggCheckIO TriggData Distance Start Time Signal Relation CheckValue StopMove Interrupt TriggData Data type triggdata Variable for storing the triggdata returned from this instruction These triggdata are then used in the subsequent 7riggL TriggC or TriggJ instructions RAPID reference part 1 Instructions A Z 339 TriggCheckIO Advanced functions Instruction Distance Data type num Defines the position on the path where the I O check shall occur Specified as the distance in mm positive value from the end point of the mo
209. he movement is carried out with data set to v500 and z40 the velocity and zone size of the TCP are 550 mm s and 45 mm respectively MoveC p5 p6 v2000 fine Inpos inpos50 grip3 The TCP of the tool grip3 is moved circularly to a stop point p6 The robot con siders it to be in the point when 50 of the position condition and 50 of the speed condition for a stop point fine are satisfied It waits at most for 2 seconds for the conditions to be satisfied See predefined data inpos50 of data type stop pointdata MoveC Conc v500 z40 grip3 The TCP of the tool grip3 is moved circularly to a position stored in the instruc tion The circle point is also stored in the instruction Subsequent logical instruc tions are executed while the robot moves MoveC cirl p15 v500 z40 grip3 WObj fixture The TCP of the tool grip3 is moved circularly to a position p 5 via the circle point cir These positions are specified in the object coordinate system for fix ture 158 RAPID reference part 1 Instructions A Z MoveC Instruction Limitations There are some limitations in how the CirPoint and the ToPoint can be placed as shown in the figure below 0 1 af start CirPoint a 0 1 mm start a gt 1 degree ToPoint CirPoint ToPoint ToPoi start Minimum distance between start and 7oPoint is 0 1 mm Minimum distance between start and CirPoint is 0 1 mm Minimum angle between Cir
210. he same as the object coordinate system and thus all programmed positions will be related to the latter Syntax PDispOff Related information Described in Definition of program displacement Instructions PDispOn using two positions Definition of program displacement using Instructions PDispSet values RAPID reference part 1 Instructions A Z 213 PDispOff Instruction 214 RAPID reference part 1 Instructions A Z PDispOn Instruction PDispOn Activates program displacement PDispOn Program Displacement On is used to define and activate a program dis placement using two robot positions Program displacement is used for example after a search has been carried out or when similar motion patterns are repeated at several different places in the program Examples MoveL p10 v500 z10 tooll PDispOn ExeP p10 p20 tooll Activation of a program displacement parallel movement This is calculated based on the difference between positions p 0 and p20 MoveL p10 v500 fine Inpos inpos50 tooll PDispOn tooll Activation of a program displacement parallel movement Since a stop point that is accurately defined has been used in the previous instruction the argument ExeP does not have to be used The displacement is calculated on the basis of the difference between the robot s actual position and the programmed point stored in the instruction PDispOn Rot ExeP p10 p20 tooll
211. iguration of I O System Parameters RAPID reference part 1 Instructions A Z 239 Reset Instruction 240 RAPID reference part 1 Instructions A Z RestoPath Instruction Advanced functions RestoPath Restores the path after an interrupt RestoPath is used to restore a path that was stored at a previous stage using the instruc tion StorePath Example RestoPath Restores the path that was stored earlier using StorePath Program execution The current movement path of the robot and the external axes is deleted and the path stored earlier using StorePath is restored Nothing moves however until the instruc tion StartMove is executed or a return is made using RETRY from an error handler Example ArcL p100 v100 seaml weld5 weavel z10 gunl ERROR IF ERRNO AW_WELD_ERR THEN gun_cleaning RETRY ENDIF PROC gun cleaning VAR robtarget p1 StorePath pl CRobT MoveL pclean v100 fine gunl MoveL pl v100 fine gunl RestoPath ENDPROC In the event of a welding error program execution continues in the error handler of the routine which in turn calls gun_cleaning The movement path being exe cuted at the time is then stored and the robot moves to the position pclean where the error is rectified When this has been done the robot returns to the position where the error occurred p1 and stores the original movement once again The weld then automatically restarts meaning that the robot is fir
212. il 1 siglint Orders an interrupt which is to occur each time the digital input signal dil is set to A call is then made to the iroutinel trap routine ISignalDI dil 0 sig lint Orders an interrupt which is to occur each time the digital input signal dil is set to 0 ISignalDI Single dil 1 siglint Orders an interrupt which is to occur only the first time the digital input signal dil is set to 1 Arguments ISignalDI Single Signal TriggValue Interrupt Single Data type switch Specifies whether the interrupt is to occur once or cyclically If the argument Single is set the interrupt occurs once at the most If the argu ment is omitted an interrupt will occur each time its condition is satisfied Signal Data type signaldi The name of the signal that is to generate interrupts RAPID reference part 1 Instructions A Z 121 1SignalDI Instruction Trigg Value Data type dionum The value to which the signal must change for an interrupt to occur The value is specified as 0 or 1 or as a symbolic value e g high low The signal is edge triggered upon changeover to 0 or 1 Trigg Value 2 or symbolic value edge can be used for generation of interrupts on both positive flank 0 gt 1 and negative flank 1 gt 0 Interrupt Data type intnum The interrupt identity This should have previously been connected to a trap rou tine by means of the instruction CONNECT Program execution When the signal assu
213. ime of the ramp is over This might damage the gear boxes The transition time is the ramp time which varies between robots multiplied with the ramp factor of the SoftAct instruction Dithering is not available for axis 6 Dither is always deactivated when there is a power failure The instruction is only to be used for IRB 7600 DitherAct V MechUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt Level lt expression IN of num gt Related information 50 Described in Activating Soft Servo Instructions SoftAct Behaviour with the soft servo engaged Motion and I O Principles Position ing during program execution Disable of dither Instructions DitherDeact RAPID reference part 1 Instructions A Z DitherDeact Instruction DitherDeact Disables dither for soft servo DitherDeact is used to disable the dither functionality for soft servo of IRB 7600 Examples DitherDeact Deactivates dither on all axis Program execution DitherDeact can be used at any time If in soft servo dither stops immediatley on all axis If not in soft servo dither will not be active when next SoftAct is executed Syntax DitherDeact Related information Described in Activating dither Instructions DitherAct RAPID reference part 1 Instructions A Z 51 DitherDeact Instruction 52 RAPID reference part 1 Instructions A Z
214. increase or decrease the programmed velocity of all subsequent posi tioning instructions This instruction is also used to maximize the velocity Example VelSet 50 800 All the programmed velocities are decreased to 50 of the value in the instruc tion The TCP velocity is not however permitted to exceed 800 mm s Arguments VelSet Override Max Override Data type num Desired velocity as a percentage of programmed velocity 100 corresponds to the programmed velocity Max Data type num Maximum TCP velocity in mm s Program execution The programmed velocity of all subsequent positioning instructions is affected until a new VelSet instruction is executed The argument Override affects All velocity components TCP orientation rotating and linear external axes in speeddata The programmed velocity override in the positioning instruction the argument V Timed movements The argument Override does not affect The welding speed in welddata The heating and filling speed in seamdata The argument Max only affects the velocity of the TCP RAPID reference part 1 Instructions A Z 403 VelSet Instruction The default values for Override and Max are 100 and vmax v_tcp mm s respec tively These values are automatically set at a cold start up when a new program is loaded when starting program executing from the beginning Max TCP speed for the used robot type and normal pratic
215. instruc tion is related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a stationary TCP or coordinated exter nal axes are used this argument must be specified for a linear movement relative to the work object to be performed Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present RAPID reference part 1 Instructions A Z 371 TriggL Advanced functions Instruction Program execution See the instruction MoveL for information about linear movement As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point the defined trigger activities are carried out The trigger conditions are fulfilled either at a certain distance before the end point of the instruction or at a certain distance after the start point of the instruction or at a certain point in time limited to a short time before the end point of the instruction During stepping execution forwards the I O activities are carried out but the interrupt routines are not run During stepping execution backwards no trigger activities at all are carried out Examples VAR intnum intnol VAR triggdata trigg1 CONNECT intnol WITH trap1 TriggInt trigg1 0 1 Time intnol TriggL pl v500 trigg1 fine gun1 TriggL p
216. int is the point moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coor dinate system If on the other hand a stationary tool or coordinated external axes are used this argument must be specified in order to perform a linear movement relative to the work object Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present RAPID reference part 1 Instructions A Z MoveL Instruction Program execution The robot and external units are moved to the destination position as follows The TCP of the tool is moved linearly at constant programmed velocity The tool is reoriented at equal intervals along the path Uncoordinated external axes are executed at a constant velocity in order for them to arrive at the destination point at the same time as the robot axes If it is not possible to attain the programmed velocity for the reorientation or for the external axes the velocity of the TCP will be reduced A corner path is usually generated when movement is transferred to the next section of a path If a stop point is specified in the zone data program execution only continues when the
217. interrupted movement the system variable ERRNO is set to ERR_PATHDIST If the robot is moving at the time StartMove is executed the system variable ERRNO is set to ERR ALRDY MOVING These errors can then be handled in the error handler Syntax StartMove Related information Described in Stopping movements Instructions StopMove More examples Instructions StorePath RAPID reference part 1 Instructions A Z 295 Start Move Instruction 296 RAPID reference part 1 Instructions A Z SToolRotCalib Instruction SToolRotCalib Calibration of TCP and rotation for station ary tool SToolRotCalib Stationary Tool Rotation Calibration 1s used to calibrate the TCP and rotation of a stationary tool The position of the robot and its movements are always related to its tool coordinate system i e the TCP and tool orientation To get the best accuracy it is important to define the tool coordinate system as correctly as possible The calibration can also be done with a manual method using the TPU described in User s Manual Calibration Description To define the TCP and rotation of a stationary tool you need a movable pointing tool mounted on the end effector of the robot Before using the instruction S7oo RotCalib some preconditions must be fulfilled The stationary tool that is to be calibrated must be stationary mounted and defined with the correct component robhold FALSE The pointing tool
218. ions Instruction Arguments TriggJ Conc ToPoint Speed T Trigg 1 T2 T3 T4 T5 T6 Zone Inpos Tool WObj Conc Concurrent Data type switch Subsequent logical instructions are executed while the robot is moving This argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required It can also be used to tune the execution of the robot path to avoid warning 50024 Corner path failure or error 40082 Deceleration limit Using the argument Conc the number of movement instructions in succession is limited to 5 In a program section that includes StorePath RestoPath movement instructions with the argument Conc are not permitted If this argument is omitted the subsequent instruction is only executed after the robot has reached the specified stop point or 100 ms before the specified zone ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the external axes and of the tool reorientation T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Trigg 1 Data t
219. it Data type mecunit The name of the mechanical unit that is to be deactivated Program execution When the robot and external axes have come to a standstill the specified mechanical unit is deactivated This means that it will neither be controlled nor monitored until it is re activated If several mechanical units share a common drive unit deactivation of one of the mechanical units will also disconnect that unit from the common drive unit RAPID reference part 1 Instructions A Z 45 DeactUnit Instruction Limitations Instruction DeactUnit cannot be used in program sequence StorePath RestoPath in event routine RESTART when one of the axes in the mechanical unit is in independent mode If this instruction is preceded by a move instruction that move instruction must be pro grammed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible Syntax DeactUnit MechUnit lt variable VAR of mecunit gt Related information Described in Activating mechanical units Instructions ActUnit Mechanical units Data Types mecunit 46 RAPID reference part 1 Instructions A Z Decr Instruction Decr Decrements by 1 Decr is used to subtract 1 from a numeric variable or persistent Example Decr regl 1 is subtracted from reg1 i e regl regl 1 Arguments Decr Name Name Data type num The name of the variable or persist
220. ition ExeP will have the same position and orientation in relation to the displaced coordinate system ProgDisp as the old position ProgPoint had in relation to the original coordinate system see Figure 21 New y position ExeP y New orientation Original position ProgPoint l Orighnel orientation Program di Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 21 Translation and rotation of a programmed position The program displacement is automatically reset at a cold start up when a new program is loaded when starting program executing from the beginning Example PROC draw_square PDispOn tooll MoveL v500 z10 tooll MoveL v500 z10 tooll MoveL v500 z10 tooll MoveL v500 z10 tooll PDispOff ENDPROC MoveL p10 v500 fine Inpos inpos50 tooll draw_ square MoveL p20 v500 fine Inpos inpos50 tooll draw_ square MoveL p30 v500 fine Inpos inpos50 tool draw_ square The routine draw_square is used to execute the same motion pattern at three dif ferent positions based on the positions p10 p20 and p30 See Figure 22 RAPID reference part 1 Instructions A Z 217 PDispOn Instruction p30 plo p20 Figure 22 Using program displacement motion patterns can be reused SearchL sen1 psearch p10 v100 tool1 WObj fixture 1 PDispOn ExeP psearch too
221. ity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems Movements with I O settings RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordi nate Systems Motion and I O Principles Synchro nisation Using Logical Instructions 187 MoveLDO Instruction 188 RAPID reference part 1 Instructions A Z MoveL Sync Instruction Advanced functions MoveL Sync Moves the robot linearly and executes a RAPID procedure MoveLSync Move Linearly Synchronously is used to move the tool centre point TCP linearly to a given destination The specified RAPID procedure is executed at the middle of the corner path in the destination point When the TCP is to remain stationary this instruction can also be used to reorient the tool Example MoveLSync p1 v1000 z30 tool2 procl The TCP of the tool 0012 is moved linearly to the position p with speed data v1000 and zone data z30 Procedure proc is executed in the middle of the corner path at p1 Arguments MoveLSyne ToPoint Speed T Zone Tool WObj ProcName ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an
222. iven tool and work object nor by active program displacement However the robot uses these data to calculating the load TCP velocity and the corner path The same tools can be used as in adjacent movement instructions The robot and external axes move to the destination position along a non linear path All axes reach the destination position at the same time Examples MoveAbsJ p50 v1000 z50 tool2 The robot with the tool tool2 is moved along a non linear path to the absolute axis position p50 with velocity data v 000 and zone data z50 MoveAbsJ v1000 T 5 fine grip3 The robot with the tool grip3 is moved along a non linear path to a stop point which is stored as an absolute axis position in the instruction marked with an The entire movement takes 5 s Arguments MoveAbsJ Conc ToJointPos NoEOffs Speed V T Zone Z Inpos Tool WObj Conc Concurrent Data type switch Subsequent instructions are executed while the robot is moving The argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required Using the argument Conc the number of movement instructions in succession is limited to 5 In a program section that includes StorePath RestoPath move ment instructions with the argument Conc are not permitted RAPID reference part 1 Instructions A Z 149 MoveAbsJ 150 Instruction If this argument is omitted
223. joint movement esse 37 ConfL Monitors the configuration during linear movement 39 Close Closes a file or serial channel ssessseossooesooesoosssssessesssocssoosssosssoeesoesesoossossssssssesesoses 41 CONNECT Connects an interrupt to a trap routine sssseseeeeensssnsee 43 DeactUnit Deactivates a mechanical unit eossessseoesooesooessossssesssoessoossoossssessscessoessossssssssee 45 D cr Decrements Wy IU scccessessscisuscsenessdpenvosvsastvaraetovatvadeuascecuinecnevescennseucdcssaraencsubeuccusscectasmegvesigss 47 Dither Act Enables dither for soft servo sscccsssccccssccsssscccssscccssseccessescessssssssseessescessenes 49 DitherDeact Disables dither for soft servo sesssesssesssoossoosssosessesssoossoossosssoesssocesoosssossssesssee 51 EOffsOff Deactivates an offset for external axes e sseeessoessoesssesssoossoossoesssesssocssooesosssssesssee 53 EOffsOn Activates an offset for external axes e sseeessosssosssossssesssocssoossoosssosssoesssoessoossossesse 55 EOffsSet Activates an offset for external axes using a value ses 57 ErrWrit Write an error message 5i sssecssesssacouesssedessersedsoendsececsetonssesusbsccesoossncssbeisacesssdserscsesns 59 EXIT Terminates program execution se sssoesssesssesssecssoossoosssosesoesssoessoossoossocessosssoossoossssesssee 61 ExitCycle Break current cycle and start next e ssesesooessoessoesssesssoosoossoosssocessocssoossoossssssssee 63
224. k Load HOME File DOORDIR DOOR2 MOD UnLoad HOME File DOORDIR DOOR1 MOD RAPID reference part 1 Instructions A Z WaitLoad Instruction Error handling If the file specified in the StartLoad instruction cannot be found the system variable ERRNO is set to ERR_FILNOTEND at execution of WaitLoad If argument LoadNo refers to an unknown load session the system variable ERRNO is set to ERR UNKPROC If the module is already loaded into the program memory the system variable ERRNO is set to ERR LOADED The following errors can only occur when the argument UnloadPath is used in the instruction WaitLoad If the program module specified in the argument UnloadPath cannot be unloaded because of ongoing execution within the module the system variable ERRNO is set to ERR UNLOAD If the program module specified in the argument UnloadPath cannot be unloaded because the program module is not loaded with Load or StartLoad WaitLoad from the RAPID program the system variable ERRNO is also set to ERR UNLOAD These errors can then be handled in the error handler Note that RETRY cannot be used for error recovery for any errors from WaitLoad Syntax WaitLoad UnloadPath lt expression IN of string gt gt V UnloadFile lt expression IN of string gt LoadNo lt variable VAR of oadsession gt Related information Load a program module during exe
225. l character ack input ReadBin channel Time 0 1 IF input 6 THEN Send a text starting with control character stx and ending with etx WriteStrBin channel 02Hello world 03 ENDIF Close channel The text string Hello world with associated control characters in hexadecimal is written to a binary serial channel WriteStrBin IODevice lt variable VAR of iodev gt Str lt expression IN of string gt Related information 420 Described in Opening etc of serial channels RAPID Summary Communication RAPID reference part 1 Instructions A Z WZBoxDef Instruction Advanced functions WZBoxDef Define a box shaped world zone WZBoxDef World Zone Box Definition is used to define a world zone that has the shape of a straight box with all its sides parallel to the axes of the World Coordinate System Z Y cornerl World Coordinate System Example A i VAR shapedata volume CONST pos corner1 200 100 100 CONST pos corner2 600 400 400 WZBoxDef Inside volume cornerl corner2 Define a straight box with coordinates parallel to the axes of the world coordinate system and defined by the opposite corners corner and corner2 Arguments WZBoxDef Inside Outside Shape LowPoint HighPoint Inside Data type switch Define the volume inside the box Outside Data type switch Define the volume outside the box inverse volume One of the
226. l occur each time its condition is satisfied Signal Data type signaldo The name of the signal that is to generate interrupts RAPID reference part 1 Instructions A Z 125 ISignalDO Instruction Trigg Value Data type dionum The value to which the signal must change for an interrupt to occur The value is specified as 0 or 1 or as a symbolic value e g high low The signal is edge triggered upon changeover to 0 or 1 Trigg Value 2 or symbolic value edge can be used for generation of interrupts on both positive flank 0 gt 1 and negative flank 1 gt 0 Interrupt Data type intnum The interrupt identity This should have previously been connected to a trap rou tine by means of the instruction CONNECT Program execution When the signal assumes the specified value 0 or 1 a call is made to the corresponding trap routine When this has been executed program execution continues from where the interrupt occurred If the signal changes to the specified value before the interrupt is ordered no interrupt occurs see Figure 5 Signal level 0 Interrupt ordered Interrupt occurs Interrupt ordered RS Signal level X 0 Interrupt occurs Figure 5 Interrupts from a digital output signal at signal level 1 Limitations The same variable for interrupt identity cannot be used more than once without first deleting it Interrupts should therefore be handled as shown in one of the alternatives below VA
227. l to be changed Value Data type dionum The desired value of signal 0 or 1 Program execution See the instruction MoveL for more information about linear movements The digital output signal is set reset in the middle of the corner path for flying points as shown in Figure 16 p3 Sets the signal dol to 1 MoveLDO p2 v1000 z30 tool2 dol 1 Zone Figure 16 Set Reset of digital output signal in the corner path with MoveLDO For stop points we recommend the use of normal programming sequence with MoveL SetDO But when using stop point in instruction MoveLDO the digital output signal is set reset when the robot reaches the stop point The specified I O signal is set reset in execution mode continuously and stepwise for ward but not in stepwise backward 186 RAPID reference part 1 Instructions A Z Instruction Syntax MoveLDO MoveLDO ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Other positioning instructions Definition of veloc
228. lar movement The circle point is defined as a named position or stored directly in the instruction marked with an in the instruction 254 RAPID reference part 1 Instructions A Z Instruction SearchC ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction SearchC always uses a stop point as zone data for the destination Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the external axes and of the tool reorientation V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed data T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination position WObj Work Object Data type wobjdata The work object coordinate system to which the robot positions in the instruc tion are related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a statio
229. le VAR of clock gt Related information Described in Other clock instructions RAPID Summary System amp Time RAPID reference part 1 Instructions A Z 27 ClkReset 28 Instruction RAPID reference part 1 Instructions A Z Clk Start Instruction ClkStart Starts a clock used for timing ClkStart is used to start a clock that functions as a stop watch used for timing Example ClkStart clock1 The clock clockl is started Arguments ClkStart Clock Clock Data type clock The name of the clock to start Program execution When a clock is started it will run and continue counting seconds until it is stopped A clock continues to run when the program that started it is stopped However the event that you intended to time may no longer be valid For example if the program was measuring the waiting time for an input the input may have been received while the program was stopped In this case the program will not be able to see the event that occurred while the program was stopped A clock continues to run when the robot is powered down as long as the battery back up retains the program that contains the clock variable If a clock is running it can be read stopped or reset Example VAR clock clock2 ClkReset clock2 ClkStart clock2 WaitUntil DInput dil 1 ClkStop clock2 time ClkRead clock2 The waiting time for dil to become 1 is measured RAPID reference part 1 Instructions
230. le or serial channel for both reading and writing The arguments Read Write Append are mutually exclusive If none of these are specified the instruction acts in the same way as the Write argument for character based files or a serial channel instruction without Bin argument and in the same way as the Append argument for binary files or a serial channel instruction with Bin argu ment Bin Data type switch The file or serial channel is opened in a binary mode If none of the arguments Read Write or Append are specified the instruction opens a binary file or serial channel for both reading and writing with the file pointer at the end of the file The set of instructions to access a binary file or serial channel is different from the set of instructions to access a character based file 202 RAPID reference part 1 Instructions A Z Open Instruction Advanced functions Example VAR iodev printer Open com2 printer Bin WriteStrBin printer This is a message to the printer 0 D Close printer The serial channel com2 is opened for binary reading and writing The reference name printer is used later when writing to and closing the serial channel Program execution The specified file or serial channel is opened so that it is possible to read from or write to it It is possible to open the same physical file several times at the same time but each invocation of the Open instruction will return a differe
231. le to save FilePath Data type string The file path and the file name to the place where the program module is to be saved The file name shall be excluded when the argument File is used RAPID reference part 1 Instructions A Z 249 Save Instruction File Data type string When the file name is excluded in the argument Fi ePath it must be specified with this argument The argument FilePath can only be omitted for program modules loaded with Load or StartLoad WaitLoad and the program module will be stored at the same destination as specified in these instructions To store the program module at another destination it is also possible to use the argument FilePath To be able to save a program module that previously was loaded from the teach pen dant external computer or system configuration the argument Fi ePath must be used Program execution Example Program execution waits for the program module to finish saving before proceeding with the next instruction Save PART A FilePath HOME DOORDIR PART_A MOD Save the program module PART to HOME in the file PART_A MOD and in the directory DOORDIR Save PART A FilePath HOME File gt DOORDIR PART_A MOD Same as above but another syntax Save Task TSK 11d PART_A FilePath HOME DOORDIR PART_A MOD Save program module PART A in program task TSK to the specified destina tion This is an example where the instruction Save is execu
232. les Coordinate Systems 179 MoveJSync Advanced functions Instruction 180 RAPID reference part 1 Instructions A Z MoveL Instruction MoveL Moves the robot linearly MoveL is used to move the tool centre point TCP linearly to a given destination When the TCP is to remain stationary this instruction can also be used to reorientate the tool Example MoveL pl v1000 z30 tool2 The TCP of the tool too 2 is moved linearly to the position p with speed data v1000 and zone data z30 MoveL v1000 T 5 fine grip3 The TCP of the tool grip3 is moved linearly to a fine point stored in the instruc tion marked with an The complete movement takes 5 seconds Arguments MoveL Conc ToPoint Speed V T Zone Z Inpos Tool WObj Corr Conc Concurrent Data type switch Subsequent instructions are executed at once This argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required Using the argument Conc the number of movement instructions in succession is limited to 5 In a program section that includes StorePath RestoPath move ment instructions with the argument Conc are not permitted If this argument is omitted and the ToPoint is not a stop point the subsequent instruction is executed some time before the robot has reached the programmed zone ToPoint Data type robtarget The destination point o
233. ll WObj fixturel A search is carried out in which the robot s searched position is stored in the posi tion psearch Any movement carried out after this starts from this position using a program displacement parallel movement The latter is calculated based on the difference between the searched position and the programmed point stored in the instruction All positions are based on the fixture object coordinate system Syntax PDispOn Rot gt V ExeP lt expression IN of robtarget gt ProgPoint lt expression IN of robtarget gt Tool lt persistent PERS of tool data gt WObj lt persistent PERS of wobjdata gt Related information Described in Deactivation of program displacement Instructions PDispOff Definition of program displacement using Instructions PDispSet values Coordinate systems Motion Principles Coordinate Sys tems Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata More examples Instructions PDispOff 218 RAPID reference part 1 Instructions A Z PDispSet Instruction PDispSet Activates program displacement using a value PDispSet Program Displacement Set is used to define and activate a program dis placement using values Program displacement is used for example when similar motion patterns are repeated at several different places in the
234. load1 WaitLoad load is the same as Load Dynamic HOME File DOORDIR DOOR1 MOD Error handling If the variable specified in argument LoadNo is already in use the system variable ERRNO is set to ERR LOADNO INUSE This error can then be handled in the error handler Syntax StartLoad Dynamic FilePath lt expression IN of string gt File lt expression IN of string gt LoadNo lt variable VAR of loadsession gt Related information Described in Connect the loaded module to the task Instructions WaitLoad Load session Data Types loadsession Load a program module Instructions Load Unload a program module Instructions UnLoad Cancel loading of a program module Instructions CancelLoad Accept unsolved references System Parameters Controller Task BindRef 294 RAPID reference part 1 Instructions A Z Start Move Instruction StartMove Restarts robot motion StartMove is used to resume robot and external axes motion when this has been stopped by the instruction StopMove Example StopMove WaitDI ready_input 1 StartMove The robot starts to move again when the input ready_input is set Program execution Any processes associated with the stopped movement are restarted at the same time as motion resumes Error handling If the robot is too far from the path more than 10 mm or 20 degrees to perform a start of the
235. luated to a TRUE value the WHILE instructions should be used instead 66 RAPID reference part 1 Instructions A Z FOR Instruction Syntax EBNF FOR lt loop variable gt FROM lt expression gt TO lt expression gt STEP lt expression gt DO lt instruction list gt ENDFOR lt loop variable gt lt identifier gt Related information Described in Expressions Basic Characteristics Expressions Repeats as long as Instructions WHILE Identifiers Basic Characteristics Basic Elements RAPID reference part 1 Instructions A Z 67 FOR Instruction 68 RAPID reference part 1 Instructions A Z GetSysData Instruction GetSysData Get system data GetSysData fetches the value and optional symbol name for the current system data of specified data type With this instruction it is possible to fetch data for and the name of the current active Tool Work Object or PayLoad for robot Example PERS tooldata curtoolvalue TRUE 0 0 0 1 0 0 OJ 0 0 0 0 1 0 0 0 0 0 OJ VAR string curtoolname GetSysData curtoolvalue Copy current active tool data value to the persistent variable curtoolvalue GetSysData curtoolvalue ObjectName curtoolname Copy also current active tool name to the variable curtoolname Arguments GetSysData DestObject ObjectName DestObject Data type anytype Persistent for storage of current active system data value The data type
236. ly to a given destination The specified RAPID procedure is executed at the mid dle of the corner path in the destination point During the movement the orientation nor mally remains unchanged relative to the circle Examples MoveCSync p1 p2 v500 z30 tool2 proc1 The TCP of the tool too 2 is moved circularly to the position p2 with speed data v500 and zone data z30 The circle is defined from the start position the circle point p and the destination point p2 Procedure proc is executed in the middle of the corner path at p2 Arguments MoveCSync CirPoint ToPoint Speed T Zone Tool WObj ProcName CirPoint Data type robtarget The circle point of the robot The circle point is a position on the circle between the start point and the destination point To obtain the best accuracy it should be placed about halfway between the start and destination points If it is placed too close to the start or destination point the robot may give a warning The circle point is defined as a named position or stored directly in the instruction marked with an in the instruction The position of the external axes are not used ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the
237. m gt Related information Described in Positioning instructions RAPID Summary Motion 2 RAPID reference part 1 Instructions A Z ActUnit Instruction ActUnit Activates a mechanical unit ActUnit is used to activate a mechanical unit It can be used to determine which unit is to be active when for example common drive units are used Example ActUnit orbit_a Activation of the orbit_a mechanical unit Arguments ActUnit MechUnit MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit that is to be activated Program execution When the robot and external axes have come to a standstill the specified mechanical unit is activated This means that it is controlled and monitored by the robot If several mechanical units share a common drive unit activation of one of these mechanical units will also connect that unit to the common drive unit Limitations Instruction ActUnit cannot be used in program sequence StorePath RestoPath event routine RESTART If this instruction is preceded by a move instruction that move instruction must be pro grammed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible RAPID reference part 1 Instructions A Z 3 ActUnit Instruction Syntax ActUnit MechUnit lt variable VAR of mecunit gt Related information Described in Deactivating mechani
238. m Module Not affected Unloaded System Module Not affected Not affected Dynamic mode Tabell 2 How different operations affects dynamic loaded program or system modules Set PP to main from TP Open new RAPID program Program Module Unloaded Unloaded System Module Unloaded Unloaded Both static and dynamic loaded modules can be unloaded by the instruction UnLoad Example Load Dynamic diskhome File PART_A MOD Load the program module PART _A MOD from the diskhome into the program memory diskhome is a predefined string constant HOME Load the program module in the dynamic mode Arguments Load Dynamic FilePath File Dynamic Data type switch The switch enables load of a program module in dynamic mode Otherwise the load is in static mode RAPID reference part 1 Instructions A Z 141 Load Program Instruction FilePath Data type string The file path and the file name to the file that will be loaded into the program memory The file name shall be excluded when the argument File is used File Data type string When the file name is excluded in the argument FilePath then it must be defined with this argument execution Program execution waits for the program module to finish loading before proceeding with the next instruction To obtain a good program structure that is easy to understand and maintain all loading and unloading of program modules should be done from
239. me trap routine the program must make sure that the event is related to error monitoring This can be done by testing that INTNO matches the interrupt number used in the instruction Error Example VAR intnum err_interrupt VAR trapdata err_data VAR errdomain err_domain VAR num err_number VAR errtype err_type CONNECT err_interrupt WITH trap_ err IError COMMON _ERR TYPE_ERR err_interupt IDelete err_interrupt TRAP trap_err GetTrapData err_data ReadErrData err_data err_domain err_number err_type Set domain no 1 13 SetGO go errl err_domain Set error no 1 9999 SetGO go_err2 err number ENDTRAP When an error occurs only errors not warning or state change the error number is retrieved in the trap routine and its value is used to set 2 groups of digital out puts 236 RAPID reference part 1 Instructions A Z ReadErrData Instruction Advanced functions Limitation It is not possible obtain information about internal errors Syntax ReadErrData TrapEvent lt variable VAR of trapdata gt ErrorDomain lt variable VAR of errdomain gt ErrorlId lt variable VAR of num gt ErrorType lt variable VAR of errtype gt Strl lt variable VAR of string gt Str2 lt variable VAR of string gt Str3 lt variable VAR of string gt Str4 lt variable VAR of string gt
240. mes the specified value a call is made to the corresponding trap routine When this has been executed program execution continues from where the interrupt occurred If the signal changes to the specified value before the interrupt is ordered no interrupt occurs see Figure 4 Signal level 0 Interrupt ordered Interrupt occurs Interrupt ordered Signal level 0 Interrupt occurs Figure 4 Interrupts from a digital input signal at signal level 1 Limitations The same variable for interrupt identity cannot be used more than once without first deleting it Interrupts should therefore be handled as shown in one of the alternatives below 122 RAPID reference part 1 Instructions A Z All activation of interrupts is done at the beginning of the program These 1SignalDI instructions are then kept outside the main flow of the program The interrupt is deleted at the end of the program and is then reactivated It should be noted in this case that the interrupt is inactive for a short period Instruction PROC main VAR intnum siglint CONNECT siglint WITH iroutinel ISignalDI dil 1 siglint WHILE TRUE DO ENDWHILE ENDPROC PROC main VAR intnum sig 1 int CONNECT siglint WITH iroutinel ISignalDI dil 1 siglint Delete sig lint ENDPROC Syntax ISignalDI V Single Signal lt variable VAR of signaldi gt TriggValue lt expression IN of dionum g
241. meters Topics Communication Types System misc Example WaitTime InPos 0 Program execution waits until the robot and the external axes have come to a standstill RAPID reference part 1 Instructions A Z 397 Wait Time Instruction Limitations If the argument npos is used and the instruction is preceded by a move instruction that move instruction must be programmed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible Argument npos cannot be used together with SoftServo Syntax WaitTime InPos Time lt expression IN of num gt Related information Described in Waiting until a condition is met Instructions WaitUntil Waiting until an I O is set reset Instruction WaitDI 398 RAPID reference part 1 Instructions A Z WaitUntil Instruction WaitUntil Waits until a condition is met WaitUntil is used to wait until a logical condition is met for example it can wait until one or several inputs have been set Example WaitUntil di4 1 Program execution continues only after the di4 input has been set Arguments WaitUntil InPos Cond MaxTime TimeFlag InPos Data type switch If this argument is used the robot and external axes must have stopped moving before the condition starts being evaluated Cond Data type bool The logical expression that is to be waited for MaxTime Data ty
242. mmunication Functions StrToByte Data Types byte 417 WriteBin Advanced functions Instruction 418 RAPID reference part 1 Instructions A Z WriteStrBin Instruction Advanced functions WriteStrBin Writes a string to a binary serial channel WriteStrBin Write String Binary is used to write a string to a binary serial channel or binary file Example WriteStrBin channel2 Hello World 0A The string Hello World 0A is written to the channel referred to by channel2 The string is in this case ended with new line 0A All characters and hexadeci mal values written with WriteStrBin will be unchanged by the system Arguments WriteStrBin IODevice Str IODevice Data type iodev Name reference of the current serial channel Str String Data type string The text to be written Program execution The text string is written to the specified serial channel or file Limitations This instruction can only be used for serial channels or files that have been opened for binary reading and writing Error handling If an error occurs during writing the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler RAPID reference part 1 Instructions A Z 419 WriteStrBin Advanced functions Instruction Example Syntax VAR iodev channel VAR num input Open com2 channel Bin Send the control character eng WriteStrBin channel 05 Wait for the contro
243. mple VAR intnum feeder_low CONNECT feeder_low WITH feeder_empty ISignalDI dil 1 feeder_low An interrupt identity feeder low is created which is connected to the trap routine feeder_empty The interrupt is defined as input dil is getting high In other words when this signal becomes high the feeder empty trap routine is executed Arguments CONNECT Interrupt WITH Trap routine Interrupt Data type intnum The variable that is to be assigned the identity of the interrupt This must not be declared within a routine routine data Trap routine Identifier The name of the trap routine Program execution The variable is assigned an interrupt identity which can then be used when ordering or disabling interrupts This identity is also connected to the specified trap routine Note that before an event can be handled an interrupt must also be ordered i e the event specified Limitations An interrupt interrupt identity cannot be connected to more than one trap routine Dif ferent interrupts however can be connected to the same trap routine When an interrupt has been connected to a trap routine it cannot be reconnected or transferred to another routine it must first be deleted using the instruction Delete RAPID reference part 1 Instructions A Z 43 CONNECT Instruction Error handling Syntax If the interrupt variable is already connected to a TRAP routine the system variable ERRNO is set to ERR ALRDYCNT
244. mples weldpipel Calls the we dpipel procedure errormessage Set dol PROC errormessage TPWrite ERROR ENDPROC The errormessage procedure is called When this procedure is ready program execution returns to the instruction following the procedure call Set do Arguments Procedure Argument Procedure Identifier The name of the procedure to be called Argument Data type In accordance with the procedure declaration The procedure arguments in accordance with the parameters of the procedure RAPID reference part 1 Instructions A Z 223 ProcCall Instruction Example weldpipe2 10 lowspeed Calls the weldpipe2 procedure including two arguments weldpipe3 10 speed 20 Calls the weldpipe3 procedure including one mandatory and one optional argument Limitations The procedure s arguments must agree with its parameters All mandatory arguments must be included They must be placed in the same order They must be of the same data type They must be of the correct type with respect to the access mode input variable or persistent A routine can call a routine which in turn calls another routine etc A routine can also call itself i e a recursive call The number of routine levels permitted depends on the number of parameters but more than 10 levels are usually permitted Syntax EBNF lt procedure gt lt argument list gt lt procedure gt lt identifier gt Rel
245. n Motion Principles Coordinate Sys tems RAPID reference part 1 Instructions A Z EOffsSet Instruction EOffsSet Activates an offset for external axes using a value EOffsSet External Offset Set is used to define and activate an offset for external axes using values Example VAR extjoint eax_a_p100 100 0 0 0 0 0 EOffsSet eax a p100 Activation of an offset eax_a_p100 for external axes meaning provided that the external axis a is linear that The ExtOffs coordinate system is displaced 100 mm for the logical axis a see Figure 2 As long as this offset is active all positions will be displaced 100 mm in the direction of the x axis 100 Normal Coordinate System es es 0 X ExtOffs Coordinate System r J 0 X Figure 2 Displacement of an external axis Arguments EOffsSet EAxOffs EAxOffs External Axes Offset Data type extjoint The offset for external axes is defined as data of the type extjoint expressed in mm for linear axes degrees for rotating axes RAPID reference part 1 Instructions A Z 57 EOffsSet Instruction Program execution The offset for external axes is activated when the EOffsSet instruction is activated and remains active until some other offset is activated the instruction EOffsSet or EOffsOn or until the offset for external axes is deactivated the EOffsOff Only one offset for external axes can be activated at any one tim
246. n Advanced functions ProcID Process Identity Data type num Not implemented for customer use The identity of the IPM process to receive the event The selector is specified in the argument SetValue SetValue Data type num Desired value of output signal within the allowed range for the current signal Inhib Inhibit Data type bool The name of a persistent variable flag for inhibit the setting of the signal at runtime If this optional argument is used and the actual value of the specified flag is TRUE at the position time for setting of the signal then the specified signal DOp GOp or AOp will be set to 0 in stead of specified value Program execution When running the instruction 7riggEquip the trigger condition is stored in the speci fied variable for the argument 7riggData Afterwards when one of the instructions 7riggL TriggC or TriggJ is executed the fol lowing are applicable with regard to the definitions in 7riggEquip The distance specified in the argument Distance Linear movement The straight line distance Circular movement The circle arc length Non linear movement The approximate arc length along the path to obtain adequate accuracy the distance should not exceed one half of the arc length End point with corner path a If the Distance is 0 the output signal is set when the robot s TCP is here Figure 41 Fixed position time I O on a corner path The positi
247. n occurred this generates the error ERR WHLSEARCH more than one signal detection occurred this generates the error ERR_WHLSEARCH only if the Sup argument is used the signal already has a positive value at the beginning of the search process this generates the error ERR_SIGSUPSEARCH only if the Flanks argument is omitted Errors can be handled in different ways depending on the selected running mode Continuous forward ERR_WHLSEARCH No position is returned and the movement always continues to the programmed desti nation point The system variable ERRNO is set to ERR WHLSEARCH and the error can be handled in the error handler of the routine Continuous forward Instruction forward ERR_SIGSUPSEARCH No position is returned and the movement always stops as quickly as possible at the beginning of the search path The system variable ERRNO is set to ERR_SIGSUPSEARCH and the error can be handled in the error handler of the rou tine Instruction forward ERR_ WHLSEARCH No position is returned and the movement continues to the programmed destination point Program execution stops with an error message Instruction backward During backward execution the instruction just carries out the movement without any signal supervision 266 RAPID reference part 1 Instructions A Z SearchL Instruction Example VAR num fk MoveL p10 v100 fine tooll SearchL Stop dil sp p20 v100 tooll ERROR IF ERRNO ERR_WHLSEARCH
248. nary TCP or coordinated exter nal axes are used this argument must be specified for a linear movement relative to the work object to be performed Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position when this argument is present RAPID reference part 1 Instructions A Z 255 SearchC Instruction Program execution Example See the instruction MoveC for information about circular movement The movement is always ended with a stop point 1 e the robot is stopped at the desti nation point When a flying search is used i e the Sup argument is specified the robot movement always continues to the programmed destination point When a search is made using the switch Stop PStop or SStop the robot movement stops when the first signal is detected The SearchC instruction returns the position of the TCP when the value of the digital signal changes to the requested one as illustrated in Figure 26 Without switch Flanks With switch Flanks A Instruction reaction when the signal changes Figure 26 Flank triggered signal detection the position is stored when the signal is changed the first time only SearchC Sup dil Flanks sp cirpoint p10 v100 probe The TCP of the probe is moved circularly towards the position p 0 When the value of the signal di1 changes to active or passive the positi
249. ne point to another when that movement does not have to be in a straight line The speci fied RAPID procedure is executed at the middle of the corner path in the destination point The robot and external axes move to the destination position along a non linear path All axes reach the destination position at the same time Examples MoveJSync pl vmax z30 tool2 procl The tool centre point TCP of the tool too 2 is moved along a non linear path to the position p with speed data vmax and zone data z30 Procedure procl is executed in the middle of the corner path at p Arguments MoveJSync ToPoint Speed T Zone Tool WObj ProcName ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point moved to the specified destination point
250. nks is omitted only the positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process This means that if the signal has the positive value already at the begin ning of a search process the robot movement is stopped as quickly as possible while keeping the TCP on the path soft stop A user recovery error ERR_SIGSUPSEARCH will be generated and can be handled in the error han dler SearchPoint Data type robtarget The position of the TCP and external axes when the search signal has been trig gered The position is specified in the outermost coordinate system taking the specified tool work object and active ProgDisp ExtOffs coordinate system into consideration ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named posi tion or stored directly in the instruction marked with an in the instruction SearchL always uses a stop point as zone data for the destination 262 RAPID reference part 1 Instructions A Z Instruction SearchL Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the external axes and of the tool reorientation V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed
251. ns A Z 415 WriteBin Advanced functions Instruction Example VAR iodev channel VAR num out_buffer 20 VAR num input VAR num nchar Open com2 channel Bin out buffer 1 5 enq WriteBin channel out_buffer 1 input ReadBin channel Time 0 1 IF input 6 THEN ack out_buffer 1 2 stx out_buffer 2 72 H out buffer 3 101 e out buffer 4 108 P out_buffer 5 108 P out buffer 6 111 0 out_buffer 7 32 out_buffer 8 StrToByte w Char w out_buffer 9 StrToByte o Char o out_buffer 10 StrToByte r Char r out_buffer 11 StrToByte l Char l out_buffer 12 StrToByte d Char d out_buffer 13 3 etx WriteBin channel out_buffer 13 ENDIF Il The text string Hello world with associated control characters is written to a serial channel The function StrToByte is used in the same cases to convert a string into a byte num data Syntax WriteBin IODevice lt variable VAR of iodev gt Buffer lt array IN of num gt NChar lt expression IN of num gt 416 RAPID reference part 1 Instructions A Z Instruction Related information Opening etc of serial channels Convert a string to a byte data Byte data RAPID reference part 1 Instructions A Z WriteBin Advanced functions Described in RAPID Summary Co
252. nstruction Subsequent logical instructions are executed while the robot moves MoveJ start v2000 z40 grip3 WObj fixture The TCP of the tool grip3 is moved along a non linear path to a position start This position is specified in the object coordinate system for fixture RAPID reference part 1 Instructions A Z 171 MoveJ Instruction Syntax MoveJ Conc ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LV V lt expression IN of num gt PV T lt expression IN of num gt Zone lt expression IN of zonedata gt V Z lt expression IN of num gt Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt Related information 172 Other positioning instructions Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Motion in general Coordinate systems Concurrent program execution Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordinate Systems Motion and I O Principles Synchronisation Using Logical Ins
253. nt On or no argument is chosen then the program execution stops as soon as there s a risk that the configuration of the programmed position not will be attained from the current position However it is possible to restart the program again although the wrist axes may con tinue to the wrong configuration At a stop point the robot will check that the config urations of all axes are achieved not only the wrist axes If SingArea Wrist is also used the robot always moves to the programmed wrist axes configuration and at a stop point the remaining axes configurations will be checked If the argument Off is chosen there is no monitoring Monitoring is active by default This is automatically set at a cold start up when a new program is loaded when starting program executing from the beginning A simple rule to avoid problems both for ConfL On and Off is to insert inter mediate points to make the movement of each axis less than 90 degrees between points or more precisely the sum of movements for any of the pairs of axes 1 4 1 6 3 4 or 3 6 should not exceed 180 degrees If ConfL Offis used with a big movement it can cause stops directly or later in the program with error 50050 Position outside reach or 50080 Position not compatible In a program with ConfL Off it s recommended to have movements to known configurations points with ConfJ On MoveJ or ConfL On Sin gArea Wrist MoveL as start point
254. nt reference to the file data type iodev E g it is possible to have one write pointer and one different read pointer to the same file at the same time The iodev variable used when opening a file or serial channel must be free from use If it has been used previously to open a file this file must be closed prior to issuing a new Open instruction with the same iodev variable Error handling Ifa file cannot be opened the system variable ERRNO is set to ERR_FILEOPEN This error can then be handled in the error handler Syntax Open Object lt expression IN of string gt File lt expression IN of string gt IODevice lt variable VAR of iodev gt Read Write PV Append PV Bin RAPID reference part 1 Instructions A Z 203 Open Advanced functions Related information Writing to and reading from files or serial channel 204 Instruction Described in RAPID Summary Communication RAPID reference part 1 Instructions A Z PathAccLim Instruction PathAccLim Reduce TCP acceleration along the path PathAccLim Path Acceleration Limitation is used to set or reset limitations on TCP acceleration and or TCP deceleration along the movement path The limitation will be performed along the movement path 1 e the acceleration in the path frame It is the tangential acceleration deceleration in the path direction that will be limited
255. nts until a new softness value is programmed for the current axis or until the soft servo is deactivated by an instruction Limitations Soft servo for any robot or external axis is always deactivated when there is a power failure This limitation can be handled in the user program when restarting after a power failure The same axis must not be activated twice unless there is a moving instruction in between Thus the following program sequence should be avoided otherwise there will be a jerk in the robot movement SoftAct n x SoftAct n y n robot axis n x and y softness values Syntax SoftAct MechUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt Softness lt expression IN of num gt Ramp lt expression IN of num gt Related information Described in Behaviour with the soft servo engaged Motion and I O Principles Positioning during program execution 282 RAPID reference part 1 Instructions A Z SoftDeact Instruction SoftDeact Deactivating the soft servo SoftDeact Soft Servo Deactivate is used to deactivate the so called soft servo on all robot and external axes Example SoftDeact Deactivating the soft servo on all axes SoftDeact Ramp 150 Deactivating the soft servo on all axes with ramp factor 150 Arguments SoftDeact Ramp Ramp Data type num Ramp factor in
256. num gt Related information Described in Open DeviceNet Vendor Association DeviceNet Specification rev 2 0 Configuration of I O User s Guide System Parameters Configuration of I O IO Plus User s Guide Configuration of I O RAPID Developer s Manual System Parameters Input Output functionality in general Motion and I O Principles 7 0 Princi ples Input Output instructions RAPID Summary Input and Output Signals Set I O unit attribute Instructions JODNSetAttr 98 RAPID reference part 1 Instructions A Z IODNS etAttr Instruction IODNSetAttr Set attribute for an I O unit IODNSetAttr 1 0 DeviceNet Set Attribute is used to set an attribute for an I O unit on the DeviceNet Examples IODNSetAttr dsqc328 6 20 1D 24 01 30 65 8 1 5 Timeout 3 This will set the filter time to 5 for the falling edge on insignal on the unit dsqc328 Timeout after 3 seconds IODNSetAttr dsqc328 6 20 1D 24 01 30 64 8 1 4 This will set the filter time to 4 for the rising edge on insignal on the unit dsqc328 Timeout after default 5 seconds Arguments IODNSetAttr UnitName Path SetValue Timeout UnitName Data type string The name of the I O unit same name as configured Path Data type string The values for the path is found in the EDS file For a more detailed description see the Open DeviceNet Vendor Association DeviceNet Specification rev 2 0 SetValue Data type string
257. o to home pos ISignalDI dil 1 intnol TRAP go to home pos VAR robtarget p10 StorePath p10 CRobT MoveL home v500 fine tool1 WaitDI dil 0 Move L p10 v500 fine tool1 RestoPath StartMove ENDTRAP Similar to the previous example but the robot does not move to the home position until the current movement instruction is finished Syntax StopMove Quick Related information Described in Continuing a movement Instructions StartMove Store restore path Instructions StorePath RestoPath 308 RAPID reference part 1 Instructions A Z StorePath Instruction Advanced functions StorePath Stores the path when an interrupt occurs StorePath is used to store the movement path being executed when an error or interrupt occurs The error handler or trap routine can then start a new movement and following this restart the movement that was stored earlier This instruction can be used to go to a service position or to clean the gun for example when an error occurs Example StorePath The current movement path is stored for later use Program execution The current movement path of the robot and external axes is saved After this another movement can be started in a trap routine or an error handler When the reason for the error or interrupt has been rectified the saved movement path can be restarted Example TRAP machine ready VAR robtarget pl StorePath pl CRobT MoveL
258. oad for a mechanical unit 145 MoveAbsJ Moves the robot to an absolute joint position esse 149 MoveC Moves the robot Circular ly ciscscssessciicscisccisscoussctanccevciassavacssarenstanncdecddcdeoesedeoetorentecess 155 MoveCDO Moves the robot circularly and sets digital output in the corner 161 MoveCSync Moves the robot circularly and executes a RAPID procedure 165 MoveJ Moves the robot by joint movement ssesssesssocesoossoosssoesssesssocssoossoossoesssosssosssosssos 169 MoveJDO Moves the robot by joint movement and sets digital output in the corner 173 MoveJSync Moves the robot by joint movement and executes a RAPID procedure 177 MoveL Moves the robot linearly ccccsccccssscccsssccsssscccssscsccscccssssscsssesssssesssssssssessesees 181 MoveLDO Moves the robot linearly and sets digital output in the corner 000 185 MoveL Sync Moves the robot linearly and executes a RAPID procedure ss 189 MToolRotCalib Calibration of rotation for MOVING tOOL cccscccccsccsescescsesscesssceeees 193 MToolTCPCalib Calibration of TCP for moving t0o0l oeossesssesssocssoossoosssesssocssoossoossoo 197 Open Opens a file or serial channel cccsccccssscccsssccccssccsccsecsssssccessssessssssesssssessssseesoes 201 PathAccLim Reduce TCP acceleration along the path 205 PathResol Override path resolution ie cssisvssssossstccwescscosssevesecscnsdcoa
259. occurred BreakFlag Data type errnum A variable that will hold the error code if maxtime or dibreak is used If this optional variable is omitted the error handler will be executed The constants ERR TP MAXTIME and ERR TP_ DIBREAK can be used to select the reason RAPID reference part 1 Instructions A Z 325 TPReadNum Instruction Program execution The information text is always written on a new line If the display is full of text this body of text is moved up one line first Strings longer than the width of the teach pen dant 40 characters are split into two lines Program execution waits until a number is typed on the numeric keyboard followed by Enter or OK Reference to TPReadFK about description of concurrent 7PReadFK or TPReadNum request on Teach Pendant from same or other program tasks Example TPReadNum reg1 How many units should be produced FOR i FROM 1 TO reg DO produce part ENDFOR The text How many units should be produced is written on the teach pendant display The routine produce part is then repeated the number of times that is input via the teach pendant Error handling If there is a timeout parameter MaxTime before an input from the operator the sys tem variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler If a digital input is set parameter D Break before an input from the operator the sys tem variable ERRNO is set to ERR_TP_DIBREAK
260. of the executed instruction CODE column shows if the instruction is READY or if the instruction WAIT for completion at OUT time OUT column shows the time in ms at leave of the executed instruction All times are given in ms relative values SYSTEM TRAP means that the system is doing something else than execu tion of RAPID instructions If procedure call to some NOSTEPIN procedure module the output list shows only the name ofthe called procedure This is repeated for every executed instruction in the NOSTEPIN routine 286 RAPID reference part 1 Instructions A Z SpyStart Instruction Syntax SpyStart File lt expression IN of string gt Related information Described in Stop recording of execution data Instructions SpyStop RAPID reference part 1 Instructions A Z 287 SpyStart Instruction 288 RAPID reference part 1 Instructions A Z SpyStop Instruction SpyStop Stop recording of time execution data SpyStop is used to stop the recording of time data during execution The data which can be useful for optimising the execution cycle time is stored in a file for later analysis Example SpyStop Stops recording the execution time data in the file specified by the previous SpyStart instruction Program execution The execution data recording is stopped and the file specified by the previous SpyStart instruction is closed If no SpyStart instruction has been ex
261. of this argument also specifies the type of system data Tool Work Object or PayLoad to fetch ObjectName Data type string Option argument variable or persistent to also fetch the current active system data name RAPID reference part 1 Instructions A Z 69 GetSysData Instruction Program execution When running the instruction GetSysData the current data value is stored in the speci fied persistent in argument DestObject If argument ObjectName is used the name of the current data is stored in the specified variable or persistent in argument ObjectName Current system data for Tool or Work Object is activated by execution of any move instruction or can be manually set in the jogging window Syntax GetSysData DestObject lt persistent PERS of anytype gt ObjectName lt expression INOUT of string gt Related information Described in Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata Set system data Instructions SetSysData 70 RAPID reference part 1 Instructions A Z GetTrapData Instruction Advanced functions GetTrapData Get interrupt data for current TRAP GetTrapData is used in a trap routine to obtain all information about the interrupt that caused the trap routine to be executed To be used in trap routines generated by instruction Error before use of the instruc tion ReadErrData Example VAR trapdata err_
262. ogram execution continues in the routine s error handler After the error handler has been executed program execution can continue with the routine that called the routine in question RETURN the error handler of the routine that called the routine in question RAISE If the RAISE instruction is present in a routine s error handler program execution con tinues in the error handler of the routine that called the routine in question The same error number remains active A RAISE instruction in a routine s error handler has also another feature it can be used for long jump see Error Recovery With Long Jump With a long jump it is possible to propagate an error from an error handler from a deep neested call chain to a higher level in one step If the RAISE instruction is present in a trap routine the error is dealt with by the sys tem s error handler Error handling If the error number is out of range the system variable ERRNO is set to ERR_ILLRAISE see Data types errnum This error can be handled in the error handler Syntax EBNF RAISE lt error number gt lt error number gt lt expression gt Related information Described in Error handling Basic Characteristics Error Recovery Error recovery with long jump Basic Characteristics Error Recovery Booking error numbers Instructions BookErrNo 230 RAPID reference part 1 Instructions A Z ReadAnyBin Instruction Advanced
263. ole of the movement time for the current movement can be utilised during small and fast move ments Typical absolute accuracy values for set of digital outputs 5 ms Typical repeat accuracy values for set of digital outputs 2 ms Syntax TriggEquip TriggData lt variable VAR of triggdata gt Distance lt expression IN of num gt V Start EquipLag lt expression IN of num gt V DOp lt variable VAR of signaldo gt P GOp lt variable VAR of signalgo gt V AOp lt variable VAR of signalao gt V ProcID lt expression IN of num gt SetValue lt expression IN of num gt Inhib lt persistent PERS of bool Related information Described in Use of triggers Instructions Trigg TriggC Trigg J Definition of other triggs Instruction TriggIO TriggInt More examples Data Types triggdata Set of I O Instructions SetDO SetGO SetAO Configuration of Event preset time User s guide System Parameters Manipulator RAPID reference part 1 Instructions A Z 349 TriggEquip Advanced functions Instruction 350 RAPID reference part 1 Instructions A Z Trigg Int Instruction Advanced functions TriggInt Defines a position related interrupt TriggInt is used to define conditions and actions for running an interrupt routine at a positi
264. on Described in RAPID Summary Input and Output Signals Motion and I O Principles 7 0 Princi ples System Parameters RAPID reference part 1 Instructions A Z 10Disable Instruction IODisable Disable I O unit 10Disable is used to disable an I O unit during program execution I O units are automatically enabled after start up if they are defined in the system parameters When required for some reason I O units can be disabled or enabled dur ing program execution Examples CONST string cell1 cell1 IODisable celll 5 Disable I O unit with name ce Wait max 5 s Arguments IODisable UnitName MaxTime UnitName Data type string The name of the I O unit to be disabled with same name as configured MaxTime Data type num The maximum period of waiting time permitted expressed in seconds If this time runs out before the I O unit has finished the disable steps the error handler will be called if there is one with the error code ERR_IODISABLE If there is no error handler the execution will be stopped To disable an I O unit takes about 0 5 s Program execution The specified I O unit starts the disable steps The instruction is ready when the disable steps are finished If the MaxTime runs out before the I O unit has finished the disable steps a recoverable error will be generated After disabling an I O unit any setting of outputs in this unit will result in an error RAPID reference part
265. on Advanced functions TriggEquip Defines a fixed position time I O event TriggEquip Trigg Equipment is used to define conditions and actions for setting a digital a group of digital or an analog output signal at a fixed position along the robot s movement path with possibility to do time compensation for the lag in the external equipment The data defined is used for implementation in one or more subsequent TriggL TriggC or TriggJ instructions Examples VAR triggdata gunon TriggEquip gunon 10 0 1 DOp gun 1 TriggL pl v500 gunon z50 gun1 The tool gun opens in point p2 when the TCP is 0 mm before the point p1 To reach this the digital output signal gun is set to the value 7 when TCP is 0 1 s before the point p2 The gun is full open when TCP reach point p2 Start point TriggL p1 v500 gunon z50 gunl End point p1 P ae Bee 10 mm Point p2 for open of the gun Figure 39 Example of fixed position time I O event Arguments TriggEquip TriggData Distance Start EquipLag DOp GOp AOp ProcID SetValue Inhib TriggData Data type triggdata Variable for storing the triggdata returned from this instruction These triggdata are then used in the subsequent 7riggL TriggC or TriggJ instructions RAPID reference part 1 Instructions A Z 345 TriggEquip Advanced functions Instruction Distance Data type num Defines the position on the path where the I O equipment even
266. on is stored in sp If the value of the signal changes twice program execution stops Limitations 256 General limitations according to instruction MoveC Zone data for the positioning instruction that precedes SearchC must be used carefully The start of the search i e when the I O signal is ready to react is not in this case the programmed destination point of the previous positioning instruction but a point along the real robot path Figure 27 illustrates an example of something that may go wrong when zone data other than fine is used RAPID reference part 1 Instructions A Z SearchC Instruction The instruction SearchC should never be restarted after the circle point has been passed Otherwise the robot will not take the programmed path positioning around the circular path in another direction compared with that programmed Start point with zone data z Search object End point Start point with 7 zone data fine Figure 27 A match is made on the wrong side of the object because the wrong zone data was used Repetition accuracy for search hit position with TCP speed 20 1000 mm s 0 1 0 3 mm Typical stop distance using a search velocity of 50 mm s without TCP on path switch Stop 1 3 mm with TCP on path switch PStop 15 25 mm with TCP near path switch SStop 4 8 mm Error handling An error is reported during a search when no signal detection occurred this g
267. on of instruction AccSet and PathAccLim the system reduce the accelera tion deceleration in following order according AccSet according PathAccLim 206 RAPID reference part 1 Instructions A Z PathAccLim Instruction Example 1 MoveL pl v1000 fine tool0 PathAccLim TRUE AccMax 4 FALSE MoveL p2 v1000 z30 tool0 MoveL p3 v1000 fine tool0 PathAccLim FALSE FALSE TCP acceleration is limited to 4m s between pl and p3 MoveL pl v1000 fine tool0 MoveL p2 v1000 z30 tool0 PathAccLim TRUE AccMax 3 TRUE DecelMax 4 MoveL p3 v1000 fine tool0 PathAccLim FALSE FALSE TCP acceleration is limited to 3m s between p2 and p3 TCP deceleration is limited to 4m s between p2 and p3 Limitations The minimum acceleration deceleration allowed is 0 5 m s Error handling If the parameters AccMax or DecelMax is set to a value too low the system variable ERRNO is set to ERR ACC TOO LOW This error can then be handled in the error handler Syntax PathAccLim AccLim lt expression IN of bool gt AccMax lt expression IN of num gt DecelLim lt expression IN of bool gt DecelMax lt expression IN of num gt RAPID reference part 1 Instructions A Z 207 PathAccLim Related information Positioning instructions Motion settings data Reduction of acceleration 208 Instruction Described in RAP
268. on on the robot s movement path The data defined is used for implementation in one or more subsequent TriggL TriggC or TriggJ instructions Examples VAR intnum intnol VAR triggdata trigg1 CONNECT intnol WITH trap1 TriggInt trigg1 5 intnol TriggL pl v500 triggl z50 gunl TriggL p2 v500 triggl z50 gunl Delete intnol The interrupt routine rap is run when the TCP is at a position 5 mm before the point pl or p2 respectively TriggL pl v500 triggl z50 gunl we End point p or p2 Start point SA 5 mm g a The interrupt is generated when the TOP is here Figure 42 Example position related interrupt Arguments TriggInt TriggData Distance Start Time Interrupt TriggData Data type triggdata Variable for storing the triggdata returned from this instruction These triggdata are then used in the subsequent TriggL TriggC or TriggJ instructions RAPID reference part 1 Instructions A Z 351 Trigg Int Advanced functions Instruction Distance Data type num Defines the position on the path where the interrupt shall be generated Specified as the distance in mm positive value from the end point of the move ment path applicable if the argument Start or Time is not set See the section entitled Program execution for further details Start Data type switch Used when the distance for the argument Distance starts at the movement start point instead of th
269. on time related event will be generated when the start point end point is passed if the specified distance from the end point start point is not within the length of movement of the current instruction 7rigg With use of argument EquipLag with negative time delay the I O signal can be set after the end point RAPID reference part 1 Instructions A Z 347 TriggEquip Advanced functions Instruction Examples VAR triggdata glueflow TriggEquip glueflow 1 Start 0 05 AOp glue 5 3 Move p1 v1000 z50 tooll TriggL p2 v500 glueflow z50 tooll The analog output signal glue is set to the value 5 3 when the TCP passes a point located mm after the start point p with compensation for equipment lag 0 05 s TriggL p3 v500 glueflow z50 tooll The analog output signal glue is set once more to the value 5 3 when the TCP passes a point located mm after the start point p2 Error handling If the programmed SetValue argument for the specified analog output signal AOp is out of limit the system variable ERRNO is set to ERR AO LIM This error can be han dled in the error handler Limitations T O events with distance without the argument 7ime is intended for flying points corner path I O events with distance using stop points results in worse accuracy than specified below Regarding the accuracy for I O events with distance and using flying points the fol lowing is applicable when setting a digital output
270. onal axes and mm for linear axes Specifies in absolute joints not in offset coordinate system EOffsSet EOffsOn for external axes Value 9E9 for some axis means that the axis should not be supervised for low limit Not active external axis gives also 9E9 at programming time HighJointVal Data type jointtarget The position in joint coordinates for the high limit of the joint space to define Specifies for each robot axes and external axes degrees for rotational axes and mm for linear axes Specifies in absolute joints not in offset coordinate system EOffsSet EOffsOn for external axes Value 9E9 for some axis means that the axis should not be supervised for high limit Not active external axis gives also 9E9 at programming time HighJointVal LowJointVal for each axis must be greater than 0 for all axes to super vise for both low and high limits LowJointVal HighJointVal s Arm angle Figure 51 Definition of joint space for rotational axis LowJointVal HighJointVal TN Arm position Figure 52 Definition of joint space for linear axis Program execution The definition of the joint space is stored in the variable of type shapedata argument Shape for future use in WZLimSup or WZDOSet instructions If use of WZLimJointDef together with WZDOSet the digital output signal is set only if all active axes with joint space supervision are before or inside the joint space 442 RAPID reference part 1 Instructions A Z
271. ons for the interrupt identity are the same as for SignalDO Syntax ISignalAO V Single Signal lt variable VAR of signalao gt Condition lt expression IN of aiotrigg gt HighValue lt expression IN of num gt LowValue lt expression IN of num gt DeltaValue lt expression IN of num gt DPos DNeg Interrupt lt variable VAR of intnum gt RAPID reference part 1 Instructions A Z 119 ISignalAO Advanced functions Related information 120 Summary of interrupts Definition of constants Interrupt from analog input signal Interrupt from digital input signal Interrupt from digital output signal More information on interrupt management More examples Related system parameters filter Instruction Described in RAPID Summary Interrupts Data Types aiotrigg Instructions SignalAI Instructions SignalDI Instructions SignalDO Basic Characteristics Interrupts Data Types intnum System Parameters JO Signals RAPID reference part 1 Instructions A Z 1ISignalDI Instruction ISignalDI Orders interrupts from a digital input signal ISignalDI Interrupt Signal Digital In is used to order and enable interrupts from a digital input signal System signals can also generate interrupts Examples VAR intnum sig lint CONNECT siglint WITH iroutinel ISignalDI d
272. or stationary tool 297 SToolTCPCalib Calibration of TCP for stationary tool scccssccsssccccsecscssscscseseseees 301 Stop Stops program execution eessoesssesssesssecssocesoossooessoesssecssoossoossosssssesssesssoosssosssssssossssose 305 StopMove Stops robot motion 0550 ssseussessssessessoonssscsovessedesoossacsseatsccsessosvassoeusbeceesessndsreetsecesees 307 StorePath Stores the path when an interrupt OccuUrS seesseoessossssesssesssecsoossosssssesssosesosee 309 TEST Depending on the value of an expression e ssessssesssesssesssoossoossoosssesssoossoossoossssesssse 311 TestSignDefine Define test sigmal ccsccccssscccssscccsscccsssccccssccsssccssssscsssssccessscsessesoessees 313 TestSignReset Reset all test signal definitions esse 317 TPErase Erases text printed on the teach pendant ss 319 TP ReadF KR Reads function Keys issssssesssssssssovsevosevascensessssceonsstoveseruvscdesanseavsucesbesvenansdceacsabens 321 TPReadNum Reads a number from the teach pendant 325 TPShow Switch window on the teach pendant scccsscccsssccsssscccsssescsssescesssccssessessenes 329 TPWrite Writes on the teach pendant csscccsscccsssccccssscccssccscssescesssscssssseessessessssceesens 331 TriggC Circular robot movement With events sccccsccsssccscsscsscessssssesssssescessesseseees 333 RAPID reference part 1 Instructions A Z Ill Contents TriggCheckIO Defin
273. ormation Described in Incrementing a variable by 1 Instructions Incr Decrementing a variable by 1 Instructions Decr RAPID reference part 1 Instructions A Z 21 Clear 22 Instruction RAPID reference part 1 Instructions A Z ClearlOBuff Instruction Advanced functions ClearlOBuff Clear input buffer of a serial channel ClearIOBuff Clear I O Buffer is used to clear the input buffer of a serial channel All buffered characters from the input serial channel are discarded Example VAR iodev channel2 Open com2 channel2 Bin ClearlOBuff channel2 The input buffer for the serial channel referred to by channel is cleared Arguments ClearlOBuff IODevice IODevice Data type iodev The name reference of the serial channel whose input buffer is to be cleared Program execution All buffered characters from the input serial channel are discarded Next read instruc tions will wait for new input from the channel Limitations This instruction can only be used for serial channels Error handling If trying to use the instruction on a file the system variable ERRNO is set to ERR FILEACC This error can then be handled in the error handler Syntax ClearlOBuff IODevice variable VAR of iodev gt RAPID reference part 1 Instructions A Z 23 ClearlOBuff Advanced functions Instruction Related information Described in Opening a serial channel RAPID Summary Communi
274. orner path is given in mm which is substi tuted for the corresponding zone specified in the zone data 156 RAPID reference part 1 Instructions A Z MoveC Instruction Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use when the robot moves The tool centre point is the point that is moved to the specified destination point WObj Work Object Data type wobjdata The work object object coordinate system to which the robot position in the instruction is related This argument can be omitted and if it is the position is related to the world coordinate system If on the other hand a stationary TCP or coordinated exter nal axes are used this argument must be specified in order for a circle relative to the work object to be executed Corr Correction Data type switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present Program execution The robot and external units are moved to the destination point as follows The TCP of the tool is moved circularly at constant programmed velocity The tool is reoriented at a constant velocity from the orientation at the start position to the
275. otherwise it will be set to false In manual mode if the argument npos is used and Time is greater than 3 s an alert box will pop up asking if you want to simulate the instruction If you don t want the alert box to appear you can set system parameter SimMenu to NO System Parameters Topics Communication Types System misc Syntax WaitDO Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt MaxTime lt expression IN of num gt TimeF lag lt variable VAR of bool gt Related information Described in Waiting until a condition is satisfied Instructions WaitUntil Waiting for a specified period of time Instructions WaitTime 392 RAPID reference part 1 Instructions A Z WaitLoad Instruction WaitLoad Connect the loaded module to the task WaitLoad is used to connect the module if loaded with StartLoad to the program task The loaded module must be connected to the program task with the instruction Wait Load before any of its symbols routines can be used The loaded program module will be added to the modules already existing in the pro gram memory This instruction can also be combined with the function to unload some other program module in order to minimise the number of links 1 instead of 2 Example VAR loadsession load1 StartLoad HOME PART A MOD loadl MoveL p10 v1000 z50 tooll WObj
276. ovements during the unloading Program stop during execution of UnLoad instruction results in guard stop with motors off and error message 20025 Stop order timeout on the Teach Pendant 386 RAPID reference part 1 Instructions A Z UnLoad Instruction Error handling Ifthe file in the UnLoad instruction cannot be unloaded because of ongoing execution within the module or wrong path module not loaded with Load or StartLoad the sys tem variable ERRNO is set to ERR UNLOAD If the argument ErrlfChanged is used and the module has been changed the execution of this routine will set the system variable ERRNO to ERR NOTSAVED Those errors can then be handled in the error handler Syntax UnLoad ErrIfChanged PV Save FilePath lt expression IN of string gt File lt expression IN of string gt Related information Described in Load a program module Instructions Load Instructions StartLoad WaitLoad Accept unresolved references System Parameters Controller Sys tem Parameters Tasks System Parameters BindRef RAPID reference part 1 Instructions A Z 387 UnLoad Instruction 388 RAPID reference part 1 Instructions A Z WaitDI Instruction WaitDI Waits until a digital input signal is set WaitDI Wait Digital Input is used to wait until a digital input is set Example WaitDI did 1 Program execution continues only after th
277. part 473 09 47 15 Limitations The arguments Num Bool Pos and Orient are mutually exclusive and thus cannot be used simultaneously in the same instruction This instruction can only be used for files or serial channels that have been opened for writing 410 RAPID reference part 1 Instructions A Z Write Instruction Advanced functions Error handling If an error occurs during writing the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler Syntax Write IODevice lt variable VAR of iodev gt String lt expression IN of string gt Num lt expression IN of num gt Bool lt expression IN of boo Pos lt expression IN of pos gt Orient lt expression IN of orient gt NoNewLine Related information Described in Opening a file or serial channel RAPID Summary Communication RAPID reference part 1 Instructions A Z 411 Write Advanced functions Instruction 412 RAPID reference part 1 Instructions A Z WriteAnyBin Instruction Advanced functions WriteAnyBin Writes data to a binary serial channel or a file WriteAnyBin Write Any Binary is used to write any type of data to a binary serial channel or file Example VAR iodev channel2 VAR orient quatl 1 0 0 0 Open com2 channel2 Bin WriteAnyBin channel2 q
278. pe num The maximum period of waiting time permitted expressed in seconds If this time runs out before the condition is set the error handler will be called if there is one with the error code ERR WAIT MAXTIME If there is no error handler the execution will be stopped TimeFlag Timeout Flag Data type bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met If this parameter is included in the instruction it is not considered to be an error if the max time runs out This argument is ignored if the MaxTime argument is not included in the instruction RAPID reference part 1 Instructions A Z 399 WaitUntil Instruction Program execution If the programmed condition is not met on execution of a WaitUntil instruction the condition is checked again every 100 ms When the robot is waiting the time is supervised and if it exceeds the max time value the program will continue if a 7imeFlag is specified or raise an error if it s not Ifa TimeF lag is specified this will be set to TRUE if the time is exceeded otherwise it will be set to false In manual mode if the argument npos is used and Time is greater than 3 s an alert box will pop up asking if you want to simulate the instruction If you don t want the alert box to appear you can set system parameter SimMenu to NO System Parameters Topics Communication Types System misc Examples VAR
279. percent gt 100 The ramp factor is used to control the deac tivating of the soft servo A factor 100 denotes the normal value with greater values the soft servo is deactivated more slowly longer ramp The default value for ramp factor is 100 Program execution The soft servo is deactivated for all robot and external axes Syntax SoftDeact Ramp lt expression IN of num gt Related information Described in Activating the soft servo Instructions SoftAct RAPID reference part 1 Instructions A Z 283 SoftDeact Instruction 284 RAPID reference part 1 Instructions A Z SpyStart Instruction SpyStart Start recording of execution time data SpyStart is used to start the recording of instruction and time data during execution The execution data will be stored in a file for later analysis The stored data is intended for debugging RAPID programs specifically for multi tasking systems only necessary to have SpyStart SpyStop in one program task Example SpyStart HOME spy log Starts recording the execution time data in the file spy log on the HOME disk Arguments SpyStart File File Data type string The file path and the file name to the file that will contain the execution data Program execution The specified file is opened for writing and the execution time data begins to be recorded in the file Recording of execution time data is active until
280. position on the circle between the start point and the destination point To obtain the best accuracy it should be placed about halfway between the start and destination points If it is placed too close to the start or destination point the robot may give a warning The circle point is defined as a named position or stored directly in the instruction marked with an in the instruction The position of the external axes are not used ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named posi tion or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the TCP the tool reorientation and external axes V Velocity Data type num This argument is used to specify the velocity of the TCP in mm s directly in the instruction It is then substituted for the corresponding velocity specified in the speed data T Time Data type num This argument is used to specify the total time in seconds during which the robot and external axes move It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Z Zone Data type num This argument is used to specify the position accuracy of the robot TCP directly in the instruction The length of the c
281. pulse is generated with a specified pulse length see Figure 25 Pulse length 1 Signal level 0 re Execution of the instruction PulseDO ns Execution of the instruction PulseDO 1 Signal level 0 Pulse length 1 Signal level 0 Tee Execution of the instruction PulseDO High ye Execution of the instruction PulseDO High 1 Signal level 0 o l Signal level x 0 Execution of the instruction Execution of the instruction PulseDO High PLength x dos PulseDO High PLength y do5 from task1 from task2 Figure 25 Generation of a pulse on a digital output signal The next instruction is executed directly after the pulse starts The pulse can then be set reset without affecting the rest of the program execution 226 RAPID reference part 1 Instructions A Z PulseDO Instruction Limitations The length of the pulse has a resolution of 0 01 seconds Programmed values that differ from this are rounded off Syntax PulseDO VHigh V PLength lt expression IN of num gt Signal lt variable VAR of signaldo gt Related information Described in Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles 7 0 Prin ciples Configuration of I O User s Guide System Parameters RAPID reference part 1 Instructions A Z 227 PulseDO Instruction 228 RAPID reference part 1 Instr
282. r Path SampleTime Gluing with large reorientations and small corner zones can cause speed variations Decrease the parameter PathSampleTime Example Move p1 v1000 fine tool1 PathResol 150 With the robot at a stop point the path sample time is increased to 150 of the configured RAPID reference part 1 Instructions A Z 209 PathResol Instruction Arguments PathResol PathSampleTime PathSampleTime Data type num Override as a percent of the configured path sample time 100 corresponds to the configured path sample time Within the range 25 400 A lower value of the parameter PathSampleTime improves the path resolution path accuracy Program execution The path resolutions of all subsequent positioning instructions are affected until a new PathResol instruction is executed This will affect the path resolution during all pro gram execution of movements default path level and path level after StorePath and also during jogging The default value for override of path sample time is 100 This value is automatically set at a cold start up when a new program is loaded when starting program execution from the beginning The current override of path sample time can be read from the variable C_MOTSET data type motsetdata in the component pathresol Limitations If this instruction is preceded by a move instruction that move instruction must be pro grammed with a stop point zonedata fine not a fly
283. r shaped world zone Define a world zone for home joints Define a world zone for limit joints Activate world zone limit supervision Activate world zone digital output set Described in Motion and I O Principles World Zones Data Types shapedata Instructions WZBoxDef Instructions WZCylDef Instruction WZHomeJointDef Instruction WZLimJointDef Instructions WZLimSup Instructions WZDOSet RAPID reference part 1 Instructions A Z A acceleration reduction 1 205 AccSet 1 205 ActUnit 3 Add 5 analog output set 271 arithmetic 7 assignment 7 B Break 9 C call 223 CallByVar 11 check I O 339 circular movement 155 161 165 Clear 15 21 ClkReset 27 ClkStart 29 ClkStop 31 clock reset 27 start 29 stop 31 Close 23 41 comment 33 common drive unit 3 45 Compact IF 35 condition 87 ConfJ 37 ConfL 39 CONNECT 43 D DeactUnit 45 Decr 47 decrease velocity 403 decrement 47 digital output pulse 225 reset 239 set 269 273 DitherDeact 51 RAPID reference part 1 Instructions A Z Index E EOffsOff 53 EOffsOn 55 EOffsSet 57 erase teach pendant display 319 error recovery retry 243 375 ErrWrite 59 EXIT 61 ExitCycle 63 external axes activate 3 deactivate 45 file close 23 41 247 load 141 249 291 open 201 rewind 247 spystart 105 117 tsigrset 317 unload 385 393 write 231 409 413 415 419 FOR 65 Functions 69 G GetTrapData 71 GOTO 73 GripLoad 75 group of I O 275
284. rammed orientation in the CirPoint 18 RAPID reference part 1 Instructions A Z CirPathMode Instruction Arguments CirPathMode PathFrame ObjectFrame CirPointOri PathFrame Data type switch During the circular movement the reorientaion of the tool is done continuous from the start point orientation to the ToPoint orientation in the actual path frame This is the standard mode in the system ObjectFrame Data type switch During the circular movement the reorientaion of the tool is done continuous from the start point orientation to the ToPoint orientation in the actual object frame CirPointOri Data type switch During the circular movement the reorientaion of the tool is done continuous from the start point orientation to the programmed CirPoint orientation and fur ther to the ToPoint orientation Only programming CirPathMode without any switch result in the same as CirPointOri PathFrame Program execution The specified circular tool reorientation mode applies for the next executed robot cir cular movements of any type MoveC SearchC TriggC MoveCDO MoveCSync ArcC PaintC and is valid until a new CirPathMode or obsolete CirPathReori instruction is executed The standard circular reorientation mode CirPathMode PathFrame is automatically set at a cold start up when a new program is loaded when starting program executing from the beginning RAPID reference part
285. rence part 1 Instructions A Z IDelete Instruction IDelete Cancels an interrupt Delete Interrupt Delete is used to cancel delete an interrupt If the interrupt is to be only temporarily disabled the instruction S eep or Disable should be used Example IDelete feeder_low The interrupt feeder_low is cancelled Arguments IDelete Interrupt Interrupt Data type intnum The interrupt identity Program execution The definition of the interrupt is completely erased To define it again it must first be re connected to the trap routine The instruction should be preceded by a stop point Otherwise the interrupt will be deactivated before the end point is reached Interrupts do not have to be erased this is done automatically when anew program is loaded the program is restarted from the beginning the program pointer is moved to the start of a routine Syntax IDelete Interrupt lt variable VAR of intnum gt RAPID reference part 1 Instructions A Z 77 IDelete Related information Summary of interrupts Temporarily disabling an interrupt Temporarily disabling all interrupts 78 Instruction Described in RAPID Summary Interrupts Instructions Sleep Instructions Disable RAPID reference part 1 Instructions A Z 1Disable Instruction IDisable Disables interrupts Disable Interrupt Disable is used to disable all interrupts temporarily It may for
286. ried out Examples VAR intnum intnol VAR triggdata trigg1 CONNECT intnol WITH trap1 TriggInt trigg1 0 1 Time intnol Trigg pl v500 trigg1 fine gun1 TriggJ p2 v500 trigg1 fine gun IDelete intnol The interrupt routine trap is run when the work point is at a position 0 s before the point p1 or p2 respectively Error handling If the programmed Scale Value argument for the specified analog output signal AOp in some of the connected TriggSpeed instructions results in out of limit for the analog sig nal together with the programmed Speed in this instruction the system variable ERRNO is set to ERR AO LIM If the programmed DipLag argument in some of the connected TriggSpeed instruc tions is too big in relation to the Event Preset Time used in System Parameters the system variable ERRNO is set to ERR DIPLAG LIM These errors can be handled in the error handler 366 RAPID reference part 1 Instructions A Z Instruction TriggJ Advanced functions Limitations Syntax If the current start point deviates from the usual so that the total positioning length of the instruction 7riggJ is shorter than usual e g at the start of 7riggJ with the robot position at the end point it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position In such cases the sequence in which the trigger activities are carried will be undefined The program logic in the us
287. rily when an interrupt occurs Example StopMove WaitDI ready_input 1 StartMove The robot movement is stopped until the input ready_input is set Arguments StopMove Quick Quick Data type switch Stops the robot on the path as fast as possible Without the optional parameter Quick the robot stops on the path but the braking dis tance is longer same as for normal Program Stop Program execution The movements of the robot and external axes stop without the brakes being engaged Any processes associated with the movement in progress are stopped at the same time as the movement is stopped Program execution continues without waiting for the robot and external axes to stop standing still Examples VAR intnum intnol CONNECT intnol WITH go_to_home_pos ISignalDI dil 1 intnol TRAP go to home pos RAPID reference part 1 Instructions A Z 307 StopMove Instruction VAR robtarget p10 StopMove StorePath p10 CRobT MoveL home v500 fine tool1 WaitDI dil 0 Move L p10 v500 fine tool1 RestoPath StartMove ENDTRAP When the input di is set to 1 an interrupt is activated which in turn activates the interrupt routine go_to_home_pos The current movement is stopped and the robot moves instead to the home position When di1 is set to 0 the robot returns to the position at which the interrupt occurred and continues to move along the programmed path VAR intnum intnol CONNECT intnol WITH g
288. rinciples RAPID reference part 1 Instructions A Z TRYNEXT Instruction TRYNEXT Jumps over an instruction which has caused an error The TRYNEXT instruction is used to resume execution after an error starting with the instruction following the instruction that caused the error Example reg2 reg3 reg4 ERROR IF ERRNO ERR DIVZERO THEN reg2 0 TRYNEXT ENDIF An attempt is made to divide reg3 by reg4 If reg4 is equal to 0 division by zero a jump is made to the error handler where reg is assigned to 0 The TRYNEXT instruction is then used to continue with the next instruction Program execution Program execution continues with the instruction subsequent to the instruction that caused the error Limitations The instruction can only exist in a routine s error handler y Syntax TRYNEXT Related information Described in Error handlers Basic Characteristics Error Recovery RAPID reference part 1 Instructions A Z 375 TRYNEXT Instruction 376 RAPID reference part 1 Instructions A Z TuneReset Instruction TuneReset Resetting servo tuning TuneReset is used to reset the dynamic behaviour of all robot axes and external mechanical units to their normal values Example TuneReset Resetting tuning values for all axes to 100 Program execution The tuning values for all axes are reset to 100 The default servo tuning values for all axes are automatically set by ex
289. ring gt Number lt expression IN of num gt 12 RAPID reference part 1 Instructions A Z Instruction Related information Calling procedures RAPID reference part 1 Instructions A Z CallBy Var Described in Basic Characteristic Routines User s Guide The programming language RAPID 13 CallByVar Instruction 14 RAPID reference part 1 Instructions A Z CancelLoad Instruction CancelLoad Cancel loading of a module CancelLoad is used to cancel the loading of a module that is being or has been loaded with the instruction StartLoad CancelLoad can be used only between the instruction Startload WaitLoad Example CancelLoad load1 The load session oad is cancelled Arguments CancelLoad LoadNo LoadNo Data type loadsession Reference to the load session fetched by the instruction StartLoad Examples VAR loadsession load 1 StartLoad HOME File PART_B MOD load1 CancelLoad load1 StartLoad HOME File PART_C MOD load1 ENDIF WaitLoad load The instruction CancelLoad will cancel the on going loading of the module PART B MOD and make it possible to in stead load PART C MOD Error handling If the variable specified in argument LoadNo is not in use meaning that no load session is in use the system variable ERRNO is set to ERR LOADNO NOUSE This error can then be handled in the error handler RAPID reference part 1 Instructions A Z
290. ruction Load Dynamic HOME DOORDIR DOORI MOD routine x UnLoad HOME DOORDIR DOOR1 MOD Program module DOOR MOD will be binded during execution late binding Loaded program contains a main procedure car prg door prg MODULE car MODULE door PROC main PROC main TEST part CASE door part ENDPROC Load Dynamic HOME door prg ENDMODULE door main UnLoad HOME door prg CASE window part id Load Dynamic HOME window prg DOP EES window main MODULE window UnLoad Save HOME window prg PROC main ENDTEST oO OS O 2 NN ENDPROC aaan ENDMODULE ENDPROC ENDMODULE The above example shows how You can load program which includes a main procedure This program can have been developed and tested separate and later loaded with Load or StartLoad WaitLoad into the system useing some type of main program framewok In this example car prg which load other programs door prg or window prg In the program carprg you load door prg or window prg located at HOME Because the main procedures in door prg and window prg after the loading are considered LOCAL in the module by the system the procedure calls are made in the following way door main or window main This syntax is used when you want to get access to LOCAL procedures in other modules in this example procedure main in module door or module window Unlo
291. rupt This should have previously been connected to a trap routine by means of the instruction CONNECT RAPID reference part 1 Instructions A Z 131 ITimer Instruction Program execution The corresponding trap routine is automatically called at a given time following the interrupt order When this has been executed program execution continues from where the interrupt occurred If the interrupt occurs cyclically a new computation of time is started from when the interrupt occurs Example VAR intnum timeint CONNECT timeint WITH check_serialch ITimer 60 timeint TRAP check_serialch WriteBin chl buffer 1 IF ReadBin ch1 Time 5 lt 0 THEN TPWrite The serial communication is broken EXIT ENDIF ENDTRAP Communication across the ch1 serial channel is monitored by means of interrupts which are generated every 60 seconds The trap routine checks whether the com munication is working If it is not program execution is interrupted and an error message appears Limitations The same variable for interrupt identity cannot be used more than once without being first deleted See Instructions ZSignalDI Syntax ITimer gt V Single Time lt expression IN of num gt Interrupt lt variable VAR of intnum gt 132 RAPID reference part 1 Instructions A Z ITimer Instruction Related information Described in Summary of interrupts RAPID Summary Interrupts
292. s values etc for debugging purposes Program execution The instruction stops program execution at once without waiting for the robot and external axes to reach their programmed destination points for the movement being performed at the time Program execution can then be restarted from the next instruc tion If there is a Break instruction in some event routine the routine will be executed from the beginning of the next event Syntax Break Related information Stopping for program actions Stopping after a fatal error Terminating program execution Only stopping robot movements RAPID reference part 1 Instructions A Z Described in Instructions Stop Instructions EXIT Instructions EXIT Instructions StopMove Break Instruction 10 RAPID reference part 1 Instructions A Z CallBy Var Instruction CallByVar Call a procedure by a variable CallByVar Call By Variable can be used to call procedures with specific names e g proc_namel proc_name2 proc_name3 proc_namex via a variable Example regl 2 CallByVar proc regl The procedure proc2 is called Arguments CallByVar Name Number Name Data type string The first part of the procedure name e g proc_name Number Data type num The numeric value for the number of the procedure This value will be converted to a string and gives the 2 nd part of the procedure name e g 7 The value must be a positive integer
293. s A Z comment Instruction comment Comment Comment is only used to make the program easier to understand It has no effect on the execution of the program Example Goto the position above pallet MoveL p100 v500 z20 tooll A comment is inserted into the program to make it easier to understand Arguments Comment Comment Text string Any text Program execution Nothing happens when you execute this instruction Syntax EBNF P lt character gt lt newline gt Related information Described in Characters permitted in a comment Basic Characteristics Basic Elements Comments within data and routine Basic Characteristics declarations Basic Elements RAPID reference part 1 Instructions A Z 33 comment Instruction 34 RAPID reference part 1 Instructions A Z Compact IF Instruction Compact IF If a condition is met then one instruction Compact IF is used when a single instruction is only to be executed if a given condition is met If different instructions are to be executed depending on whether the specified condition is met or not the ZF instruction is used Examples IF reg gt 5 GOTO next If regl is greater than 5 program execution continues at the next label IF counter gt 10 Set dol The do signal is set if counter gt 10 Arguments IF Condition Condition Data type bool The condition that must be satisfied for the instruction to be executed Syn
294. s for different program parts Syntax ConfL LV On V Off Related information Described in Handling different configurations Motion and I O Principles Robot Configuration Robot configuration during joint movement Instructions ConfJ 40 RAPID reference part 1 Instructions A Z Close Instruction Advanced functions Close Closes a file or serial channel Close is used to close a file or serial channel Example Close channel2 The serial channel referred to by channel is closed Arguments Close IODevice IODevice Data type iodev The name reference of the file or serial channel to be closed Program execution The specified file or serial channel is closed and must be re opened before reading or writing If it is already closed the instruction is ignored Syntax Close IODevice lt variable VAR of iodev gt Related information Described in Opening a file or serial channel RAPID Summary Communication RAPID reference part 1 Instructions A Z 41 Close Advanced functions Instruction 42 RAPID reference part 1 Instructions A Z CONNECT Instruction CONNECT Connects an interrupt to a trap routine CONNECT is used to find the identity of an interrupt and connect it to a trap routine The interrupt is defined by ordering an interrupt event and specifying its identity Thus when that event occurs the trap routine is automatically executed Exa
295. se for ward but not in stepwise backward 174 RAPID reference part 1 Instructions A Z Instruction Syntax MoveJDO MoveJDO ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt V T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt V WObj lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Other positioning instructions Definition of velocity Definition of zone data Definition of tools Definition of work objects Motion in general Coordinate systems Movements with I O settings RAPID reference part 1 Instructions A Z Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types tooldata Data Types wobjdata Motion and I O Principles Motion and I O Principles Coordi nate Systems Motion and I O Principles Synchro nisation Using Logical Instructions 175 MoveJDO Instruction 176 RAPID reference part 1 Instructions A Z MoveJSync Instruction Advanced functions MoveJSync Moves the robot by joint movement and exe cutes a RAPID procedure MoveJSync Move Joint Synchronously is used to move the robot quickly from o
296. secesseotesesceastotesseunssdeans 3 Add Adds a numeric value ses ciccasceciuasssivececuccscuade ssoinedsiduscdecssdesouedensasendsedscdensasbianesuessdadsvausseaseuse 5 E A TEE V ANIC lt 0sss lt sscossgeswsonsevessosvacsooussecetcbspucesnetoscesbesbucnesssbpncssenspecassbipadarautoacensospentossuapees 7 Break Break program execution ssessseossocesoossoossssesssesssocssoossoossoesssecesooesoosssoesssesssosssoossosssos 9 CallByVar Call a procedure by a variable 11 CancelLoad Cancel loading of a module seosseoesooesooessseessesssocssoosssesssesssoessoossoossssssssesssoses 15 CirPathMode Tool reorientation during circle path ss 17 Clear Clears th valle ist esp soosoo sense Sosse 21 ClearIOBuff Clear input buffer of a serial channel ss 23 ClearPath Clear current Path oc csccscsecsccsccsscccotedonaosscsncsevecossooncedonsdeedessensdedensseseuscesevecssuaeccentes 25 CIKReset Resets a clock used for timing e sooessoessosssseessocssoossoossoosessesssocssoossoessseessoessooseo 27 ClkStart Starts a clock used for timing sesssosesooessocsssesssesssoossoosssosssoesssecesoessoossssssssessseee 29 ClkStop Stops a clock used for timing ssesssosssoesssessscessecssoossoosssossssessoossoosssossssesssosssossss 31 comment COMME NE SSSR ne sd te est en te teens s t anti na des esse its et 33 Compact IF If a condition is met then one instruction 35 ConfJ Controls the configuration during
297. signal 91 TODisable Disable DO unit e seessessoesoessessoesoossessoesoossessoesoossessessossoossessossoossossossoossossossoossosse 93 IODNGetAttr Get attribute from I O unit sesssesesoossoossssesssesssocssoossoessscessocssoossoossssesssee 97 IODNSetAttr Set attribute for an O unit ssssssssssesssssesssssssssesssssssssssssssse 99 IOEnable Enable I O unit denses nn Pae diet cu sdtstamtenet se diese esse 101 ISignalAI Interrupts from analog input signal 105 ISignalAO Interrupts from analog output signal cssccsssscccssscsscscessssscscsssssesseseeeees 117 ISignalDI Orders interrupts from a digital input signal 121 ISignalDO Interrupts from a digital output signal 125 ISleep Deactivates an interrupt scsscciscsssscasessdccacvedssdesessenstvcosencooscosovensnssanisovebsntouvesencawesenavene 129 ITimer Orders a timed interrupt ociesecsivciessndeasescocncssnsatessivacsseceieehedsvencssetuseccunssesavsuedsccesesess 131 IVarValue Orders a variable value interrupt sseesseeesoossoossseessecssoossoossoossssesssosssoossosssos 135 IWatch Activates an interrupt sesssesssesssocssooesosesssesssecesoossoossoesssesssoossoossosssssesssosssosssossses 137 label Linn DAME 5 nn stss a et se isa tente ne pots sss es enter e tea vel n s 139 Load Load a program module during execution sseeesooesooessossssesssecssoossoosssssssosesosssosssos 141 MechUnitLoad Defines a payl
298. sosssssesssosssoosso 247 Saye SAVE a program MODINE ssccsscsssescdechessoesessoonsesenuas sonsssovnnewess esbouueedounessodeoeseneedsbonstedebseveiess 249 SearchC Searches circularly using the robot sesssesssesssecssoossoosssoessesesoossoossssesssesssesesooee 253 SearchL Searches linearly using the robot ccsscccsssccscsscssssccscssessesssccssesceesessessseeees 261 Set Sets a digital output Signal c cccisccsaccsssessssssssorscdovessscsensdccsseosssnsssucsstetenveskessreavecennuseecdcncenss 269 SetAO Changes the value of an analog output signal 271 SetDO Changes the value of a digital output signal esse 273 SetGO Changes the value of a group of digital output signals ss 275 SingArea Defines interpolation around singular points 277 Skip Warn Skip the latest warning 0sssscsssorsssosecssoessssesecsesecesooesseeossdeeveesensssseasiscenscseiens 279 SoftAct Activating the soft servo sssesssesssecssocesoosssosssoesssocssoossosssoessoecssoessoossssssssssssesesoose 281 SoftDeact Deactivating the soft ServO sesssesssoossooesssesssesssocssoossoossoesssesssoessosssssssssesssesssoose 283 SpyStart Start recording of execution time data 285 SpyStop Stop recording of time execution data ssssssseeeeensse 289 StartLoad Load a program module during execution 291 StartMove Restarts robot motion sssseeenesnssesnnnssssesennseee 295 SToolRotCalib Calibration of TCP and rotation f
299. splacement is deactivated the instruction PDispOff Only one program displacement can be active at any one time Program displacements cannot be added to one another using PDispSet The program displacement is automatically reset at a cold start up when a new program is loaded when starting program executing from the beginning Syntax PDispSet DispFrame lt expression IN of pose gt 220 RAPID reference part 1 Instructions A Z PDispSet Instruction Related information Described in Deactivation of program displacement Instructions PDispOff Definition of program displacement Instructions PDispOn using two positions Definition of data of the type pose Data Types pose Coordinate systems Motion Principles Coordinate Sys tems Examples of how program displacement Instructions PDispOn can be used RAPID reference part 1 Instructions A Z 221 PDispSet Instruction 222 RAPID reference part 1 Instructions A Z ProcCall Instruction ProcCall Calls a new procedure A procedure call is used to transfer program execution to another procedure When the procedure has been fully executed program execution continues with the instruction following the procedure call It is usually possible to send a number of arguments to the new procedure These control the behaviour of the procedure and make it possible for the same procedure to be used for different things Exa
300. st reversed along the path before welding starts and ordinary program execution can continue RAPID reference part 1 Instructions A Z 241 RestoPath Advanced functions Instruction Limitations Only the movement path data is stored with the instruction StorePath If the user wants to order movements on the new path level the actual stop position must be stored directly after StorePath and before RestoPath make a movement to the stored stop position on the path If this instruction is preceded by a move instruction that move instruction must be pro grammed with a stop point zonedata fine not a fly by point otherwise restart after power failure will not be possible Syntax RestoPath Related information Described in Storing paths Instructions StorePath More examples Instructions StorePath 242 RAPID reference part 1 Instructions A Z RETRY Instruction RETRY Resume execution after an error The RETRY instruction is used to resume program execution after an error starting with re executing the instruction that caused the error Example reg reg3 reg4 ERROR IF ERRNO ERR_DIVZERO THEN reg4 1 RETRY ENDIF An attempt is made to divide reg3 by reg4 If reg4 is equal to 0 division by zero a jump is made to the error handler which initialises reg4 The RETRY instruc tion is then used to jump from the error handler and another attempt is made to complete the division Program execu
301. started or the teach pendant function Program Window File Check Program is used no check for unsolved references will be done if BindRef NO There will be a run time error on execution of an unsolved reference Another way to use references to instructions that are not in the task from the begin ning is to use Late Binding This makes it possible to specify the routine to call with a string expression quoted between two In this case the BindRef parameter could be set to YES default behaviour The Late Binding way is preferable To obtain a good program structure that is easy to understand and maintain all loading and unloading of program modules should be done from the main module which is always present in the program memory during execution For loading of program that contains a main procedure to a main program with another main procedure see instruction Load Examples StartLoad Dynamic HOME DOORDIR DOOR1 MOD load1 Loads the program module DOORI MOD from the HOME at the directory DOORDIR into the program memory The program module is loaded in dynamic mode StartLoad Dynamic HOME File DOORDIR DOOR1 MOD load 1 Same as above but with another syntax RAPID reference part 1 Instructions A Z 293 Load Instruction StartLoad HOME File DOORDIR DOOR1 MOD load1 Same as the two examples above but the module is loaded in static mode StartLoad Dynamic HOME File DOORDIR DOOR1 MOD
302. steceaccsevessovesveconagstesesecuecess 209 PDispOff Deactivates program displacement sccsscsssccsssccssccssssssscssscssssssssscssessees 213 PDispOn Activates program displacement ccssccssscsssssssscssscsssssssscsssssssscssssssssessees 215 PDispSet Activates program displacement using a value ses 219 ProcCall Calls a new procedure 5 sscsceiwvccevosvcosibsnewcsseustcievschensesvconecseanessanssscnneesevensdeccecsateds 223 RAPID reference part 1 Instructions A Z II Contents PulseDO Generates a pulse on a digital output signal 225 RAISE Calls an error handlers sicccsscsccecscccsescssetscesinecctpsatensoussissccessadecepsecubnentestaresisduacenedees 229 ReadAnyBin Read data from a binary serial channel or file ss 231 ReadErrData Gets information about an error esssesesooesoossosesssesssocssooesossssesssecssoossossses 235 Reset Resets a digital output signal es soeessoesoosssesssocesooesoossssesssesesoossoossoosssossssesssossoosssse 239 RestoPath Restores the path after an interrupt scccsscccssccssccscssccsessescesssscesssseeeees 241 RETRY Resume execution after an error ssesssesssesssecssoossoosssesssecssocesoossossssoessseessoossosseos 243 RETURN Finishes execution Of a routine ssesssecssecesoossoosssesssosssoossoossooessoesssecssoossosssos 245 Rewind Rewind file position sseosseossecesoossoossooesssesssecesoossoossoosssoessseessoossoos
303. struction The SearchL instruction stores the position of the TCP when the value ofthe digital sig nal changes to the requested one as illustrated in Figure 28 Without switch Flanks With switch Flanks time A Instruction reaction when the signal changes Figure 28 Flank triggered signal detection the position is stored when the signal is changed the first time only Examples SearchL Sup dil Flanks sp p10 v100 probe The TCP of the probe is moved linearly towards the position p 0 When the value of the signal di changes to active or passive the position is stored in sp If the value of the signal changes twice program execution stops after the search pro cess is finished SearchL Stop dil sp p10 v100 tooll MoveL sp v100 fine Inpos inpos50 tooll PDispOn tooll MoveL p100 v100 z10 tooll MoveL p110 v100 z10 tooll MoveL p120 v100 z10 tooll PDispOff At the beginning of the search process a check on the signal di will be done and if the signal already has a positive value the program execution stops Otherwise the TCP of tool is moved linearly towards the position p10 When the value of the signal di changes to active the position is stored in sp The robot is moved back to this point using an accurately defined stop point Using program displacement the robot then moves relative to the searched position sp 264 RAPID reference part 1 Instructions A Z SearchL Instr
304. structions A Z Instruction label Line name label Label is used to name a line in the program Using the GOTO instruction this name can then be used to move program execution Example GOTO next next Program execution continues with the instruction following next Arguments Label Label Identifier The name you wish to give the line Program execution Nothing happens when you execute this instruction Limitations The label must not be the same as any other label within the same routine any data name within the same routine A label hides global data and routines with the same name within the routine it is located in Syntax EBNF lt identifier gt RAPID reference part 1 Instructions A Z 139 label Instruction Related information Described in Identifiers Basic Characteristics Basic Elements Moving program execution to a label Instructions GOTO 140 RAPID reference part 1 Instructions A Z Load Instruction Load Load a program module during execution Load is used to load a program module into the program memory during execution The loaded program module will be added to the already existing modules in the pro gram memory A program or system module can be loaded in static default or dynamic mode Static mode Tabell 1 How different operations affects static loaded program or system modules Set PP to main from TP Open new RAPID program Progra
305. t Interrupt lt variable VAR of intnum gt Related information Summary of interrupts Interrupt from an output signal More information on interrupt management More examples RAPID reference part 1 Instructions A Z Described in RAPID Summary nterrupts Instructions SignalDO Basic Characteristics Interrupts Data Types intnum 123 1SignalDI Instruction 124 RAPID reference part 1 Instructions A Z ISignalDO Instruction ISignalDO Interrupts from a digital output signal ISignalDO Interrupt Signal Digital Out is used to order and enable interrupts from a digital output signal System signals can also generate interrupts Examples VAR intnum sig lint CONNECT siglint WITH iroutinel ISignalDO dol 1 siglint Orders an interrupt which is to occur each time the digital output signal do is set to A call is then made to the iroutinel trap routine ISignalDO do1 0 siglint Orders an interrupt which is to occur each time the digital output signal do is set to 0 ISignalDO Single do1 1 sig1lint Orders an interrupt which is to occur only the first time the digital output signal dol is set to 1 Arguments ISignalDO N Single Signal TriggValue Interrupt Single Data type switch Specifies whether the interrupt is to occur once or cyclically If the argument Single is set the interrupt occurs once at the most If the argu ment is omitted an interrupt wil
306. t be able to reach a programmed tool ori entation As a result the robot will stop Arguments SingArea Wrist Off Wrist Data type switch The tool orientation is allowed to differ somewhat in order to avoid wrist singu larity Used when axes 4 and 6 are parallel axis 5 at 0 degrees Also used for linear and circular interpolation of robots with less than six axes where the tool orientation is allowed to differ Off Data type switch The tool orientation is not allowed to differ Used when no singular points are passed or when the orientation is not permitted to be changed If none of the arguments are specified program execution automatically uses the robot s default argument For robots with six axes the default argument is Off RAPID reference part 1 Instructions A Z 277 SingArea Instruction Program execution If the arguments Wrist is specified the orientation is joint interpolated to avoid singu lar points In this way the TCP follows the correct path but the orientation of the tool deviates somewhat This will also happen when a singular point is not passed The specified interpolation applies to all subsequent movements until a new SingArea instruction is executed The movement is only affected on execution of linear or circular interpolation By default program execution automatically uses the Offargument for robots with six axes Robots with less than six axes may use either the Off arg
307. t is executed for that axis If no DitherDeactis called dither will stay enabled for all subsequent SoftAct calls Arguments DitherAct MechUnit Axis Level MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit If argument is omitted it means activation of the soft servo for specified robot axis Axis Data type num Axis number 1 6 Level Data type num Amplitude of dither 50 150 At 50 oscillations are reduced increased fric tion At 150 amplitude is maximum may result in vibrations of endeffector The default value is 100 RAPID reference part 1 Instructions A Z 49 DitherAct Instruction Program execution DitherAct can be called before or after SoftAct Calling DitherAct after SoftAct is faster but has other limitations Dither is usually not required for axis 1 of IRB 7600 Highest effect of friction reduc tion is on axes 2 and 3 Dither parameters are self adjusting Full dither performance is achieved after three or four executions of SoftAct in process position Limitations A Syntax Calling DitherAct after SoftAct may cause unwanted movement of the robot The only way to eliminate this behaviour is to call DitherAct before SoftAct If there still is move ment SoftAct ramp time should be increased However when calling DitherAct before SoftAct the robot must be in a fine point Also leaving the fine point is not permitted until the transition t
308. t shall occur Specified as the distance in mm positive value from the end point of the move ment path applicable if the argument Start is not set See the section entitled Program execution for further details Start Data type switch Used when the distance for the argument Distance starts at the movement start point instead of the end point EquipLag Equipment Lag Data type num Specify the lag for the external equipment in s For compensation of external equipment lag use positive argument value Posi tive argument value means that the I O signal is set by the robot system at spec ified time before the TCP physical reach the specified distance in relation to the movement start or end point Negative argument value means that the I O signal is set by the robot system at specified time after that the TCP physical has passed the specified distance in relation to the movement start or end point End point Start point P oe x Distance EquipLag Figure 40 Use of argument EquipLag DOp Digital OutPut Data type signaldo The name of the signal when a digital output signal shall be changed GOp Group OutPut Data type signalgo The name of the signal when a group of digital output signals shall be changed AOp Analog Output Data type signalao The name of the signal when a analog output signal shall be changed 346 RAPID reference part 1 Instructions A Z TriggEquip Instructio
309. ta Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the robot s TCP in the stop point The stop point data substitutes the zone specified in the Zone parameter Tool Data type tooldata The tool in use during the movement The position of the TCP and the load on the tool are defined in the tool data The TCP position is used to decide the velocity and the corner path for the movement RAPID reference part 1 Instructions A Z MoveAbsJ Instruction WObj Work Object Data type wobjdata The work object used during the movement This argument can be omitted if the tool is held by the robot However if the robot holds the work object i e the tool is stationary or with coordinated exter nal axes then the argument must be specified In the case of a stationary tool or coordinated external axes the data used by the system to decide the velocity and the corner path for the movement is defined in the work object Program execution A movement with MoveAbsJ is not affected by active program displacement and if executed with switch NoEOffs there will be no offset for external axes Without switch NoEOffs the external axes in the destination target are affected by active offset for external axes The tool is moved to the destination absolute joint position with interpolation of the axis angles This means that each axis is moved with constant axis
310. ta Types tunetype Reset of all servo tunings Instructions TuneReset Tuning of external axes System parameters Manipulator Friction compensation System parameters Manipulator 384 RAPID reference part 1 Instructions A Z UnLoad Instruction UnLoad Unload a program module during execution UnLoad is used to unload a program module from the program memory during execu tion The program module must previously have been loaded into the program memory using the instruction Load or StartLoad WaitLoad Example UnLoad diskhome File PART_A MOD UnLoad the program module PART_A MOD from the program memory that previously was loaded into the program memory with Load See instructions Load diskhome is a predefined string constant HOME Arguments UnLoad ErrIfChanged Save FilePath File ErrIfChanged Data type switch If this argument is used and the module has been changed since it was loaded into the system the instruction will throw the error code ERR NOTSAVED to the error handler if any Save Data type switch If this argument is used the program module is saved before the unloading starts The program module will be saved at the original place specified in the Load or StartLoad instruction FilePath Data type string The file path and the file name to the file that will be unloaded from the program memory The file path and the file name must be the same as in the previously executed Load or S
311. tal output signal to zero Instructions Reset Change the value of a digital output signal Instruction SetDO Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles 7 0 Princi ples Configuration of I O System Parameters 270 RAPID reference part 1 Instructions A Z SetAO Instruction SetAO Changes the value of an analog output signal SetAO is used to change the value of an analog output signal Example SetAO a02 5 5 The signal ao2 is set to 5 5 Arguments SetAO Signal Value Signal Data type signalao The name of the analog output signal to be changed Value Data type num The desired value of the signal Program execution The programmed value is scaled in accordance with the system parameters before it is sent on the physical channel See Figure 32 Physical value of the output signal V mA etc MAX SIGNAL MAX PROGRAM Logical value in the program MIN PROGRAM MIN SIGNAL Figure 32 Diagram of how analog signal values are scaled RAPID reference part 1 Instructions A Z 271 SetAO Instruction Example SetAO weldcurr curr_outp The signal we dcurr is set to the same value as the current value of the variable curr_outp Syntax SetAO Signal lt variable VAR of signalao gt Value lt expression IN of num gt Related information Described in Input
312. tant to always define the actual tool load and when used the payload of the robot too Incorrect definitions of load data can result in overloading of the robot mechanical structure When incorrect load data is specified it can often lead to the following consequences If the value in the specified load data is greater than that of the value of the true load gt The robot will not be used to its maximum capacity gt Impaired path accuracy including a risk of overshooting If the value in the specified load data is less than the value of the true load gt Impaired path accuracy including a risk of overshooting gt Risk of overloading the mechanical structure Examples GripLoad piece The robot gripper holds a load called piece GripLoad load0 The robot gripper releases all loads Arguments GripLoad Load Load Data type oaddata The load data that describes the current payload RAPID reference part 1 Instructions A Z 75 GripLoad Instruction Program execution The specified load affects the performance of the robot The default load 0 kg is automatically set at a cold start up when a new program is loaded when starting program executing from the beginning Syntax GripLoad Load lt persistent PERS of oaddata gt Related information Described in Definition of load data Data Types oaddata Definition of tool load Data Types tooldata 76 RAPID refe
313. tartLoad instruction The file name shall be excluded when the argument File is used File Data type string When the file name is excluded in the argument FilePath then it must be defined with this argument The file name must be the same as in the previously executed Load or StartLoad instruction RAPID reference part 1 Instructions A Z 385 UnLoad Instruction Program execution To be able to execute an UnLoad instruction in the program a Load or StartLoad WaitLoad instruction with the same file path and name must have been executed earlier in the program The program execution waits for the program module to finish unloading before the execution proceeds with the next instruction After that the program module is unloaded and the rest of the program modules will be linked For more information see the instructions Load or StartLoad Waitload Examples UnLoad HOME DOORDIR DOORI MOD UnLoad the program module DOOR1 MOD from the program memory that pre viously was loaded into the program memory with Load See instructions Load UnLoad HOME File DOORDIR DOOR1 MOD Same as above but another syntax Unload Save HOME File DOORDIR DOORI MOD Same as above but save the program module before unloading Limitations It is not allowed to unload a program module that is executing TRAP routines system I O events and other program tasks cannot execute during the unloading Avoid ongoing robot m
314. tax EBNF IF lt conditional expression gt lt instruction gt lt SMT gt Related information Described in Conditions logical expressions Basic Characteristics Expressions IF with several instructions Instructions IF RAPID reference part 1 Instructions A Z 35 Compact IF 36 Instruction RAPID reference part 1 Instructions A Z ConfJ Instruction ConfJ Controls the configuration during joint movement ConfJ Configuration Joint is used to specify whether or not the robot s configuration is to be controlled during joint movement If it is not controlled the robot can some times use a different configuration than that which was programmed With ConfJ Off the robot cannot switch main axes configuration it will search for a solution with the same main axes configuration as the current one It moves to the clos est wrist configuration for axes 4 and 6 Examples Conf Off MoveJ v1000 fine tool The robot moves to the programmed position and orientation If this position can be reached in several different ways with different axis configurations the clos est possible position is chosen ConfJ On Move v1000 fine tool The robot moves to the programmed position orientation and axis configuration If this is not possible program execution stops Arguments ConfJ On Off On Data type switch The robot always moves to the programmed axis configuration
315. terrupt events with distance using stop points results in worse accuracy than specified below Interrupt events with time with the argument 7ime is intended for stop points Inter rupt events with time using flying points results in worse accuracy than specified below T O events with time can only be specified from the end point of the movement This time cannot exceed the current braking time of the robot which is max approx 0 5 s typical values at speed 500 mm s for IRB2400 150 ms and for IRB6400 250 ms If the specified time is greater that the current braking time the event will be generated anyhow but not until braking is started later than specified However the whole of the movement time for the current movement can be utilised during small and fast movements Typical absolute accuracy values for generation of interrupts 5 ms Typical repeat accuracy values for generation of interrupts 2 ms Normally there is a delay of 5 to 120 ms between interrupt generation and response depending on the type of movement being performed at the time of the interrupt Ref to Basic Characteristics RAPID Interrupts To obtain the best accuracy when setting an output at a fixed position along the robot s path use the instructions 7rigg O or TriggEquip in preference to the instructions Trig gint with SetDO SetGO SetA O in an interrupt routine TriggInt TriggData lt variable VAR of triggdata gt
316. the circle point p and the destination point p2 MoveC v500 T 5 fine grip3 The TCP of the tool grip3 is moved circularly to a fine point stored in the instruction marked by the second The circle point is also stored in the instruction marked by the first The complete movement takes 5 seconds MoveL pl v500 fine tooll MoveC p2 p3 v500 z20 tooll MoveC p4 p1 v500 fine tooll A complete circle is performed if the positions are the same as those shown in Figure 10 pl p4 p2 p3 Figure 10 A complete circle is performed by two MoveC instructions Arguments MoveC Conc CirPoint ToPoint Speed V T Zone Z Inpos Tool WObj Corr RAPID reference part 1 Instructions A Z 155 MoveC Instruction Conc Concurrent Data type switch Subsequent instructions are executed at once This argument is used to shorten the cycle time when for example communicating with external equipment if synchronisation is not required Using the argument Conc the number of movement instructions in succession 1s limited to 5 In a program section that includes StorePath RestoPath movement instructions with the argument Conc are not permitted If this argument is omitted and the ToPoint is not a Stop point the subsequent instruction is executed some time before the robot has reached the programmed zone CirPoint Data type robtarget The circle point of the robot The circle point is a
317. the first signal change has been reported If more than one match occurs during a search program execution stops If the argument Stop PStop SStop or Sup is omitted the movement continues flying search to the position specified in the 7oPoint argument same as with argument Sup Signal Data type signaldi The name of the signal to supervise Flanks Data type switch The positive and the negative edge of the signal is valid for a search hit If the argument Flanks is omitted only the positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process This means that if the signal has a positive value already at the beginning of a search process the robot movement is stopped as quickly as possible while keeping the TCP on the path soft stop However the robot is moved a small dis tance before it stops and is not moved back to the start position A user recovery error ERR_SIGSUPSEARCH will be generated and can be dealt with by the error handler SearchPoint Data type robtarget The position of the TCP and external axes when the search signal has been trig gered The position is specified in the outermost coordinate system taking the specified tool work object and active ProgDisp ExtOffs coordinate system into consideration CirPoint Data type robtarget The circle point of the robot See the instruction MoveC for a more detailed description of circu
318. the main module which is always present in the program memory during execution After the program module is loaded it will be linked and initialised The initialisation of the loaded module sets all variables at module level to their init values Unresolved references will be accepted if the system parameter for Tasks is set BindRef NO However when the program is started or the teach pendant function Program File Check is used no check for unresolved references will be done if the parameter Bin dRef NO There will be a run time error on execution of an unresolved reference Another way to use references to procedures that are not in the task from the beginning is to use Late Binding This makes it possible to specify the procedure to call with a string expression quoted between two see example In this case the BindRef parameter could be set to YES default behaviour The Late Binding way is preferable For loading of program that contains a main procedure to a main program with another main procedure see example below Examples More general examples 142 Load Dynamic HOME DOORDIR DOOR1 MOD Loads the program module DOORI MOD from HOME at the directory DOORDIR into the program memory The program module is loaded in the dynamic mode Load HOME File DOORDIR DOOR1I MOD Same as above but another syntax and the module is loaded in the static mode RAPID reference part 1 Instructions A Z Load Inst
319. this instruction must have a value data type of atomic string or record data type Semi value and non value data types cannot be used Array data cannot be used Note that the VAR or PERS variable for storage of the data read can be updated in several steps Therefore always wait until the whole data structure is updated before using read data from a TRAP or another program task Error handling 232 If an error occurs during reading the system variable ERRNO is set to ERR_FILEACC If timeout before the read operation is finished the system variable ERRNO is set to ERR DEV MAXTIME If there is a checksum error in the data read the system variable ERRNO is set to ERR RANYBIN CHK If the end of the file is detected before all the bytes are read the system variable ERRNO is set to ERR RANYBIN EOF These errors can then be dealt with by the error handler RAPID reference part 1 Instructions A Z ReadAnyBin Instruction Advanced functions Example CONST num NEW ROBT 12 CONST num NEW_WOBJ 20 VAR iodev channel VAR num input VAR robtarget cur_robt VAR wobjdata cur_wobj Open com2 channel Bin Wait for the opcode character input ReadBin channel Time 0 1 TEST input CASE NEW _ROBT ReadAnyBin channel cur_robt CASE NEW_WOBJ ReadAnyBin channel cur_wobj ENDTEST Close channel As a first step the opcode of the message is read from the serial channel Accord ing to this opcode
320. ting in one program task and the saving is done in another program task Limitations 250 TRAP routines system I O events and other program tasks cannot execute during the saving operation Therefore any such operations will be delayed The save operation can interrupt update of PERS data done step by step from other pro gram tasks This will result in inconsistent whole PERS data A program stop during execution of the Save instruction can result in a guard stop with motors off and the error message 20025 Stop order timeout will be displayed on the Teach Pendant Avoid ongoing robot movements during the saving RAPID reference part 1 Instructions A Z Save Instruction Error handling Ifthe program module cannot be saved because there is no module name unknown or ambiguous module name the system variable ERRNO is set to ERR MODULE If the save file cannot be opened because of permission denied no such directory or no space left on device the system variable ERRNO is set to ERR IOERROR If argument Fi ePath is not specified for program modules loaded from the Teach Pendant System Parameters or an external computer the system variable ERRNO is set to ERR PATH The errors above can be handled in the error handler Syntax Save gt V Task lt variable VAR of taskid gt ModuleName lt expression IN of string gt gt V FilePath lt expression IN of string gt
321. tion Program execution continues with re executes the instruction that caused the error Error handling If the maximum number of retries 4 retries is exceeded the program execution stops with an error message The maximum number of retries can be configured in System Parameters System miscellaneous Limitations The instruction can only exist in a routine s error handler If the error was created using a RAISE instruction program execution cannot be restarted with a RETRY instruction then the instruction TRYNEXT should be used Syntax RETRY RAPID reference part 1 Instructions A Z 243 RETRY Instruction Related information Described in Error handlers Basic Characteristics Error Recovery Configure maximum number of retries System Parameters System miscella neous Continue with the next instruction Instructions TRYNEXT 244 RAPID reference part 1 Instructions A Z RETURN Instruction RETURN Finishes execution of a routine RETURN is used to finish the execution of a routine If the routine is a function the function value is also returned Examples errormessage Set dol PROC errormessage TPWrite ERROR RETURN ENDPROC The errormessage procedure is called When the procedure arrives at the RETURN instruction program execution returns to the instruction following the procedure call Set dol FUNC num abs_value num value IF value lt 0 THEN RETURN value ELSE RETURN
322. tion When running the instruction 7riggChecklO the trigger condition is stored in a spec ified variable for the argument 7riggData Afterwards when one of the instructions 7riggL TriggC or TriggJ is executed the fol lowing are applicable with regard to the definitions in 7riggCheckIO The distance specified in the argument Distance Linear movement The straight line distance Circular movement The circle arc length Non linear movement The approximate arc length along the path to obtain adequate accuracy the distance should not exceed one half of the arc length End point with A comer path If the Distance is 0 the signal is checked when the robot s TCP is here Figure 38 Fixed position I O check on a corner path The fixed position I O check will be done when the start point end point is passed if the specified distance from the end point start point is not within the length of move ment of the current instruction Trigg When the TCP of the robot is at specified place on the path following I O check will be done by the system Read the value of the I O signal Compare the read value with CheckValue according specified Relation If the comparision is TRUE nothing more is done If the comparison is FALSE following is done If optional parameter StopMove is present the robot is stopped on the path as quick as possible Generate and execute the specified TRAP routine RAPID re
323. tion ffame rot in the specified tool data The calculation is based on the specified 2 or 3 jointtarget The remaining data in tooldata such as TCP frame trans is not changed Syntax MToolRotCalib RefTip lt expression IN of jointtarget gt ZPos lt expression IN of jointtarget gt XPos lt expression IN of jointtarget gt Tool lt persistent PERS of tooldata gt Related information Described in Calibration of TCP for a moving tool Instructions MToolTCPCalib Calibration of TCP for a stationary tool Instructions SToolTCPCalib Calibration TCP and rotation Instructions SToolRotCalib for a stationary tool RAPID reference part 1 Instructions A Z 195 MToolRotCalib Instruction 196 RAPID reference part 1 Instructions A Z MToolTCPCalib Instruction MToolTCPCalib Calibration of TCP for moving tool MToolTCPCalib Moving Tool TCP Calibration is used to calibrate Tool Centre Point TCP for a moving tool The position of the robot and its movements are always related to its tool coordinate system i e the TCP and tool orientation To get the best accuracy it is important to define the tool coordinate system as correctly as possible The calibration can also be done with a manual method using the TPU described in User s Manual Calibration Description To define the TCP of a tool you need a world fixed tip within th
324. tion on interrupt management Basic Characteristics Interrupts 136 RAPID reference part 1 Instructions A Z IWatch Instruction IWatch Activates an interrupt IWatch Interrupt Watch is used to activate an interrupt which was previously ordered but was deactivated with ZS eep Example IWatch sig lint The interrupt sig int that was previously deactivated is activated Arguments IWatch Interrupt Interrupt Data type intnum Variable interrupt identity of the interrupt Program execution Re activates interrupts of the specified type once again However interrupts generated during the time the S eep instruction was in effect are ignored Example VAR intnum sig lint CONNECT siglint WITH iroutinel ISignalDI dil 1 siglint Sleep siglint weldpartl1 IWatch siglint During execution of the we dpart routine no interrupts are permitted from the signal dil Error handling Interrupts which have not been ordered are not permitted If the interrupt number is unknown the system variable ERRNO is set to ERR UNKINO see Date types err num The error can be handled in the error handler RAPID reference part 1 Instructions A Z 137 IWatch Instruction Syntax IWatch Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary Interrupts Deactivating an interrupt Instructions Sleep 138 RAPID reference part 1 In
325. truction as shown in Figure 17 MoveLSync p2 v1000 z30 tool2 my_proc p3 When TCP is here my_proc is executed Figure 17 Execution of user defined RAPID procedure in the middle of the corner path For stop points we recommend the use of normal programming sequence with MoveL other RAPID instructions in sequence 190 RAPID reference part 1 Instructions A Z Instruction MoveLSync Advanced functions Execution of the specified RAPID procedure in different execution modes Execution mode Continuously or Cycle Forward step Backward step Limitation Execution of RAPID procedure According to this description In the stop point Not at all Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error This error tells the user that the mode switch can result in missed execution of a RAPID procedure in the queue for execution on the path This error can be avoided if the program is stopped with StopInstr before the mode switch Instruction MoveL Sync cannot be used on TRAP level The specified RAPID procedure cannot be tested with stepwise execution Syntax MoveLSync ToPoint lt expression IN of robtarget gt Speed lt expression IN of speeddata gt LV T gt lt expression IN of num gt Zone lt expression IN of zonedata gt Tool
326. tructions Get I O unit attribute Described in DeviceNet Specification rev 2 0 User s Guide System Parameters IO Plus User s Guide RAPID Developer s Manual System Parameters Motion and I O Principles 7 0 Princi ples RAPID Summary Input and Output Signals Instructions ODNGetAttr RAPID reference part 1 Instructions A Z TOEnable Instruction IOEnable Enable I O unit IOEnable is used to enable an I O unit during program execution I O units are automatically enabled after start up if they are defined in the system parameters When required for some reason I O units can be disabled or enabled dur ing program execution Examples CONST string cell1 cell1 IOEnable celll 5 Enable I O unit with name cell1 Wait max 5 s Arguments IOEnable UnitName MaxTime UnitName Data type string The name of the I O unit to be enabled with same name as configured MaxTime Data type num The maximum period of waiting time permitted expressed in seconds If this time runs out before the I O unit has finished the enable steps the error handler will be called if there is one with the error code ERR IOENABLE If there is no error handler the execution will be stopped To enable an I O unit takes about 2 5 s Program execution The specified I O unit starts the enable steps The instruction is ready when the enable steps are finished If the MaxTime runs out before the I O unit has finished th
327. tructions RAPID reference part 1 Instructions A Z MoveJDO Instruction MoveJDO Moves the robot by joint movement and sets dig ital output in the corner MoveJDO Move Joint Digital Output is used to move the robot quickly from one point to another when that movement does not have to be in a straight line The speci fied digital output signal is set reset at the middle of the corner path The robot and external axes move to the destination position along a non linear path All axes reach the destination position at the same time Examples MoveJDO pl vmax z30 tool2 dol 1 The tool centre point TCP of the tool too 2 is moved along a non linear path to the position p with speed data vmax and zone data z30 Output do is set in the middle of the corner path at p Arguments MoveJDO ToPoint Speed T Zone Tool WObj Signal Value ToPoint Data type robtarget The destination point of the robot and external axes It is defined as a named position or stored directly in the instruction marked with an in the instruction Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the tool centre point the tool reorientation and external axes T Time Data type num This argument is used to specify the total time in seconds during which the robot moves It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for th
328. tructions A Z SToolTCPCalib Instruction Arguments SToolTCPCalib Posi Pos2 Pos3 Pos4 Tool MaxErr MeanErr Pos1 Data type robtarget The first approach point Pos2 Data type robtarget The second approach point Pos3 Data type robtarget The third approach point Pos4 Data type robtarget The fourth approach point Tool Data type tooldata The name of the tool that is to be calibrated MaxErr Data type num The maximum error in mm for one approach point MeanErr Data type num The average distance that the approach points are from the calculated TCP i e how accurately the robot was positioned relative to the stationary TCP Program execution The system calculates and updates the TCP value in the world coordinate system tfame trans in the specified tooldata The calculation is based on the specified 4 rob target The remaining data in tooldata such as tool orientation rame rot is not changed RAPID reference part 1 Instructions A Z 303 SToolTCPCalib Instruction Syntax MToolTCPCalib Pos1 lt expression IN of robtarget gt Pos2 lt expression IN of robtarget gt Pos3 lt expression IN of robtarget gt Pos4 lt expression IN of robtarget gt Tool lt persistent PERS of tooldata gt MaxErr lt variable VAR of num gt MeanErr lt variable VAR of num gt
329. uat1 The orient data quatl is written to the channel referred to by channel2 Arguments WriteAnyBin IODevice Data I0Device Data type iodev The name reference of the binary serial channel or file for the writing operation Data Data type ANYTYPE The VAR or PERS containing the data to be written Program execution As many bytes as required for the specified data are written to the specified binary serial channel or file Limitations This instruction can only be used for serial channels or files that have been opened for binary writing The data to be written by this instruction must have a value data type of atomic string or record data type Semi value and non value data types cannot be used Array data cannot be used RAPID reference part 1 Instructions A Z 413 WriteAnyBin Advanced functions Error handling Instruction If an error occurs during writing the system variable ERRNO is set to ERR FILEACC This error can then be handled in the error handler Example VAR iodev channel VAR num input VAR robtarget cur_robt Open com2 channel Bin Send the control character eng WriteStrBin channel 05 Wait for the control character ack input ReadBin channel Time 0 1 IF input 6 THEN Send current robot position cur_robt CRobT Tool tool1 WObj wobj1 WriteAnyBin channel cur_robt ENDIF Close channel The current position of the robot is written to a bin
330. uction Limitations Zone data for the positioning instruction that precedes SearchL must be used carefully The start of the search i e when the I O signal is ready to react is not in this case the programmed destination point of the previous positioning instruction but a point along the real robot path Figure 29 to Figure 31 illustrate examples of things that may go wrong when zone data other than fine is used lt gt Start point with zone data fine Start point with zone data z 0 Search object End point Figure 29 A match is made on the wrong side of the object because the wrong zone data was used lt Start point with 4 zone data fine Start point with zone data z10 Search object End point Figure 30 No match detected because the wrong zone data was used lt gt Start point with zone data fine Start point with Search object zone data z 0 End point Figure 31 No match detected because the wrong zone data was used Repetition accuracy for search hit position with TCP speed 20 1000 mm s 0 1 0 3 mm Typical stop distance using a search velocity of 50 mm s without TCP on path switch Stop 1 3 mm with TCP on path switch PStop 15 25 mm with TCP near path switch SStop 4 8 mm RAPID reference part 1 Instructions A Z 265 SearchL Instruction Error handling An error is reported during a search when no signal detectio
331. uctions A Z RAISE Instruction RAISE Calls an error handler RAISE is used to create an error in the program and then to call the error handler of the routine RAISE can also be used in the error handler to propagate the current error to the error handler of the calling routine This instruction can for example be used to jump back to a higher level in the structure of the program e g to the error handler in the main routine if an error occurs at a lower level Example IF IF IF RAISE escapel ERROR IF ERRNO escapel RAISE The routine is interrupted to enable it to remove itself from a low level in the pro gram A jump occurs to the error handler of the called routine Arguments RAISE Error no Error no Data type errnum Error number Any number between 1 and 90 which the error handler can use to locate the error that has occurred the ERRNO system variable It is also possible to book an error number outside the range 1 90 with the instruction BookErrNo The error number must be specified outside the error handler in a RAISE instruc tion in order to be able to transfer execution to the error handler of that routine If the instruction is present in a routine s error handler the error number may not be specified In this case the error is propagated to the error handler of the calling routine RAPID reference part 1 Instructions A Z 229 RAISE Instruction Program execution Pr
332. ument IRB640 or the Wrist argument by default This is automatically set in event routine SYS RESET at a cold start up when a new program is loaded when starting program executing from the beginning Syntax SingArea LV Wrist V Off Related information Described in Singularity Motion Principles Singularity Interpolation Motion Principles Positioning during Program Execution 278 RAPID reference part 1 Instructions A Z SkipWarn Instruction Skip Warn Skip the latest warning SkipWarn Skip Warning is used to skip the latest requested warning message to be stored in the Service Log during execution in running mode continuously or cycle no warnings skipped in FWD or BWD step With Skip Warn it is possible to repeatedly do error recovery in RAPID without filling the Service Log with only warning messages Example notexistingproc nextinstruction ERROR IF ERRNO ERR REFUNKPRC THEN SkipWarn TRYNEXT ENDIF ENDPROC The program will execute the nextinstruction and no warning message will be stored in the Service Log Syntax Skip Warn Related information Described in Error recovery RAPID Summary Error Recovery Basic Characteristics Error Recovery Error number Data Types errnum RAPID reference part 1 Instructions A Z 279 SkipWarn Instruction 280 RAPID reference part 1 Instructions A Z SoftAct Instruction SoftAct Activating the so
333. using tune fric _lev for each robot axis can improve the robots path accuracy considerably in the speed range 20 100 mm s For larger robots especially the IRB6400 family the effect will however be minimal as other sources of tracking errors dominate these robots RAPID reference part 1 Instructions A Z TuneServo Instruction Tune fric ramp overrides the value of the system parameter Friction ffw ramp In most cases there is no need to tune the Friction ffw ramp The default setting will be appropriate Tune one axis at a time Change the tuning value in small steps and find the level that minimises the robot path error at positions on the path where this specific axis changes direction of movement Repeat the same procedure for the next axis etc The final tuning values can be transferred to the system parameters Example Friction ffw level 1 Final tune value tune_fric_lev 150 Set Friction ffw level 1 5 and tune value 100 default value which is equivalent Arguments TuneServo MecUnit Axis TuneValue Type MecUnit Mechanical Unit Data type mecunit The name of the mechanical unit Axis Data type num The number of the current axis for the mechanical unit 1 6 TuneValue Data type num Tuning value in percent 1 500 100 is the normal value Type Data type tunetype Type of servo tuning Available types are TUNE_DF TUNE_KP TUNE KV TUNE_TI TUNE_FRIC_LEV TUNE_FRIC_RAMP TUNE_DG TUNE_DH T
334. vate data for the system RAPID reference part 1 Instructions A Z 437 WZHomeJointDef Advanced functions Instruction MiddleJointVal Data type jointtarget The position in joint coordinates for the centre of the joint space to define Specifies for each robot axes and external axes degrees for rotational axes and mm for linear axes Specifies in absolute joints not in offset coordinate system EOffsSet EOffsOn for external axes Value 9E9 for some axis means that the axis should not be supervised Not active external axis gives also 9E9 at programming time DeltaJointVal Data type jointtarget The delta position in joint coordinates from the centre of the joint space The value must be greater than 0 for all axes to supervise DeltaJointVal MiddleJointVal DeltaJointVal Le Ns Arm angle Figure 49 Definition of joint space for rotational axis MiddleJointVal DeltaJointVal DeltaJointVal Arm position Figure 50 Definition of joint space for linear axis Program execution The definition of the joint space is stored in the variable of type shapedata argument Shape for future use in WZLimSup or WZDOSet instructions Ifuse of VZHomeJointDef together with WZDOSet the digital output signal is set only if all active axes with joint space supervision are before or inside the joint space If use of WZHomeJointDef with outside joint space argument Outside together with WZLimSup the robot
335. ve ment path applicable if the argument Start or Time is not set See the section entitled Program execution for further details Start Data type switch Used when the distance for the argument Distance starts at the movement start point instead of the end point Time Data type switch Used when the value specified for the argument Distance is in fact a time in sec onds positive value instead of a distance Fixed position I O in time can only be used for short times lt 0 5 s before the robot reaches the end point of the instruction See the section entitled Limitations for more details Signal Data type signalxx The name of the signal that will be tested May be anytype of IO signal Relation Data type opnum Defines how to compare the actual value of the signal with the one defined by the argument CheckValue Refer to the opnum data type for the list of the predefined constants to be used CheckValue Data type num Value to which the actual value of the input or output signal is to be compared within the allowed range for the current signal StopMove Data type switch Specifies that if the condition is not fulfilled the robot will stop on path as quickly as possible before the interrupt routine is run Interrupt Data type intnum Variable used to identify the interrupt routine to run 340 RAPID reference part 1 Instructions A Z TriggCheckIO Instruction Advanced functions Program execu
336. ves the PP back to the first instruction in the entry routine instead of the main routine as spec ified above Syntax ExitCycle Related information Described in Stopping after a fatal error Instructions EXIT Terminating program execution Instructions EXIT Stopping for program actions Instructions Stop Finishing execution of a routine Instructions RETURN 64 RAPID reference part 1 Instructions A Z FOR Instruction FOR Repeats a given number of times FOR is used when one or several instructions are to be repeated a number of times Example FOR i FROM 1 TO 10 DO routine ENDFOR Repeats the routine procedure 0 times Arguments FOR Loop counter FROM Start value TO End value STEP Step value DO ENDFOR Loop counter Identifier The name of the data that will contain the value of the current loop counter The data is declared automatically If the loop counter name is the same as any data that already exists in the actual scope the existing data will be hidden in the FOR loop and not affected in any way Start value Data type Num The desired start value of the loop counter usually integer values End value Data type Num The desired end value of the loop counter usually integer values Step value Data type Num The value by which the loop counter is to be incremented or decremented each loop usually integer values If this value is not specified the step v
337. which vibrates when the robot has stopped Use tune_dh with tune value 15 Tune_dh should only be executed for one axis All axes in the same mechanical unit automatically get the same tune_value Never use tune_dh when the robot is moving Tune_di Tune_di can be used for reducing path deviation at high speeds A tune value in the range 50 80 is recommended for reducing path deviation Over shoots can increase lower tune value means larger overshoot A higher tune value than 100 can reduce overshoot but increases path deviation at high speed Tune_di should only be executed for one axis All axes in the same mechanical unit automatically get the same tune_value Tune_dk Tune_dl Only for ABB internal use Do not use these tune types Incorrect use can cause oscillating movements or torques that can damage the robot Tune_kp tune_kv tune_ti external axes These tune types affect position control gain kp speed control gain kv and speed control integration time ti for external axes These are used for adapting external axes to different load inertias Basic tuning of external axes can also be simplified by using these tune types RAPID reference part 1 Instructions A Z 381 TuneServo 382 Instruction Tune_kp tune _kv tune _ti robot axes For robot axes these tune types have another significance and can be used for reducing path errors at low speeds lt 500 mm s Recommended values tune_kv 100
338. yntax TPWrite String lt expression IN of string gt Num lt expression IN of num gt Bool lt expression IN of bool gt Pos lt expression IN of pos gt Orient lt expression IN of orient gt Related information Described in Clearing and reading RAPID Summary Communication the teach pendant 332 RAPID reference part 1 Instructions A Z TriggC Instruction Advanced functions TriggC Circular robot movement with events TriggC Trigg Circular is used to set output signals and or run interrupt routines at fixed positions at the same time as the robot is moving on a circular path One or more max 6 events can be defined using the instructions 7rigglO TriggEquip or TriggInt and afterwards these definitions are referred to in the instruc tion TriggC Examples VAR triggdata gunon TriggIO gunon 0 Start DOp gun on MoveL pl v500 z50 gunl TriggC p2 p3 v500 gunon fine gun The digital output signal gun is set when the robot s TCP passes the midpoint of the corner path of the point p TriggC p2 p3 v500 gunon fine gun La Circle point p2 The output signal gun is set to on when the TCP of the robot is here End point p3 Start point p a Figure 36 Example of fixed position 10 event RAPID reference part 1 Instructions A Z 333 TriggC Advanced
339. ype triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions Trigg O TriggEquip or TriggInt T2 Trigg 2 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions 7rigg O TriggEquip or TriggInt T3 Trigg 3 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt 364 RAPID reference part 1 Instructions A Z TriggJ Instruction Advanced functions T4 Trigg 4 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt TS Trigg 5 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TrigglO TriggEquip or TriggInt T6 Trigg 6 Data type triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO TriggEquip or TriggInt Zone Data type zonedata Zone data for the movement Zone data describes the size of the generated corner path Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the
340. zonedata gt OV Z lt expression IN of num gt Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt WObj lt persistent PERS of wobjdata gt N Corr Other positioning instructions Definition of velocity Definition of zone data Definition of stop point data Definition of tools Definition of work objects Writes to a corrections entry Motion in general Coordinate systems Concurrent program execution Related information Described in RAPID Summary Motion Data Types speeddata Data Types zonedata Data Types stoppointdata Data Types tooldata Data Types wobjdata Instructions CorrWrite Motion and I O Principles Motion and I O Principles Coordinate Systems Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference part 1 Instructions A Z MoveLDO Instruction MoveLDO Moves the robot linearly and sets digital output in the corner MoveLDO Move Linearly Digital Output is used to move the tool centre point TCP linearly to a given destination The specified digital output signal is set reset at the mid dle of the corner path When the TCP is to remain stationary this instruction can also be used to reorient the tool Example MoveLDO pl v1000 z30 tool2 dol 1 The TCP of the tool too 2 is moved linearly to the position p with speed d

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