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RAPID reference manual

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1. Described in Error handlers Basic Characteristics Error Recovery Asynchronously raised errors RAPID kernel reference Error recover Propagates an error to user level Instruction RaiseToUser Resume movement and program Instruction StartMoveRetry execution 362 RAPID reference manual part la Instructions A R ProcCall Instruction RobotWare OS 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 Examples weldpipe1 Calls the weldpipe 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 Example weldpipe2 10 lowspeed Calls the weldpipe2 procedure including two arguments RAPID reference manual part la
2. Related information Described in Opening a serial channel RAPID Summary Communication 34 RAPID reference manual part la Instructions A R ClearPath Instruction RobotWare OS 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 p1 v500 fine gripper wee End point p1 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 p 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 E
3. Described in Opening etc of files RAPID Summary Communication 404 RAPID reference manual part la Instructions A R RETRY Instruction RobotWare OS 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 reg2 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 execution 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 manual part la Instructions A R 405 RETRY RobotWare OS Instruction Related information Described in
4. Error handlers Basic Characteristics Error Recovery Configure maximum number of retries System Parameters System miscellaneous Continue with the next instruction Instructions TRYNEXT 406 RAPID reference manual part la Instructions A R A acceleration reduction 1 323 AccSet 1 323 ActUnit 3 Add 5 AliasIO 7 ArcL 379 Arguments 91 arithmetic 11 assignment 11 B BitClear 13 BookErrNo 17 Break 19 byte 13 15 C call 363 CallByVar 21 circular movement 255 261 265 Clear 25 31 ClkReset 39 ClkStart 41 ClkStop 43 clock reset 39 start 41 stop 43 Close 33 45 CloseDir 47 comment 49 common drive unit 3 79 condition 141 ConfJ 53 ConfL 55 CopyFile 61 CorrClear 67 CorrCon 69 CorrDiscon 75 CorrWrite 77 countinuously movement 149 D DeactUnit 79 Decr 81 RAPID reference manual part 1 Instructions A Z Index decrement 81 digital output pulse 365 reset 397 DitherDeact 87 DropWObj Drop Work Object 91 E EOffsOff 93 EOffsOn 95 EOffsSet 97 EraseModule 99 ErrLog 101 error recovery retry 405 ErrWrite 109 Example 91 EXIT 111 ExitCycle 113 external axes activate 3 deactivate 79 file close 33 45 load 225 open 307 rewind 403 spystart 179 189 write 375 FOR 115 Functions 121 G GetDataVal 119 GetTrapData 123 GOTO 125 GripLoad 127 I IDelete 131 IDisable 133 TEnable 135 IError 137 IF 141 Incr 143 407 increment 143 IndAMove 145
5. When TCP is here p4 my_proc is executed pl Zone Figure 18 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 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 RAPID reference manual part la Instructions A R 267 MoveCSync Fixed Position Events Instruction Syntax MoveCSync CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt LY ID lt expression IN of identno gt Speed lt expression IN of speeddata gt PY T lt expression IN of nu
6. 244 RAPID reference manual part la Instructions A R MotionSup Instruction Collision Detection MotionSup Deactivates Activates motion supervision MotionSup Motion Supervision is used to deactivate or activate the motion supervi sion function for robot movements during program execution This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Description Motion supervision is the name of a collection of functions for high sensitivity model based supervision of the robot Currently it contains functionality for load supervision jam supervision and collision detection Because the supervision is designed to be very sensitive it may trip if there are large process forces acting on the robot If the load is not correctly defined use the load identification function to specify it If large external process forces are present in most parts of the application such as during deburring then use the system parameters to raise the supervision level of the motion supervision until it no longer triggers If however the external forces are only tempo rary such as during the closing of a large spotweld gun then the MotionSup instruction should be used to raise the supervision level or turn the function off for those parts of the application where the disturbance acts Examples If the motion supervision is active in the system parameters then it is active by default during pro
7. 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 manual part la Instructions A R 45 Close File and Serial Channel Handling Instruction 46 RAPID reference manual part la Instructions A R CloseDir Instruction File and Serial Channel Handling CloseDir Close a directory CloseDir is used to close a directory in balance with OpenDir Example PROC Isdir string dirname VAR dir directory VAR string filename OpenDir directory dirname WHILE ReadDir directory filename DO TPWrite filename ENDWHILE CloseDir directory ENDPROC This example prints out the names of all files or subdirectories under the speci fied directory Arguments CloseDir Dev Dev Data type dir A variable with reference to the directory fetched with instruction OpenDir Syntax CloseDir Dev lt variable VAR of dir gt RAPID reference manual part la Instructions A R 47 CloseDir File and Serial Channel Handling Related information 48 Instruction Described in Directory dir Open a directory OpenDir Read a directory ReadDir Check file type IsFile
8. Described in Stopping program execution temporarily Instructions Stop RAPID reference manual part la Instructions A R 111 EXIT RobotWare OS Instruction 112 RAPID reference manual part la Instructions A R ExitCycle Instruction RobotWare OS 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 start the next cycle if the signal di_error is set Program execution Execution of ExitCycle in a program task controlling mechanical units 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 prog
9. RAPID reference manual part la Instructions A R ReadCfgData Instruction Advanced RAPID ReadCfgData Reads attribute of a system parameter ReadCfgData is used to read one attribute of a named system parameter configuration data Examples ReadCfgData MOC MOTOR_CALIB ROB_1 cal_offset offset1 Reads the value of the calibration offset for axis ROB_1 into the num variable offsetl ReadCfgData EIO EIO_SIGNAL process_error Unit io_unit Reads the name of the I O unit where the signal process_error is defined into the string variable io_unit Arguments ReadCfgData InstancePath Attribute CfgData InstancePath Data type string Specifies a path to the named parameter to be accessed The format of this string is DOMAIN TYPE InstanceName Attribute Data type string The name of the attribute of the parameter to be read CfgData Data type any type The variable where the attribute will be stored Depending on the attribute type the valid types are bool num or string Program execution The value of the attribute specified by the Attribute argument is stored in the variable specified by the CfgData argument RAPID reference manual part la Instructions A R 381 ReadCfgData Advanced RAPID Instruction Limitations The conversion from system parameter units m radian second etc to RAPID pro gram units mm degree second etc for CfgData of data type num must be do
10. RobotWare OS Instruction 176 RAPID reference manual part la Instructions A R Pers Instruction Advanced RAPID IPers Interrupt at value change of a persistent variable Pers Interrupt Persistent is used to order and enable interrupts to be generated when the value of a persistent variable is changed Example VAR intnum pers lint PERS num counter 0 PROC main CONNECT perslint WITH iroutinel1 IPers counter perslint Idelete pers lint ENDPROC TRAP iroutinel TPWrite Current value of counter Num counter ENDTRAP Orders an interrupt which is to occur each time the persistent variable counter is changed A call is then made to the iroutine trap routine Arguments Pers Name Interrupt Name Data type anytype The name of the persistent variable that is to generate interrupts 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 persistent changes value a call is made to the corresponding trap routine When this routine has been executed program execution continues from where the interrupt occurred If the persistent changes value during a program stop no interrupt will occur when the program starts again RAPID reference manual part la Instructions A R 177 Pers Advanced RAPID Instruction Limitations The same variable for interrupt identity cannot b
11. lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Described in Other positioning instructions RAPID Summary Motion Definition of velocity Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Movements with I O settings Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference manual part la Instructions A R 293 MoveLDO RobotWare OS Instruction 294 RAPID reference manual part la Instructions A R MoveLSync Instruction Fixed Position Events MoveLSync 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example MoveLSync p1 v1000 z30 tool2 proc1 The TCP of the tool tool2 is moved
12. E g 10008 Program restarted is returned as 8 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 f in that document Program execution Example 384 The ErrorDomain Errorld ErrorType and Strl Str5 variables are updated according to the contents of TrapEvent If different events are connected to the same 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 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 erro
13. LowValue lt expression IN of num gt DeltaValue lt expression IN of num gt VDPos 1 VDNeg Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts Definition of constants RAPID Summary Interrupts Data Types aiotrigg Interrupt from analog output signal Instructions ISignalAO Interrupt from digital input signal Instructions ISignalDI Interrupt from digital output signal Instructions ISignalDO More information on interrupt manage ment Basic Characteristics Interrupts More examples Data Types intnum Related system parameters filter System Parameters IO Signals 188 RAPID reference manual part la Instructions A R ISignalAO Instruction Analog Signal Interrupt ISignalAO Interrupts from analog output signal TSignalAO Interrupt Signal Analog Output is used to order and enable interrupts from an analog output signal Example VAR intnum sig lint CONNECT sig lint WITH iroutine1 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 iroutine trap routine ISignalAO aol AIO_BETWEEN 1 5 0 5 0 1 sig Lint Orders an interrupt which is to occur each time the
14. RemovableDisk2 or usbdisk21 bd1 RemovableDisk3 or usbdisk3 1 bd2 RemovableDisk4 or usbdisk4 1 bd3 com1 4 Serial channel per c temp Mounted disk 1 RAPID string defining device name 2 xxxx means the system name defined when booting the system 3 Note RemovableDisk1 could be e g USB memory on one system but USB floppy on another 4 Use defined serial channel name defined in system parameters 5 Application protocol server path defined in system parameters 6 Application protocol server path defined in system parameters RAPID reference manual part la Instructions A R 307 Open File and Serial Channel Handling Instruction 308 Table 9 Different I O device on the Virtual Controller Table 10 I O device name Full file path Type of I O device HOME or diskhome xxxx HOME TEMP or disktemp 1 c temp yyyy gt Hard Drive RemovableDisk1 or usbdisk1 1 xxxx HOME e g USB memory stick RemovableDisk1 RemovableDisk2 or usbdisk2 1 xxxx HOME RemovableDisk2 RemovableDisk3 or usbdisk3 1 xxxx HOME RemovableDisk3 RemovableDisk4 or usbdisk4 1 xxxx HOME RemovableDisk4 AUNE RAPID string defining the device name XXXX means the path to the system directory defined when creating the system yyyy means a directory named as System ID Note RemovableDisk1 could be e g USB memory on one system but
15. a Y Continue RAPID reference manual part la Instructions A R 183 TSignalAl Analog Signal Interrupt Instruction 184 Example 1 of interrupt generation Signal logical value HighValue Signal Value LowValue 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 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 DeltaValue sample 12 will not generate any interrupt because the signal difference compared to sample 6 is less than DeltaValue RAPID reference manual part la Instructions A R TSignalAl Ins
16. 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 manual part la Instructions A R 217 IVar Value Sensor Interface 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 IVar Value VarNo lt expression IN of num gt Value lt persistent PERS of num gt Interrupt lt variable VAR of intnum gt 218 RAPID reference manual part la Instructions A R IVar Value Instruction Sensor
17. Definition of stop point data Definition of tools Data Types zonedata Data Types stoppointdata Data Types tooldata Definition of work objects Data Types wobjdata Writes to a corrections entry Instructions CorrWrite Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Concurrent program execution Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference manual part la Instructions A R 289 MoveL RobotWare OS Instruction 290 RAPID reference manual part la Instructions A R MoveLDO Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example MoveLDO p1 v1000 z30 tool2 dol 1 The TCP of the tool tool2 is moved linearly to the position p with speed data v1000 and zone data z30 Output do is set in the middle of the corner path at p1 Arguments MoveLDO ToPoint ID Speed T Zone Tool WObj Signal Value ToPoint
18. IN of dionum gt RAPID reference manual part la Instructions A R 263 MoveCDO RobotWare OS Related information 264 Instruction Described in Other positioning instructions Definition of velocity RAPID Summary Motion Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Definition of work objects Data Types tooldata Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Movements with I O settings Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference manual part la Instructions A R MoveCSync Instruction Fixed Position Events MoveCSync Moves the robot circularly and executes a RAPID procedure MoveCSync Move Circular Synchronously is used to move the tool centre point TCP circularly 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveCSync pl p2 v500 z30 tool2 proc1 The TCP of the tool tool2 is moved circularly to the position p2 with speed data v500 and zone data z30 The circle is defined fro
19. RAPID reference manual part la Instructions A R comment Instruction RobotWare OS 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 Ele ments RAPID reference manual part la Instructions A R 49 comment RobotWare OS Instruction 50 RAPID reference manual part la Instructions A R Compact IF Instruction RobotWare OS 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 F 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 Argu
20. RAPID reference manual part la Instructions A R 339 PathRecStop Path Recovery Instruction 340 MoveL p4 vmax z50 tooll MoveL p2 vmax z50 tooll PathRecStart id2 MoveL p5 vmax z50 tooll MoveL p6 vmax z50 tooll StorePath PathRecMoveBwd ID id1 RestoPath ENDPROC PROC example2 PathRecStart id1 MoveL pl vmax z50 tooll MoveL p2 vmax z50 tooll PathRecStop MoveL p3 vmax z50 tooll MoveL p4 vmax z50 tooll PathRecStart id2 MoveL p2 vmax z50 tooll MoveL p5 vmax z50 tooll MoveL p6 vmax z50 tooll StorePath PathRecMoveBwd ID id1 RestoPath ENDPROC p4 p3 p2 ps p po p1 PathRecStop The above examples describes recording of the robot path when the recording is stopped in the middle of the sequence In example1 the PathRecMoveBwd ID id1 order is valid and the robot will execute the following path p6 gt p5 gt p2 gt pl gt p0 The reason for that the order is valid is due to that the recorder was stopped and started in the exact same robot position If this behavior isn t desirable the stop order should include the optional argument Clear In that way the recorded path will be cleared and it will never be possible to back up to previous path recorder identifiers RAPID reference manual part la Instructions A R PathRecStop Instruction Path Recovery The only difference in example2 is where the recorder was started the second time In this cas
21. StopMove RAPID reference manual part la Instructions A R 19 Break RobotWare OS Instruction 20 RAPID reference manual part la Instructions A R CallBy Var Instruction RobotWare OS CallByVar Call a procedure by a variable CallByVar Call By Variable can be used to call procedures with specific names e g proc_name 1 proc_name2 proc_name3 proc_namex via a variable Example regl 2 CallBy Var proc reg1 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 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 manual part la Instructions A R 21 CallBy Var RobotWare OS Instruction Dynamic selection of procedure call with RAPID syntax regl 2 proc NumToStr reg1 0 door_loc The procedure proc2 is called with argument
22. Therefore always wait until the whole data structure is updated before using read data from a TRAP or another program task Error handling 376 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 manual part 1 Instructions A R ReadAnyBin Instruction File and Serial Channel Handling 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 com 2 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 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 n
23. lt expression IN of jointtarget gt Tool lt persistent PERS of tooldata gt RAPID reference manual part la Instructions A R 301 MToolRotCalib RobotWare OS Instruction 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 302 RAPID reference manual part la Instructions A R MToolTCPCalib Instruction RobotWare OS 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 FlexPendant described in User s Manual Calibration Description To define the TCP of a tool you need a world fixed tip within the robot s working space Before using the instruction MToolTCPCalib 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
24. of num gt Related information Described in Clear a specified bit in a byte data Instructions BitClear Check if a specified bit in a byte data is set Functions BitCheck Other bit functions RAPID Summary Bit Functions 16 RAPID reference manual part la Instructions A R BookErrNo Instruction Advanced RAPID BookErrNo Book a RAPID system error number BookErrNo is used to book a new RAPID system error number Examples Introduce a new error number in a glue system Note The new error variable must be declared with the initial value 1 VAR errnum ERR_GLUEFLOW 1 Book the new RAPID system error number BookErrNo ERR_GLUEFLOW The variable ERR_GLUEFLOW will be assigned to a free system error number for use in the RAPID code Use the new error number IF dil 0 THEN RAISE ERR_GLUEFLOW ELSE ENDIF Error handling ERROR IF ERRNO ERR_GLUEFLOW THEN ELSE ENDIF If the digital input di is 0 the new booked error number will be raised and the system error number ERRNO will be set to the new booked error number The error handling of those user generated errors can then be handled in the error han dler as usual Arguments BookErrNo ErrorName ErrorName Data type errnum The new RAPID system error variable name RAPID reference manual part la Instructions A R 17 BookErrNo Advanced RAPID Instruction Limitations The new error variable must not be declared as a rou
25. part la Instructions A R MoveJ Instruction RobotWare OS MoveJ Moves the robot by joint movement MoveJ 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveJ p1 vmax z30 tool2 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 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 Conc ToPoint ID Speed V T Zone Z Inpos Tool WObj Conc Concurrent Data type switch Subsequent instructions are executed while the robot is moving The argument can be used to avoid unwanted stops caused by overloaded CPU when using fly by points and in this way shorten cycle time This is useful when the pro grammed points are very close together at high speeds The argument is also use ful when for example communicating with external equipment and synchronisation between the external equipment and robot movement is not required Using
26. 2 seconds for the conditions to be satisfied See predefined data inpos50 of data type stop pointdata RAPID reference manual part la Instructions A R 287 MoveL RobotWare OS Instruction 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 Syntax MoveL V Conc ToPoint lt expression IN of robtarget gt LV ID lt expression IN of identno gt Speed lt expression IN of speeddata gt PY V lt expression IN of num gt IEY T lt expression IN of num gt Zone lt expression IN of zonedata gt PY Z lt expression IN of num gt LV Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt PV Corr 288 RAPID reference manual part la Instructions A R Instruction Related information MoveL RobotWare OS Described in Other positioning instructions Definition of velocity RAPID Summary Motion Data Types speeddata Definition of zone data
27. A R 85 DitherAct RobotWare OS Instruction 86 RAPID reference manual part la Instructions A R DitherDeact Instruction RobotWare OS DitherDeact Disables dither for soft servo DitherDeact is used to disable the dither functionality for soft servo of IRB 7600 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 manual part la Instructions A R 87 DitherDeact RobotWare OS Instruction 88 RAPID reference manual part la Instructions A R DropSensor Instruction Sensor Synchronization DropSensor Drop object on sensor DropSensor Drop Sensor is used to disconnect from the current object and the pro gram is ready for the next Example MoveL v1000 z10 tool WObj wobj0 SyncToSensor Ssync1 Off MoveL v1000 fine tool WObj wobj0 DropSensor Ssyncl1 MoveL v1000 z10 tool WObj wobj0 Arguments DropSensor Mecunt Mecunt Mechanical Unit Data type mecunit The moving mechanical unit to which the robot position in the instruction is related
28. Delta argument If Ramp is programmed there will be a reduction of acceleration deceleration If the axis is moving the new position is calculated from the momentary position of the axis when the instruction JndDMove is executed If an ImdDMove instruction with dis tance 0 is executed the axis will stop and then move back to the position which the axis had when the instruction was executed To change the axis back to normal mode the JndReset instruction is used The logical position of the axis can be changed in connection with this a number of full revolu tions can be erased from the position for example to avoid rotating back for the next movement The speed can be changed by running a further JndDMove instruction or another Ind_Move instruction If a speed in the opposite direction is selected the axis stops and then accelerates to the new speed and direction During stepwise execution of the instruction the axis is set in independent mode only The axis starts its movement when the next instruction is executed and continues as long as program execution continues For more information see Chapter 6 Motion and I O principles When the program pointer is moved to the beginning of the program or to a new rou tine all axes are automatically set to normal mode without changing the measurement system equivalent to running the instruction IndReset Old Limitations 154 Axes in independent mode cannot be jogged If an a
29. ISignalGO gol sig lint WHILE TRUE DO ENDWHILE ENDPROC All activation of interrupts is done at the beginning of the program These instruc tions are then kept outside the main flow of the program PROC main VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalGO gol sig lint Delete sig lint 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 ISignalGO V Single Signal lt variable VAR of signalgo gt Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R Instruction Related information ISignalGO RobotWare OS Described in Summary of interrupts Interrupt from an output signal RAPID Summary Interrupts Instructions ISignalDO Interrupt from group input signals More information on interrupt manage ment More examples Instructions ISignalGI Basic Characteristics Interrupts Data Types intnum RAPID reference manual part la Instructions A R 207 ISignalGO RobotWare OS Instruction 208 RAPID reference manual part la Instructions A R ISleep Instruction RobotWare OS ISleep Deactivates an interrupt ISleep Interrupt Sleep is used to deactivate an individual interrupt temporarily During the deactivation time any generat
30. IndCMove 149 IndDMove 153 independent motion 145 149 153 161 IndReset 157 IndRMove 161 interrupt activate 221 deactivate 209 delete 131 disable 133 enable 135 from digital input 193 201 205 timed 213 InvertDO 167 IO unit disable 169 enable 173 IODisable 169 IOEnable 173 ISignalDI 193 201 205 ISignalDO 177 197 ISleep 209 IsPers 211 ITimer 213 IVarValue 217 TWatch 221 J joint movement 273 277 281 327 331 335 339 jump 125 L label 223 Limitations 91 linear movement 285 291 295 Load 225 load activate payload 127 M MakeDir 235 mechanical unit activate 3 deactivate 79 408 MechUnitLoad 241 MotionSup 245 MoveAbsJ 249 269 MoveC 255 MoveCDO 261 MoveCSync 265 MoveExtJ 269 MoveJ 273 327 331 335 339 MoveJDO 277 MoveJSync 281 MoveL 285 MoveLDO 291 MoveLSync 295 movement circle 255 261 265 joint 273 277 281 327 331 335 339 linear 285 291 295 O Open file 307 serial channel 307 OpenDir 311 P path resolution change 343 PathResol 343 payload activate 127 PDispOff 347 PDispOn 349 ProcCall 363 procedure call 21 363 ProcerrRecovery 357 program displacement activate 349 deactivate 347 Program execution 91 PulseDO 365 R RAISE 105 369 RaiseToUser 371 ReadCfgData Read configuration data 381 ReadErrData 383 RAPID reference manual part 1 Instructions A Z Index RemoveDir 391 RemoveFile 393 repeat 115 Reset 397 reset measuring system 157 R
31. Interface Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage Basic Characteristics Interrupts ment RAPID reference manual part la Instructions A R 219 IVar Value Sensor Interface Instruction 220 RAPID reference manual part la Instructions A R IWatch Instruction RobotWare OS IWatch Activates an interrupt IWatch Interrupt Watch is used to activate an interrupt which was previously ordered but was deactivated with Sleep Example Watch siglint The interrupt sig int that was previously deactivated is activated Arguments Watch 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 iroutinel1 ISignalDI dil 1 siglint Sleep siglint weldpart1 IWatch siglint During execution of the weldpart 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 manual part la Instructions A R 2
32. 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 signaldo The name of the signal that is to generate interrupts RAPID reference manual part la Instructions A R 197 ISignalDO RobotWare OS 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 TriggValue 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 10 Signal level 0 Interrupt ordered Interrupt occurs Interrupt ordered i Signal level 0 Interrupt occurs Figure 10 Interrupts from a
33. Principles Coordinate Systems RAPID reference manual part la Instructions A R MToolRotCalib Instruction RobotWare OS 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 FlexPendant 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 MToolRotCalib 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 The TCP value of the tool must already be defined The calibration can be done with the instruction MToolTCPCalib 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 jointtar
34. R PackRawBytes Instruction File and Serial Channel Handling Related information Tabell 15 Described in rawbytes data Data Types rawbytes Get the length of rawbytes data Functions RawBytesLen Clear the contents of rawbytes data Instructions ClearRawBytes Copy the contents of rawbytes data Instructions CopyRawBytes Pack DeviceNet header into rawbytes data Instructions PackDNHeader Write rawbytes data Instructions WriteRawBytes Read rawbytes data Instructions ReadRawBytes Unpack data from rawbytes data Instructions UnpackRawBytes Bit Byte Functions RAPID Summary Bit Functions String functions RAPID Summary String Functions RAPID reference manual part la Instructions A R 321 PackRawBytes File and Serial Channel Handling Instruction 322 RAPID reference manual part la Instructions A R PathAccLim Instruction RobotWare OS 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 i e the acceleration in the path frame It is the tangential acceleration deceleration in the path direction that will be limited The instruction does not limit the total acceleration of the equipment i e the acceler ation in world frame so it can not be directly used to protect t
35. RAPID reference manual part la Instructions A R ClkStop Instruction RobotWare OS 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 manual part la Instructions A R 43 ClkStop RobotWare OS Related Information 44 Instruction Described in Other clock instructions More examples RAPID Summary System amp Time Instructions ClkStart RAPID reference manual part la Instructions A R Close Instruction File and Serial Channel Handling 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 channel2 is closed Arguments Close IODevice 1ODevice Data type iodev The name reference of the file or serial channel to be closed
36. RAPID reference manual part la Instructions A R MakeDir Instruction File and Serial Channel Handling MakeDir Create a new directory MakeDir is used to create a new directory The user must have write and execute per mission for the parent directory under which the new directory is created Examples MakeDir HOME newdir This example creates a new directory under HOME Arguments MakeDir Path Path Data type string The name of the new directory specified with full or relative path Error handling If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler Syntax MakeDir Path lt expression IN of string gt Related information Described in Remove a directory RemoveDir Remove a file RemoveFile RAPID reference manual part la Instructions A R 235 MakeDir File and Serial Channel Handling Instruction 236 RAPID reference manual part la Instructions A R ManLoadIdProc Instruction RobotWare OS ManLoadIdProc Load identification of IRBP manipulators ManLoadIdProc Manipulator Load Identification Procedure is used for load identi fication of payload for external manipulators by executing a user defined RAPID pro gram This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Note an easier way to identify the payloa
37. TRUE DO joints CJointTQ IF ParIdPos Valid TOOL_LOAD_ID joints valid_joints TRUE THEN Valid position invalid_pos FALSE ELSE Invalid position Adjust the position by program movements horizontal tilt house MoveAbsJ joints low_ori_speed fine tool0 ENDIF ENDWHILE Do slow test for check of free working area IF slow_test_flag TRUE THEN LoadId TOOL_LOAD_ID MASS_WITH_AX3 grip3 SlowTest ENDIF Do measurement and update all load data in grip3 LoadId TOOL_LOAD_ID MASS_WITH_AX3 grip3 Load identification of tool grip3 RAPID reference manual part la Instructions A R 229 LoadId RobotWare OS Instruction Condition The following conditions should be fulfilled before load measurements with LoadId e Make sure that all loads are correctly mounted on the robot e Check whether valid robot type with ParldRobValid e Check whether valid position with ParldPos Valid Axes 3 5 and 6 not close to their corresponding working range Tilt housing almost horizontal i e that axis 4 is in zero position e The following data should be defined in system parameters and in arguments to Loa did before running LoadlId Table 3 Load identification of tool Load identification Movin Roomfix 8 Moving TCP Roomfix modes TCP TCP Mass TCP Defined data before Mass Unknow M ss Known Mass LoadId Known Unknown Upper arm load Defined Defined System parameter Mass
38. USB floppy on another 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 1ODevice 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 RAPID reference manual part la Instructions A R Open Instruction File and Serial Channel Handling Open a file or serial channel with Append and Bin arguments The instruction opens a binary file 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 w
39. User level is in this case the first routine in a call chain above a nostepin routine Example Example of instruction RaiseToUser MODULE MyModule PROC main VAR errnum ERR MYDIVZERO 1 BookErrNo ERR_ MYDIVZERO IF ERRNO ERR_MYDIVZERO THEN TRYNEXT ELSE RETRY ENDIF ENDPROC ENDMODULE MODULE MySysModule SYSMODULE NOSTEPIN VIEWONLY PROC routinel Free allocated resources ENDPROC RAPID reference manual part la Instructions A R 371 RaiseToUser RobotWare OS Instruction PROC routine2 VAR num n 0 ERROR IF ERRNO ERR_DIVZERO THEN RaiseToUser Continue ErrorNumber ERR_MYDIVZERO ELSE RaiseToUser BreakOff ENDIF ENDPROC ENDMODULE The division by zero in routine2 will propagate up to the error handler in main routine with the errno set to ERR MYDIVZERO The TRYNEXT instruction in main error handler will then cause the program execution to continue at the instruction after the division by zero in routine2 The Continue switch controls this behavior If any other errors occur in routine2 the BreakOff switch force the execution to con tinue from the error handler in main routine In this case the undo handler in routine will be executed while raising to user level The RETRY instruction in the error handler in main routine will execute routine from the beginning ones again The undo handler in routine will also be executed in the Continue case if a following RAISE or RETURN is done
40. When the program module is removed the rest of the program modules will be linked Limitations It is not allowed to remove a program module that is executing TRAP routines system I O events and other program tasks cannot execute during the removal process Avoid ongoing robot movements during the removal Program stop during execution of EraseModule instruction results in guard stop with motors off and error message 20025 Stop order timeout on the Flex Pendant RAPID reference manual part la Instructions A R 99 EraseModule RobotWare OS Instruction Error handling If the file in the EraseModule instruction cannot be removed because it was not found the system variable ERRNO is set to ERR_ MODULE This error can then be handled in the error handler Syntax EraseModule ModuleName lt expression IN of string gt Related information Described in Unload a program module Instructions UnLoad Load a program module in Instructions StartLoad WaitLoad with another program parallel execution Accept unresolved reference System Parameters Controller Tasks BindRef 100 RAPID reference manual part la Instructions A R ErrLog Instruction Advanced RAPID ErrLog Write an error message ErrLog is used to display an error message on the FlexPendant and write it in the robot message log Error number and five error arguments must be stated Example An Errorld must be
41. a serial channel oesssooesssooesssoosssooeecsosecessscossssoosssso 33 ClearPath Clear current path ocosesesccesssccesssoesssooscesooecsssoccesscocsssocssssooceesocossssocesssocssesoseo 35 ClearRawBytes Clear the contents of rawbytes data sccccssscsccssssssccssssrscsssssscccssseees 37 ClkReset Resets a clock used for timing eesssoossssoocsssosecesosccesssoessssosessooeeessocossssocssssoossssso 39 ClkStart Starts a clock used for timing sessesssecssocesooessocsscccsscessossoocesoecssocesosesocesssessocesoceeo 41 ClkStop Stops a clock used for timing sccssscccssssccssssscsssscssssscsesccssssssssssssssssssssscsoeees 43 Close Closes a file or serial channel ssscssscccsssccccsccscssccscsscccccsccccssssccssescesssssssosesees 45 CloseDir Close a directory sscssssssscsssssrscressssssssssossssssssasisossossssessssssssesssasosssasissssse ssssse ssc sssstot 47 comment Commett sssssssssssisossescssorsscsososscss sessio boses s oro aroo srs Soso snas s roro sooro soss sessa ES Sas 49 Compact IF If a condition is met then one instruction sssesssosssssoecessoccesssocesssoosessoo 51 ConfJ Controls the configuration during joint movement sseoesssooesesooeessseecessocosssooosesoo 53 ConfL Monitors the configuration during linear movement ssoessesssocssoossoossssessoessooses 55 CONNECT Connects an interrupt to a trap routine eessscces
42. 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 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 tooll 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 manual part la Instructions A R 11 9 393 RobotWare OS Instruction Limitations 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 Described in Expressions Basic Characteristics Expressions Non value data types Basic Characteristics Data Types Assigning an initial value to data Basic Characteristics Data Programm
43. 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 1 252 RAPID reference manual part la Instructions A R MoveAbsJ Instruction RobotWare OS Singular point ae M MoveAbsJ oye Ambiguous area MoveAbsJ Any Move instr MoveAbsJ Figure 14 Limitation for backward execution with MoveAbsJ Syntax MoveAbsJ V Conc ToJointPos lt expression IN of jointtarget gt V ID lt expression IN of identno gt V NoEoffs Speed lt expression IN of speeddata gt V V lt expression IN of num gt IPY T lt expression IN of num gt Zone lt expression IN of zonedata gt PY Z lt expression IN of num gt LY Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt RAPID reference manual part la Instructions A R 253 MoveAbsJ RobotWare OS Instruction Related information Described in Other positioning instructions RAPID Summary Motion Definition of jointtarget Data Types jointtarget Definition of velocity Data Types speeddata Definition of zone d
44. are removed at pro gram start is to run CorrClear in a START event routine See System Parameters Topic Controller Syntax CorrClear Related information Connects to a correction generator Disconnects from a correction generator Writes to a correction generator Reads the current total offsets Correction descriptor RAPID reference manual part la Instructions A R Described in Instructions CorrCon Instructions CorrDiscon Instructions CorrWrite Functions CorrRead Data types corrdescr 67 CorrCon Instruction Path offset amp RobotWare Arc Sensor CorrCon Connects to a correction generator CorrCon is used to connect to a correction generator Example VAR corrdescr id CorrCon id The correction generator reference corresponds to the variable id reservation Arguments CorrCon Descr Descr Data type corrdescr Descriptor of the correction generator Example Path coordinate system All path corrections offsets on the path are added in the path coordinate system The path coordinate system is defined as P Path coordinate system T Tool coordinate system Path direction gt Figure 4 Path coordinate system RAPID reference manual part la Instructions A R 69 CorrCon Path offset amp RobotWare Arc Sensor Instruction Path coordinate axis X is given as the tangent of the path Path coordinate axis Y is derived as the cross product of tool
45. as this program displacement is active all positions will be displaced 100 mm in the direction of the x axis Object S ProgDisp 100 X Figure 29 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 manual part la Instructions A R 353 PDispSet RobotWare OS 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 30 y G y New Original D orientation position e en Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 30 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 displacement 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
46. com pared to the stored reference value is bigger than 0 1 ISignalAI ail 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 input signal ail 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 ISignalAI_ Single Signal Condition HighValue LowValue Delta Value 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 manual part la Instructions A R 179 TSignalAl Analog Signal Interrupt 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 High Value AIO_BELOW_HIGH logical value of the signal is below HighValue AIO_ABOVE_LOW logical value of the signal is above Low Value AIO_BELOW_LOW logical value of the signal is below Low Value AIO_ BETWEEN logical value of the signal is between Low Value and HighValue AIO_OUTSIDE logical value of the signal is above HighValue or below LowValue AIO_ALWAYS independently o
47. continues when the robot and external axes have reached the appropriate position Examples MoveC v500 V 550 240 Z 45 grip3 The TCP of the tool grip3 is moved circularly to a position stored in the instruc tion The movement is carried out with data set to v500 and 240 the velocity and zone size of the TCP are 550 mm s and 45 mm respectively 258 RAPID reference manual part la Instructions A R MoveC Instruction RobotWare OS 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 240 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 Limitations There are some limitations in how the CirPoint and the ToPoint can be placed as shown in the figure below CirPoint T
48. coordinate axis Z and path coordinate axis X Path coordinate axis Z is derived as the cross product of path coordinate axis X and path coordinate axis Y Application example An example of an application using path corrections is a robot holding a tool with two sensors mounted on it to detect the vertical and horizontal distances to a work object Sensor for horizontal correction Sensor for vertical correction Path coordinate system Figure 5 Path correction device Program example CONST num TARGET_DIST 5 CONST num SCALE_FACTOR 0 5 VAR intnum intnol VAR corrdesc hori_id VAR corrdesc vert_id VAR pos total_offset VAR signalai hori_sig VAR signalai vert_sig VAR pos write_offset 70 RAPID reference manual part la Instructions A R CorrCon Instruction Path offset amp RobotWare Arc Sensor PROC PathRoutine Connect to the correction generators for horizontal and vertical correction CorrCon hori_id CorrCon vert_id Setup a 5 Hz timer interrupt The trap routine will read the sensor values and compute the path corrections CONNECT intnol WITH ReadSensors ITimer singel 0 2 intnol Position for start of contour tracking MoveJ p10 v100 z10 tool1 Run MoveL with both vertical and horizontal correction MoveL p20 v100 z10 tool1 Corr Read the total corrections added by all connected correction generators total_offset CorrRead Write the total vertical correction on th
49. declared in a xml file The number must be between 5000 9999 The error message is written in the xml file and the arguments to the message is sent in by the ErrLog instruction The Error d in the xml file is the same stated in the Err Log instruction Example of message in xml file lt Message number 5210 eDefine SYS_ERR_ARL_INPAR_RDONLY gt lt Title gt Parameter error lt Title gt lt Description gt Task lt arg format 16s ordinal 1 gt lt p gt Symbol lt arg format 16s ordinal 2 gt is read only lt p gt Context lt arg format 40s ordinal 3 gt lt p gt lt Description gt lt Message gt Example of instruction MODULE MyModule PROC main VAR num errorid 5210 VAR errstr arg P1 ErrLog errorid ERRSTR_TASK arg ERRSTR_CONTEXT ERRSTR_UNUSED ERRSTR_UNUSED ErrLog errorid W ERRSTR_TASK arg ERRSTR_CONTEXT ERRSTR_UNUSED ERRSTR_UNUSED ENDPROC ENDMODULE On the FlexPendant the message will look like this Event Message 5210 Parameter error Task main Symbol P1 is read only Context MyModule main ErrLog RAPID reference manual part la Instructions A R 101 ErrLog Advanced RAPID Instruction The first EvrLog instruction generates an error message The message is stored in the robot log in the process domain It is also shown on the FlexPendant display The second instruction is a warning A message is stored in the robot log only The progr
50. digital output signal at signal level 1 198 RAPID reference manual part la Instructions A R ISignalDO Instruction RobotWare OS 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 VAR intnum sig lint PROC main CONNECT sig lint WITH iroutine1 ISignalDO dol 1 sig lint 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 lint CONNECT sig lint WITH iroutine1 ISignalDO dol 1 sig lint Delete sig lint 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 ISignalDO V Single Signal lt variable VAR of signaldo gt Trigg Value lt expression IN of dionum gt Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R 199 ISignalDO RobotWare OS Instruction Related information Described in Summary of interrupts RAPID Summary Interrupts Interrupt from an input signal Instructions ISignalDI More information on interrupt manage Basic Characteristics Interrupts
51. done with move ments of axis 3 Tool Data type tooldata Persistent variable for the tool to be identified If argument PayLoad specified the persistent variable for the tool in use For load identification of tool the following arguments PayLoad and WObj should not be specified PayLoad Data type loaddata Persistent variable for the payload to be identified This option argument must always be specified for load identification of pay load WObj Data type wobjdata Persistent variable for the work object in use This option argument must always be specified for load identification of payload with roomfix TCP RAPID reference manual part la Instructions A R 231 LoadId RobotWare OS Instruction ConfAngle Data type num Option argument for specification of a specific configuration angle degrees to be used for the parameter identification Load identification pos axis 6 in another configuration Selected by ConfAngle Positive ConfAngle in degrees Measurement movements in different configurations axis 6 Load identification pos axis 6 at start Verified with ParldPos Valid Default 90 degrees if this argument is not specified Min or 30 degrees Optimum or 90 degrees SlowTest Data type switch Option argument to specify whether only slow test for checking of free working area should be done LoadId SlowTest gt Run only slow test Loa
52. door_loc Limitation All procedures must have a specific name e g procl proc2 proc3 Dynamic selection of procedure call with CallBy Var regl 2 CallBy Var 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 Can not be used to call LOCAL procedures 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 CallBy Var Name lt expression IN of string gt Number lt expression IN of num gt 22 RAPID reference manual part la Instructions A R CallBy Var Instruction RobotWare OS Related information Described in Calling procedures Basic Characteristic Routines Operator s man ual IRC5 with FlexPendant RAPID reference manual part la Instructions A R 23 CallBy Var RobotWare OS Instruction 24 RAPID reference manual part la Instructions A R CancelLoad Instruction RobotWare OS CancelLoad Cancel loading of a module CancelLoad is
53. expression IN of num gt ToRawData lt variable VAR of rawbytes gt ToIndex lt expression IN of num gt V NoOfBytes lt expression IN of num gt 64 RAPID reference manual part la Instructions A R CopyRawBytes Instruction File and Serial Channel Handling Related information Described in rawbytes data Data Types rawbytes Get the length of rawbytes data Functions RawBytesLen Clear the contents of rawbytes data Instructions ClearRawBytes Pack DeviceNet header into rawbytes Instructions PackDNHeader data Pack data into rawbytes data Instructions PackRawBytes Write rawbytes data Instructions WriteRawBytes Read rawbytes data Instructions ReadRawBytes Unpack data from rawbytes data Instructions UnpackRawBytes RAPID reference manual part la Instructions A R 65 CopyRawBytes File and Serial Channel Handling Instruction 66 RAPID reference manual part la Instructions A R Instruction CorrClear Path offset amp RobotWare Arc Sensor CorrClear Removes all correction generators Descriptions CorrClear is used to remove all connected correction generators The instruction can be used to remove all offsets provided earlier by all correction generators Example CorrClear The instruction removes all connected correction generators Note An easy way to ensure that all correction generators with corrections
54. file position set to the beginning of the file Arguments Rewind IODevice 1ODevice 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 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 RAPID reference manual part la Instructions A R 403 Rewind File and Serial Channel Handling Instruction 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 handling 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
55. if in a MultiMove System in Motion tasks It is important 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 load0O The robot gripper releases all loads Arguments GripLoad Load Load Data type loaddata The load data that describes the current payload RAPID reference manual part la Instructions A R 127 GripLoad RobotWare OS 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 loaddata gt Related information Described in Definition of load data Data Types
56. in Independent axes in general Motion and I O Principles Program execution Change an axis to independent mode Instructions IndA Move IndCMove IndDMove IndRMove Check the speed status for independent Functions IndSpeed axes Check the position status for indepen Functions IndInpos dent axes Defining independent joints System Parameters Manipulator 160 RAPID reference manual part la Instructions A R IndRMove Instruction Independent Axis IndRMove Independent relative position movement IndRMove is used to change a rotational axis to independent mode and move the axis to a specific position within one revolution An independent axis is an axis moving independently of other axes in the robot system As program execution continues immediately it is possible to execute other instruc tions including positioning instructions during the time the independent axis is mov ing If the axis is to be moved to an absolute position several revolutions or if the axis is linear the instruction IndAMove is used instead If the movement is to take place a cer tain distance from the current position the instruction ImdDMove must be used This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example IndRMove Station_A 2 ToRelPos p5 Short 20 Axis 2 of Station_A is moved the shortest route to position p5 within one revolution maximum rotation 18
57. 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 350 RAPID reference manual part la Instructions A R PDispOn Instruction RobotWare OS 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 at the two positions The displacement will be calculated in such a way that the new position 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 27 New y position ExeP e y New orientation Original position ProgPoint e Ori ie orientation Program di Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 27 Translation and rotation o
58. la Instructions A R Decr Instruction RobotWare OS Decr Decrements by 1 Decr is used to subtract 1 from a numeric variable or persistent Example Decr regl 1 is subtracted from reg i e regl regl 1 Arguments Decr Name Name Data type num The name of the variable or persistent 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 manual part la Instructions A R 81 Decr RobotWare OS Instruction Related information Described in Incrementing a variable by 1 Instructions Incr Subtracting any value from a variable Instructions Add Changing data using an arbitrary Instructions expression e g multiplication 82 RAPID reference manual part la Instructions A R DitherAct Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples SoftAct MechUnit ROB_1 2 100 WaitTime 2 Dithe
59. 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 MoveLSync ToPoint ID 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 RAPID reference manual part la Instructions A R 295 MoveLSync Fixed Position Events 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 moved to the specified destination position WOb
60. lt variable VAR of mecunit gt VMechUnitName lt expression IN of string gt Y AxisNumber lt expression IN of num gt VY PayLoad lt var or pers INOUT of loaddata gt V ConfigAngle lt expression IN of num gt V DeactAll V AlreadyActive V DefinedFlag lt variable VAR of bool gt 240 RAPID reference manual part la Instructions A R MechUnitLoad Instruction RobotWare OS MechUnitLoad Defines a payload for a mechanical unit MechUnitLoad 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example IRBP_L Ha Figure 11 A mechanical unit named IRBP_L of type IRBP L ActUnit IRBP_L MechUnitLoad IRBP_L 1 load0O Activate mechanical unit JRBP_L and define the payload load0 corresponding to no load at all mounted on axis ActUnit IRBP_L MechUnitLoad IRBP_L 1 fixture1 Activate mechanical unit JRBP_L and define the payload fixture corresponding to fixture fixture mounted on axis 1 ActUnit IRBP_L MechUnitLoad IRBP_L 1 workpie
61. marked with an in the instruction ID Synchronization ID Data type identno This argument must be used in a MultiMove System if coordinated synchronized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime Speed Data type speeddata The speed data that applies to movements Speed data defines the velocity of the linear or rotating external axis T Time Data type num This argument is used to specify the total time in seconds during which the exter nal axes move It is then substituted for the corresponding speed data Zone Data type zonedata Zone data for the movement Zone data describes if stop point or if fly by point the zone size for the deceleration and accelerate of the linear or rotational external axes Inpos In position Data type stoppointdata This argument is used to specify the convergence criteria for the position of the external axis in the stop point The stop point data substitutes the zone specified in the Zone parameter Program execution The linear or rotating external axes are moved to the programmed point with the pro grammed velocity 270 RAPID reference manual part la Instructions A R MoveExtJ Instruction RobotWare OS Examples CONST jointtarget j1 9E9 9E9 9E9 9E9 9E9 9E9 0 9E9 9E9 9E9 9E9 9E9 CONST jo
62. mecunit The name of the mechanical unit Axis Data type num The number of the current axis for the mechanical unit 1 6 ToAbsPos To Absolute Position Data type robtarget Axis position specified as a robtarget Only the component for this specific axis is used The value is used as an absolute position value in degrees mm for linear axes The axis position will be affected if the axis is displaced using the instruction EOffsSet or EOffsOn For robot axes the argument ToAbsNum is to be used instead RAPID reference manual part la Instructions A R 145 IndA Move Independent Axis Instruction ToAbsNum To Absolute Numeric value Data type num Axis position defined in degrees mm for linear axis Using this argument the position will NOT be affected by any displacement e g EOffsSet or PDispOn Same function as JoAbsPos but the position is defined as a numeric value to make it easy to manually change the position Speed Data type num Axis speed in degrees s mm s for linear axis Ramp Data type num Decrease acceleration and deceleration from maximum performance 1 100 100 maximum performance Program execution When IndAMove is executed the specified axis starts to move at the programmed speed to the specified axis position If Ramp is programmed there will be a reduction of acceleration deceleration To change the axis back to normal mode the ndReset instruction is used In co
63. ment More examples Data Types intnum 200 RAPID reference manual part la Instructions A R TSignalGI Instruction RobotWare OS ISignalGI Orders interrupts from a group of digital input signals ISignalGI Interrupt Signal Group Digital In is used to order and enable interrupts from a group of digital input signals Examples VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalGI gil sig lint Orders an interrupt when a digital input group signal change value Arguments ISignalGI Single Signal 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 signalgi The name of the group input signal that generate interrupts 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 group signal change 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 before the interrupt is ordered no interrupt occurs RAPID reference manual part la Instructions A R 201 TSignalGI RobotWare OS Instruction Limitations Maximum number
64. of digital output sigmalls ccccsssscssees 205 ISleep Deactivates an interrupt seesscosscocssecssocssocesocesoocessecssecesocsocosssecesecesscssoosesosssseesoeee 209 II RAPID reference manual part la Instructions A R Contents ASPErs Is Eris COME sas iecsics ci bas sacouves tistasGechw eaten duvtkie isabhassicetaseibaseisabianensgchiestcsaeeasebdiensns dathatins 211 Timer Orders a timed interrupt srccsccciccssiacscccdicssiecedivecceeosesstacdacssiecescesscedacsussastecususossbeacees 213 IVar Value orders a variable value interrupt seossssocessosccesosecessoosessocecssooesesosecessoossssooese 217 E Watch Activates an Interrupt asst sissedscsccasuredoccsdesvessectvviseasecssbuescutasisiwtabiscaseevsudestucvsasesuseises 221 label Line Mamie eisciesiivscsscevcosssosshctasnoeasbusweddasnucbeanbnsnccdsvevesbechecueescdienskacdpevukscpand nEs ao isst ieS 223 Load Load a program module during execution esseesssooesssccessscossesoossesoocessoscesessosssssose 225 LoadId Load identification of tool or payload ccccccsscsssscscssssscccsscssccesssssscsscessessees 229 MakeDir Create a new directory eessesscccessoccessocosssooocesosecesosccesssooseesoossesooeessosecsessoossssose 235 ManLoadIdProc Load identification of IRBP manipulators eoesssooesesoscoessscossssosssssosee 237 MechUnitLoad Defines a payload for a mechanical unit ssoossssoocsssoscsssosossessosesssose 2
65. of the calling rou tine Error name error number and five error arguments must be stated Example An Errorld must be declared in a xml file The number must be between 5000 9999 The error message is written in the xml file and the arguments to the mes sage is sent in by the ErrRaise instruction The Evrorld in the xml file is the same stated in the ErrRaise instruction Example of message in xml file lt Message number 7055 eDefine SYS_ERR_ARL_INPAR_RDONLY gt lt Title gt Parameter error lt Title gt lt Description gt Task lt arg format 16s ordinal 1 gt lt p gt Symbol lt arg format 16s ordinal 2 gt is read only lt p gt Context lt arg format 40s ordinal 3 gt lt p gt lt Descrip tion gt lt Message gt Example of instruction MODULE MyModule PROC main VAR errnum ERR_BATT 1 VAR num errorid 7055 BookErrNo ERR_BATT ErrRaise ERR BATT errorid ERRSTR_TASK ERRSTR_CONTEXT ERRSTR_UNUSED ERRSTR_UNUSED ERRSTR_UNUSED ERROR IF ERRNO ERR_BATT TRYNEXT ENDPROC ENDMODULE RAPID reference manual part la Instructions A R 105 ErrRaise Advanced RAPID Instruction On the FlexPendant the message will look like this warning or and an error Event Message 7055 Backup battery status Task main Backup battery is fully charged Context MyModule main ErrRaise An error number must be booked with the instruction BookErrNo Correspond
66. offset to be written Example See Instructions CorrCon Limitations The best performance is achieved on straight paths As the speed and angles between to consecutive linear paths increase the deviation from the expected path will also increase The same applies to circles with decreasing circle radius RAPID reference manual part la Instructions A R TT Corr Write Path offset amp RobotWare Arc Sensor Syntax CorrWrite Descer lt variable VAR Data lt expression IN Related information Connects to a correction generator Disconnects from a correction generator Reads the current total offsets Removes all correction generators Correction generator descriptor 78 Instruction of corrdescr gt of pos gt Described in Instructions CorrCon Instructions CorrDiscon Functions CorrRead Instructions CorrClear Data types corrdescr RAPID reference manual part la Instructions A R DeactUnit Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples DeactUnit orbit_a Deactivation of the orbit_a mechanical unit MoveL p10 v100 fine tooll DeactUnit track_motion MoveL p20 v10
67. robot position in the instruction is related The mechanical unit conveyor is to be specified by the ufmec in the work object Program execution Dropping the work object means that the encoder unit not longer tracks the object The object is removed from the object queue and cannot be recovered Limitations If the instruction is issued while the robot is actively using the conveyor coordinated work object then the motion stops The instruction may be issued only after a fixed work object has been used in the pre ceding motion instructions with either a fine point or several gt 1 corner zones Syntax DropWObj WObj lt persistent PERS of wobjdata gt RAPID reference manual part la Instructions A R 91 DropWObj Conveyor Tracking Instruction 92 RAPID reference manual part la Instructions A R EOffsOff Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples EOffsOff Deactivation of the offset for external axes MoveL p10 v500 z10 tooll EOffsOn ExeP p
68. speed in the original motion instructions Program execution The path recorder is activated with the PathRecStart instruction After the recorder has been started all move instructions will be recorded and the robot can be moved back wards along its recorded path at any point by executing PathRecMoveBwd RAPID reference manual part la Instructions A R 327 PathRecMoveBwd Path Recovery Instruction Examples VAR pathrecid safe_id VAR num choice MoveJ p0 vmax z50 tool1 PathRecStart safe_id MoveJ p1 vmax z50 tool1 MoveL p2 vmax z50 tooll MoveL p3 vmax z50 tooll MoveL p4 vmax z50 tooll ERROR TPReadFK choice Go to safe stEmpty stEmpty stEmpty stEmpty Yes IF choice 5 THEN IF PathRec ValidBwd ID safe_id THEN StorePath PathRecMoveBwd ID safe_id ToolOffs 0 0 10 Stop Fix problem PathRecMoveFwd RestoPath StartMove RETRY ENDIF ENDIF 328 RAPID reference manual part la Instructions A R PathRecMoveBwd Instruction Path Recovery Figure 25 This example shows how the path recorder can be utilized to extract the robot from narrow spaces upon error without programming a designated path A part is being manufactured At the approach point pO the path recorder is started and given the path recorder identifier safe_id Assume that when the robot moves from p3 to p4 and recoverable error arise At that point the path is stored by executing Store Path By storing th
69. the Main task or if in a MultiMove System in Motion tasks Example IndCMove Station_A 2 30 5 Axis 2 of Station_A starts to move in a negative direction at a speed of 30 5 degrees s Arguments IndCMove MecUnit Axis Speed Ramp 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 Speed Data type num Axis speed in degrees s mm s for linear axis The direction of movement is specified as the sign of the speed argument Ramp Data type num Decrease acceleration and deceleration from maximum performance 1 100 100 maximum performance RAPID reference manual part la Instructions A R 149 IndCMove Independent Axis Instruction Program execution When ndCMove is executed the specified axis starts to move at the programmed speed The direction of movement is specified as the sign of the speed argument If Ramp is programmed there will be a reduction of acceleration deceleration To change the axis back to normal mode the ndReset instruction is used The logical position of the axis can be changed in connection with this an number of full revolu tions can be erased for example to avoid rotating back for the next movement The speed can be changed by executing a further JndC Move instruction If a speed in the opposite direction is ordered the axis stops and then accelerates to the new speed a
70. the error handler Syntax CopyFile OldPath lt expression IN of string gt NewPath lt expression IN of string gt RAPID reference manual part la Instructions A R 61 Copy File File and Serial Channel Handling Instruction Related information Described in Opening etc of files RAPID Summary Communication 62 RAPID reference manual part la Instructions A R CopyRawBytes Instruction File and Serial Channel Handling CopyRawBytes Copy the contents of rawbytes data CopyRawBytes is used to copy all or part of the contents from one rawbytes variable to another Example VAR rawbytes from_raw_data VAR rawbytes to_raw_data VAR num integer 8 VAR num float 13 4 ClearRawBytes from_raw_data PackRawBytes integer from_raw_data 1 IntX DINT PackRawBytes float from_raw_data RawBytesLen from_raw_data 1 Float4 CopyRawBytes from_raw_data 1 to_raw_data 3 RawBytesLen from_raw_data In this example the variable from_raw_data of type rawbytes is first cleared i e all bytes set to 0 Then in the first 4 bytes the value of integer is placed and in the next 4 bytes the value of float After having filled from_raw_data with data the contents 8 bytes is copied to to_raw_data starting at position 3 Arguments CopyRawBytes FromRawData FromIndex ToRawData ToIndex NoOfBytes FromRawData Data type rawbytes FromRawData i
71. the load and centre of gravity for the tool should already be defined LoadIdentify can be used for the load definition Tool0 wobj0O 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 Notice that you must not modify the positions Pos to Pos4 in the instruction MToolTCPCalib while the tool used in the creation of the points is not the same as the tool being calibrated Gx World fixed tip Figure 24 Definition of 4 jointtargets pl p4 RAPID reference manual part la Instructions A R 303 MToolTCPCalib RobotWare Example OS Instruction Created with actual TCP pointing at the world fixed tip CONST jointtarget p1 CONST jointtarget p2 CONST jointtarget p3 CONST jointtarget p4 sei gt a PERS tooldata tool1 TRUE 0 0 0 1 0 0 0 0 001 0 0 0 001 1 0 0 0 0 0 OJ VAR num max_err VAR num mean_err Instructions for createing or ModPos of p1 p4 MoveAbsJ p1 v10 fine tool0 MoveAbsJ 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 will be calibrated and updated max_err and mean_err will ho
72. the robot The final position of the robot during a movement with MoveAbsJ is neither affected by the given 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 ID NoEOffs Speed AV 1 AT 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 RAPID reference manual part la Instructions A R 249 MoveAbsJ RobotWare OS Instruction Using the argument Co
73. to the path recorder iden tifier start_id using the recorded path Finally it will move forward again in two steps by the means of PathRecMoveF wd Limitations Syntax 332 Movements using the path recorder has to be performed on trap level i e StorePath has to executed prior to PathRecMoveFwd To be able to execute PathRecMoveFwd a PathRecMoveBwd must have been exe cuted before PathRecMoveFwd V ID lt variable VAR of pathid gt V ToolOffs lt expression IN of pos gt V Speed lt expression IN of speeddata gt RAPID reference manual part la Instructions A R PathRecMoveFwd Instruction Path Recovery Related information Described in Path Recorder Identifiers Data types pathrecid Start stop the path recorder Instructions PathRecStart PathRecStop Check for valid recorded path Functions PathRecValidBwd PathRec ValidFwd Move path recorder backward Instructions PathRecMoveBwd Store restore paths Instructions StorePath RestoPath Other positioning instructions RAPID Summary Motion Error Recovery RAPID Summary Error Recovery Basic Char acteristics Error Recovery RAPID reference manual part la Instructions A R 333 PathRecMoveFwd Path Recovery Instruction 334 RAPID reference manual part la Instructions A R PathRecStart Instruction Path Recovery PathRecStart Start the path recorder PathRecS
74. 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 Delete Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R 131 Delete RobotWare OS Instruction Related information Described in Summary of interrupts RAPID Summary Interrupts Temporarily disabling an interrupt Instructions Sleep Temporarily disabling all interrupts Instructions Disable 132 RAPID reference manual part la Instructions A R Disable Instruction RobotWare OS IDisable Disables interrupts Disable Interrupt Disable is used to disable all interrupts temporarily It may for 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 onc
75. used This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 RAPID reference manual part la Instructions A R 3 ActUnit RobotWare OS Syntax ActUnit Instruction MechUnit lt variable VAR of mecunit gt Related information Described in Deactivating mechanical units Instructions DeactUnit Mechanical units Data Types mecunit More examples Instructions DeactUnit RAPID reference manual part la Instructions A R Add Instruction RobotWare OS Add Adds a numeric value Add is used to add or subtract a value to or from a numeric variable or persistent Examples Add regl 3 3 is added to reg i e regl reg1 3 Add reg1 reg2 The val
76. 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 Joad is cancelled Arguments CancelLoad LoadNo LoadNo Data type loadsession Reference to the load session fetched by the instruction StartLoad Examples VAR loadsession load1 StartLoad HOME File PART_B MOD load1 CancelLoad load1 StartLoad HOME File PART_C MOD load1 ENDIF WaitLoad load1 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 manual part la Instructions A R 25 CancelLoad RobotWare OS Instruction Syntax CancelLoad LoadNo lt variable VAR of loadsession gt Related information Load a program module during Instructions StartLoad execution Connect the loaded module to Instructions WaitLoad the task Load session Data Types loadsession Load a program module Instructions Load Unload a program module Instructions UnLoad Accept unsolved references System Paramet
77. 0 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 orbit1 ActUnit orbit2 MoveL p20 v100 z10 tooll The unit orbit is deactivated and orbit2 activated Arguments DeactUnit MechUnit MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit that is to be deactivated RAPID reference manual part la Instructions A R 79 DeactUnit RobotWare OS Instruction 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 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 Syntax DeactUnit MechUnit lt variable VAR of mecunit gt Related information Described in Activating mechanical units Instructions ActUnit Mechanical units Data Types mecunit 80 RAPID reference manual part
78. 0 degrees at a speed of 20 degrees s Arguments IndRMove MecUnit Axis ToRelPos ToRelINum Short Fwd Bwd Speed Ramp 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 ToRelPos To Relative Position Data type robtarget Axis position specified as a robtarget Only the component for this specific axis is used The value is used as a position value in degrees within one axis revolu tion This means that the axis moves less than one revolution The axis position will be affected if the axis is displaced using the instruction EOffsSet or EOffsOn For robot axes the argument 7oRelNum is to be used instead RAPID reference manual part la Instructions A R 161 IndRMove Independent Axis Instruction ToRelNum To Relative Numeric value Data type num Axis position defined in degrees Using this argument the position will NOT be affected by any displacement e g EOffsSet or PDispOn Same function as JoRe Pos but the position is defined as a numeric value to make it easy to change the position manually Short Data type switch The axis is moved the shortest route to the new position This means that the max imum rotation will be 180 degrees in any direction The direction of movement therefore depends on the current location of the axis Fwd Forward Data type switch The a
79. 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 manual part la Instructions A R 59 CONNECT RobotWare OS Instruction Error handling If the interrupt variable is already connected to a TRAP routine the system variable ERRNO is set to ERR_ALRDYCNT If the interrupt variable is not a variable reference the system varia
80. 10 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 p 0 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 RAPID reference manual part la Instructions A R 93 EOffs Off RobotWare OS Instruction 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 dis Instructions PDispOff placement 94 RAPID reference manual part la Instructions A R EOffsOn Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveL p10 v500 z10 tooll EOffsOn ExeP p10 p20 Activation of an offset for external axes This is calculated for each axis based on the difference between positions p170 and p20 MoveL p10 v500 fine Inpos inpos50 tooll EOffsOn Activation of an offset for external axes Since a stop point that is accurately defined has been used in the previous
81. 21 IWatch RobotWare OS Instruction Syntax TWatch Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary Interrupts Deactivating an interrupt Instructions Sleep 222 RAPID reference manual part la Instructions A R label Instruction RobotWare OS label Line name 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 manual part la Instructions A R 223 label RobotWare OS Instruction Related information Described in Identifiers Basic Characteristics Basic Elements Moving program execution to a label Instructions GOTO 224 RAPID reference manual part la Instructions A R Load Instruction RobotWare OS Load Load a program module during execution Load is used to l
82. 41 MotionSup Deactivates Activates motion supervision esssessoesscccsscessocesoosssecesecesscesooceso 245 MoveAbsJ Moves the robot to an absolute joint position sessooosssoccessosocesssoossssoossssooee 249 MoveC Moves the robot circularly ssecesssocessocosssooocesosocesosoossssoossesocsessooecessscossssosesssosse 255 MoveCDO Moves the robot circularly and sets digital output in the corner 06 261 MoveCSync Moves the robot circularly and executes a RAPID procedure s000 265 MoveExtJ Move one or several mechanical units without TCP sscscsssssssessceeees 269 MoveJ Moves the robot by joint movement cccsssccccssssscccsssssccssssseccsssssescsssssesssces 273 MoveJDO Moves the robot by joint movement and sets digital output in the corner 277 MoveJSync Moves the robot by joint movement and executes a RAPID procedure 281 MoveL Moves the robot linearly sscctscccccscscsscdassdesissaccecvesscesetcssedesssecssesdasaccavstscssdslecadsestescses 285 MoveLDO Moves the robot linearly and sets digital output in the corner s008 291 MoveLSync Moves the robot linearly and executes a RAPID procedure seee0e 295 MToolRotCalib Calibration of rotation for moving tOOl cccsccccssssssccssssssrcssessssseess 299 MToolTCPCalib Calibration of TCP for moving toOl ccsssccccssssscccesssssccssssscseees 303 Open Op
83. 90 degrees between points or more precisely the sum of movements for any of the par 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 points for different program parts Syntax ConfL V On 1 V Off 56 RAPID reference manual part la Instructions A R Instruction Related information ConfL RobotWare OS Described in Handling different configurations Robot configuration during joint move ment Motion and I O Principles Robot Configuration Instructions ConfJ RAPID reference manual part la Instructions A R 57 ConfL RobotWare OS Instruction 58 RAPID reference manual part la Instructions A R CONNECT Instruction RobotWare OS 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 Example VAR intnum feeder_low CONNECT feeder_low WITH feeder_empty ISignalDI dil
84. B2400 and IRB 4400 If IndReset is used on robot axis 4 then axis 6 must not be in the independent mode Example IndAMove Station_A 1 ToAbsNum 750 50 WaitUntil IndInpos Station_A 1 WaitTime 0 2 IndReset Station_A 1l RefNum 0 Short IndAMove Station_A 1 ToAbsNum 750 50 WaitUntil IndInpos Station_A 1 WaitTime 0 2 IndReset Station_A 1 RefNum 300 Short Axis in Station_A is first moved independently to the 750 degrees position 2 revo lutions and 30 degrees At the same time as it changes to normal mode the logical position is set to 30 degrees Axis in Station_A is subsequently moved to the 750 degrees position 2 revolutions and 30 degrees At the same time as it changes to normal mode the logical position is set to 390 degrees 1 revolution and 30 degrees RAPID reference manual part la Instructions A R 159 IndReset Independent Axis Instruction Error handling If the axis is moving the system variable ERRNO is set to ERR_AXIS_MOVING If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT This error can then be handled in the error handler Syntax IndReset MecUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt V RefPos lt expression IN of robtarget gt IPY RefNum lt expression IN of num gt V Short VY Fwd V Bwd 1 V Old F Related information Described
85. 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 RAPID reference manual part la Instructions A R 291 MoveLDO RobotWare OS 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 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 sys
86. Err lt variable VAR of num gt MeanErr lt variable VAR of num gt Related information Described in Calibration of rotation for a moving Instructions MToolRotCalib tool Calibration of TCP for a stationary tool Instructions SToolTCPCalib Calibration of TCP and rotation Instructions SToolRotCalib for a stationary tool RAPID reference manual part la Instructions A R 305 MToolTCPCalib RobotWare OS Instruction 306 RAPID reference manual part la Instructions A R Open Instruction File and Serial Channel Handling 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 LOGFILE 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 N A ppend Bin Object Data type string The I O object I O device that is to be opened e g HOME TEMP com1 or pc option Table 8 Different I O device on the Robot Controller I O device name Full file path Type of I O device HOME or diskhome hd0a xxxx HOME Flashdisk or Hard Drive TEMP or disktemp1 hd0a temp Flashdisk or Hard Drive RemovableDisk1 or usbdisk1 1 od0 e g USB memory stick
87. Instruction Path offset amp RobotWare Arc Sensor The correction generators Path coordinate axis Vertical correction generator with the sum of all its own path corrections Horizontal correction generator with the sum of all its own path corrections Not connected correction generator Not connected correction generator Not connected correction generator The sum of all corrections done by all connected correction generators Figure 6 Correction generators Limitations A maximum number of 5 correction generators can be connected simultaneously Syntax CorrCon Descr lt variable VAR of corrdescr gt Related information Described in Disconnects from a correction generator Instructions CorrDiscon Writes to a correction generator Instructions CorrWrite Reads the current total offsets Functions CorrRead Removes all correction generators Instructions CorrClear Correction generator descriptor Data types corrdescr RAPID reference manual part la Instructions A R 73 CorrCon Path offset amp RobotWare Arc Sensor Instruction 74 RAPID reference manual part la Instructions A R CorrDiscon Instruction Path offset amp RobotWare Arc Sensor CorrDiscon Disconnects from a correction generator Description CorrDiscon is used to disconnect from a previously connected correction generator The instruction can be used to remove corrections
88. Instructions A R 363 ProcCall RobotWare OS Instruction 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 Related information Described in Arguments parameters Basic Characteristics Routines More examples Program Examples 364 RAPID reference manual part la Instructions A R PulseDO Instruction RobotWare OS 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 do15 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 s
89. NDPROC RAPID reference manual part la Instructions A R 35 ClearPath RobotWare OS Instruction PROC procl ENDPROC PROC proc2 CONNECT 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 posi tion home If programming MoveL home with flying point zone instead of stop point fine the movement is going on during the RAJSE 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 Charac teristics Error Recovery 36 RAPID reference manual part la Instructions A R ClearRawBytes Instruction File and Serial Channel Handling ClearRawBytes Clear the contents of rawbytes data ClearRawBytes is used to set all the contents of a rawbytes variable to 0 Example VAR rawbytes raw_data VAR num integer 8 VAR num float 13 4 PackRawBytes integer raw_data 1 IntX DINT PackRawBytes float raw_data RawBytesLen raw_d
90. PathRecMoveFwd RestoPath StartMove RETRY ENDIF In the example above the path recorder is used for moving the robot to a service posi tion if an error during normal execution occur The robot is executing along a path After the position p the path recorder is started After the point p2 another path identifier is inserted Assume that a recoverable error occurs while moving from position p3 to position jt4 The error handler will now be invoked and the user can choose between extracting the robot to position Origin or Cor ner Then the path level is switched with StorePath to be able to restart at the error loca tion later on When the robot has backed out from the error location it s up to the user solving the error usually fixing the robots surrounding equipment Then the robot is ordered back to the error location and the path level switched back to normal and a retry attempt is made Limitations The path recorder can only be started and will only record the path in the original path level I e movements at StorePath level are not recorded Syntax PathRecStart ID lt variable VAR of pathrecid gt 336 RAPID reference manual part la Instructions A R PathRecStart Instruction Path Recovery Related information Described in Path Recorder Identifiers Data types pathrecid Stop the path recorder Instructions PathRecStop Check for valid recorded path Functions PathR
91. Program execution Dropping the object means that the encoder unit not longer tracks the object The object is removed from the object queue and cannot be recovered Limitations If the instruction is issued while the robot is actively using the sensor object then the motion stops The instruction must be issued after the robot has passed the last syn chronized robtarget The instruction may be issued only after a non synchronized movement has been used in the preceeding motion instructions with either a fine point or several gt 1 corner zones RAPID reference manual part la Instructions A R 89 90 DropSensor Sensor Synchronization Instruction Syntax DropSensor Mecunt lt persistent PERS of mecunit gt Related information Described in Wait for connection on sensor Instructions WaitSensor Sync to sensor Instructions SyncToSensor RAPID reference manual part la Instructions A R DropWObj Instruction Conveyor Tracking DropWObj Drop work object on conveyor DropWObj Drop Work Object is used to disconnect from the current object and the program is ready for the next Example MoveL v1000 z10 tool WObj wobj_on_cnv1 MoveL v1000 fine tool WObj wobj0 DropWObj wobj_on_cnv1 MoveL v1000 z10 tool WObj wobj0 Arguments DropWObj WObj WODbj Work Object Data type wobjdata The moving work object coordinate system to which the
92. R 27 CirPathMode RobotWare OS 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 Pathframe i point are dotted in the figure esseere CirPointOri The CirPointOri mode will make the robot wrist to go through the programmed orientation in the CirPoint Arguments CirPathMode PathFrame ObjectFrame Cir 28 RAPID reference manual part la Instructions A R CirPathMode Instruction RobotWare OS PointOri PathFrame Data type switch During the circular movement t
93. RawBytes Unpack data from rawbytes data Instructions UnpackRawBytes Bit Byte Functions RAPID Summary Bit Functions String functions RAPID Summary String Functions RAPID reference manual part la Instructions A R 315 PackDNHeader Fieldbus Command Interface Instruction 316 RAPID reference manual part la Instructions A R PackRawBytes Instruction File and Serial Channel Handling PackRawBytes Pack data into rawbytes data PackRawBytes is used to pack the contents of variables of type num byte or string into a container of type rawbytes Example VAR rawbytes raw_data VAR num integer 8 VAR num float 13 4 VAR byte datal 122 VAR byte bytel VAR string string abcdefg PackDNHeader 10 20 1D 24 01 30 64 raw_data Pack the header for DeviceNet explicit message with service code and path string according EDS file into raw_data Then pack requested field bus data in raw_data with PackRawBytes The example below shows how different data can be added PackRawBytes integer raw_data RawBytesLen raw_data IntX DINT The contents of the next 4 bytes after the header in raw_data will be 8 decimal PackRawBytes float raw_data RawBytesLen raw_data 1 Float4 The contents of the next 4 bytes in raw_data will be 13 4 decimal PackRawBytes datal raw_data RawBytesLen raw_data 1 ASCII The contents of the next byte in raw_data wi
94. Sleep Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary Interrupts Enabling an interrupt Instructions Watch Disabling all interrupts Instructions Disable Cancelling an interrupt Instructions Delete 210 RAPID reference manual part la Instructions A R IsPers Instruction Base Ware IsPers Is persistent IsPers is used to test if a data object is a persistent variable or not Example PROC procedurel INOUT num parameter IF IsVar parameter1 THEN For this call reference to a variable ELSEIF IsPers parameter1 THEN For this call reference to a persistent variable ELSE Should not happen EXIT ENDIF ENDPROC The procedure procedure will take different actions depending on whether the actual parameter parameter is a variable or a persistent variable Return value Data type bool TRUE if the tested actual INOUT parameter is a persistent variable FALSE if the tested actual INOUT parameter is not a persistent variable Arguments IsPers DatObj DatObj Data Object Data type any type The name of the formal INOUT parameter Syntax IsPers C DatObj lt var or pers INOUT of any type gt Y A function with a return value of the data type bool RAPID reference manual part 1 Instructions A R 211 IsPers Base Ware Instruction Related information Describe
95. The of Robotics eS ANE a RAPID reference manual Controller software IRC5 RobotWare 5 0 AL EDER FADD RAPID reference manual 3HAC 16581 1 Revision B Controller software IRC5 T b l RAPID reference manual part 1a Instructions A R abie of contents RobotWare 5 0 Instructions A R Index RAPID reference manual part la Instructions A R 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 guarantee or warranty by ABB for losses damages to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein 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 prosecuted Additional copies of this manual may be obtained from ABB at its then current charge Copyright 2004 ABB All right reserved ABB Automation Technologies AB Robotics SE 721 68 Vasteras Sweden RAPID reference manual part la Instructions A R Contents AccSet Reduces the acceleration s
96. 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 manual part la Instructions A R 135 TEnable RobotWare OS Instruction 136 RAPID reference manual part la Instructions A R TError Instruction Advanced RAPID IError Orders an interrupt on errors IError Interrupt Errors is used to order and enable an interrupt when an error occurs Error warning or state change can be logged with Error 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 change is generated in the system Arguments IError ErrorDomain ErrorId ErrorType Inter rupt 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 ErrorId Data type num Optionally the number of a specific error that is to be monitored The
97. am is loaded when starting program executing from the beginning Syntax EOffsSet EAxOffs lt expression IN of extjoint gt Related information Described in Deactivation of offset for external axes Instructions EOffsOff Definition of offset using two positions Instructions EOffsSet Displacement of the robot s movements Instructions PDispOn Definition of data of the type extjoint Data Types extjoint Coordinate Systems Motion Principles Coordinate Systems 98 RAPID reference manual part la Instructions A R EraseModule Instruction RobotWare OS EraseModule Erase a module EraseModule is used to remove a module from the program memory during execution There are no restrictions on how the module was loaded It could have been loaded manually from the configuration or with the instruction set Load StartLoad Wait Load The only requirement is that it was not specified as shared in the configuration Example EraseModule PART_A Erase the program module PART_A from the program memory Arguments EraseModule ModuleName ModuleName Data type string The name of the module that should be removed Please note that this is the name of the module not the name of the file Program execution The program execution waits for the program module to finish the removal process before the execution proceeds with the next instruction
98. am 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 MoveLSync 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 V ID lt expression IN of identno gt Speed lt expression IN of speeddata gt LY T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt RAPID reference manual part la Instructions A R 297 MoveLSync Fixed Position Events Related information 298 Instruction Described in Other positioning instructions Definition of velocity RAPID Summary Motion Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Definition of work objects Data Types tooldata Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O
99. am will continue its execution when the instruction is done In case you do not want to make your own xml file you can use Errorld 4800 like in the example below VAR errstr my_title myerror VAR errstr strl errortext1 VAR errstr str2 errortext2 VAR errstr str3 errortext3 VAR errstr str4 errortext4 ErrLog 4800 my_title str1 str2 str3 str4 On the FlexPendant the message will look like this Event Message 4800 myerror errortext1 errortext2 errortext3 errortext4 Arguments ErrLog ErrorID W Argument1 Argument2 Argument3 Argument4 Argument5 Errorld Data type num The number of a specific error that is to be monitored The error number must be in interval 5000 9999 and written in a xml file W Warning Data type switch Gives a warning that is stored in the robot error message log only not shown directly on the FlexPendant display Argument Data type errstr First argument in the error message Any string or predefined data of type errstr can be used 102 RAPID reference manual part la Instructions A R ErrLog Instruction Advanced RAPID Argument2 Data type errstr Second argument in the error message Any string or predefined data of type errstr can be used Argument3 Data type errstr Third argument in the error message Any string or predefined data of type errstr can be used Argument4 Data type errstr Fourth argument
100. ame 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 manual part la Instructions A R 365 PulseDO RobotWare OS Instruction Program execution A pulse is generated with a specified pulse length see Figure 31 Pulse length 1 Signal level 0 oe Execution of the instruction PulseDO Execution of the instruction PulseDO 1 a Signal level 0 _ Pulse length 1 Signal level 0 oe Execution of the instruction PulseDO High 22 Execution of the instruction PulseDO High 1 Signal level 0 lt v_ i qos Signal level 0 Execution of the instruction Execution of the instruction PulseDO High PLength x do5 PulseDO High PLength y do5 from task from task2 Fi
101. ance is achieved after three or four executions of SoftAct in process position Limitations A Syntax 84 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 encreased 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 time 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 V Level lt expression IN of num gt RAPID reference manual part la Instructions A R DitherAct Instruction RobotWare OS Related information Described in Activating Soft Servo Instructions SoftAct Get robot name in current task Functions RobName Behaviour with the soft servo engaged Motion and I O Principles Positioning during program execution Disable of dither instructions Instructions DitherDeact RAPID reference manual part la Instructions
102. and PathAccLim the system reduce the accelera tion deceleration in following order according AccSet according PathAccLim 324 RAPID reference manual part la Instructions A R PathAccLim Instruction RobotWare OS Example MoveL p1 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 p1 and p3 MoveL p1 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 V AccMax lt expression IN of num gt DecelLim lt expression IN of bool gt V DecelMax lt expression IN of num gt RAPID reference manual part la Instructions A R 325 PathAccLim RobotWare OS Instruction Related information Described in Positioning instructions RAPID Summary Motion Motion settin
103. at once but the external axes stops in the position jpos20 until the con vergence criteria in inpos20 are fulfilled Arguments MoveExtj Conc ToJointPos ID Speed T Zone Inpos Conc Concurrent Data type switch Subsequent instructions are executed while the external axis is moving The argument can be used to avoid unwanted stops caused by overloaded CPU when using fly by points and in this way shorten cycle time This is useful when the programmed points are very close together at high speeds The argument is also useful when for example communicating with external equipment and syn chronisation between the external equipment and robot movement 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 manual part la Instructions A R 269 MovekExt RobotWare OS Instruction If this argument is omitted and the JoJointPos is not a stop point the subsequent instruction is executed some time before the external axes has reached the pro grammed zone This argument can not be used in coordinated synchronized movement in a Mul tiMove System ToJointPos To Joint Position Data type jointtarget The destination absolute joint position of the external axes It is defined as a named position or stored directly in the instruction
104. ata 1 Float4 ClearRawBytes raw_data FromIndex 5 In the first 4 bytes the value of integer is placed from index 1 and in the next 4 bytes starting from index 5 the value of float The last instruction in the example clears the contents of raw_data starting at index 5 i e float will be cleared but integer is kept in raw_data Current length of valid bytes in raw_data is set to 4 Arguments ClearRawBytes RawData FromIndex RawData Data type rawbytes RawData is the data container which will be cleared FromIndex Data type num With FromIndex it is specified where to start clearing the contents of RawData Everything is cleared to the end If FromIndex is not specified all data starting at index 1 is cleared Program execution Data from index 1 default or from romIndex in the specified variable is reset to 0 The current length of valid bytes in the specified variable is set to 0 default or to Fro mIndex 1 if FromIndex is programmed RAPID reference manual part la Instructions A R 37 ClearRawBytes File and Serial Channel Handling Instruction Syntax ClearRawBytes RawData lt variable VAR of rawbytes gt V FromIndex lt expression IN of num gt Related information Described in rawbytes data Data Types rawbytes Get the length of rawbytes data Functions RawBytesLen Copy the contents of rawbytes data Instructions Co
105. ata 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 and I O Principles Concurrent program execution Motion and I O Principles Synchronisation Using Logical Instructions 254 RAPID reference manual part la Instructions A R MoveC Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveC pl p2 v500 z30 tool2 The TCP of the tool tool2 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 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 p1 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 15 pl p4 p2 p3 Fig
106. ata 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 instruction Subsequent logical instructions are executed while the robot moves RAPID reference manual part la Instructions A R 275 MoveJ RobotWare OS Instruction 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 Syntax MoveJ V Conc ToPoint lt expression IN of robtarget gt LV ID lt expression IN of identno gt Speed lt expression IN of speeddata gt PY V lt expression IN of num gt IEY T lt expression IN of num gt Zone lt expression IN of zonedata gt PY Z gt lt expression IN of num gt LV Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt Related information Described in Other positioning instructions RAPID Summary Motion 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 Definitio
107. ath resolution path accuracy Program execution Syntax 344 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_LMOTSET data type motsetdata in the component pathresol PathResol PathSampleTime lt expression IN of num gt RAPID reference manual part la Instructions A R Instruction Related information PathResol RobotWare OS Described in Positioning instructions Motion settings Motion and I O Principles Movements RAPID Summary Motion Settings Configuration of path resolution RAPID reference manual part la Instructions A R System Parameters CPU Optimization 345 PathResol RobotWare OS Instruction 346 RAPID reference manual part la Instructions A R PDispOff Instruction RobotWare OS PDispOff Deactivates program displacement PDispOff Program Displacement Off is used to deactivate a program displacement Program displacement is a
108. automatic mode the robot automatically returns to the path Hollow WristReset removes the path context This means that it is not possible to return to the path in case of a program restart if the Hollow WristReset instruction has been executed in the meantime If this instruction is executed manually Special Call Ser vice Routine in the programming window it should only be executed at a time when returning to the path is not required That is after a program is completely fin ished or an instruction is completely finished in step by step execution and the manip ulator is not moved out of the path by jogging etc HollowWristReset Related information 130 Described in Related system parameters System Parameters Manipulator Return to path Motion and I O Principles Positioning during Program Execution RAPID reference manual part la Instructions A R Delete Instruction RobotWare OS 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 Sleep or Disable should be used Example IDelete feeder_low The interrupt feeder_low is cancelled Arguments Delete 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
109. ax Incr Name lt var or pers INOUT of num gt RAPID reference manual part la Instructions A R 143 Incr RobotWare OS Instruction 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 144 RAPID reference manual part la Instructions A R IndAMove Instruction Independent Axis IndA Move Independent absolute position movement IndAMove is used to change an axis to independent mode and move the axis to a spe cific position An independent axis is an axis moving independently of other axes in the robot system As program execution continues immediately it is possible to execute other instruc tions including positioning instructions during the time the independent axis is mov ing If the axis is to be moved within a revolution the instruction JndRMove should be used instead If the move is to occur a short distance from the current position the instruc tion IndDMove must be used This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example IndAMove Station_A 2 ToAbsPos p4 20 Axis 2 of Station_A is moved to the position p4 at the speed 20 degrees s Arguments IndAMove MecUnit Axis ToAbsPos ToAbsNum Speed Ramp MecUnit Mechanical Unit Data type
110. ax and zone data z30 Procedure proc is executed in the middle of the corner path at p1 Arguments MoveJSync ToPoint ID 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 RAPID reference manual part la Instructions A R 281 MoveJSync Fixed Position Events Instruction 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 WObj Work Object Data type wobjdata The work
111. ay 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 argument 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 Example VAR iodev printer Open com2 printer Bin WriteStrBin printer This is a message to the printer OD 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 different 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 prev
112. ble 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 Syntax 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 Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage Basic Characteristics Interrupts ment 60 RAPID reference manual part la Instructions A R Copy File Instruction File and Serial Channel Handling CopyFile Copy a file CopyFile is used to make a copy of an existing file Examples CopyFile HOME myfile HOME yourfile The file myfile is copied to yourfile Both files are then identical CopyFile HOME myfile HOME mydir yourfile The file myfile is copied to yourfile in directory mydir Arguments CopyFile OldPath NewPath OldPath Data type string The complete path of the file to be copied from NewPath Data type string The complete path whereto the file is to be copied to Program execution The file specified in OldPath will be copied to the file specified in NewPath Error Handling If the file specified in NewPath already exists the system variable ERRNO is set to ERR_FILEEXIST This error can then be handled in
113. bout 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 Str1 string1 Str2 string 2 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 ReadErrData TrapEvent ErrorDomain ErrorlId 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 RAPID reference manual part la Instructions A R 383 ReadErrData Advanced RAPID Instruction
114. bsJ v2000 V 2200 240 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 240 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 MoveAbsJ Conc v2000 240 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 MoveAbsgJ 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
115. byte data Instructions BitSet Check if a specified bit in a byte datais Functions BitCheck set Other bit functions RAPID Summary Bit Functions 14 RAPID reference manual part la Instructions A R BitSet Instruction Advanced RAPID BitSet Set a specified bit in a byte data BitSet is used to set a specified bit to 1 in a defined byte data Examples CONST num parity_bit 8 VAR byte datal 2 BitSet datal parity_bit Bit number 8 parity_bit in the variable data1 will be set to 1 e g the content of the variable data1 will be changed from 2 to 130 decimal representation peor oe l BitPos 1 BitPos 8 BitPos 1 Bit position 8 has value 0 Bit position 8 is set to 1 VAR byte datal 2 BitSet datal parity_bit Content of data1 before BitSet 2 Content of data1 after BitSet 130 Figure 3 Bit manipulation of data type byte when using BitSet Arguments BitSet BitData BitPos BitData Data type byte The bit data in decimal representation to be changed BitPos Bit Position Data type num The bit position 1 8 in the BitData to be set to 1 RAPID reference manual part la Instructions A R 15 BitSet Advanced RAPID Instruction Limitations The range for a data type byte is 0 255 decimal The bit position is valid from 1 8 Syntax BitSet BitData lt var or pers INOUT of byte gt BitPos lt expression IN
116. call the trap routine ReadSensors with a frequency of 5 Hz The offsets needed for path correction are computed in the trap routine and written to the corresponding correction generator referenced by the descriptors hori_id and vert_id by the instruction CorrWrite All the corrections will have immediate effect on the path The MoveL instruction must be programmed with the switch argument Corr when path corrections are used Otherwise no corrections will be executed When the first MoveL instruction is ready the function CorrRead is used to read the sum of all the corrections the total path correction given by all the connected correc tion generators The result of the total vertical path correction is written to the FlexPen dant with the instruction TPWrite CorrDiscon will then disconnect the correction generator for vertical correction refer enced by the descriptor vert_id All corrections added by this correction generator will be removed from the total path correction The corrections added by the correction gen erator for horizontal correction will still be preserved Finally the function CorrClear will remove all outstanding connected correction gen erators and their previously added corrections In this case it is only the correction gen erator for horizontal correction that will be removed The timer interrupt will also be removed by the instruction Delete RAPID reference manual part la Instructions A R CorrCon
117. 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 370 RAPID reference manual part la Instructions A R RaiseToUser Instruction RobotWare OS RaiseToUser Propagates an error to user level RaiseToUser is used in an error handler in nostepin routines to propagate the current error or any other defined error to the error handler at user level
118. ce Activate mechanical unit JRBP_L and define the payload workpiece corre sponding to fixture and work piece named workpiece mounted on axis 1 RAPID reference manual part la Instructions A R 241 MechUnitLoad RobotWare OS Instruction Arguments MechUnitLoad MechUnit AxisNo Load MechUnit Mechanical Unit Data type mecunit The name of the mechanical unit 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 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 Wor
119. ce Manual Motion and I O Principles Positioning during Program Excution Indepen dent Axes 150 RAPID reference manual part la Instructions A R IndCMove Instruction Independent Axis Example IndCMove Station_A 2 20 WaitUntil IndSpeed Station_A 2 InSpeed TRUE WaitTime 0 2 MoveL p10 v1000 fine tool1 IndCMove Station_A 2 10 Ramp 50 MoveL p20 v1000 z50 tooll IndRMove Station_A 2 ToRelPos p1 Short 10 MoveL p30 v1000 fine tool1 WaitUntil IndInpos Station_A 2 TRUE WaitTime 0 2 IndReset Station_A 2 RefPos p40 Short MoveL p40 v1000 fine tool1 Axis 2 of Station_A starts to move in a positive direction at a speed of 20 degrees s When this axis has reached the selected speed the robot axes start to move When the robot reaches position p 0 the external axis changes direction and rotates at a speed of 10 degrees s The change of speed is performed with acceleration deceler ation reduced to 50 of maximum performance At the same time the robot executes towards p20 Axis 2 of Station_A is then stopped as quickly as possible in position p within the cur rent revolution When axis 2 has reached this position and the robot has stopped in position p30 axis 2 returns to normal mode again The measurement system offset for this axis is changed a whole number of axis revolutions so that the actual position is as close as possible to p40 When the robot is then moved to position
120. ce 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 signalgo The name of the group output signal that generate interrupts 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 group signal change 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 before the interrupt is ordered no interrupt occurs RAPID reference manual part la Instructions A R 205 ISignalGO RobotWare OS Instruction Limitations Syntax 206 Maximum number of signals that can be used for a group is 23 This limitation is valid for all instructions and functions using group signals Numeric value condition can not be used in the instruction to specify that an interrupt should occur on changes to that specific value This must be handled in the user pro gram by reading the group signal value at execution of the TRAP 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 PROC main VAR intnum sig lint CONNECT sig lint WITH iroutine1
121. connected to the config ured digital output signal config_do at program start start the program from beginning Arguments AliasIO FromSignal ToSignal FromSignal Data type signalxx or string Loaded modules The signal identifier named according to the configuration data type signalxx from which the signal descriptor is copied The signal must be defined in the IO configuration Built in modules A reference CONST VAR PERS or parameter of these containing the name of the signal data type string from which the signal descriptor after search in the system is copied The signal must be defined in the IO configuration RAPID reference manual part la Instructions A R 7 AliasIO Advanced RAPID Instruction ToSignal Data type signalxx The signal identifier according to the program data type signalxx to which the signal descriptor is copied The signal must be declared in the RAPID program The same data type must be used or find for the arguments FromSignal and ToSignal and must be one of type signalxx signalai signalao signaldi signaldo signalgi or sig nalgo Program execution The signal descriptor value is copied from the signal given in argument FromSignal to the signal given in argument JoSignal Example 2 VAR signaldi alias_di PROC prog_start CONST string config_string config_di AliasIO config_string alias_di ENDPROC The routine prog_start is connected to the START event in syst
122. csssccsesesssscesseees 149 IndDMove Independent delta position movement ssccsssssccesscssrcccessscscsssssccsssesees 153 IndReset Independent reset ccvcsicccscssicetcsscctatecessiaiiecedscaicccessicouteessdtonndisansaccnadedesesticsasesesseuas 157 IndRMove Independent relative position movement s ssseossssooessscscessoccessoccesosoossssoosssso 161 InvertDO Inverts the value of a digital output signal ssoessssossssooesssooecssosccesssooesssooseso 167 IODisable Disable I O unit soesoossessoesoossessessossocssessossocssessossocssessossosssessessossoossesssssosssesso 169 IOEnable Enable I O unit seessseessoesooosssesssesssosssoossoosssosssecessossooosoosssoessseessoosssosssosssesssoose 173 IPers Interrupt at value change of a persistent variable ssooesssosssssocccssoeccessoossssoosssso 177 ISignalAI Interrupts from analog input signal sssessscssecssscesoocesoccsocessecesocesoosssosesseesoeee 179 ISignalAO Interrupts from analog output signal eessoessscsssecssocescossoossscccsocessoesooosssesssse 189 ISignalDI Orders interrupts from a digital input signal sesssesssocesoocsscsssecesosesocssseesseee 193 ISignalDO Interrupts from a digital output signal sesseessocssocesocessocessecssecesosssoossseessose 197 ISignalGI Orders interrupts from a group of digital input signals sesssoessoessooessessseee 201 ISignalGO Orders interrupts from a group
123. ction Described in Opening etc of files RAPID Summary Communication RAPID reference manual part la Instructions A R Reset Instruction RobotWare OS 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 Error handling Following recoverable error can be generated The error can be handled in an error handler The system variable ERRNO will be set to ERR NORUNUNIT if there is no contact with the unit Syntax Reset Signal lt variable VAR of signaldo gt RAPID reference manual part la Instructions A R 397 Reset RobotWare OS Instruction 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 I O Principles Configuration of I O System Parameters 398 RAPID reference manual part la Instructions A R RestoPath Instruction Path Recovery Rest
124. ctivated by the instruction PDispSet or PDispOn and applies to all movements until some other program displacement is activated or until program displacement is deactivated This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples PDispOff Deactivation of a program displacement MoveL p10 v500 z10 tooll PDispOn ExeP p10 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 the same as the object coordinate system and thus all programmed positions will be related to the latter Syntax PDispOff RAPID reference manual part la Instructions A R 347 PDispOff RobotWare OS Instruction Related information Described in Definition of program displacemen Instructions PDispOn using two positions Definition of program displacement Instructions PDispSet values using 348 RAPID reference manual part la Instructions A R PDispOn Instruction RobotWare OS PDispOn Activates program displacement PDispOn Program Displacement On is used to define and activate a program dis placement using two rob
125. cu tion of the HollowWristReset instruction As long as these limitations are taken into consideration joints 4 and 5 can wind indefinitely and independently of joint 6 during program execution Please use HollowWristReset instead of IndReset to reset the hollow wrist as this instruction preserves the joint limits for joint 6 in order to prevent too much twisting of the paint tubes cables Example MoveL p10 v800 fine paintgun 1 WObj workobject1 HollowWristReset All active axes are stopped by a stop point and the wrist is reset Limitations All active axes must be stopped while the HollowWristReset instruction is executed The wrist joints must be reset before any of them reach the 144 revolution limit i e 51840 degrees 904 rad RAPID reference manual part la Instructions A R 129 RobotWare OS Instruction Syntax Whenever a program stop emergency stop power failure stop etc occurs the control ler retains the path context in order to be able to return to the path and let the robot con tinue program execution from the point on the path at which it was stopped In manual mode if the manipulator has been moved out of the path between a stop and a restart the operator is informed by the following message on the FlexPendant Not on path Robot has been moved after program stop Should the robot return to the path on Start Yes No Cancel This provides an opportunity of returning to the path before restart In
126. d Data type loaddata Variable for the payload to be identified The component mass must be specified This variable will be updated after the identification is done ConfigAngle Data type num Specification of a specific configuration angle degrees to be used for the parameter identification Load identification pos for actual axis in another configuration Selected by ConfigAngle Positive ConfigAngle in degrees Measurement movements in different configurations for actual axis Load identification pos for actual axis at start Min or 30 degrees Optimum or 90 degrees DeactAll Data type switch If this switch is used all mechanical units known in the system will be deactivated before identification is done The mechancal unit to identify will then be acti vated Can not be used together with argument Already Active AlreadyActive Data type switch This switch is used if the mechanical unit to identify is active Can not be used together with argument DeactAll 238 RAPID reference manual part la Instructions A R ManLoadIdProc Instruction RobotWare OS DefinedFlag Data type bool This argument will be set to TRUE if the identification has been made FALSE otherwise Program Execution All arguments are optional If an argument is not given the user will be asked for the value from the FlexPendant The user will always be asked to give the mass and if the mani
127. d the value of the visible data object in the current pro gram execution scope will be fetched No array data objects will be found Value Data type anytype Variable for storage of the get value The data type must be the same as the data type for the data object to find The get value can be fetched from a constant variable or persistent but must be stored in a variable RAPID reference manual part la Instructions A R 119 GetDataVal Advanced RAPID Instruction Error handling The system variable ERRNO is set to ERR_SYM_ACCESS if the data object is non existent the data object is routine data or routine parameter and not located in the current active routine The error can be handled in the error handler of the routine Limitations Array data objects cannot be defined in the symbol search set and cannot be found in a search sequence For a semivalue data type it is not possible to search for the associated value data type E g if searching for dionum no search hit for signals signaldi will be obtained and if searching for num no search hit for signals signalgi or signalai will be obtained It is not possible to get the value of a variable declared as LOCAL in a built in RAPID module Syntax GetData Val Object lt expression IN of string gt V Block lt variable VAR of datapos gt Value lt variable VAR of anytype gt Related information De
128. d in Other positioning instructions RAPID Summary Motion Definition of velocity Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Movements with I O settings Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference manual part la Instructions A R 279 MoveJDO RobotWare OS Instruction 280 RAPID reference manual part la Instructions A R MoveJSync Instruction Fixed Position Events 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 one 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveJSync pl vmax z30 tool2 proc1 The tool centre point TCP of the tool tool2 is moved along a non linear path to the position p with speed data vm
129. d in Test if variable Function Is Var Types of parameters access modes RAPID Characteristics Routines 212 RAPID reference manual part 1 Instructions A R ITimer Instruction RobotWare OS 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 iroutine1 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 interrupt This should have previously been connected to a trap routine by means of the instruction CONNECT Program execu
130. d is to use the interactive dialogue RAPID program ManLoadldentify Example PERS loaddata myload 6 0 0 0 1 0 0 0 0 0 0 VAR bool defined ActUnit STN1 ManLoadIdProc ParldType IRBP_L MechUnit STN1 PayLoad myload ConfigAngle 60 Already Active DefinedFlag defined DeactUnit STN1 Load identification of payload myload mounted on the mechanical unit STN The external manipulator is of type JRBP L The configuration angle is set to 60 degrees The manipulator is activated before the load identification and deactivated after After the identification myload will have been updated and defined is set to TRUE Arguments ManLoadIdProc ParIdType MechUnit WMechUnit Name AxisNumber PayLoad ConfigAngle DeactAll Already Active DefinedFlag ParIdType Data type paridnum Type of parameter identification Predefined constants are found under the datatype paridnum RAPID reference manual part la Instructions A R 237 ManLoadIdProc RobotWare OS Instruction MechUnit Data type mecunit Mechanical unit used for the load identification Can not be used together with argument MechUnitName MechUnitName Data type string Mechanical unit used for the load identification given as a string Can not be used together with argument MechUnit AxisNumber Data type num Axis number within the mechanical unit which holds the load to be identified PayLoa
131. d 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 SearchL senl psearch p10 v100 tooll PDispOn ExeP psearch tooll 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 Syntax EOffsOn V ExeP lt expression IN of robtarget gt ProgPoint lt expression IN of robtarget gt Related information Described in Deactivation of offset for external axes Instructions EOffsOff Definition of offset using values Instructions EOffsSet Displacement of the robot s movements Instructions PDispOn Coordinate Systems Motion Principles Coordinate Systems 96 RAPID reference manual part la Instructions A R EOffsSet Instruction RobotWare OS EOffsSet Activates an offset for external axes using a value EOffsSet External Offset Set is used to define and activate an offset for external axe
132. dId gt Run only measurement and update tool or pay load Accuracy Data type num Variable for output of calculated measurement accuracy in for the whole load identification calculation 100 means maximum accuracy Program execution The robot will carry out a large number of relative small transport and measurement movements on axes 5 and 6 For identification of mass movements will also be made with axis 3 After all measurements movements and load calculations the load data is returned in argument Tool or PayLoad The following load data is calculated Mass in kg if mass is unknown otherwise not affected Centre of gravity x y z and axes of moment Inertia ix iy iz in kgm 232 RAPID reference manual part la Instructions A R Instruction Example LoadId RobotWare OS PERS tooldata grip3 FALSE 97 4 0 223 1 0 924 0 0 383 0 6 10 10 100 0 5 0 5 0 5 0 5 1 2 2 7 0 5 PERS loaddata piece5 5 0 0 0 1 0 0 0 0 0 0 PERS wobjdata wobj2 TRUE TRUE 34 0 45 0 5 0 5 0 5 0 5 0 56 10 68 0 5 0 5 0 5 0 5 VAR num load_accuracy Do measurement and update all load data except mass in piece5 LoadId PAY_LOAD_ID MASS_KNOWN grip3 PayLoad piece5 WObj wobj2 Accuracy load_accuracy TPWrite Load accuracy for piece5 Num load_accuracy Load identification of payload piece5 with known mass in ins
133. duced to 50 of maximum performance IndAMove Station_A 1 ToAbsNum 90 20 WaitUntil IndInpos Station_A 1 TRUE IndRMove Station_A 1 ToReINum 80 Fwd 20 WaitTime 0 2 WaitUntil IndInpos Station_A 1 TRUE WaitTime 0 2 IndRMove Station_A 1 ToRelINum 50 Bwd 20 WaitUntil IndInpos Station_A 1 TRUE WaitTime 0 2 IndRMove Station_A 1 ToRelINum 150 Short 20 WaitUntil IndInpos Station_A 1 TRUE RAPID reference manual part la Instructions A R 163 IndRMove Independent Axis Instruction WaitTime 0 2 IndAMove Station_A 1 ToAbsNum 10 20 Axis 1 of Station_A is moved to the following positions 90 degrees 440 degrees 1 revolution 80 degrees 410 degrees 1 revolution 50 degrees 510 degrees 1 revolution 150 degrees 10 degrees Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT This error can then be handled in the error handler Syntax IndRMove MecUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt V ToRelPos lt expression IN of robtargets gt V ToRelNum lt expression IN of num gt LV Short V Fwd Y Bwd Speed lt expression IN of num gt Ramp lt expression IN of num gt 164 RAPID reference manual part la Instructions A R Instruction Related information IndRMove Independent Axi
134. e 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 point is the point moved to the specified destination point RAPID reference manual part la Instructions A R MoveJ Instruction RobotWare OS 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 Program execution The tool centre point is moved to the destinati
135. e FlexPendant TPWrite The total vertical correction is Num total_offset z Disconnect the correction generator for vertical correction Horizontal corrections will be unaffected CorrDiscon vert_id Run MoveL with only horizontalinterrupt correction MoveL p30 v100 z10 tool1 Corr Remove all outstanding connected correction generators In this case the only connected correction generator is the one for horizontal correction CorrClear Remove the timer interrupt Delete intnol ENDPROC RAPID reference manual part la Instructions A R 71 CorrCon Path offset amp RobotWare Arc Sensor Instruction 72 TRAP ReadSensors Compute the horizontal correction values and execute the correction write_offset x 0 write_offset y hori_sig TARGET_DIST SCALE_FACTOR write_offset z 0 CorrWrite hori_id write_offset Compute the vertical correction values and execute the correction write_offset x 0 write_offset y 0 write_offset z vert_sig TARGET_DIST SCALE_FACTOR CorrWrite vert_id write_offset Setup interrupt again Delete intnol CONNECT intnol WITH ReadSensors ITimer singel 0 2 intnol ENDTRAP Program explanation Two correction generators are connected with the instruction CorrCon Each correction generator is referenced by a unique descriptor hori_id and vert_id of the type corr desc The two sensors will use one correction generator each A timer interrupt is set up to
136. e PathRecMoveBwd ID id1 will cause an error This is due to that there doesn t exist a recorded path between p4 and p2 There is however possible to execute PathRecMoveBwd MD id2 Syntax PathRecStop Vswitch Clear Related information Described in Path Recorder Identifiers Data types pathrecid Start the path recorder Instructions PathRecStart Check for valid recorded path Functions PathRecValidBwd PathRec ValidFwd Play the recorder backward Instructions PathRecMoveBwd Play the recorder forwards Instructions PathRecMoveFwd Motion in general Motion and I O Principles RAPID reference manual part la Instructions A R 341 PathRecStop Path Recovery Instruction 342 RAPID reference manual part la Instructions A R PathResol Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 applica t
137. e figure below to make the circle movement to go through the programmed orientation in the CirPoint 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 V PathFrame V ObjectFrame V CirPointOri Related information 30 Described in Interpolation Motion Principles Positioning during Program Execution Motion settings data Data Types motsetdata Circular move instruction Instructions MoveC RAPID reference manual part la Instructions A R Clear Instruction RobotWare OS Clear Clears the value Clear is used to clear a numeric variable or persistent i 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 information Described in Incrementing a variable by 1 Instructions Incr Decrementing a variable by 1 Instructions Decr RAPID reference manual part la Instructions A R 31 Clear RobotWare OS Ins
138. e is used to set 2 groups of digital out puts 138 RAPID reference manual part la Instructions A R TError Instruction Advanced RAPID Limitation It is not possible to order an interrupt on internal errors In a task of type NORMAL the event will be thrown away at program stop 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 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 IDelete 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 lt expression IN of num gt P ErrorType lt expression IN of errtype gt Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R 139 TError Advanced RAPID Instruction Related information D
139. e 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 Enable 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 manual part la Instructions A R 133 IDisable RobotWare OS Instruction 134 RAPID reference manual part la Instructions A R Instruction IEnable Enables interrupts TEnable RobotWare OS IEnable 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 interrupts 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
140. e path the error handler can start a new movement and later on restart the original movement When the path has been stored the path recorder is used to move the robot out to the safe position p0 by executing PathRecMoveBwd Note that a tool offset is applied to provide clearance from for example a newly added weld When the robot has been moved out the operator can do what is necessary to fix the error for example clean the torch of welding Then the robot is moved back to the error location by the means of PathRecMoveFwd At the error location the path level is switched back to base level by RestoPath and a retry attempt is made Limitations Movements using the path recorder has to be performed on trap level i e Store Path has to executed prior to PathRecMoveBwd If itis not desired to return to the point where PathRecMoveBwd was executed by executing PathRecMoveFwd the PathRecorder has to be stopped by the means of PathRecStop RAPID reference manual part la Instructions A R 329 PathRecMoveBwd Path Recovery Instruction Syntax PathRecMoveBwd V ID lt variable VAR of pathrecid gt V ToolOffs lt expression IN of pos gt V Speed lt expression IN of speeddata gt Related information Described in Path Recorder Identifiers Data types pathrecid Start stop the path recorder Instructions PathRecStart PathRecStop Check for valid recorded
141. e the program pointer to main in order to leave indepen dent mode If a loss of voltage occurs when an axis is in independent mode the program cannot be restarted An error message is displayed and the program must be started from the beginning The instruction is not advisable for coupled robot wrist axes see Rapid Reference Manual Motion and I O Principles Positioning during Program Excution Indepen dent Axes Example ActUnit Station_A weld_stationA IndAMove Station_A 1 ToAbsNum 90 20 Ramp 50 ActUnit Station_B weld_stationB_1 WaitUntil IndInpos Station_A 1 TRUE WaitTime 0 2 DeactUnit Station_A weld_stationB_2 Station_A is activated and the welding is started in station A Station_A axis 1 is then moved to the 90 degrees position while the robot is welding in station B The speed of the axis is 20 degrees s The speed is changed with acceler ation deceleration reduced to 50 of max performance When station A reaches this position it is deactivated and reloading can take place in the station at the same time as the robot continues to weld in station B Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT This error can then be handled in the error handler RAPID reference manual part la Instructions A R 147 IndA Move Independent Axis Instruction Syntax IndAMove MecUnit lt variable VAR of mecunit gt Axi
142. e used more than once without first deleting it See Instructions SignalDI If subscription on part of data such as record component or array element specified in parameter Name the interrupt will occurs every time any part of the data is changed Syntax TPers Name lt persistent PERS of anytype gt Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts RAPID Summary Interrupts Interrupt from an input signal Instructions ISignalDI More information on interrupt manage Basic Characteristics Interrupts ment More examples Data Types intnum 178 RAPID reference manual part la Instructions A R TSignalAl Instruction Analog Signal Interrupt ISignalAI Interrupts from analog input signal ISignalAlI Interrupt Signal Analog Input is used to order and enable interrupts from an analog input signal Example VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalAI Single ail 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 input signal aiJ is between 0 5 and 5 A call is then made to the iroutine 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
143. eP lt expression IN of robtarget gt ProgPoint lt expression IN of robtarget gt Tool lt persistent PERS of tooldata gt V 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 Systems Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata More examples Instructions PDispOff 352 RAPID reference manual part la Instructions A R PDispSet Instruction RobotWare OS 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 program This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example VAR pose xp100 100 0 0 1 0 0 0 J 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 29 As long
144. ec ValidBwd PathRec Valid Fwd Play the path recorder backward Instructions PathRecMoveBwd Play the path recorder forward Instructions PathRecMoveFwd Motion in general Motion and I O Principles RAPID reference manual part la Instructions A R 337 PathRecStart Path Recovery Instruction 338 RAPID reference manual part la Instructions A R PathRecStop Instruction Path Recovery PathRecStop Stop the path recorder PathRecStop is used to stop recording the robot s path Example PathRecStop Clear The path recorder is stopped and the buffer of stored path information is cleared Arguments PathRecStop Clear Clear Data type switch Clear the recorded path Program execution When the path recorder is ordered to stop the recording of the path will stop The optional argument Clear will clear the buffer of stored path information preventing the recorded path to be executed by mistake After the recorder has been stopped earlier recorded paths cannot be used for back up movements PathRecMoveBwd However it is possible to use earlier recorded paths if PathRecMoveBwd is ordered from the same positions as the robot was stopped in Examples LOCAL VAR pathrecid id1 LOCAL VAR pathrecid id2 LOCAL CONST robtarget p1 LOCAL CONST robtarget p6 PROC example1 PathRecStart id1 MoveL pl vmax z50 tooll MoveL p2 vmax z50 tooll PathRecStop MoveL p3 vmax z50 tooll
145. ecause the path on which the error occurred is always created in the routine do_process A process flow is started by setting the signal do_myproc to 1 The signal di_proc_sup supervise the process and an asynchronous error is raised if di_proc_sup becomes 1 In this simple example the error is resolved by setting do_myproc to again before resuming the movement RAPID reference manual part la Instructions A R 359 ProcerrRecovery Advanced RAPID Example with ProcerrRecovery SyncLastMovelnst MODULE user_module PROC main MoveL pl v1000 fine tooll do_process ENDPROC PROC do_process proc_on proc_move p2 v200 z10 tooll proc_move p3 v200 fine tooll proc_off ERROR IF ERRNO ERR_PATH_STOP THEN StorePath p4 CRobT Tool tool1 Move to service station and fix the problem MoveL p4 v200 fine tooll RestoPath proc_on StartMoveRetry ENDIF ENDPROC ENDMODULE MODULE proc_module SYSMODULE NOSTEPIN VAR intnum proc_sup_int VAR num try_no 0 TRAP iprocfail proc_off ProcerrRecovery SyncLastMovelnst ENDTRAP PROC proc_on SetDO do_proc 1 CONNECT proc_sup_int WITH iprocfail ISignalDI di_proc_sup 1 proc_sup_int ENDPROC PROC proc_offQ SetDO do_proc 0 Delete proc_sup_int ENDPROC Instruction 360 RAPID reference manual part la Instructions A R ProcerrRecovery Instruction Advanced RAPID PROC proc_move robtarget ToPoint speeddata Speed zonedata Zone PERS too
146. ed interrupts of the specified 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 Sleep 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 manual part la Instructions A R 209 ISleep RobotWare OS Instruction 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 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
147. ed on the FlexPendant 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 Y W ns Header lt expression IN of string gt Reason lt expression IN of string gt PY RL2 lt expression IN of string gt PY RL3 lt expression IN of string gt PV RL4 lt expression IN of string gt 7 Related information Described in Display a message on Instructions TPWrite the FlexPendant only Message logs Service 110 RAPID reference manual part la Instructions A R EXIT Instruction RobotWare OS EXIT Terminates program execution EXIT is used to terminate program execution Program restart 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
148. eed 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 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 RAPID reference manual part la Instructions A R 257 Mo
149. egl 1 next regl regl 1 IF regl lt 5 GOTO next The next program loop is executed five times IF reg1 gt 100 GOTO highvalue lowvalue GOTO ready highvalue re ady If regl is greater than 100 the highvalue program loop is executed otherwise the Jowvalue loop is executed Arguments GOTO Label Label Identifier The label from where program execution is to continue RAPID reference manual part la Instructions A R 125 GOTO RobotWare OS 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 pro RAPID Summary flow Controlling the Program gram Flow 126 RAPID reference manual part la Instructions A R Instruction GripLoad RobotWare OS GripLoad Defines the payload of the robot Description A GripLoad is used to define the payload which the robot holds in its gripper This instruction can only be used in the Main task or
150. em for the axis can be moved by a whole number of axis revolutions 158 RAPID reference manual part la Instructions A R IndReset Instruction Independent Axis The instruction may also be used in normal mode in order to change the measurement system Note that the position is used only to adjust the measurement system the axis will not move to the position Limitations The instruction may only be executed when all active axes running in normal mode are standing still The independent mode axis which is going to be changed to normal mode must also be stationary For axes in normal mode this is achieved by executing a move instruction with the argument fine The independent axis is stopped by an Ind CMove with Speed 0 followed by a wait period of 0 2 seconds IndRMove IndAM ove or IndDMove instruction The resolution of positions is decreased when moving away from logical position 0 An axis which progressively rotates further and further from the position 0 should thus be set to zero using the instruction JndReset with an argument other than Old The measurement system cannot be changed for linear axes To ensure a proper start after IndReset of an axis with a relative measured measurement system synchronization switches an extra time delay of 0 12 seconds must be added after the IndReset instruction Only robot axis 6 can be used as independent axis The IndReset instruction can also be used for axis 4 on models IR
151. em parameters The program defined digital output signal alias_di is connected to the configured digital output signal config_di via constant config_string at program start start the program from the beginning Limitation When starting the program the alias signal cannot be used until the Alias O instruction is executed Instruction AliasJO must be placed either in the event routine executed at program start event START or in the program part executed after every program start before use of the sig nal In order to prevent mistakes it is not recomended to use dynamic reconnection of an AliasIO signal to different physical signals 8 RAPID reference manual part la Instructions A R AliasIO Instruction Advanced RAPID Syntax AliasIO FromSignal lt reference REF of anytype gt ToSignal lt variable VAR of anytype gt 9 Related information Described in Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles I O Principles Configuration of I O System Parameters Defining event routines System Parameters Loaded Built in task modules System Parameters RAPID reference manual part la Instructions A R 9 AliasIO Advanced RAPID Instruction 10 RAPID reference manual part la Instructions A R CE o mm I Instruction RobotWare OS Assigns
152. ens a file or Serial channel sccccsssssccsssssccssssssccsssesecccssssccsssssesessssssssssecees 307 OpenDir Open a directory sesssssoocsssoocessoccessoccesssoosessocesesooecesoocoessseossssocessosoeeesssecssssosesssosse 311 PackDNHeader Pack DeviceNet Header into rawbytes data cccssssccssssssrscssssesceees 313 PackRawBytes Pack data into rawbytes data cccccccccsssssssccssscsccssssscccesssscsscsssesseees 317 PathAccLim Reduce TCP acceleration along the path ssooessoosessoocessoosecesosccesssossssoosee 323 PathRecMoveBwd Move path recorder backwards ssesesssooesssooesssocsessooecesoscsessoosessose 327 PathRecMoveFwd Move path recorder forward esesssccesssocessoooeseococsesoecesosecesssoossssoose 331 PathRecStart Start the path recorder e sssessooesooesoocessccsscssocosoocesocessecesccssoosssocesccessossooseso 335 PathRecStop Stop the path recorder sessseeesooscsocsoccssocesccssoosssosescccsscsssocsoosssoccssecesocssosssso 339 PathResol Override path resolution cccssccccssssssscsssscccsssssccscssssscccssssccsessssecsscsssesseees 343 PDispOff Deactivates program displacement ccccccccsssssccsssssssccsssessccssssssssscsssesssees 347 PDispOn Activates program isplaceMent c ssccsscsssccsssssssccsssssssccsssssccssssssssscssscssees 349 PDispSet Activates program displacement USING a value cscccssssccsssscsse
153. equest 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 lt expression IN of num gt 174 RAPID reference manual part la Instructions A R IOEnable Instruction RobotWare OS Related information Described in More examples Instructions IODisable Disabling an I O unit Instructions IODisable Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles I O Principles Configuration of I O System Parameters RAPID reference manual part la Instructions A R 175 IOEnable
154. 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 manual part la Instructions A R 137 TError Advanced RAPID 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 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 error not warning or state change the error number is retrieved in the trap routine and its valu
155. ers Controller Task BindRef 26 RAPID reference manual part la Instructions A R CirPathMode Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example CirPathMode PathFrame Standard mode for tool reorientation in the actual path frame from the start point to the ToPoint 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 ToPoint during all succeeding circular movements CirPathMode CirPointOri Modified mode for tool reorientation from the start point via the programmed CirPoint orientation to the ToPoint 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 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 manual part la Instructions A
156. escribed in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage Basic Characteristics Interrupts ment 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 140 RAPID reference manual part la Instructions A R IF Instruction RobotWare OS 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 dol 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 manual part la Instructions A R 141 IF RobotWare OS Instruction Example 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 coun
157. estoPath 399 RETRY 405 RETURN 401 Rewind 403 routine call 363 S serial channel close 33 45 file 375 open 307 Set a specified bit in a byte data 15 SpyStart 179 189 stopwatch 41 Syntax 91 W WObj 91 WriteStrBin 375 RAPID reference manual part 1 Instructions A Z 409 410 RAPID reference manual part 1 Instructions A Z AA ED ED PR EDIEID ABB Automation Technologies AB Robotics SE 721 68 V ster s SWEDEN Telephone 46 0 21 34 40 00 Telefax 46 0 21 13 25 92 3HAC16581 1 Revision B En
158. executing from the beginning Syntax PDispSet DispFrame lt expression IN of pose gt 354 RAPID reference manual part la Instructions A R Instruction Related information PDispSet RobotWare OS Described in Deactivation of program displacement Definition of program displacement Instructions PDispOff Instructions PDispOn using two positions Definition of data of the type pose Coordinate systems Examples of how program displace ment Data Types pose Motion Principles Coordinate Systems Instructions PDispOn can be used RAPID reference manual part la Instructions A R 355 PDispSet RobotWare OS Instruction 356 RAPID reference manual part la Instructions A R ProcerrRecovery Instruction Advanced RAPID ProcerrRecovery Generate and recover from process move error ProcerrRecovery can be used to generate process error during robot movement and get the possibility to handle the error and restart the process and the movement from an ERROR handler Example The examples below are not realistic but shown for pedagogic reason MoveL pl v50 z30 tool2 ProcerrRecovery SyncOrgMovelnst MoveL p2 v50 z30 tool2 ERROR IF ERRNO ERR_PATH_STOP THEN StartMove RETRY ENDIF The robot movement is stop on it s way to p and the program execution is trans fer to the ERROR handler in the routine that created the actual path on which t
159. f HighValue and Low Value 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 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 180 RAPID reference manual part la Instructions A R TSignalAl Instruction Analog Signal Interrupt Program execution When the signal fulfils the specified conditions both Condition and DeltaValue 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
160. f 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 tooll draw_square The routine draw_square is used to execute the same motion pattern at three dif ferent positions based on the positions p 0 p20 and p30 See Figure 28 RAPID reference manual part la Instructions A R 351 PDispOn RobotWare OS p20 Instruction p30 Figure 28 Using program displacement motion patterns can be reused SearchL sen1 psearch p10 v100 tool 1 WObj fixture 1 PDispOn ExeP psearch tooll WObj fixture 1 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 sys tem Syntax PDispOn LP Rot LV Ex
161. get 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 ahelp for pointing out the positive z axis and x axis some type of elongator tool can be used Notice that you must not modify the positions RefTip ZPos and XPos in the instruction MToolRotCalib while the tool used in the creation of the points is not the same as the tool being calibrated RAPID reference manual part la Instructions A R 299 MToolRotCalib RobotWare OS Instruction RefTi XPos X Elongator tooly World fixed 1 ZPos w p Figure 23 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 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 po
162. ghValue 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 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 DeltaValue 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 190 RAPID reference manual part la Instructions A R ISignalAO Instruction Analog Signal Interrupt Program execution See instruction SignalAI for information about Program execution Condition for interrupt generation More examples Same principles are valid for SignalAO as for ISignalAI Limitations The HighValue and LowValue arguments should be in the range logical maximum
163. given earlier Example VAR corrdescr id CorrCon id CorrDiscon id CorrDiscon disconnects from the previously connected correction generator refer enced by the descriptor id Arguments CorrDiscon Descr Descr Data type corrdescr Descriptor of the correction generator Example See Instructions CorrCon Syntax CorrDiscon Descr lt variable VAR of corrdescr gt RAPID reference manual part la Instructions A R 75 CorrDiscon Path offset amp RobotWare Arc Sensor Related information 76 Connects to a correction generator Writes to a correction generator Reads the current total offsets Removes all correction generators Correction descriptor Instruction Described in Instructions CorrCon Instructions CorrWrite Functions CorrRead Instructions CorrClear Data types corrdescr RAPID reference manual part la Instructions A R Corr Write Instruction Path offset amp RobotWare Arc Sensor Corr Write Writes to a correction generator Description Corr Write is used to write offsets in the path coordinate system to a correction gener ator Example VAR corrdescr id VAR pos offset CorrWrite id offset The current offsets stored in the variable offset are written to the correction generator referenced by the descriptor id Arguments CorrWrite Descr Data Descr Data type corrdescr Descriptor of the correction generator Data Data type pos The
164. gram execution If the motion supervision is deactivated through the system parameters then it cannot be activated through the MotionSup instruction Deactivate motion supervision during program execution MotionSup Off Activate motion supervision again during program execution MotionSup On Tune the supervision level to 200 makes the function less sensitive of the level in the system parameters MotionSup On TuneValue 200 RAPID reference manual part la Instructions A R 245 MotionSup Collision Detection Instruction Arguments MotionSup NOn Off TuneValue On Data type switch Activate the motion supervision function during program execution if it has already been activated in system parameters Off Data type switch Deactivate the motion supervision function during program execution One of the arguments On or Off must be specified TuneValue Data type num Tuning the motion supervision sensitivity level in percent 1 300 of system parameter level A higher level gives more robust sensitivity This argument can only be combined with argument On Program execution If the function motion supervision is active both in the system parameters and in the RAPID program and the motion supervision is triggered because of a collision etc then the robot will stop as quickly as possible the robot will back up to remove any residual forces the program execution will
165. gram 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 17 262 RAPID reference manual part la Instructions A R MoveCDO Instruction RobotWare OS Start point Set Reset the signal Next ToPoint point Zone Figure 17 Set Reset of digital output signal in the corner path with MoveCDO For stop points we recommend the use of normal programming sequence with MoveC SetDO 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 General limitations according to instruction MoveC Syntax MoveCDO CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt V ID lt expression IN of identno gt Speed lt expression IN of speeddata gt LPY T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression
166. gs data Data Types motsetdata Reduction of acceleration Instructions AccSet 326 RAPID reference manual part la Instructions A R PathRecMoveBwd Instruction Path Recovery PathRecMoveBwd Move path recorder backwards PathRecMoveBwd is used to move the robot backwards along a recorded path Example VAR pathrecid fixture_id PathRecMoveBwd ID fixture_id ToolOffs 0 0 10 Speed v500 The robot is moved backwards to the position in the program where the instruc tion PathRecStart planted the fixture_id identifier The TCP offset is 10 mm in Z direction and the speed is set to 500 mm s Arguments PathRecMoveBwd ID ToolOffs Speed MD Identifier Data type pathrecid Variable that specify the position to move backward to Data type pathrecid is a non value type only used as an identifier for naming the recording position ToolOffs Tool Offset Data type pos Provides clearance offset for TCP during motion A cartesian offset coordinate is applied to the TCP coordinates Positive Z offset value indicates clearance This is useful when the robot runs a process adding material Speed Data type speeddata Speed replaces the speed original used during forward motion Speeddata defines the velocity for the tool centre point the tool reorientation and the exter nal axis If present this speed will be used throughout the backward movement If omitted the backward motion will execute with the
167. guration 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 manual part la Instructions A R 55 ConfL RobotWare OS 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 argument 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
168. gure 31 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 366 RAPID reference manual part la Instructions A R PulseDO Instruction RobotWare OS Limitations The length of the pulse has a resolution of 0 01 seconds Programmed values that differ from this are rounded off Error handling Following recoverable error can be generated The error can be handled in an error handler The system variable ERRNO will be set to ERR NORUNUNIT if there is no contact with the unit Syntax PulseDO V High 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 I O Principles Configuration of I O System Parameters RAPID reference manual part la Instructions A R 367 PulseDO RobotWare OS Instruction 368 RAPID reference manual part la Instructions A R RAISE Instruction RobotWare OS 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 handle
169. he equipment from large accelerations This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks PROGRAMMED PATH A 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 manual part la Instructions A R 323 PathAccLim RobotWare OS 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 combination of instruction AccSet
170. he error message Any string or predefined data of type errstr can be used Program execution Program execution continues in the error handler of the routine A warning is written in the robot message log In which domain depends on the EventDomain indicated ErrRaise generates program warnings between 5000 9999 depending on the Errorld indicated After the error handler has been executed program execution can continue with the routine that called the routine in question the error handler of the routine that called the routine in question If the ErrRaise instruction is present in a routine s error handler program execution continues in the error handler of the routine that called the routine in question The same error number remains active Syntax ErrRaise ErrorName lt expression IN of string gt Errorld lt expression IN of num gt Argument lt expression IN of errstr gt Argument2 lt expression IN of errstr gt Argument3 lt expression IN of errstr gt Argument4 lt expression IN of errstr gt Argument5 lt expression IN of errstr gt RAPID reference manual part la Instructions A R 107 ErrRaise Advanced RAPID Related information 108 Instruction Described in Error handling Booking error numbers Basic Characteristics Er
171. he error occurred in this case the path to MoveL p1 The movement is restarted with StartMove and the execution is continued with RETRY MoveL p1 v50 fine tool2 ProcerrRecovery SyncLastMovelnst MoveL p2 v50 z30 tool2 ERROR IF ERRNO ERR_PATH_STOP THEN StartMove RETRY ENDIF The robot movement is stop at once on it s way to p2 and the program execution is transfer to the ERROR handler in the routine where the program currently is executing or are going to execute a move instruction when the error occurred in this case MoveL p2 The movement is restarted with StartMove and the execution is continued with RETRY RAPID reference manual part la Instructions A R 357 ProcerrRecovery Advanced RAPID Instruction Arguments ProcerrRecovery SyncOrgMovelnst SyncLastMovelInst SyncOrgMovelnst Data type switch The error can be handled in the routine that created the actual path on which the error occurred SyncLastMovelnst Data type switch The error can be handled in the routine where the program currently is executing a move instruction when the error occurred If the program currently is not executing a move instruction when the error occurred the transfer of the execution to the ERROR handler will be delayed until the program execute next move instruction The error can be handled in that routine Program execution Execution of ProcerrRecovery in continuous mode results in following At once sto
172. he 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 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 9 Signal level 0 Interrupt ordered Interrupt occurs Interrupt ordered i Signal level iN 0 Interrupt occurs Figure 9 Interrupts from a digital input signal at signal level 1 194 RAPID reference manual part la Instructions A R TSignalDI Instruction RobotWare OS 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 PROC main VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalDI dil 1 sig lint 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 lint CONNECT sig lint WITH iroutine1 ISignalDI dil 1 sig lint Delete sig lint ENDPROC The interrupt is deleted at the end of the program and is then reactivated It should be noted in this case that the inte
173. he reorientaion of the tool is done continuous from the start point orientation to the JoPoint 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 JoPoint 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 manual part la Instructions A R 29 CirPathMode RobotWare OS 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 th
174. he 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 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 18 266 RAPID reference manual part la Instructions A R Instruction MoveCSync Fixed Position Events MoveCSync p2 p3 v1000 z30 tool2 my_proc
175. in the error message Any string or predefined data of type errstr can be used Argument5 Data type errstr Fifth argument in the error message Any string or predefined data of type errstr can be used RAPID reference manual part la Instructions A R 103 ErrLog Advanced RAPID Instruction Program execution An error message max 5 lines is displayed on the FlexPendant and written in the robot message log ErrLog generates program errors between 5000 9999 depending on the Errorld indi cated Syntax ErrLog Errorld lt expression IN of num gt i i sara Argument lt expression IN of errstr gt Argument2 lt expression IN of errstr gt Argument3 lt expression IN of errstr gt Argument4 lt expression IN of errstr gt Argument5 lt expression IN of errstr gt Related information Described in Display a message on Instructions TPWrite the FlexPendant only Message logs Service 104 RAPID reference manual part la Instructions A R ErrRaise Instruction Advanced RAPID ErrRaise Writes a warning and calls an error handler ErrRaise is used to create an error in the program and then call the error handler of the routine A warning is written in the robot message log ErrRaise can also be used in the error handler to propagate the current error to the error handler
176. in tool Defined Defined Table 4 Load identification of payload Load identification modes Movin Roomfix g Moving TCP Roomfix TCP A T Mass b Mass Defined data before Mass Unknown Mass ke LoadId Known Known Upper arm load Defined Defined System parameters Load data in tool Defined Defined Defined Defined Mass in payload Defined Defined Tool frame in tool Defined Defined User frame in work object Defined Defined Object frame in work object Defined Defined e Operating mode and speed override Slow test in manual mode reduced speed Load measurements in automatic mode or manual mode full speed with speed override 100 230 RAPID reference manual part la Instructions A R LoadId Instruction RobotWare OS Arguments LoadId ParIdType LoadIdType Tool PayLoad WObj ConfAngle SlowTest Accuracy ParIdType Data type paridnum Type of parameter identification as defined in the table below Table 5 Value Symbolic constant Comment 1 TOOL_LOAD_ID Identify tool load 2 PAY_LOAD_ID Identify payload Ref instruction GripLoad LoadIdType Data type loadidnum Type of load identification as defined in the table below Table 6 Value Symbolic constant Comment 1 MASS_KNOWN Known mass in tool or payload respectively Mass in specified Tool or PayLoad must be specified 2 MASS_WITH_AX3 Unknown mass in tool or payload respectively Identification of mass in tool or payload will be
177. ing string is stated as the first argument ErrorName in the ErrRaise ErrRaise creates an error and then calls the error handler If the error is taken care of a warning is generated in the event log in the process domain otherwise a fatal error is generated and the program stops ErrRaise can also be used in an error handler in a subroutine In this case the execution continues in the error handler of the calling routine Arguments ErrRaise ErrorName ErrorID Argument1 Argument2 Argument3 Argument4 Argument5 ErrorName Data type string An error number must be booked using the instruction BookErrNo Correspond ing string is stated as ErrorName Errorld Data type num The number of a specific error that is to be monitored The error number must be in interval 5000 9999 and written in a xml file Argumenti Data type errstr First argument in the error message Any string or predefined data of type errstr can be used Argument2 Data type errstr Second argument in the error message Any string or predefined data of type errstr can be used Argument3 Data type errstr Third argument in the error message Any string or predefined data of type errstr can be used 106 RAPID reference manual part la Instructions A R ErrRaise Instruction Advanced RAPID Argument4 Data type errstr Fourth argument in the error message Any string or predefined data of type errstr can be used Argument5 Data type errstr Fifth argument in t
178. ing and Testing Manually assigning a value to data Programming and Testing 12 RAPID reference manual part la Instructions A R BitClear Instruction Advanced RAPID BitClear Clear a specified bit in a byte data BitClear is used to clear set to 0 a specified bit in a defined byte data Examples CONST num parity_bit 8 VAR byte datal 130 BitClear data1 parity_bit Bit number 8 parity_bit in the variable data1 will be set to 0 e g the content of the variable datal will be changed from 130 to 2 decimal representation PETT Z Pacey f 5 Ea Ea i position 8 has value 1 1 position 8 is set to 0 VAR byte data1 130 BitClear datal parity_bit Content of datal before BitClear 130 Content of datal after BitClear 2 Figure 2 Bit manipulation of data type byte when using BitClear Arguments BitClear BitData BitPos BitData Data type byte The bit data in decimal representation to be changed BitPos Bit Position Data type num The bit position 1 8 in the BitData to be set to 0 RAPID reference manual part la Instructions A R 13 BitClear Advanced RAPID Instruction Limitations The range for a data type byte is 0 255 decimal The bit position is valid from 1 8 Syntax BitClear BitData lt var or pers INOUT of byte gt BitPos lt expression IN of num gt Related information Described in Set a specified bit in a
179. 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 manual part la Instructions A R 95 EOffsOn RobotWare OS Instruction This offset is then used to displace the position of external axes in subsequent position ing instructions and remains active 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 programme
180. inttarget j2 9E9 9E9 9E9 9E9 9E9 9E9 30 9E9 9E9 9E9 9E9 9E9 CONST jointtarget j3 9E9 9E9 9E9 9E9 9E9 9E9 60 9E9 9E9 9E9 9E9 9E9 CONST jointtarget j4 9E9 9E9 9E9 9E9 9E9 9E9 90 9E9 9E9 9E9 9E9 9E9 CONST speeddata rot_ax_speed 0 0 0 45 MoveExtJ j1 rot_ax_speed fine MoveExtJ j2 rot_ax_speed z20 MoveExtJ j3 rot_ax_speed z20 MoveExtJ j4 rot_ax_speed fine In this example the rotating single axis is moved to joint position 0 30 60 and 90 degrees with the speed of 45 degrees s Syntax MoveExtJ V Conc ToJointPos lt expression IN of jointtarget gt LV ID lt expression IN of identno gt Speed lt expression IN of speeddata gt PY T lt expression IN of num gt Zone lt expression IN of zonedata gt L V Inpos lt expression IN of stoppointdata gt Related information Described in Other positioning instruc RAPID Summary Motion tions Definition of jointtarget Data Types jointtarget Definition of velocity Data Types speeddata Definition of zone data Data Types zonedata Motion in general Motion and I O PrinciplesConcurrent program execution Motion and I O Principles Synchronisation Using Logical Instructions RAPID reference manual part la Instructions A R 271 MovekExt RobotWare OS Instruction 212 RAPID reference manual
181. ion 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 stop 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 evaluated to a TRUE value the WHILE instructions should be used instead 116 RAPID reference manual part la Instructions A R FOR Instruction RobotWare OS 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 l
182. ions RETURN RAPID reference manual part la Instructions A R FOR Instruction RobotWare OS 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 1 ENDFOR Repeats the routine procedure 10 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 value will automatically be set to 1 or 1 if the start value is greater than the end value RAPID reference manual part la Instructions A R 115 FOR RobotWare OS Instruction Example FOR i FROM 10 TO 2 STEP 1 DO a i a i l ENDFOR The values in an array are adjusted upwards so that a 10 a 9 a 9 a 8 etc Program execut
183. ions 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 parameter Path SampleTime Gluing with large reorientations and small corner zones can cause speed variations Decrease the parameter PathSampleTime Example MoveJ 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 manual part la Instructions A R 343 PathResol RobotWare OS 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 p
184. ions A R 393 RemoveFile File and Serial Channel Handling Instruction 394 RAPID reference manual part la Instructions A R Rename File Instruction File and Serial Channel Handling RenamefFile Rename a file RenameFile is used to give a new name to an existing file It can also be used to move a file from one place to another in the directory structure Examples RenameFile HOME myfile HOME yourfile The file myfile is given the name yourfile RenameFile HOME myfile HOME mydir yourfile The file myfile is given the name yourfile and is moved to the directory mydir Arguments RenameFile OldPath NewPath OldPath Data type string The complete path of the file to be renamed NewPath Data type string The complete path of the renamed file Program execution The file specified in OldPath will be given the name specified in NewPath If the path in NewPath is different from the path in OldPath the file will also be moved to the new location Error Handling If the file specified in NewPath already exists the system variable ERRNO is set to ERR_FILEEXIST This error can then be handled in the error handler Syntax RenameFile OldPath lt expression IN of string gt NewPath lt expression IN of string gt RAPID reference manual part la Instructions A R 395 Rename File File and Serial Channel Handling Related information 396 Instru
185. iously to open a file this file must be closed prior to issuing a new Open instruction with the same iodev variable Error handling If a file cannot be opened the system variable ERRNO is set to ERR_FILEOPEN This error can then be handled in the error handler RAPID reference manual part la Instructions A R 309 Open File and Serial Channel Handling Instruction Syntax Open Object lt expression IN of string gt File lt expression IN of string gt IODevice lt variable VAR of iodev gt LPV Read PY Write PV Append PV Bin Related information Described in Writing to and reading from RAPID Summary Communication files or serial channel 310 RAPID reference manual part la Instructions A R OpenDir Instruction File and Serial Channel Handling OpenDir Open a directory OpenDir is used to open a directory for further investigation Example PROC Isdir string dirname VAR dir directory VAR string filename OpenDir directory dirname WHILE ReadDir directory filename DO TPWrite filename ENDWHILE CloseDir directory ENDPROC This example prints out the names of all files or subdirectories under the speci fied directory Arguments OpenDir Dev Path Dev Data type dir A variable with reference to the directory fetch by OpenDir This variable is then used for reading from the directory Path Data type string Pa
186. is an axis moving independently of other axes in the robot system As program execution continues immediately it is possible to execute other instruc tions including positioning instructions during the time the independent axis is mov ing If the axis is to be moved to a specific position the instruction IndAMove or IndRMove must be used instead This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example IndDMove Station_A 2 30 20 Axis 2 of Station_A is moved 30 degrees in a negative direction at a speed of 20 degrees s Arguments IndDMove MecUnit Axis Delta Speed Ramp 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 Delta Data type num The distance which the current axis is to be moved expressed in degrees mm for linear axes The sign specifies the direction of movement Speed Data type num Axis speed in degrees s mm s for linear axis Ramp Data type num Decrease acceleration and deceleration from maximum performance 1 100 100 maximum performance RAPID reference manual part la Instructions A R 153 IndA Move Independent Axis Instruction Program execution When IndA Move is executed the specified axis starts to move at the programmed speed for the specified distance The direction of movement is specified as the sign of the
187. ists sccessencissesdexssootvasssveassoanspsvkocasdavkbesseestenacvsssoeudoonsensocvbivensspbe 1 ActUnit Activates a mechanical unit e ssoesseessocssoossssesssesssecssoososossoessssssssossooossssssoessssessoose 3 Add AGS A numeric yall sssssissspisiosososss enssins osoensis En eai 5 AliasIO Define I O signal with alias namMe essssssocssscsssscsscoccsocesoocesocsssocssocesocesoosesocessecesooee 7 Sg CE VAI a EE E A E E E O A A EET 11 BitClear Clear a specified bit in a byte data o ssoooossosccesssccsssooosssooosesosocesoscoessscossssosssee 13 BitSet Set a specified bit in a byte dat a eessoessocsscccsscessocsoocesscessocesocseoosssoessoecsocessosessosssee 15 BookErrNo Book a RAPID system error number e ssseosesssocesssooesssooseesooecesosocessscssessoseeee 17 Break Break program execution ssessesecccesoccesssooesssocecssooecessscosesoosessoosesssoecssosesessscossssosesse 19 CallByVar Call a procedure by a variablle cccccccccccessececessseceeeeseeeeeeeenaeeeensaeeeens 21 CancelLoad Cancel loading of a module ee sssoesssococsscooecssssecesssosssssosesssocessooccesssocesssoossesso 25 CirPathMode Tool reorientation during circle path esssssooesssoessssocsesocecesosecesssocssssoosessoo 27 Clear Clears th Values csiaciscossvetecsusosescsusbsncaodevskssonaustospscuncats seosboacssusbenpsievbbossmaubesccnenstecessusacs 31 ClearIOBuff Clear input buffer of
188. j 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 instruction as shown in Figure 22 MoveLSync p2 v1000 z30 tool2 my_proc p3 When TCP is here my_proc is executed Figure 22 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 296 RAPID reference manual part la Instructions A R MoveLSync Instruction Fixed Position Events 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 Switching execution mode after progr
189. k piece The centre of gravity for the payload fixture work piece Mechanical unit Figure 12 Payload mounted on the end effector of a mechanical unit 242 RAPID reference manual part la Instructions A R MechUnitLoad Instruction RobotWare OS Example IRBP_K i axis 2 axis 1 axis 3 E4 Figure 13 A mechanical unit named IRBP_K of type IRBP K with three axes MoveL homeside1 v1000 fine gun1 ActUnit IRBP_K The whole mechanical unit IRBP_K is activated MechUnitLoad IRBP_K 2 workpiece Defines payload workpiece on the mechanical unit JRBP_K axis 2 MechUnitLoad IRBP_K 3 workpiece2 Defines payload workpiece2 on the mechanical unit JRBP_K axis 3 MoveL homeside 2 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 Syntax MechUnitLoad MechUnit lt variable VAR of mecunit gt AxisNo lt expression IN of num Load lt persistent PERS of loaddata gt RAPID reference manual part la Instructions A R 243 MechUnitLoad RobotWare OS Instruction Related information Described in Identification of payload for external LoadID amp CollDetect mechanical units Program muloadid prg Mechanical units Data Types mecunit Definition of load data Data Types loaddata Definition of payload for the robot Instruction GripLoad
190. kStart 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 diJ to become is measured RAPID reference manual part la Instructions A R 41 ClkStart RobotWare OS 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_LOVERFLOW 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 42
191. l part la Instructions A R 121 GetSysData RobotWare OS 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 LV 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 122 RAPID reference manual part la Instructions A R GetTrapData Instruction Advanced RAPID 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 instruction ReadErrData Example VAR trapdata err_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 abou
192. l Handling Instruction Time Data type num The max time for the reading operation timeout in seconds resolution 0 001s If this argument is not specified the max time is set to 60 seconds If this time runs out before the reading operation is finished the error handler will be called with the error code ERR_DEV_MAXTIME If there is no error handler 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 During program execution data is readed from the device indicated by JODevice If using WriteRawBytes for field bus commands such as DeviceNet the field bus always sends an answer The answer must be handle in RAPID with the ReadRawBytes instruction The current length of valid bytes in the RawData variable is set to the readed number of bytes The data start at index 1 in RawData Error handling Syntax 388 If an error occurs during reading the system variable ERRNO is set to ERR_FILEACC If time out before the read operation is finished nothing in the variable RawData is affected and the system variable ERRNO is set to ERR_DEV_MAXTIME These errors can then be dealt with by the error handler ReadRawBytes IODevice lt variable VAR of iodev gt RawData lt variable VAR of rawbytes gt LV Time lt expression IN of num gt RAPID refere
193. l2 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 IODevice 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 manual part 1 Instructions A R 375 ReadAnyBin File and Serial Channel Handling 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 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 sev eral steps
194. ld the max error in mm from the calculated TCP and the mean error in mm from the calculated TCP respectively Arguments 304 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 manual part la Instructions A R MToolTCPCalib Instruction RobotWare OS 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 t rame rot is not changed Syntax MToolTCPCalib Posl 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 Max
195. ldata Tool MoveL ToPoint Speed Zone Tool ERROR IF ERRNO ERR_PATH_ STOP THEN try_no try_no 1 IF try_no lt 4THEN proc_on StartMoveRetry ELSE RaiseToUser Continue ENDIF ENDPROC ENDMODULE Asynchronously raised errors generated by ProcerrRecovery with switch SyncLastMovelnst can in this example be treated in the routine proc_move because all move instructions are always created in the routine proc_move When program pointer is in routine do_process the transfer to ERROR handler will be delayed until running next MoveL in routine proc_move Note that the movements are always stopped at once A process flow is started by setting the signal do_myproc to 1 The signal di_proc_sup supervise the process and an asynchronous error is raised if di_proc_sup becomes 1 In this simple example the error is resolved by setting do_myproc to again before resuming the movement When using predefined NOSTEPIN routine we recommended to use the option switch parameter SyncLastMovelnst because then the predefined routine can take the decision to handle some error situation within the routine while other must be handle by the end user Limitations See RAPID kernel reference Error recovery Asynchronously raised errors Syntax ProcerrRecovery PV SyncOrgMovelnst PV SyncLastMovelnst RAPID reference manual part la Instructions A R 361 ProcerrRecovery Advanced RAPID Instruction Related information
196. le number of revolutions on the axis side so that the axis will be as close as possible to the specified RefPos or RefNum position If a positioning instruction with the same position is executed after IndReset the axis will travel the shortest route less than 180 degrees in order to reach the position Fwd Forward Data type switch The measurement system will change a whole number of revolutions on the axis side so that the reference position will be on the positive side of the specified RefPos or RefNum position If a positioning instruction with the same position is executed after IndReset the axis will turn in a positive direction less than 360 degrees in order to reach the position Bwd Backward Data type switch The measurement system will change a whole number of revolutions on the axis side so that the reference position will be on the negative side of the specified RefPos or RefNum position If a positioning instruction with the same position is executed after IndReset the axis will turn in a negative direction less than 360 degrees in order to reach the position Old Data type switch Keeps the old position Note that resolution is decreased in positions far away from zero If no argument Short Fwd Bwd or Old is specified Old is used as default value Program execution When JndReset is executed it changes the independent axis back to normal mode At the same time the measurement syst
197. lerates to the new speed and direction During stepwise execution of the instruction the axis is set in independent mode only The axis starts its movement when the next instruction is executed and continues as long as program execution continues For more information see Chapter 6 Motion and I O principles When the program pointer is moved to the beginning of the program or to a new rou tine all axes are automatically set to normal mode without changing the measurement system equivalent to running the instruction ndReset Old Limitations Axes in independent mode cannot be jogged If an attempt is made to execute the axis manually the axis will not move and an error message will be displayed Execute an IndReset instruction or move the program pointer to main in order to leave indepen dent mode If a loss of voltage occurs when the axis is in independent mode the program cannot be restarted An error message is displayed and the program must be started from the beginning The instruction is not advisable for coupled robot wrist axes see Rapid Reference Manual Motion and I O Principles Positioning during Program Excution Indepen dent Axes Examples IndRMove Station_A 1 ToRelPos p5 Fwd 20 Ramp 50 Axis lof Station_A starts to move in a positive direction to the position p5 within one revolution maximum rotation 360 degrees at a speed of 20 degrees s The speed is changed with acceleration deceleration re
198. les More general examples Load Dynamic HOME DOORDIR DOOR1 MOD Loads the program module DOOR1 MOD from HOME at the directory DOORDIR into the program memory The program module is loaded in the dynamic mode Load HOME File DOORDIR DOOR1 MOD Same as above but another syntax and the module is loaded in the static mode Load Dynamic HOME DOORDIR DOORI MOD 226 RAPID reference manual part la Instructions A R Load Instruction RobotWare OS routine_x UnLoad HOME DOORDIR DOOR1 MOD Program module DOOR1 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 a eee teats CASE door_part ENDPROC Load Dynamic HOME door prg ENDMODULE door main UnLoad HOME door prg CASE window_part ind Load Dynamic HOME window prg r se window main MODULE window UnLoad Save HOME window prg PROC main ENDTEST aeren ENDPROC K n 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 carprg which load other programs doorprg or window prg In the program carprg you load doorprg or wind
199. ll be 122 the ASCII code for z PackRawBytes string1 raw_data RawBytesLen raw_data 1 ASCII The contents of next 7 bytes in raw_data will be abcdefg coded in ASCII bytel StrToByte 1F Hex PackRawBytes bytel raw_data RawBytesLen raw_data 1 Hex1 The contents of the next byte in raw_data will be 1F hexadecimal RAPID reference manual part la Instructions A R 317 PackRawBytes File and Serial Channel Handling Instruction Arguments PackRawBytes Value RawData Network StartIndex 318 Hex1 IntX 1 Float4 ASCIT Value Data type anytype Variable containing the data to be packed into RawData Allowed data types are num byte or string RawData Data type rawbytes Variable container to be packed with data Network Data type switch Indicates that integer and float shall be packed in big endian network order rep resentation in RawData ProfiBus and InterBus use big endian Without this switch integer and float will be packed in little endian not network order representation in RawData DeviceNet use little endian Only relevant together with option parameter VntX UINT UDINT INT DINT and Float4 StartIndex Data type num StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be placed in RawData Hex1 Data type switch The Value to be packed has byte format and shall be converted to hexadecimal fo
200. loaddata Definition of tool load Data Types tooldata 128 RAPID reference manual part la Instructions A R Hollow WristReset Instruction RobotWare OS HollowWristReset Reset hollow wrist for IRB5402 and IRB5403 HollowWristReset resets the position of the wrist joints on hollow wrist manipulators such as IRB5402 and IRB5403 The instruction makes it possible to avoid rewinding the wrist joints 4 and 5 after they have been wound up one or more revolutions After executing a Hollow WristReset instruction the wrist joints may continue to wind up in the same direction Description HollowWristReset makes it easier to make application programs You do not have to ensure that the wrist position is within 2 revolutions at the time of programming and it may save cycle time because the robot does not have to spend time rewinding the wrist However there is a limitation of 144 revolutions for winding up joints 4 and 5 before the wrist position must be reset by Hollow WristReset The robot program mer must be aware of this limitation and take it into consideration when planning the robot programs To ensure that the 144 revolution limit is not exceeded after running a wrist winding program several times you should always let the robot come to a complete stop and reset the absolute position in every program or cycle routine mod ule etc as necessary Please note that all axes must remain stopped during the exe
201. logical value of the analog output signal ao is between 0 5 and 1 5 and the absolute signal difference 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 Delta Value 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 RAPID reference manual part la Instructions A R 189 ISignalAO Analog Signal Interrupt 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 High Value AIO_BELOW_HIGH logical value of the signal is below HighValue AIO_ABOVE_LOW logical value of the signal is above Low Value AIO_BELOW_LOW logical value of the signal is below Low Value AIO_ BETWEEN logical value of the signal is between Low Value and Hi
202. ly 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 250 RAPID reference manual part la Instructions A R MoveAbsJ Instruction RobotWare OS 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 robots 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 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 e
203. m gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt Related information 268 Described in Other positioning instructions RAPID Summary Motion Definition of velocity Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Data Types tooldata Definition of work objects Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems RAPID reference manual part la Instructions A R MoveExtJ Instruction RobotWare OS MoveExtJ Move one or several mechanical units without TCP MoveExtJ Move External Joints is used to move only linear or rotating external axes The external axes can belong to one or several mechanical units without TCP This instruction can only be used with actual program task defined as a Motion Task and if the task controls one or several mechanical units without TCP and Examples MoveExtJ jpos10 vrot10 z50 Move rotational external axes to joint position jpos 0 with speed 70 degrees s with zone data z50 MoveExtJ Conc jpos20 vrot10 T 5 fine InPos inpos20 Move external axes to joint position jpos20 in 5 s The program execution goes forward
204. m 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 ID 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime RAPID reference manual part la Instructions A R 265 MoveCSync Fixed Position Events Instruction Speed Data type speeddata The speed data that applies to movements Speed data defines t
205. m variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler Syntax RemoveDir Path lt expression IN of string gt RAPID reference manual part la Instructions A R 391 RemoveDir File and Serial Channel Handling Instruction Related information Described in Directory dir Make a directory MakeDir Open a directory OpenDir Read a directory ReadDir Close a directory CloseDir 392 RAPID reference manual part la Instructions A R RemoveFile Instruction File and Serial Channel Handling RemovefFile Delete a file RemoveFile is used to remove a file The user must have write and execute permission for the directory where the file resides and write permission for the file itself Examples RemoveFile HOME mydir myfile log In this example the file myfile og in directory mydir on disk HOME is deleted Arguments RemoveFile Path Path Data type string The name of the file to be deleted specified with full or relative path Error handling If the file does not exist the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler Syntax RemoveFile Path lt expression IN of string gt Related information Related information Described in Make a directory MakeDir Remove a directory RemoveDir RAPID reference manual part la Instruct
206. ments IF Condition Condition Data type bool The condition that must be satisfied for the instruction to be executed Syntax 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 manual part la Instructions A R 51 Compact IF RobotWare OS Instruction 52 RAPID reference manual part la Instructions A R Conf Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples ConfJ Off MoveJ v1000 fine tooll 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 Co
207. mited 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 This argument can not be used in coordinated synchronized movement in a Mul tiMove System RAPID reference manual part la Instructions A R 285 MoveL RobotWare OS Instruction 286 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchronized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 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 s
208. movement the orientation nor mally remains unchanged relative to the circle This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveCDO p1 p2 v500 z30 tool2 dol 1 The TCP of the tool tool2 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 Output do is set in the middle of the corner path at p2 Arguments MoveCDO CirPoint ToPoint ID Speed T Zone Tool W Obj 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in a
209. n The program execution continues at the user level if the BreakOff switch is on The system s error handler is called if none of the argument Continue or BreakOff is spec ified Program execution can continue with the instruction that cause the error RETRY the following instruction TRYNEXT the error handler of the routine that called the routine at user level RAISE the routine that called the routine at user level RETURN Error handling If the error number is out of range the system variable ERRNO is set to ERR_ILLRERAISE see Data types errnum The system s error handler deals with this error Syntax RaiseToUser V Continue P VBreakOff VErrorNumber lt expression IN of errnum gt RAPID reference manual part la Instructions A R 373 RaiseToUser RobotWare OS Instruction Related information Described in Error handling Basic Characteristics Error Recovery Undo handling Basic Characteristics UNDO Booking error numbers Instructions BookErrNo 374 RAPID reference manual part la Instructions A R ReadAnyBin Instruction File and Serial Channel Handling 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 channe
210. n and I O Principles Coordinate Systems RAPID reference manual part la Instructions A R MoveL Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example MoveL pl v1000 z30 tool2 The TCP of the tool tool2 is moved linearly to the position p with speed data v1000 and zone data 230 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 ID Speed V T Zone s Inpos Tool WObj Corr Conc Concurrent Data type switch Subsequent instructions are executed while the robot is moving The argument can be used to avoid unwanted stops caused by overloaded CPU when using fly by points and in this way shorten cycle time This is useful when the pro grammed points are very close together at high speeds The argument is also use ful when for example communicating with external equipment and synchronisation between the external equipment and robot movement is not required Using the argument Conc the number of movement instructions in succession is li
211. n at the time of the program execution is used RAPID reference manual part la Instructions A R 349 PDispOn RobotWare OS Instruction ProgPoint Programmed Point Data type robtarget The robot s original position at the time of programming Tool Data type tooldata The tool used during programming i 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 Program displacement means that the ProgDisp coordinate 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 26 y New position ExeP e y Original position ProgPoint Program Displacement Coordinate System ProgDisp Object Coordinate System Figure 26 Displacement of a programmed position using program displacement Program displacement is activated when the instruction PDispOn
212. n of work objects Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Concurrent program execution Motion and I O Principles Synchronisation Using Logical Instructions 276 RAPID reference manual part la Instructions A R MoveJDO Instruction RobotWare OS 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveJDO pl vmax z30 tool2 dol 1 The tool centre point TCP of the tool tool2 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 ID 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 MD Synchro
213. nc 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 This argument can not be used in coordinated synchronized movement in a Mul tiMove System ToJointPos To Joint Position Data type jointtarget The destination absolute joint position 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchronized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 direct
214. nce manual part 1 Instructions A R Instruction Related information ReadRawBytes File and Serial Channel Handling Described in rawbytes data Get the length of rawbytes data Data Types rawbytes Functions RawBytesLen Clear the contents of rawbytes data Copy the contents of rawbytes data Pack DeviceNet header into rawbytes data Instructions ClearRawBytes Instructions CopyRawBytes Instructions PackDNHeader Pack data into rawbytes data Instructions PackRawBytes Write rawbytes data Instructions WriteRawBytes Unpack data from rawbytes data Instructions UnpackRawBytes RAPID reference manual part 1 Instructions A R 389 ReadRawBytes File and Serial Channel Handling Instruction 390 RAPID reference manual part 1 Instructions A R RemoveDir Instruction File and Serial Channel Handling RemoveDir Delete a directory RemoveDir is used to remove a directory The user must have write and execute permission for the directory and the directory must be empty Examples RemoveDir HOME mydir In this example the mydir directory under HOME is deleted Arguments RemoveDir Path Path Data type string The name of the directory to be removed specified with full or relative path Error handling If the directory does not exist or the directory is not empty or the user has not write and execute permission to the library the syste
215. nd direction To stop the axis speed argument 0 can be used It will then still be in independent mode During stepwise execution of the instruction the axis is set in independent mode only The axis starts its movement when the next instruction is executed and continues as long as program execution continues For more information see Chapter 6 Motion and I O principles When the program pointer is moved to the beginning of the program or to a new rou tine all axes are set automatically to normal mode without changing the measurement system equivalent to executing the instruction IndReset Old Limitations The resolution of the axis position worsens the further it is moved from its logical zero position usually the middle of the working area To achieve high resolution again the logical working area can be set to zero with the instruction ndReset For more infor mation see Chapter 6 Motion and I O Principles Axes in independent mode cannot be jogged If an attempt is made to execute the axis manually the axis will not move and an error message will be displayed Execute an IndReset instruction or move the program pointer to main in order to leave independent mode If a loss of voltage occurs when the axis is in independent mode the program cannot be restarted An error message is displayed and the program must be started from the beginning The instruction is not advisable for coupled robot wrist axes see Rapid Referen
216. ne by the user in the RAPID program Only named parameters can be accessed i e parameters where the first attribute is name Name or NAME RAPID strings are limited to 80 characters In some cases this can be in theory too small for the definition InstancePath Attribute or CfgData Error handling Syntax If it is not possible to find the data specified with nstancePath Attribute in the con figuration database the system variable ERRNO is set to ERR_CFG_NOTFND If the data type for parameter CfgData is not equal to the real data type for the found data specified with nstancePath Attribute in the configuration database the sys tem variable ERRNO is set to ERR_CFG_ILLTYPE If trying to read internal data the system variable ERRNO is set to ERR_CFG_INTERNAL These errors can then be handled in the error handler ReadCfgData InstancePath lt expression IN of string gt Attribute lt expression IN of string gt CfgData lt variable VAR of anytype gt Related information 382 Described in Definition of string Data types string Write attribute of a system parameter Instructions WriteCfgData Get robot name in current task Function RobName Configuration System Parameters RAPID reference manual part la Instructions A R ReadErrData Instruction Advanced RAPID ReadErrData Gets information a
217. nfJ On MoveJ v1000 fine tooll 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 If this is not pos sible using the programmed position and orientation program execution stops The IRB5400 robot will move to the pogrammed axis configuration or to an axis configuration close the 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 manual part la Instructions A R 53 Conf RobotWare OS Program execution Instruction 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 Sy
218. nization id Data type identno This argument must be used in a MultiMove System if coordinated synchro nized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 RAPID reference manual part la Instructions A R 277 MoveJDO RobotWare OS 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 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 Signal Data type signaldo The name of the digital output signal to be changed Val
219. nnection with this the logical position of the axis can be changed so that a number of revolu tions are erased from the position for example to avoid rotating back for the next movement The speed can be altered by executing another IndAMove instruction or another Ind_Move instruction If a speed in the opposite direction is selected the axis stops and then accelerates to the new speed and direction For stepwise execution of the instruction the axis is set in independent mode only The axis begins its movement when the next instruction is executed and continues as long as program execution takes place For more information see Chapter 6 Motion and T O principles When the program pointer is moved to the start of the program or to a new routine all axes are automatically set to normal without changing the measurement system equivalent to executing the instruction IndReset Old Note that an IndAMove instruction after an IndCMove operation can result in the axis spinning back the movement performed in the JndCMove instruction To prevent this use an JndReset instruction before the IndAMove or use an IndRMove instruction 146 RAPID reference manual part la Instructions A R IndAMove Instruction Independent Axis Limitations Axes in independent mode cannot be jogged If an attempt is made to execute the axis manually the axis will not move and an error message will be displayed Execute an IndReset instruction or mov
220. ntax ConfJ PY On V Off Related information Described in Handling different configurations Motion Principles Robot Configuration Robot configuration during linear movement Instructions ConfL 54 RAPID reference manual part la Instructions A R ConfL Instruction RobotWare OS ConfL Monitors the configuration 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks NOTE For the IRB 5400 robot the monotoring is always off independent of what is specified in ConfL Examples ConfL On MoveL v1000 fine tooll Program execution stops when the programmed configuration is not possible to reach from the current position SingArea Wrist ConfL On MoveL v1000 fine tooll 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 confi
221. ny other cases The specified id number must be the same in all cooperating program tasks The RAPID reference manual part la Instructions A R 261 MoveCDO RobotWare OS Instruction id number gives a guarantee that the movements are not mixed up at runtime 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 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 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 Pro
222. o 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 last stored reference value is greater than 1 0 Error handling If there 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 generated even if only one or two bits in the analog value are changed RAPID reference manual part la Instructions A R 187 TSignalAl Analog Signal Interrupt Instruction To avoid generating interrupts for small changes of the analog input value set the DeltaValue to a level greater than 0 Then no interrupts will be generated until a change of the analog value is greater than the specified DeltaValue 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 LowValue DeltaValue must be 0 or positive The limitations for the interrupt identity are the same as for SignalDI Syntax ISignalAI V Single Signal lt variable VAR of signalai gt Condition lt expression IN of aiotrigg gt HighValue lt expression IN of num gt
223. oPath 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 seam1 weld5 Weave weavel z10 gunl ERROR IF ERRNO AW_WELD_ERR THEN gun_cleaning StartMoveRetry ENDIF PROC gun_cleaning VAR robtarget p1 StorePath pl CRobTQ MoveL pclean v100 fine gun1 MoveL pl v100 fine gun1 RestoPath ENDPROC RAPID reference manual part la Instructions A R 399 RestoPath Path Recovery Instruction 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 executed at the time is then stored and the robot moves to the position pclean where the error is recti fied When this has been done the robot returns to the position where the error occurred p and stores the original movement once again The weld then automati cally restarts meaning that the robo
224. oPoint start ToPoint CirPoint xX X ee a 0 1 mm start a gt 1 degree ToPoint Minimum distance between start and JoPoint is 0 1 mm Minimum distance between start and CirPoint is 0 1 mm Minimum angle between CirPoint 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 JoPoint 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 RAPID reference manual part la Instructions A R 259 MoveC RobotWare OS Instruction 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 V Conc CirPoint lt expression IN of robtarget gt ToPoint lt expression IN of robtarget gt LV ID lt expression IN of identno gt Speed l
225. oad 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 Table 1 How different operations affects static 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 Table 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 manual part la Instructions A R 225 Load RobotWare OS 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
226. 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 20 MoveJSync p2 v1000 z30 tool2 my_proc p3 When TCP is here my_proc is executed 282 RAPID reference manual part la Instructions A R MoveJSync Instruction Fixed Position Events Figure 20 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 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 Switching execution mode after program stop from continuously or cycle to stepwi
227. ocedure or trap routine a return value may not be specified RAPID reference manual part la Instructions A R 401 RETURN RobotWare OS 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 Recovery 402 RAPID reference manual part la Instructions A R Rewind Instruction File and Serial Channel Handling Rewind Rewind file position Rewind sets the file position to the beginning of the file Example Rewind iodev1 The file referred to by iodev will have the
228. of num gt RAPID reference manual part la Instructions A R 155 IndA Move Independent Axis Instruction Related information Described in Independent axes in general Motion and I O Principles Program execution Change back to normal mode Instructions IndReset Reset the measurement system Instructions IndReset Move an independent axis to a specific Instructions IndAMove IndRMove position Check the speed status for independent Functions IndSpeed axes Check the position status for indepen Functions IndInpos dent axes Defining independent joints System Parameters Manipulator 156 RAPID reference manual part la Instructions A R IndReset Instruction Independent Axis IndReset Independent reset IndReset is used to change an independent axis back to normal mode At the same time the measurement system for rotational axes can be moved a number of axis revolutions This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example IndCMove Station_A 2 5 MoveL v1000 fine tool1 IndCMove Station_A 2 0 WaitUntil IndSpeed Station_A 2 ZeroSpeed WaitTime 0 2 IndReset Station_A 2 Axis 2 of Station _A is first moved in independent mode and then changed back to nor mal mode The axis will keep its position Note that the current independent axis and the normal axes should not move when the instruction ndRe
229. of signals that can be used for a group is 23 This limitation is valid for all instructions and functions using group signals Numeric value condition can not be used in the instruction to specify that an interrupt should occur on changes to that specific value This must be handled in the user pro gram by reading the group signal value at execution of the TRAP The interrupts are generated as bit interrupts e g interrupts on single digital input sig nal change within the group If the bits in the group signal change value with a delay between settings several interrupts will be generated Knowledege about how the I O board works is necessary to get right functionality when using SignalGI If several interrupts are generated at group input settings use in stead SignalDI on a strobe signal that are set when all bits in the group signal has been set 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 PROC main VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalGI gil sig lint WHILE TRUE DO ENDWHILE ENDPROC All activation of interrupts is done at the beginning of the program These instruc tions are then kept outside the main flow of the program PROC main VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalGI gil sig lint Delete sig lint ENDPROC The interrupt i
230. on 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 time 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 240 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 z40 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 d
231. on the user level Arguments 372 RaiseToUser Continue BreakOff ErrorNumber Continue Data type switch Continue the execution in the routine that caused the error BreakOff Data type switch Break off the call chain and continue execution at the user level Any undo han dler in the call chain will be executed apart from the undo handler in the routine that raised the error One of argument Continue or BreakOff must be programmed ErrorNumber Data type errnum Any number between 1 and 90 that 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 instruc tion BookErrNo RAPID reference manual part la Instructions A R RaiseToUser Instruction RobotWare OS The error is propagated to the error handler in the routine at user level if Error Number is not specified Program execution RaiseToUser can only be used in an error handler in a nostepin routine Program execution continues in the error handler of the routine at user level The same error number remains active if the optional parameter ErrorNumber is not present The system s error handler deals with the error if there is no error handler on user level There are two different behaviors after the error handler has been executed The pro gram execution continues in the routine with RaiseToUser if the Continue switch is o
232. oop 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 manual part la Instructions A R 117 FOR RobotWare OS Instruction 118 RAPID reference manual part la Instructions A R GetDataVal Instruction Advanced RAPID GetDataVal Get the value of a data object GetDataVal Get Data Value makes it possible to get a value from a data object that is specified with a string variable Example VAR num value GetDataVal reg ValToStr ReadNum mycom value This will get the value of a register the number of which is received from the serial channel mycom The value will be stored in the variable value VAR datapos block VAR string name VAR num valuevar SetDataSearch num Object my InMod mymod WHILE GetNextSym name block DO GetData Val name Block block valuevar TPWrite name Num valuevar ENDWHILE This session will print out all num variables that begin with my in the mod ule mymod with its value to the FlexPendant Arguments GetDataVal Object Block Value Object Data type string The name of the data object Block Data type datapos The enclosed block to the data object This can only be fetched with the GetNextSym function If this argument is omitte
233. ot 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 This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Examples MoveL p10 v500 z10 tooll PDispOn ExeP p10 p20 tool1 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 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 new robot position used for calculation of the displacement If this argument is omitted the robot s current positio
234. ow 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 Unloading 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 manual part la Instructions A R 227 Load RobotWare OS 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_FILNOTEFND If the module already is loaded into the program memory then the system variable ERRNO is set to ERR_LOADED see Data types errnum If the module cannot be loaded because the program memory is full the system vari able ERRNO is set to ERR_PRGMEMFULL The errors above can be handled in an error handler Synta
235. owing results ISignalAI Single ail AIO_OUTSIDE 6 1 2 2 1 0 DPos siglint A new reference value is stored at sample 7 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 8 will generate an interrupt because the signal value is above HighValue and the signal difference in the positive direction compared to sample 7 is more than DeltaValue 186 RAPID reference manual part la Instructions A R TSignalAl Instruction Analog Signal Interrupt Example 4 of interrupt generation Signal logical value HighValue Signal Value LowValue 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 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 sample 6 will generate an interrupt because the signal difference in the positive direction compared to sample 2 is more than DeltaValue sample 7 and 8 will generate an interrupt because the signal difference in the positive direction compared t
236. p of the robot movement without leaving the path Set the variable ERRNO to ERR_PATH_STOP Transfer the execution to some ERROR handler according the rules for asyn chronously raised errors This instruction doe s nothing in any step mode For description of asynchronously raised errors such as generated with ProcerrRecovery see RAPID kernel reference Error recovery Asynchronously raised errors ProcerrRecovery can also be used in MultiMove system to transfer the execution to the ERROR handler in several program tasks if running in synchronized mode Example with ProcerrRecovery SyncOrgMovelnst MODULE user_module VAR intnum proc_sup_int PROC main MoveL pl v1000 fine tooll do_process ENDPROC 358 RAPID reference manual part la Instructions A R ProcerrRecovery Instruction Advanced RAPID PROC do_process my_proc_on MoveL p2 v200 z10 tooll MoveL p3 v200 fine tooll my_proc_off ERROR IF ERRNO ERR_PATH_ STOP THEN my_proc_on StartMove RETRY ENDIF ENDPROC TRAP iprocfail my_proc_off ProcerrRecovery SyncOrgMovelnst ENDTRAP PROC my_proc_on SetDO do_myproc 1 CONNECT proc_sup_int WITH iprocfail ISignalDI di_proc_sup 1 proc_sup_int ENDPROC PROC my_proc_off SetDO do_myproc 0 IDelete proc_sup_int ENDPROC ENDMODULE Asynchronously raised errors generated by ProcerrRecovery with switch SyncOrgMovelnst can in this example be treated in the routine do_process b
237. p40 axis 2 of Station_A will be moved via the shortest route to position p40 max 180 degrees Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT This error can then be handled in the error handler Syntax IndCMove MecUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt Speed lt expression IN of num gt V Ramp lt expression IN of num gt RAPID reference manual part la Instructions A R 151 IndCMove Independent Axis Instruction Related information Described in Independent axes in general Motion and I O Principles Program execution Change back to normal mode Instructions IndReset Reset the measurement system Instructions IndReset Move an independent axis to a specific Instructions IndAMove IndRMove position Move an independent axis a specific Instructions IndDMove distance Check the speed status for independent Functions IndSpeed axes Check the position status for indepen Functions IndInpos dent axes Defining independent joints System Parameters Manipulator 152 RAPID reference manual part la Instructions A R IndDMove Instruction Independent Axis IndDMove Independent delta position movement IndDMove is used to change an axis to independent mode and move the axis a specific distance An independent axis
238. part la Instructions A R 167 InvertDO RobotWare OS Instruction Error handling Following recoverable error can be generated The error can be handled in an error han dler The system variable ERRNO will be set to ERR NORUNUNIT if there is no contact with the unit Syntax InvertDO 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 I O Principles Configuration of I O System Parameters 168 RAPID reference manual part la Instructions A R IODisable Instruction RobotWare OS IODisable Disable I O unit IODisable 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 1ODisable cell1 5 Disable I O unit with name cell Wait max 5 s Arguments 1ODisable 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
239. path Functions PathRecValidBwd PathRec ValidFwd Move path recorder forward Instructions PathRecMoveFwd Store restore paths Instructions StorePath RestoPath Other positioning instructions RAPID Summary Motion Error Recovery RAPID Summary Error Recovery Basic Char acteristics Error Recovery 330 RAPID reference manual part la Instructions A R PathRecMoveFwd Instruction Path Recovery PathRecMoveFwd Move path recorder forward PathRecMoveFwd is used to move the robot back to the position where PathRecMove Bwd was executed It is also possible to move the robot partly forward by supplying an identifier that has been passed during the backward movement Example PathRecMoveFwd The robot is moved back to the position where the path recorder started the back ward movement Arguments PathRecMoveFwd ID ToolOffs Speed MID Identifier Data type pathrecid Variable that specify the position to move forward to Data type pathrecid is a non value type only used as an identifier for naming the recording position ToolOffs Tool Offset Data type pos Provides clearance offset for TCP during motion A cartesian coordinate is applied to the TCP coordinates This is useful when the robot runs a process add ing material Speed Data type speeddata Speed overrides the speed original used during forward motion Speeddata defines the velocity for the tool centre point the tool reorientation and the e
240. pecify 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 point is the point moved to the specified destination position RAPID reference manual part la Instructions A R MoveL Instruction RobotWare OS 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 tool or coordinated external axes are used this argument must be specified in order to perform a linear move ment relative to the work object Corr Correction Data type switch Correction data written to a cor
241. pulator is of type IRBP R z in mm The mechanical unit will carry out a large number of relative small transport and mea surement movements After all measurements movements and local calculations the load data is returned in argument Payload if used The following load data is calculated Tabell 7 Calculated load data from load identification of external manipulator SOP L A Son co IRBP IRBP IRBP IRBP Calculated load data T B B IRBP IRBP _T D Parameter PayLoad cog x cog x cog x cog Xx cog x COg y cog z in loadd cog y cog y cog y cog y ata cog z in mm Parameter PayLoad ix ix ix iy iz in loaddata in kgm2 iy iy iz iz iz iz The calculated data will be displayed on the FlexPendant Limitations It is not possible to restart the load identification movements after any type of stop such as program stop emergency stop or power failure The load identification movements must be restarted from the beginning again Error handling At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the RAPID reference manual part la Instructions A R 239 ManLoadIdProc RobotWare OS Instruction system variable ERRNO is set to ERR_PID_MOV ESTOP ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoa dldProc Syntax ManLoadIdProc VParldType lt expression IN of paridnum gt VMechUnit
242. pyRawBytes Pack DeviceNet header into rawbytes data Instructions PackDNHeader Pack data into rawbytes data Instructions PackRawBytes Write rawbytes data Instructions WriteRawBytes Read rawbytes data Instructions ReadRawBytes Unpack data from rawbytes data Instructions UnpackRawBytes 38 RAPID reference manual part la Instructions A R Instruction ClkReset Resets a clock used for timing ClkReset RobotWare OS 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 ClkReset Clock 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 variable VAR of clock gt Related Information Data type clock Described in Other clock instructions RAPID Summary System amp Time RAPID reference manual part la Instructions A R 39 ClkReset RobotWare OS Instruction 40 RAPID reference manual part la Instructions A R ClkStart Instruction RobotWare OS 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 clock is started Arguments Cl
243. r 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 RAPID reference manual part la Instructions A R ReadErrData Instruction Advanced RAPID 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 Errorld lt variable VAR of num gt ErrorType lt variable VAR of errtype gt V Str lt variable VAR of string gt V Str2 lt variable VAR of string gt V Str3 lt variable VAR of string gt V Str4 lt variable VAR of string gt V Str5 lt variable VAR of string gt 20 gt Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage Basic Characteristics Interrupts ment 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 manual part la Instructions A R 385 ReadErrData Advanced RAPID Instruction 386 RAPID reference manual part la Instructions A R ReadRawBytes Inst
244. r 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 escape1 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 manual part la Instructions A R 369 RAISE RobotWare OS Instruction Program execution Program 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
245. rAct MechUnit ROB_1 2 WaitTime 1 DitherDeact SoftDeact Dither is enabled only for one second while in soft servo DitherAct MechUnit ROB_1 2 SoftAct MechUnit ROB_1 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 SoftAct is executed for that axis If no DitherDeact is 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 RAPID reference manual part la Instructions A R 83 DitherAct RobotWare OS Instruction 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 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 perform
246. ram pointer is moved to the first instruction in the main routine The program execution continues to execute the next cycle RAPID reference manual part la Instructions A R 113 ExitCycle RobotWare OS Instruction Syntax Execution of ExitCycle in some other program task not controlling mechanical units results in the following 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 moves the PP back to the first instruction in the entry routine instead of the main routine as spec ified above ExitCycle Related information 114 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 Instruct
247. rections 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 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 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
248. rmat and stored in 1 byte in RawData IntX Data type inttypes The Value to be packed has num format is an integer and shall be stored accord ing the specified constant of data type inttypes in RawData See predefined data below Float4 Data type switch The Value to be packed has num format and shall be stored as float 4 bytes in RawData ASCII Data type switch The Value to be packed has byte or string format If the Value to be packed has byte format it will be stored in RawData as 1 byte RAPID reference manual part la Instructions A R PackRawBytes Instruction File and Serial Channel Handling interpreting Value as ASCII code for a character If the Value to be packed has string format 1 80 characters it will be stored in RawData as ASCII characters with the same number of characters as contained in Value String data is not NULL terminated by the system in data of type raw bytes It is up to the programmer to add string header if necessary required for DeviceNet One of argument Hex MntX Float4 or ASCII must be programmed The following combinations are allowed Tabell 13 Data type of Value Allowed option parameters num IntX num Float4 string ASCII 1 80 characters byte Hex1 ASCII Must be integer within the value range of selected symbolic constant USINT UINT UDINT SINT INT or DINT Program execution During program execution data is packed from the
249. ror Recovery Instructions BookErrNo RAPID reference manual part la Instructions A R Err Write Instruction RobotWare OS ErrWrite Write an error message ErrWrite Error Write is used to display an error message on the FlexPendant 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 FlexPen 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 FlexPendant 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 manual part la Instructions A R 109 ErrWrite RobotWare OS Instruction Program execution An error message max 5 lines is display
250. rrWrite IODisable error Not pos sible 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 JODisable 170 RAPID reference manual part la Instructions A R Instruction Syntax IODisable IODisable RobotWare OS UnitName lt expression IN of string gt MaxTime lt expression IN of num gt Related information Described in Enabling an I O unit Instructions IOEnable Input Output instructions RAPID Summary Input and Output Signals Input Output functionality in general Motion and I O Principles I O Principles Configuration of I O System Parameters RAPID reference manual part la Instructions A R 171 IODisable RobotWare OS Instruction 172 RAPID reference manual part la Instructions A R IOEnable Instruction RobotWare OS 1IOEnable 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 sy
251. rrupt is inactive for a short period Syntax ISignalDI LY Single Signal lt variable VAR of signaldi gt Trigg Value lt expression IN of dionum gt Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R 195 TSignalDI RobotWare OS Instruction Related information Described in Summary of interrupts RAPID Summary Interrupts Interrupt from an output signal Instructions ISignalDO More information on interrupt manage Basic Characteristics Interrupts ment More examples Data Types intnum 196 RAPID reference manual part la Instructions A R ISignalDO Instruction RobotWare OS ISignalDO Interrupts from a digital output signal ISignalDO Interrupt Signal Digital Out is used to order and enable interrupts from a digital output signal Examples VAR intnum sig lint CONNECT siglint WITH iroutine1 ISignalDO dol 1 siglint Orders an interrupt which is to occur each time the digital output signal do is set to 7 A call is then made to the iroutine trap routine ISignalDO dol 0 sig1lint 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 Single Signal TriggValue
252. ruction File and Serial Channel Handling ReadRawBytes Read rawbytes data ReadRawBytes is used to read data of type rawbytes from a device opened with Open Bin Example VAR iodev io_device VAR rawbytes raw_data_out VAR rawbytes raw_data_in VAR num float 0 2 VAR string answer ClearRawBytes raw_data_out PackDNHeader 10 20 1D 24 01 30 64 raw_data PackRawBytes float raw_data_out RawBytesLen raw_data_out 1 Float4 Open dsqc328_1 io_device Bin WriteRawBytes io_device raw_data_out ReadRawBytes io_device raw_data_in Time 1 Close io_device UnpackRawBytes raw_data_in 1 answer ASCII 10 In this example raw_data_out is cleared and then packed with DeviceNet header and a float with value 0 2 A device dsqc328_1 is opened and the current valid data in raw_data_out is written to the device Then the program waits for at most second to read from the device which is stored in the raw_data_in After having closed the device dsgc328_1 the read data is unpacked as a string of characters and stored in answer Arguments ReadRawBytes IODevice RawData Time IODevice Data type iodev IODevice is the identifier of the device from which data shall be read RawData Data type rawbytes RawData is the data container where to store data read from JODevice starting at index 1 RAPID reference manual part 1 Instructions A R 387 ReadRawBytes File and Serial Channe
253. rupts ment RAPID reference manual part la Instructions A R 215 Timer RobotWare OS Instruction 216 RAPID reference manual part la Instructions A R IVar Value Instruction Sensor Interface IVar Value orders a variable value interrupt TVarVal 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 adtVIt 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 IVar Value 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 PERS variable
254. s lt expression IN of num gt V ToAbsPos lt expression IN of robtarget gt I VY ToAbsNum lt expression IN of num gt Speed lt expression IN of num gt PY Ramp lt expression IN of num gt Related information Described in Independent axes in general Motion and I O Principles Program execution Change back to normal mode Instructions IndReset Reset the measurement system Instructions IndReset Move an independent axis to a specific Instructions IndRMove position within current revolution Move an independent axis a specific Instructions IndDMove distance Check the speed status for independent Functions IndSpeed axes Check the position status for indepen Functions IndInpos dent axes Defining independent joints System Parameters Manipulator 148 RAPID reference manual part la Instructions A R IndCMove Instruction Independent Axis IndCMove Independent continuous movement IndCMove is used to change an axis to independent mode and start the axis moving continuously at a specific speed An independent axis is an axis moving independently of other axes in the robot system As program execution continues immediately it is possible to execute other instruc tions including positioning instructions during the time the independent axis is mov ing This instruction can only be used in
255. s Described in Independent axes in general Change back to normal mode Motion and I O Principles Program execution Instructions IndReset Reset the measurement system Move an independent axis to an abso lute Move an independent axis a specific Instructions IndReset Instructions IndAMove position Instructions IndDMove distance More examples Check the speed status for independent axes Check the position status for indepen dent axes Instructions IndCMove Functions IndSpeed Functions IndInpos Defining independent joints System Parameters Manipulator RAPID reference manual part la Instructions A R 165 IndRMove Independent Axis Instruction 166 RAPID reference manual part la Instructions A R InvertDO Instruction RobotWare OS 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 do15 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 8 1 Signal level 0 a Execution of the instruction InvertDO Execution of the instruction InvertDO 1 ae Signal level 0 Figure 8 Inversion of a digital output signal RAPID reference manual
256. s using values This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks Example VAR extjoint eax_a_p100 100 0 0 0 0 OJ 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 7 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 gt 0 X ExtOffs Coordinate System re 0 X Figure 7 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 manual part la Instructions A R 97 EOffsSet RobotWare OS 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 time Offsets cannot be added to one another using EOffsSet The external axes offset is automatically reset at a cold start up when a new progr
257. s 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 202 RAPID reference manual part la Instructions A R Instruction Syntax ISignalGI PY Single TSignalGI RobotWare OS Signal lt variable VAR of signalgi gt Interrupt lt variable VAR of intnum gt Related information Described in Summary of interrupts Interrupt from an input signal RAPID Summary Interrupts Instructions ISignalDI Interrupt from group output signals Instructions ISignalGO More information on interrupt manage ment More examples Basic Characteristics Interrupts Data Types intnum RAPID reference manual part la Instructions A R 203 TSignalGI RobotWare OS Instruction 204 RAPID reference manual part la Instructions A R ISignalGO Instruction RobotWare OS ISignalGO Orders interrupts from a group of digital output signals ISignalGO Interrupt Signal Group Digital Out is used to order and enable interrupts from a group of digital output signals Examples VAR intnum sig lint CONNECT sig lint WITH iroutine1 ISignalGO gol sig Lint Orders an interrupt when a digital output group signal change value Arguments ISignalGO Single Signal Interrupt Single Data type switch Specifies whether the interrupt is to occur on
258. s the data container from which the rawbytes data shall be cop ied FromIndex Data type num FromIndex is the position in FromRawData where the data to be copied starts Indexing starts at 1 ToRawData Data type rawbytes ToRawData is the data container to which the rawbytes data shall be copied ToIndex Data type num ToIndex is the position in ToRawData where the data to be copied will be placed Indexing starts at 1 RAPID reference manual part la Instructions A R 63 CopyRawBytes File and Serial Channel Handling Instruction NoOfBytes Data type num The value specified with NoOfBytes is the number of bytes to be copied from FromRawData to ToRawData If WoOfBytes is not specified all bytes from FromIndex to the end of current length of valid bytes in FromRawData is copied Program execution During program execution data is copied from one rawbytes variable to another The current length of valid bytes in the ToRawData variable is set to ToIndex copied_number_of_bytes 1 The current length of valid bytes in the ToRawData variable is not changed if the complete copy operation is done inside the old current length of valid bytes in the ToRawData variable Limitations CopyRawBytes can not be used to copy some data from one rawbytes variable to other part of the same rawbytes variable Syntax CopyRawBytes FromRawData lt variable VAR of rawbytes gt FromIndex lt
259. s written from the data block in the sensor selected by the BlockNo argument SensorNo Data type num The optional SensorNo is used if more than one sensor is connected to the robot controller SensorNo 0 selects the sensor connected to the laser1 channel SensorNo 1 selects the sensor connected to the swg channel If the argument is left out the default SensorNo 0 is used RAPID reference manual part la Instructions A R 379 ReadBlock Sensor Interface Fault management Error constant ERRNO value Instruction Description SEN_NO_MEAS SEN_NOREADY SEN_GENERRO SEN_BUSY SEN_UNKNOWN SEN_EXALARM SEN_CAALARM SEN_TEMP SEN_VALUE SEN_CAMCHECK SEN_TIMEOUT Syntax ReadBlock Measurement failure Sensor unable to handle command General sensor error Sensor busy Unknown sensor External sensor error Internal sensor error Sensor temperature error Illegal communication value Sensor check failure Communication error BlockNo lt expression IN of num gt FileName lt expression IN of string gt L CV SensorNo Related information lt expression IN of num gt Described in Write a sensor variable Read a sensor variable Instructions Write Var Functions Read Var Write a sensor data block Instructions WriteBlock Configuration of 380 System Parameters Communication sensor com munication
260. s_x v10 fine tool0 Only tool calibration in the z direction MToolRotCalib pos_tip pos_z tooll The tool orientation tframe 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 tframe rot of tooll is calculated 300 RAPID reference manual part la Instructions A R MToolRotCalib Instruction RobotWare OS 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 orientation tfame 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 VY XPos
261. sage header data starting at index 1 in RawData Program execution During program execution the DeviceNet message RawData container is first completly cleared and then the header part is packed with data Format DeviceNet Header The instruction PackDNHeader will create a DeviceNet message header with follow ing format Tabell 11 RawData No of Header Format bytes Note Format 1 Internal IRC5 code for DeviceNet Service 1 Hex code for service Size of Path 1 In bytes Path x ASCII chars The data part of the DeviceNet message can afterwards be set with the instruction Pack RawBytes starting at index fetched with RawBytesLen my_rawdata 1 Syntax PackDNHeader Service lt expression IN of string gt Path lt expression IN of string gt RawData lt variable VAR of rawbytes gt 314 RAPID reference manual part la Instructions A R Instruction Related information Tabell 12 PackDNHeader Fieldbus Command Interface Described in rawbytes data Data Types rawbytes Get the length of rawbytes data Clear the contents of rawbytes data Functions RawBytesLen Instructions ClearRawBytes Copy the contents of rawbytes data Pack data to rawbytes data Write rawbytes data Instructions CopyRawBytes Instructions PackRawBytes Instructions WriteRawBytes Read rawbytes data Instructions Read
262. scribed in Define a symbol set in a search session Instructions SetDataSearch Get next matching symbol Functions GetNextSym Set the value of a data object Instructions SetDataVal Set the value of many data objects Instructions SetAl DataVal The related data type datapos Data Types datapos 120 RAPID reference manual part la Instructions A R GetSysData Instruction RobotWare OS 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 0 0 0 0 0 0 0 0 0 0 HE 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 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 manua
263. scuesvcsnscvcstepnacoucenseveedenesukcsynemebetersveuseys 121 GetTrapData Get interrupt data for current TRAP eesssooesssocesssoossssoocesooccesssocssscocsssooe 123 GOTO Goes to a new instruction ssesssesssesssocssoosssesssesssoossoossoossssessocessosesoosssssssesssoesssoses 125 GripLoad Defines the payload of the robot ssoesessoccssosccesssoccsssoossssoocsssoocesosocssssoossssose 127 Hollow WristReset Reset hollow wrist for IRB5402 and IRB5403 scccsssssccssseees 129 Delete Cancels an interrupt ssssccccsssoecesssccesssocessocosesoooecsssecesssocessscosessosesesoeeosssocssssooossso 131 IDisable Disables interrupts essesooesesoscesssocesssoosessocesssooecesoocsssssosssssocesssoeessoseossssosssssoossso 133 IEnable Enables interrupts sesoessoocsssoscesssccesssoosessoocsscoeecsssecssssooesssossesosecssosecesscoosssoossssoo 135 IError Orders an interrupt on errorS ssssecesssecessocosssooecesoocesessosssssosessooesesoeccessoossssoosesso 137 IF If a condition is met then otherwise ssssssesocececeesscsccocccecseoscecoccocccossoocecoceessesoseoceees 141 Incr Increments Dy 1 vesiewsscescciia cei cocivensdecstexussnsaucevedioavecdecssverebicdaccaisssexedasesetaaslstcacdunsseccuaen 143 IndAMove Independent absolute position MOVEMENL cscccccssssssscscsssssscssssssccesseess 145 IndCMove Independent continuous MOVEMENL cccsssrcccsscsssccsssessccc
264. se 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 LY ID lt expression IN of identno gt Speed lt expression IN of speeddata gt LY T lt expression IN of num gt Zone lt expression IN of zonedata gt PY Z lt expression IN of num gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt ProcName lt expression IN of string gt RAPID reference manual part la Instructions A R 283 MoveJSync Fixed Position Events Related information 284 Instruction Described in Other positioning instructions Definition of velocity RAPID Summary Motion Data Types speeddata Definition of zone data Data Types zonedata Definition of tools Definition of work objects Data Types tooldata Data Types wobjdata Motion in general Motion and I O Principles Coordinate systems Motio
265. set is executed This is because the previous position is a stop point and an IndCMove instruction is executed at zero speed Furthermore a pause of 0 2 seconds is used to ensure that the correct status has been achieved Arguments IndReset MecUnit Axis RefPos NRefNum Short Fwd Bwd Old 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 RefPos Reference Position Data type robtarget Axis position specified as a robtarget Only the component for this specific axis is used The position must be inside the normal working range For robot axes the argument RefNum is to be used instead RAPID reference manual part la Instructions A R 157 IndReset Independent Axis Instruction The argument is only to be defined together with the argument Short Fwd or Bwd It is not allowed together with the argument Old RefNum Reference Numeric value Data type num Axis position defined in degrees mm for linear axis The position must be inside the normal working range The argument is only to be defined together with the argument Short Fwd or Bwd It is not allowed together with the argument Old Same function as RefPos but the position is defined as a numeric value to make it easy to change the position manually Short Data type switch The measurement system will change a who
266. 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 an interrupt RAPID reference manual part la Instructions A R 181 TSignalAl Analog Signal Interrupt Instruction Condition for interrupt generation at interrupt subscription time Sample before interrupt subscription RefValue Current Value Interrupt l subscription Ralse CurrentValue tested against Condition HighValue and Low Value True False a DeltaValue 0 True Interrupt generated 182 Continue RAPID reference manual part la Instructions A R TSignalAl Instruction Analog Signal Interrupt Condition for interrupt generation at each sample after interrupt subscription i New Sample Palge CurrentValue checked against Condition HighValue and Low Value True True No DPos or DNeg specified and ooo ABS CurrentValue RefValue gt DeltaValue False DPos specified and True CurrentValue RefValue gt DeltaValue gt False DNeg specified and 1e RefValue CurrentValue gt DeltaValue False Yy RefValue Current Value ABS CurrentValue RefValue gt DeltaValue Interrupt generated False True RefValue Current Value
267. ssccsesessssseees 91 RAPID reference manual part la Instructions A R I Contents EOffsOff Deactivates an offset for external axes eesseesseessoossoosssoesssesssosesosesoessssessosssooses 93 EOffsOn Activates an offset for external axes esssoesssesseessoossoossssssssesssosssosesosssseessosssooses 95 EOffsSet Activates an offset for external axes USING a value cccsccsessccssscsesccssssccseeees 97 EraseModule Erase a module scsccscsssseckscoosveksesncveesdvavsivesnavesbensusvscssvecssescsnasbeachstuasscsausebentiss 99 ErrLog Write an error message ccsscsscccssssssccsssssscccsssssscccssesscscsesesessccsssscssesesesscessoees 101 ErrRaise Writes a warning and Calls an error handler sscccssssscsccsssecccssesssccesseees 105 Err Write Write an error Message isssccisesiscacavisseascctsacssassterseusccecedescuishennscodeddcsedeselasecussdeseces 109 EXIT Terminates program execution sccccssccccsssssccccsssssccsssssscccsssssesscssssssscssssscssssoosees 111 ExitCycle Break current cycle and Start next cssscccsssssscssssscccssssccsssssessccsssssesssseseees 113 FOR Repeats a given number Of times ccssccsssssscccsssssccsssssscccsssssesccssssscscssesssccessesees 115 GetDataVal Get the value of a data object ccccssscccsssssrccsssssssccssssccssssssscccssssssecessesees 119 GetSysData Get system Dabanciicics cvccccsncessccssccaedass casuccv
268. ssccssesssseces 353 ProcerrRecovery Generate and recover from process Move CLLOL ccscccsssseccsssssseeees 357 RAPID reference manual part la Instructions A R M Contents ProcCall Calls a new procedure ei ssssceswessiccccerdsscaceucssecessssareaduidsaucntateseuseacseacsaantavacesecusucdoade 363 PulseDO Generates a pulse on a digital output signal seoesssoossssooesssosecssosccesssoossssoosese 365 RAISE Calls an error handler cossessoescossocssescossocsocsoessocsocscosooesocsocesossossocesossossssescesossoees 369 RaiseToUser Propagates an error to user level ssssssecssssecesseccsssocseesosecssosecesssosssssoosesso 371 ReadAnyBin Read data from a binary serial channel or file cccsccscsscsccrscscseeenees 375 ReadBlock read a block of data from deviCe essoessoesseesssosssoosssosssesssecsssossoossssssssesssose 379 ReadCfgData Reads attribute of a system parameter seocsssoossssoocessosecssosecssssocesssooseee 381 ReadErrData Gets information about an error ssesssessseessecssoossoossssessecsssosssossssoesseessose 383 ReadRawBytes Read rawbytes data sssoescssosssssocessoscccsoscccsssscossssoscessosesssoecesosoossssoosssso 387 RemoveDir Delete a directory sesesesssecessscecesssoossssocessoooecessoecesssoossssosesesocesesoeecesseossssoooseso 391 Remove bile Delete a file sss cesscssedscosvitcstucsonteceseuvesvcveceveugssoascdacondcoceicsecsvess
269. ssoessssocsesoocesossecessocesssoossssoo 59 CopyFile Copy a file sessisisissessssscessssssinssisizsessosseosesssokosres sss toseis isois ssss tess is oni eoo voos ieses soose sssi so 61 CopyRawBytes Copy the contents of rawbytes data cscccssssssscessssscccssssrccsssesssccessesees 63 CorrClear Removes all correction Generators ccccccccssssscccssssscccsssssccsssssccscsssssesceseses 67 CorrCon Connects to a correction GENETALOL ccserrcccesssrcccssessccsssssecscsssssccssssssecssessees 69 CorrDiscon Disconnects from a correction GENELatOL sccccccrrcccsssssscscssssrcccssssscccssscsees 75 CorrWrite Writes to a correction generator ccescscccesssscccesescccsssssscscssssscsssssssscessessees 77 DeactUnit Deactivates a mechanical unit esssesssesssoossooesssesseessoosssossssosssesssocssoosssossssesssee 79 Decr Decrements Dy Wve siceetacinsesssteccdedciaicereitsadecdacwedecstavectensasssaseduissceesanswncelachetodebteassoauaveaveeacs 1 DitherAct Enables dither for soft Servo csccccsscscsscsccsscsccsscscsssesccssescesesscesesscesessceseees 83 DitherDeact Disables dither for soft Servo esssesssesssoossoossosesssessoosssossosessseessosssoossosssssssseee 87 DropSensor Drop Object ON Sensor sseescccssocssocsssecesccescossoocssoecscccesosseoossscessocesocesoossssesssee 89 DropWObj Drop work Object ON Conveyor ccsscccccsssssscsscsscccsssssccsssssesssesss
270. stem parameters When required for some reason I O units can be disabled or enabled dur ing program execution Examples CONST string cell1 cell1 1OEnable cell1 5 Enable I O unit with name cell 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_TOENABLE 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 the 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 manual part la Instructions A R 173 IOEnable RobotWare OS 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 IODisable r
271. stop with an error message If motion supervision is active in system parameters it is by default active during pro gram execution TuneValue 100 These values are set automatically at a cold start up when a new program is loaded when starting program execution from the beginning Limitations Motion supervision is never active for external axes or when one or more joints are run in independent joint mode When using the robot in the soft servo mode it may be nec essary to turn the motion supervision off to avoid accidental tripping 246 RAPID reference manual part la Instructions A R MotionSup Instruction Collision Detection Syntax MotionSup V On V Off PV Tunevalue lt expression IN of num gt Related information Described in General description of the function Motion Principles Motion Supervision Tuning using system parameters System Parameters RAPID reference manual part la Instructions A R 247 MotionSup Collision Detection Instruction 248 RAPID reference manual part la Instructions A R MoveAbsJ Instruction RobotWare OS 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
272. suddseedschevecsvcescededs 393 RenameFile Remaining a Bile sssr svescccpseveasspusesccdusevonsvonavesccnauvsesupssusatsvncvehsesnsusbasseeveksdenasbecaap 395 Reset Resets a digital output Sigtnal ccccscsscccssssssccccsssssccssssssccssssssesscssssssscssesssssesoeses 397 RestoPath Restores the path after an interrupl ccccccccsssssscccssssssccsssssscccssssscccsseeees 399 RETURN Finishes execution of a routine seessooessesssesssocssoossoosssosssesessossoossssssssesssosssoose 401 Rewind Rewind file position ccsccccsssssccsssssscccssssssccssssscccssesssccessesscccssssecsscsssesscessocsces 403 RETRY Resume execution after an error sesssesssoessoosssesssesssocssoossoosssoessecsssosssosessssssesssose 405 IV RAPID reference manual part la Instructions A R AccSet Instruction RobotWare OS AccSet Reduces the acceleration AccSet is used when handling fragile loads It allows slower acceleration and deceler ation which results in smoother robot movements This instruction can only be used in the Main task or if in a MultiMove System in Motion tasks 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 Acc Data type num Acceleration and deceleration as a percentage of the normal values 100 corresponds to maximum acceleration Maximum val
273. t expression IN of speeddata gt PY V lt expression IN of num gt IEY T lt expression IN of num gt Zone lt expression IN of zonedata gt PY Z lt expression IN of num gt LV Inpos lt expression IN of stoppointdata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt PV Corr Related information Described in Other positioning instructions RAPID Summary Motion 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 Writes to a corrections entry Instructions CorrWrite Motion in general Motion and I O Principles Coordinate systems Motion and I O Principles Coordinate Systems Concurrent program execution Motion and I O Principles Synchronisation Using Logical Instructions 260 RAPID reference manual part la Instructions A R MoveCDO Instruction RobotWare OS 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
274. t is first reversed along the path before welding starts and ordinary program execution can continue 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 Syntax RestoPath Related information Described in Storing paths Instructions StorePath 400 RAPID reference manual part la Instructions A R RETURN Instruction RobotWare OS 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 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 pr
275. t what caused the trap to be executed 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 manual part la Instructions A R 123 GetTrapData Advanced RAPID Syntax GetTrapData Instruction TrapEvent lt variable VAR of trapdata gt Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage ment 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 124 RAPID reference manual part la Instructions A R GOTO Instruction RobotWare OS GOTO Goes to a new instruction GOTO is used to transfer program execution to another line a label within the same routine Examples GOTO next next Program execution continues with the instruction following next r
276. tallation with roomfix TCP Limitations It is not possible to restart the load identification movements after any type of stop such as program stop emergency stop or power failure The load identification movements must be restarted from the beginning again Error handling Syntax At any error during execution of the RAPID NOSTEPIN routine LoadId the system variable ERRNO is set to ERR_PID_ MOVESTOP ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the program pointer is raised to the user call of LoadId LoadId ParldType lt expression IN of paridnum gt LoadIdType lt expression IN of loadidnum gt Tool lt persistent PERS of tooldata gt V PayLoad lt persistent PERS of loaddata gt VY WObj lt persistent PERS of wobjdata gt V ConfAngle lt expression IN of num gt V SlowTest VY Accuracy lt variable VAR of num gt RAPID reference manual part la Instructions A R 233 RobotWare OS Instruction Related information Described in Predefined program Load Identify Calibration Identification of tool and payload data Type of parameter identification Data Types paridnum Result of ParldRob Valid Data Types paridvalidnum Type of load identification Data Types loadidnum Valid robot type Functions ParldRobValid Valid robot position Functions ParldPosValid 234
277. tart 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchronized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 256 RAPID reference manual part la Instructions A R Instruction MoveC RobotWare OS 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 sp
278. tart is used to start recording the robot s path The path recorder will store path information during execution of the RAPID program Example VAR pathrecid fixture_id PathRecStart fixture_id The path recorder is started and the starting point the instruction s position in the RAPID program is tagged with the identifier fixture_id Arguments PathRecStart ID ID Identifier Data type pathrecid Variable that specify the name of the recording start position Data type pathrecid is anon value type only used as an identifier for naming the recording position Program execution When the path recorder is ordered to start the robot path will be recorded internally in the robot controller The recorded sequence of program positions can be traversed backwards by means of PathRecMoveBwd causing the robot to move backwards along its executed path Example VAR pathrecid origin_id VAR pathrecid corner_id VAR num choice MoveJ p1 vmax z50 tool1 PathRecStart origin_id MoveJ p2 vmax z50 tool1 PathRecStart corner_id MoveL p3 vmax z50 tooll MoveAbsJ jt4 vmax fine tooll RAPID reference manual part la Instructions A R 335 PathRecStart Path Recovery Instruction ERROR TPReadFK choice Extract to stEmpty stEmpty stEmpty Ori gin Corner IF choice 4 OR choice 5 THEN StorePath IF choice 4 THEN PathRecMoveBwd ID origin_id ELSE PathRecMoveBwd ID corner_id ENDIF Stop Fix problem
279. tem 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 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 21 p3 Sets the signal dol to 1 MoveLDO p2 v1000 z30 tool2 dol 1 Zone Figure 21 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 292 RAPID reference manual part la Instructions A R MoveLDO Instruction RobotWare OS 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 Syntax MoveLDO ToPoint lt expression IN of robtarget gt V ID lt expression IN of identno gt Speed lt expression IN of speeddata gt LPY T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt LY WObj
280. ter is outside the limit 0 100 counter is assigned the corresponding limit value Program execution 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 Syntax 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 142 Described in Conditions logical expressions Basic Characteristics Expressions RAPID reference manual part la Instructions A R Incr Instruction RobotWare OS Incr Increments by 1 Incr is used to add 1 to a numeric variable or persistent Example Incr regl 1 is added to reg i e reg1 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 ENDWHILE The number of parts produced is updated on the FlexPendant each cycle Production continues to run as long as the signal stop_production is not set Synt
281. th to the directory Limitations Open directories should always be closed by the user after reading instruction CloseDir Error handling If the path points to a not existing directory or if there are too many directories open at the same time the system variable ERRNO is set to ERR_FILEACC This error can then be handled in the error handler RAPID reference manual part la Instructions A R 311 OpenDir File and Serial Channel Handling Syntax OpenDir Instruction Dev lt variable VAR of dir gt Path lt expression IN of string gt Related information 312 Described in Directory dir Read a directory ReadDir Close a directory CloseDir Check file type IsFile RAPID reference manual part la Instructions A R PackDNHeader Instruction Fieldbus Command Interface PackDNHeader Pack DeviceNet Header into rawbytes data PackDNHeader is used to pack the header of a DeviceNet explicit message into a con tainer of type rawbytes The data part of the DeviceNet message can afterwards be set with the instruction PackRawBytes Example VAR rawbytes raw_data PackDNHeader 0E 6 20 01 24 01 30 06 9 4 raw_data Pack the header for DeviceNet explicit message with service code OE and path string 6 20 01 24 01 30 06 9 4 into raw_data corresponding to get the serial number from some I O unit This message is ready to send wi
282. the DeltaValue con dition At the interrupt subscription time if specified DeltaValue 0 and after the interrupt subscription time always at each time the signal is sampled its value is then compared 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 High Value 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
283. 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 RAPID reference manual part la Instructions A R 273 MoveJ RobotWare OS Instruction 274 This argument can not be used in coordinated synchronized movement in a Mul tiMove System 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 MD Synchronization id Data type identno This argument must be used in a MultiMove System if coordinated synchronized movement and is not allowed in any other cases The specified id number must be the same in all cooperating program tasks The id number gives a guarantee that the movements are not mixed up at runtime 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 th
284. thout filling the message with additional data VAR rawbytes raw_data PackDNHeader 10 20 1D 24 01 30 64 raw_data Pack the header for DeviceNet explicit message with service code 70 and path string 20 ID 24 01 30 64 into raw_data corresponding to set the filter time for the rising edge on insignal 1 for some I O unit This message must be increased with data for the filter time This can be done with instruction PackRawBytes starting at index RawBytesLen raw_data 1 done after PackDNHeader Arguments PackDNHeader Service Path RawData Service Data type string The service to be done such as get or set attribute To be specified with a hexadecimal code in a string e g 1F String length 2 characters Format 0 E 0 a f A x F Range 00 FF The values for the Service is found in the EDS file For a more detailed descrip tion see the Open DeviceNet Vendor Association DeviceNet Specification rev 2 0 RAPID reference manual part la Instructions A R 313 PackDNHeader Fieldbus Command Interface Instruction 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 Support for both long string format e g 6 20 1D 24 01 30 64 8 1 and short string format e g 20 1D 24 01 30 64 RawData Data type rawbytes Variable container to be packed with mes
285. tine variable The new error variable must be declared with an initial value of 1 that gives the information that this error should be a RAPID system error Syntax BookErrNo ErrorName lt variable VAR of errnum gt Related information Described in Error handling Basic Characteristics Error Recovery Error number Data types errnum Call an error handler Instructions RAISE 18 RAPID reference manual part la Instructions A R Break Instruction RobotWare OS Break Break program execution 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 variables 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 Described in Stopping for program actions Instructions Stop Stopping after a fatal error Instructions EXIT Terminating program execution Instructions EXIT Only stopping robot movements Instructions
286. tion 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 RAPID reference manual part la Instructions A R 213 Timer RobotWare OS Instruction 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 ch1 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 SignalDI Syntax ITimer V Single Time lt expression IN of num gt Interrupt lt variable VAR of intnum gt 214 RAPID reference manual part la Instructions A R ITimer Instruction RobotWare OS Related information Described in Summary of interrupts RAPID Summary Interrupts More information on interrupt manage Basic Characteristics Inter
287. to order and enable interrupts from a digital input signal Examples VAR intnum sig1lint CONNECT siglint WITH iroutine1 ISignalDI dil 1 siglint Orders an interrupt which is to occur each time the digital input signal di is set to Z A call is then made to the iroutine trap routine ISignalDI dil 0 sig lint Orders an interrupt which is to occur each time the digital input signal di is set to 0 ISignalDI Single dil 1 sig1lint 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 manual part la Instructions A R 193 TSignalDI RobotWare OS 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 TriggValue 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 T
288. truction 32 RAPID reference manual part la Instructions A R ClearlOBuff Instruction File and Serial Channel Handling ClearIOBuff Clear input buffer of a serial channel ClearlOBuff 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 ClearIOBuff channel2 WaitTime 0 1 The input buffer for the serial channel referred to by channel2 is cleared The waittime guarantees the clear operation enough time to finish 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 No wait for acknowledge of the operation is done A waittime 0 1 after the instruction is recommended to give the operation enough time in every application 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 RAPID reference manual part la Instructions A R 33 ClearlOBuff File and Serial Channel Handling Instruction Syntax ClearlOBuff IODevice lt variable VAR of iodev gt
289. truction Analog Signal Interrupt Example 2 of interrupt generation Signal logical value HighValue Signal Value LowValue 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 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 DeltaValue RAPID reference manual part la Instructions A R 185 TSignalAl Analog Signal Interrupt Instruction Example 3 of interrupt generation Signal logical value iit lt d S HighValue Signal Value LowValue 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 foll
290. ttempt is made to execute the axis manually the axis will not move and an error message will be displayed Execute an IndReset instruction or move the program pointer to main in order to leave independent mode If a loss of voltage occurs when the axis is in independent mode the program cannot be restarted An error message is displayed and the program must be started from the beginning The instruction is not advisable for coupled robot wrist axes see Rapid Reference Manual Motion and I O Principles Positioning during Program Excution Indepen dent Axes RAPID reference manual part la Instructions A R IndAMove Instruction Independent Axis Example IndAMove Robot 6 ToAbsNum 90 20 WaitUntil IndInpos Station_A 1 TRUE WaitTime 0 2 IndDMove Station_A 2 30 20 WaitUntil IndInpos Station_A 1 TRUE WaitTime 0 2 IndDMove Station_A 2 400 20 Axis 6 of the robot is moved to the following positions e 90 degrees e 60 degrees e 460 degrees 1 revolution 100 degrees Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT This error can then be handled in the error handler Syntax IndDMove MecUnit lt variable VAR of mecunit gt Axis lt expression IN of num gt Delta lt expression IN of num gt Speed lt expression IN of num gt V Ramp lt expression IN
291. ue 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 RAPID reference manual part la Instructions A R 1 AccSet RobotWare OS Instruction 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 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 num gt Related information Described in Positioning instructions RAPID Summary Motion 2 RAPID reference manual part la Instructions A R ActUnit Instruction RobotWare OS 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
292. ue 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 19 p3 Sets the signal dol to 1 MoveJDO p2 v1000 z30 tool2 dol 1 Zone Figure 19 Set Reset of digital output signal in the corner path with MoveJDO For stop points we recommend the use of normal programming sequence with 278 RAPID reference manual part la Instructions A R MoveJDO Instruction RobotWare OS 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 stepwise for ward but not in stepwise backward Syntax MoveJDO ToPoint lt expression IN of robtarget gt V ID lt expression IN of identno gt Speed lt expression IN of speeddata gt LY T lt expression IN of num gt Zone lt expression IN of zonedata gt Tool lt persistent PERS of tooldata gt LY WObj lt persistent PERS of wobjdata gt Signal lt variable VAR of signaldo gt Value lt expression IN of dionum gt Related information Describe
293. ue 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 Data type num The value to be added Syntax Add Name lt var or pers INOUT of num gt AddValue lt expression IN of num gt RAPID reference manual part la Instructions A R 5 Add RobotWare OS Instruction Related information Described in Incrementing a variable by 1 Instructions Incr Decrementing a variable by 1 Instructions Decr Changing data using an arbitrary Instructions expression e g multiplication 6 RAPID reference manual part la Instructions A R AliasIO Instruction Advanced RAPID AliasIO Define I O signal with alias name AliasIO is used to define a signal of any type with an alias name or to use signals in built in task modules Signals with alias names can be used for predefined generic programs without any modification of the program before running in different robot installations The instruction AliasJO must be run before any use of the actual signal See example 1 below for loaded modules and example 2 below for builtin modules Example 1 VAR signaldo alias_do PROC prog_start AliasIO config_do alias_do ENDPROC The routine prog_start is connected to the START event in system parameters The program defined digital output signal alias_do is
294. um gt Related information Opening etc of serial channels RAPID Summary Communication or files Write data to a binary serial channel Instructions WriteAnyBin or file RAPID reference manual part 1 Instructions A R 377 ReadAnyBin File and Serial Channel Handling Instruction 378 RAPID reference manual part 1 Instructions A R ReadBlock Instruction Sensor Interface ReadBlock read a block of data from device ReadBlock Write Block is used to read a block of data from a device connected to the serial sensor interface The data is stored in a file on ramdisk or floppy disk The sensor interface communicates with a maximum of two sensors over serial channels using the RTP1 transport protocol The two channels must be named laser1 and swg This is an example of a sensor channel configuration COM_PHY_CHANN name siol type sio Channel 1 Baudrate 19200 COM_TRP Name laser1 Type RTP1 PhyChnnel siol Example CONST string SensorPar flp1 senpar cfg CONST num ParBlock 1 Read sensor parameters from sensor datablock 1 and store on flp1 senpar cfg ReadBlock ParBlock SensorPar Arguments ReadBlock BlockNo FileName SensorNo BlockNo Data type num The argument BlockNo is used to select the data block in the sensor to be read FileName Data type string The argument FileName is used to define a file to which data i
295. ure 15 A complete circle is performed by two MoveC instructions RAPID reference manual part la Instructions A R 255 MoveC RobotWare OS Instruction Arguments MoveC Conc CirPoint ToPoint ID Speed V NT Zone Z Inpos Tool WObj Corr Conc Concurrent Data type switch Subsequent instructions are executed while the robot is moving The argument can be used to avoid unwanted stops caused by overloaded CPU when using fly by points and in this way shorten cycle time This is useful when the programmed points are very close together at high speeds The argument is also useful when for example communicating with external equipment and synchronisation between the external equipment and robot movement 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 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 This argument can not be used in coordinated synchronized movement in a Mul tiMove System 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 s
296. used File Data type string When the file name is excluded in the argument FilePath then it must be defined with this argument Program 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 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 FlexPendant function Program File Check is used no check for unresolved references will be done if the parameter BindRef 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 se example In this case the BindRef param eter 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 Examp
297. 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 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 VDPos VDNeg Interrupt lt variable VAR of intnum gt RAPID reference manual part la Instructions A R 191 ISignalAO Analog Signal Interrupt Instruction Related information Described in Summary of interrupts RAPID Summary Interrupts Definition of constants Data Types aiotrigg Interrupt from analog input signal Instructions ISignalAI Interrupt from digital input signal Instructions SignalDI Interrupt from digital output signal Instructions ISignalDO More information on interrupt manage Basic Characteristics Interrupts ment More examples Data Types intnum Related system parameters filter System Parameters IO Signals 192 RAPID reference manual part la Instructions A R TSignalDI Instruction RobotWare OS ISignalDI Orders interrupts from a digital input signal ISignalDI Interrupt Signal Digital In is used
298. variable of type anytype into a con tainer of type rawbytes The current length of valid bytes in the RawData variable is set to StartIndex packed_number_of_bytes 1 The current length of valid bytes in the RawData variable is not changed if the complete pack operation is done inside the old current length of valid bytes in the RawData variable Predefined data The following symbolic constants of the data type inttypes are predefined and can be used to specify the integer in parameter V ntx RAPID reference manual part la Instructions A R 319 PackRawBytes File and Serial Channel Handling Instruction Tabell 14 anv oe Integer format Integer value range USINT 1 Unsigned 1 byte integer 0 255 UINT 2 Unsigned 2 byte integer 0 65 535 UDINT 4 Unsigned 4 byte integer 0 8 388 608 SINT 1 Signed 1 byte integer 128 127 INT 2 Signed 2 byte integer 32 768 32 767 DINT 4 Signed 4 byte integer 8 388 607 8 388 608 RAPID limitation for storage of integer in data type num Syntax PackRawBytes Value lt variable VAR of anytype gt RawData lt variable VAR of rawbytes gt LV Network StartIndex lt expression IN of num gt PY Hex1 V IntX lt expression IN of inttypes gt PY Float4 V ASCII 320 RAPID reference manual part la Instructions A
299. veC RobotWare OS Instruction 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 orientation at the destination point The reorientation is performed relative to the circular path Thus if the orienta tion relative to the path is the same at the start and the destination points the relative orientation remains unchanged during the movement see Figure 16 CirPoint Tool orientatio Start point ToPoint Figure 16 Tool orientation during circular movement 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
300. 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 manual part la Instructions A R 169 IODisable RobotWare OS 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_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 Example 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 MoveJ 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 E
301. x Load VY Dynamic FilePath lt expression IN of string gt PV File lt expression IN of string gt Related information Described in Unload a program module Load a program module in parallel with another program execution Instructions UnLoad Instructions StartLoad WaitLoad Accept unresolved references System Parameters Controller Tasks BindRef 228 RAPID reference manual part la Instructions A R LoadId Instruction RobotWare OS LoadId Load identification of tool or payload LoadId Load Identification can be used for load identification of tool also gripper tool if roomfix TCP or payload activates with instruction GripLoad by executing a user defined RAPID program Note an easier way to identify the tool loading or payload is to use the interactive dia logue RAPID program LoadIdentify This program can be started from the menu Program Window Special Call Service Routine LoadIdentify Example VAR bool invalid_pos TRUE VAR jointtarget joints VAR bool valid_joints 12 CONST speeddata low_ori_speed 20 5 20 5 VAR bool slow_test_flag TRUE PERS tooldata grip3 TRUE 97 4 0 223 1 0 924 0 0 383 0 0 0 0 0 1 0 0 0 0 0 0J Check if valid robot type IF ParlIdRobValid TOOL_LOAD_ID lt gt ROB_LOAD_VAL THEN EXIT ENDIF Check if valid robot position WHILE invalid_pos
302. xis is moved in a positive direction to the new position This means that the maximum rotation will be 360 degrees and always in a positive direction increased position value Bwd Backward Data type switch The axis is moved in a negative direction to the new position This means that the maximum rotation will be 360 degrees and always in a negative direction decreased position value If Short Fwd or Bwd argument is omitted Short is used as default value Speed Data type num Axis speed in degrees s Ramp Data type num Decrease acceleration and deceleration from maximum performance 1 100 100 maximum performance Program execution 162 When IndRMove is executed the specified axis starts to move at the programmed speed to the specified axis position but only a maximum of one revolution If Ramp is pro grammed there will be a reduction of acceleration deceleration To change the axis back to normal mode the ndReset instruction is used The logical position of the axis can be changed in connection with this a number of full revolu tions can be erased from the position for example to avoid rotating back for the next movement RAPID reference manual part la Instructions A R IndRMove Instruction Independent Axis The speed can be changed by running a further JndRMove instruction or another Ind_Move instruction If a speed in the opposite direction is selected the axis stops and then acce
303. xter 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 WoEOffs there will be no offset for external axes Without switch WWoEOffs 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 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 RAPID reference manual part la Instructions A R 251 MoveAbsJ RobotWare OS Instruction Examples MoveA
304. xter nal axis If present this speed will be used throughout the forward movement If omitted the forward motion will execute with the speedin the original motion instructions Program execution The path recorder is activated with the PathRecStart instruction After the recorder has been started the robot can be moved backwards along its executed path by executing PathRecMoveBwd The robot can thereafter be ordered back to the position where the backward execution started by calling PathRecMoveFwd It is also possible to move the robot partly forward by supplying an identifier that has been passed during the backward movement RAPID reference manual part la Instructions A R 331 PathRecMoveFwd Path Recovery Instruction Examples VAR pathrecid start_id VAR pathrecid mid_id CONST robtarget p1 CONST robtarget p2 CONST robtarget p3 PathRecStart start_id MoveL p1 vmax z50 tooll MoveL p2 vmax z50 tooll PathRecStart mid_id MoveL p3 vmax z50 tooll StorePath PathRecMoveBwd ID start_id PathRecMoveFwd D mid_id PathRecMoveFwd RestoPath p1 p2 p3 MoveL MoveL y MoveL start_id mid_id 4 PathRecMoveBwd PathRecMoveFwd _ ID mid_id gt PathRecMoveFwd 3 The example above will start the path recorder and the starting point will be tagged with the path identifier start_id Thereafter the robot will move forward with traditional move instructions and then move back

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