RAPL 3 - Reference Guide. - Phoenix Goucher

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ii RAPL-3 Reference Guide RAPL-3 Language Reference Guide Revision Revision History Date 001 Initial release as UMI-R3-210 for C500C. CROS 1.16. 001a CROS 2.0.1080. Recent revision information is in the release notes on the diskettes. 001b Replaced references to the Application Development Guide with references to the Robot System Software Documentation Guide. 99-05 99-09 00-11 Copyright © 2000 CRS Robotics Corporation RAPL-3 and RAPL are trademarks of CRS Robotics Corporation and may be used to describe only CRS Robotics products. All brand names and product names used in this guide are trademarks, registered trademarks, or trade names of their respective holders. The information in this document is subject to change without notice. CRS Robotics Corporation makes no warranty of any kind with regard to this material, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. CRS Robotics Corporation assumes no responsibility for any errors that may appear in this document. CRS Robotics Corporation makes no commitment to update nor to keep current the information contained in this document. CRS Robotics Corporation software products shall remain the property of CRS Robotics Corporation. Questions about the RAPL-3 programming language can be directed to the Customer Support Department. RAPL-3 and robot training courses are offered at CRS Robotics in Burlington, Ontario, Canada, or can be conducted at your facility. For additional information contact the Customer Support Department. Additional copies of this guide, or other CRS Robotics literature, may be obtained from the Sales Department or from your distributor. CRS Robotics Corporation Mail/Shipping: 5344 John Lucas Drive, Burlington, Ontario L7L 6A6, Canada Telephone: 1-905-332-2000 Telephone (toll free in Canada and United States): 1-800-365-7587 Facsimile: 1-905-332-1114 E-Mail (General): info@crsrobotics.com E-Mail (Customer Support): support@crsrobotics.com Web: www.crsrobotics.com
RAPL-3 Reference Guide iii CRS Licence Agreement IMPORTANT! – READ CAREFULLY BEFORE OPENING SOFTWARE PACKET(S) By opening the sealed packet(s) containing the software, you indicate your acceptance of the following CRS Licence Agreement. A. CRS LICENCE AGREEMENT This is a legal binding agreement between you, the end user, (either an individual or an entity) and CRS Robotics Corporation (“CRS”). By opening the sealed software packages and/or by using the SOFTWARE program you agree to be bound by the terms of this Agreement. If you do not agree to the terms of this Agreement, promptly return the unopened software and the accompanying items (including printed materials and binders or other containers) to CRS for a full refund. If you are acting on behalf of a corporation, you represent to CRS that you are authorized to act on behalf of such organization and that your assent to the terms of this Agreement creates a legally enforceable obligation on your organization. As used herein, “you” and “your” refers to you and any organization on behalf of which you are acting. This Agreement together with any applicable CRS Agreement embodies the entire understanding between the parties with respect to, and supersedes any prior understanding or agreement, oral or written, relating to the SOFTWARE. B. CRS ROBOTICS CORPORATION (“CRS”) SOFTWARE LICENCE 1. GRANT OF LICENCE: This Licence Agreement permits you to use one copy of the enclosed CRS “POLARA” software program (“SOFTWARE”) on a single computer. The SOFTWARE is in “use” on a computer when it is loaded into temporary memory (ie. RAM) or installed into permanent memory (e.g. hard disk, CD-ROM, or other storage device) of that computer. However, installation on a network for the sole purpose of internal distribution shall not constitute “use” for which a separate licence is required, provided you have a separate licence for each computer which the SOFTWARE is distributed. In no event may the total number of users on a network exceed the number of licences acquired for a network. If you make additional copies of the SOFTWARE or its accompanying documentation contrary to this Agreement, or if the number of users is greater than that for which you have paid a licence fee, CRS may require that you immediately make payment to CRS for such copies and/or such use at the current list price. This remedy is in addition to any other remedies that CRS may have against you. 2. UPGRADES: Upgrades to SOFTWARE may be provided by CRS at a 20% annual cost of the original price of the software. If the SOFTWARE is an upgrade from another software product licensed to you, whether a CRS product or a thirdparty product, the SOFTWARE must be used and transferred in conjunction with the upgraded product, unless you destroy the upgraded product. You are authorized to use the SOFTWARE only if you are an authorized user of a qualifying product as determined by CRS. 3. COPYRIGHT: The SOFTWARE (including any images, photographs, animations, video, audio, music and text incorporated into the SOFTWARE is owned by CRS and is protected by copyright laws and international treaty provisions. Therefore, you must treat the SOFTWARE like any other copyrighted
Page 1: RAPL-3 Language Reference Guide UMI
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Page 7 and 8: RAPL-3 Reference Guide vii Contents
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Page 19 and 20: Preface This guide is a reference m
Page 21 and 22: RAPL-3 Reference Guide 3 Commands a
Page 23 and 24: C HAPTER 1 General Program Format A
Page 25 and 26: subroutine main function RAPL-3 Ref
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Page 31 and 32: C HAPTER 2 Data Types and Variables
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Page 35 and 36: Declarations RAPL-3 Reference Guide
Page 37 and 38: Strings RAPL-3 Reference Guide 19 T
Page 39 and 40: Arrays RAPL-3 Reference Guide 21 An
Page 41 and 42: RAPL-3 Reference Guide 23 Teachable
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Page 45 and 46: RAPL-3 Reference Guide 27 Pointers
Page 47 and 48: Record Structures RAPL-3 Reference
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CHAPTER 3 Expressions, Assignment,
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RAPL-3 Reference Guide 37 Assignmen
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RAPL-3 Reference Guide 39 Symbol Fo
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CHAPTER 4 Constants For the most pa
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String Constants RAPL-3 Reference G
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Location Constants RAPL-3 Reference
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CHAPTER 5 Control Flow When a progr
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RAPL-3 Reference Guide 49 message_1
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RAPL-3 Reference Guide 51 expressio
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RAPL-3 Reference Guide 53 (b) if wi
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RAPL-3 Reference Guide 55 false (eq
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CHAPTER 6 Subroutines, Functions an
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RAPL-3 Reference Guide 59 Kinds of
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RAPL-3 Reference Guide 61 Where mai
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RAPL-3 Reference Guide 63 sub beta(
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RAPL-3 Reference Guide 65 Libraries
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RAPL-3 Reference Guide 67 Relevant
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CHAPTER 7 Preprocessor Directives W
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RAPL-3 Reference Guide 71 What has
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RAPL-3 Reference Guide 73 Preproces
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RAPL-3 Reference Guide 75 .include
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CHAPTER 8 Structured Exception Hand
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RAPL-3 Reference Guide 79 A subprog
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CHAPTER 9 Library Subprograms The l
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RAPL-3 Reference Guide 83 Where a f
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RAPL-3 Reference Guide 85 DELAY del
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RAPL-3 Reference Guide 87 ONSIG loo
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RAPL-3 Reference Guide 89 @ACCEL ac
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Subprograms: Category Listing These
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RAPL-3 Reference Guide 93 Win 32 Th
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Calibration RAPL-3 Reference Guide
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Date and Time RAPL-3 Reference Guid
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RAPL-3 Reference Guide 99 Digital I
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RAPL-3 Reference Guide 101 Error Me
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RAPL-3 Reference Guide 103 ENOCLIEN
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RAPL-3 Reference Guide 105 File Inp
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RAPL-3 Reference Guide 107 File and
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Front Panel RAPL-3 Reference Guide
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Gripper RAPL-3 Reference Guide 111
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Location RAPL-3 Reference Guide 113
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Memory RAPL-3 Reference Guide 115 h
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RAPL-3 Reference Guide 117 jog_ws w
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RAPL-3 Reference Guide 119 teach_me
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Robot Configuration RAPL-3 Referenc
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RAPL-3 Reference Guide 123 xpulses_
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Stance RAPL-3 Reference Guide 125 U
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String Manipulation RAPL-3 Referenc
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RAPL-3 Reference Guide 129 System P
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RAPL-3 Reference Guide 131 Tool Tra
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RAPL-3 Reference Guide 133 shell da
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RAPL-3 Reference Guide 135 v3_new C
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RAPL-3 Reference Guide 137 NPIPE_ST
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Subprograms: Alphabetical Listing S
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RAPL-3 Reference Guide 141 RAPL-II
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RAPL-3 Reference Guide 143 3 879 26
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RAPL-3 Reference Guide 145 RAPL-II
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RAPL-3 Reference Guide 147 correspo
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RAPL-3 Reference Guide 149 Result I
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RAPL-3 Reference Guide 151 ;; inclu
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RAPL-3 Reference Guide 153 Example
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RAPL-3 Reference Guide 155 Paramete
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RAPL-3 Reference Guide 157 end func
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RAPL-3 Reference Guide 159 ... cfg_
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RAPL-3 Reference Guide 161 chdir De
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Category Win 32 RAPL-3 Reference Gu
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RAPL-3 Reference Guide 169 trig1[0,
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RAPL-3 Reference Guide 171 speed_se
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RAPL-3 Reference Guide 173 new file
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RAPL-3 Reference Guide 179 See Also
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RAPL-3 Reference Guide 181 Returns
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RAPL-3 Reference Guide 183 finish D
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RAPL-3 Reference Guide 185 Result C
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RAPL-3 Reference Guide 187 -EINTR t
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RAPL-3 Reference Guide 189 gains_se
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RAPL-3 Reference Guide 191 string[]
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RAPL-3 Reference Guide 193 printf(
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RAPL-3 Reference Guide 195 Argument
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RAPL-3 Reference Guide 197 Descript
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RAPL-3 Reference Guide 201 here Des
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RAPL-3 Reference Guide 203 Syntax f
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Returns RAPL-3 Reference Guide 205
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RAPL-3 Reference Guide 209 WORLD_XR
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RAPL-3 Reference Guide 215 Category
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RAPL-3 Reference Guide 217 loc_cdat
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RAPL-3 Reference Guide 219 flags =
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RAPL-3 Reference Guide 223 Result1
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RAPL-3 Reference Guide 227 ;; Set e
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RAPL-3 Reference Guide 231 MOUNT_HO
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RAPL-3 Reference Guide 233 mtime De
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RAPL-3 Reference Guide 237 end if e
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Returns RAPL-3 Reference Guide 239
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RAPL-3 Reference Guide 241 state th
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RAPL-3 Reference Guide 243 Descript
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RAPL-3 Reference Guide 247 panel_li
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Result child read - 1 child read -
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RAPL-3 Reference Guide 255 pos_axis
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RAPL-3 Reference Guide 257 The vari
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RAPL-3 Reference Guide 261 (server
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RAPL-3 Reference Guide 263 readline
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RAPL-3 Reference Guide 265 Result c
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RAPL-3 Reference Guide 267 robot_fl
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RAPL-3 Reference Guide 271 else ;;h
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RAPL-3 Reference Guide 277 sem_rele
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RAPL-3 Reference Guide 281 value le
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RAPL-3 Reference Guide 283 shift_t(
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RAPL-3 Reference Guide 287 sigsend
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RAPL-3 Reference Guide 291 ... if (
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RAPL-3 Reference Guide 295 elbow_t
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RAPL-3 Reference Guide 297 string[P
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RAPL-3 Reference Guide 299 str_chr_
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RAPL-3 Reference Guide 303 Length,
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RAPL-3 Reference Guide 309 int sc_m
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RAPL-3 Reference Guide 313 tx Alias
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RAPL-3 Reference Guide 317 arm posi
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RAPL-3 Reference Guide 319 System S
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RAPL-3 Reference Guide 321 Syntax c
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RAPL-3 Reference Guide 323 var_teac
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RAPL-3 Reference Guide 325 WEXITSTA
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RAPL-3 Reference Guide 327 write De
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RAPL-3 Reference Guide 329 wx Alias
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RAPL-3 Reference Guide 339 zrots Al
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APPENDICES Signals Symbol Number De
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