RAPL 3 - Reference Guide. - Phoenix Goucher

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4 Preface Related Resources Related material can be found in these documents. • Release notes on the diskettes. • Robot Systems Software Documentation Guide A guide for developing your robotic application using all components of your robot system: arm, controller, teach pendant, personal computer, Robcomm3, RAPL-3 programs, application shell, and system shell. • F3 Robot System Installation Guide • A465 Arm and C500 Controller User Guides • A255 Arm and C500 Controller User Guides
C HAPTER 1 General Program Format All RAPL-3 programs follow the same general format. Some elements are required. Other elements are optional depending on the complexity of the program.
Page 1 and 2: RAPL-3 Language Reference Guide UMI
Page 3 and 4: RAPL-3 Reference Guide iii CRS Lice
Page 5 and 6: RAPL-3 Reference Guide v External C
Page 7 and 8: RAPL-3 Reference Guide vii Contents
Page 9 and 10: Contents RAPL-3 Reference Guide ix
Page 11 and 12: RAPL-3 Reference Guide xi Chapter 7
Page 13 and 14: RAPL-3 Reference Guide xiii call_if
Page 15 and 16: RAPL-3 Reference Guide xv malarm ..
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Page 19 and 20: Preface This guide is a reference m
Page 21: RAPL-3 Reference Guide 3 Commands a
Page 25 and 26: subroutine main function RAPL-3 Ref
Page 27 and 28: Lines of a Program RAPL-3 Reference
Page 29 and 30: Labels RAPL-3 Reference Guide 11 A
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
Page 43 and 44: RAPL-3 Reference Guide 25 Storage C
Page 45 and 46: RAPL-3 Reference Guide 27 Pointers
Page 47 and 48: Record Structures RAPL-3 Reference
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Page 51 and 52: Sizeof() Function RAPL-3 Reference
Page 53 and 54: CHAPTER 3 Expressions, Assignment,
Page 55 and 56: RAPL-3 Reference Guide 37 Assignmen
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Page 59 and 60: CHAPTER 4 Constants For the most pa
Page 61 and 62: String Constants RAPL-3 Reference G
Page 63 and 64: Location Constants RAPL-3 Reference
Page 65 and 66: CHAPTER 5 Control Flow When a progr
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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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RAPL 3 - Reference Guide. - Phoenix Goucher

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