RAPID reference manual - Technology

EOffsOnRobotWare-OSInstructionThis offset is then used to displace the position of external axes in subsequent positioninginstructions and remains active until some other offset is activated (the instructionEOffsSet or EOffsOn) or until the offset for external axes is deactivated (the instructionEOffsOff).Only one offset for each individual external axis can be activated at any one time. SeveralEOffsOn, on the other hand, can be programmed one after the other and, if they are,the different offsets will be added.The external axes’ offset is automatically reset- at a cold start-up- when a new program is loaded- when starting program executing from the beginning.ExampleSearchL sen1, psearch, p10, v100, tool1;PDispOn \ExeP:=psearch, *, tool1;EOffsOn \ExeP:=psearch, *;A search is carried out in which the searched position of both the robot and theexternal axes is stored in the position psearch. Any movement carried out afterthis starts from this position using a program displacement of both the robot andthe external axes. This is calculated based on the difference between the searchedposition and the programmed point (*) stored in the instruction.SyntaxEOffsOn[ ‘\’ ExeP ’:=’ < expression (IN) of robtarget > ’,’][ ProgPoint ’:=’ ] < expression (IN) of robtarget > ’;’Related informationDescribed in:Deactivation of offset for external axesDefinition of offset using valuesDisplacement of the robot’s movementsCoordinate SystemsInstructions - EOffsOffInstructions - EOffsSetInstructions - PDispOnMotion Principles- Coordinate Systems96 RAPID reference manual - part 1a, Instructions A-R