RAPID reference manual - Technology

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InstructionLoadIdRobotWare-OSExamplePERS 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 piece5LoadId 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 installation withroomfix TCP.LimitationsIt is not possible to restart the load identification movements after any type of stop suchas program stop, emergency stop or power failure. The load identification movementsmust be restarted from the beginning again.Error handlingAt any error during execution of the RAPID NOSTEPIN routine LoadId, the systemvariable ERRNO is set to ERR_PID_MOVESTOP, ERR_PID_RAISE_PP orERR_LOADID_FATAL and the program pointer is raised to the user call of LoadId.SyntaxLoadId[ ParIdType ’:=’ ] ‘,’[ LoadIdType ’:=’ ] ‘,’[ Tool ’:=’ ] [ ‘\’ PayLoad ’:=’ ][ ‘\’ WObj ’:=’ ][ ‘\’ ConfAngle ’:=’ ][ ‘\’ SlowTest ][ ‘\’ Accuracy ’:=’ ] ‘;’RAPID reference manual - part 1a, Instructions A-R 233
RobotWare-OSInstructionRelated informationDescribed in:Predefined program Load IdentifyType of parameter identificationResult of ParIdRobValidType of load identificationValid robot typeValid robot positionCalibration - Identification of tool and payloaddataData Types - paridnumData Types - paridvalidnumData Types - loadidnumFunctions - ParIdRobValidFunctions - ParIdPosValid234 RAPID reference manual - part 1a, Instructions A-R
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RAPID reference manualRAPID referen
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The information in this manual is s
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ContentsEOffsOff - Deactivates an o
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InstructionAccSetRobotWare-OSAccSet
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InstructionActUnitRobotWare-OSActUn
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AddRobotWare-OSInstructionRelated i
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AliasIOAdvanced RAPIDToSignalData t
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AliasIOAdvanced RAPIDInstruction10
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“:=”RobotWare-OSInstructionLimi
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BitClearAdvanced RAPIDInstructionLi
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BitSetAdvanced RAPIDInstructionLimi
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BookErrNoAdvanced RAPIDInstructionL
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BreakRobotWare-OSInstruction20 RAPI
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CallByVarRobotWare-OSInstructionDyn
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CallByVarRobotWare-OSInstruction24
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CancelLoadRobotWare-OSInstructionSy
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CirPathModeRobotWare-OSInstructionU
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CirPathModeRobotWare-OSInstructionL
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ClearRobotWare-OSInstruction32 RAPI
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ClearIOBuffFile and Serial Channel
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ClearPathRobotWare-OSInstructionPRO
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ClearRawBytesFile and Serial Channe
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ClkResetRobotWare-OSInstruction40 R
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ClkStartRobotWare-OSInstructionErro
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ClkStopRobotWare-OSInstructionRelat
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CloseFile and Serial Channel Handli
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CloseDirFile and Serial Channel Han
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commentRobotWare-OSInstruction50 RA
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Compact IFRobotWare-OSInstruction52
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ConfJRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstructionProgram
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ConfLRobotWare-OSInstruction58 RAPI
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InstructionCopyFileFile and Serial
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InstructionCopyRawBytesFile and Ser
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InstructionCopyRawBytesFile and Ser
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InstructionCorrClearPath offset & R
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CorrConPath offset & RobotWare-Arc
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InstructionCorrWritePath offset & R
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InstructionDeactUnitRobotWare-OSDea
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InstructionDecrRobotWare-OSDecr - D
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InstructionDitherActRobotWare-OSDit
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InstructionDitherActRobotWare-OSRel
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InstructionDitherDeactRobotWare-OSD
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InstructionDropSensorSensor Synchro
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InstructionDropWObjConveyor Trackin
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InstructionEOffsOffRobotWare-OSEOff
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InstructionEOffsOnRobotWare-OSEOffs
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InstructionEOffsSetRobotWare-OSEOff
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InstructionEraseModuleRobotWare-OSE
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InstructionErrLogAdvanced RAPIDErrL
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InstructionErrLogAdvanced RAPIDArgu
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InstructionErrRaiseAdvanced RAPIDEr
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InstructionErrRaiseAdvanced RAPIDAr
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InstructionErrWriteRobotWare-OSErrW
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InstructionEXITRobotWare-OSEXIT - T
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InstructionExitCycleRobotWare-OSExi
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InstructionFORRobotWare-OSFOR - Rep
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InstructionFORRobotWare-OSSyntax(EB
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InstructionGetDataValAdvanced RAPID
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InstructionGetSysDataRobotWare-OSGe
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InstructionGetTrapDataAdvanced RAPI
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InstructionGOTORobotWare-OSGOTO - G
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InstructionGripLoadRobotWare-OSGrip
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InstructionHollowWristResetRobotWar
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InstructionIDeleteRobotWare-OSIDele
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InstructionIDisableRobotWare-OSIDis
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InstructionIEnableRobotWare-OSIEnab
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InstructionIErrorAdvanced RAPIDIErr
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InstructionIErrorAdvanced RAPIDLimi
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InstructionIFRobotWare-OSIF - If a
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InstructionIncrRobotWare-OSIncr - I
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InstructionIndAMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndCMoveIndependent Axis
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InstructionIndDMoveIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndResetIndependent Axis
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InstructionIndRMoveIndependent Axis
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InstructionInvertDORobotWare-OSInve
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InstructionIODisableRobotWare-OSIOD
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InstructionIODisableRobotWare-OSSyn
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InstructionIOEnableRobotWare-OSIOEn
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InstructionIOEnableRobotWare-OSRela
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InstructionIPersAdvanced RAPIDIPers
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InstructionISignalAIAnalog Signal I
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InstructionISignalAIAnalog Signal I
Page 190 and 191: InstructionISignalAIAnalog Signal I
Page 196 and 197: InstructionISignalAOAnalog Signal I
Page 198 and 199: InstructionISignalAOAnalog Signal I
Page 200 and 201: InstructionISignalDIRobotWare-OSISi
Page 202 and 203: InstructionISignalDIRobotWare-OSLim
Page 204 and 205: InstructionISignalDORobotWare-OSISi
Page 206 and 207: InstructionISignalDORobotWare-OSLim
Page 208 and 209: InstructionISignalGIRobotWare-OSISi
Page 210 and 211: InstructionISignalGIRobotWare-OSSyn
Page 212 and 213: InstructionISignalGORobotWare-OSISi
Page 214 and 215: InstructionISignalGORobotWare-OSRel
Page 216 and 217: InstructionISleepRobotWare-OSISleep
Page 218 and 219: InstructionIsPersBase WareIsPers -
Page 220 and 221: InstructionITimerRobotWare-OSITimer
Page 222 and 223: InstructionITimerRobotWare-OSRelate
Page 224 and 225: InstructionIVarValueSensor Interfac
Page 226 and 227: InstructionIVarValueSensor Interfac
Page 228 and 229: InstructionIWatchRobotWare-OSIWatch
Page 230 and 231: InstructionlabelRobotWare-OSlabel -
Page 232 and 233: InstructionLoadRobotWare-OSLoad - L
Page 234 and 235: InstructionLoadRobotWare-OS%”rout
Page 236 and 237: InstructionLoadIdRobotWare-OSLoadId
Page 238 and 239: InstructionLoadIdRobotWare-OSArgume
Page 242 and 243: InstructionMakeDirFile and Serial C
Page 244 and 245: InstructionManLoadIdProcRobotWare-O
Page 246 and 247: InstructionManLoadIdProcRobotWare-O
Page 248 and 249: InstructionMechUnitLoadRobotWare-OS
Page 250 and 251: InstructionMechUnitLoadRobotWare-OS
Page 252 and 253: InstructionMotionSupCollision Detec
Page 254 and 255: InstructionMotionSupCollision Detec
Page 256 and 257: InstructionMoveAbsJRobotWare-OSMove
Page 258 and 259: InstructionMoveAbsJRobotWare-OS[ \Z
Page 260 and 261: InstructionMoveAbsJRobotWare-OSSing
Page 262 and 263: InstructionMoveCRobotWare-OSMoveC -
Page 264 and 265: InstructionMoveCRobotWare-OS[ \V ]
Page 266 and 267: InstructionMoveCRobotWare-OSMoveC p
Page 268 and 269: InstructionMoveCDORobotWare-OSMoveC
Page 270 and 271: InstructionMoveCDORobotWare-OS.CirP
Page 272 and 273: InstructionMoveCSyncFixed Position
Page 274 and 275: InstructionMoveCSyncFixed Position
Page 276 and 277: InstructionMoveExtJRobotWare-OSMove
Page 278 and 279: InstructionMoveExtJRobotWare-OSExam
Page 280 and 281: InstructionMoveJRobotWare-OSMoveJ -
Page 282 and 283: InstructionMoveJRobotWare-OS[ \WObj
Page 284 and 285: InstructionMoveJDORobotWare-OSMoveJ
Page 286 and 287: InstructionMoveJDORobotWare-OSMoveJ
Page 288 and 289: InstructionMoveJSyncFixed Position
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InstructionMoveJSyncFixed Position
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InstructionMoveLRobotWare-OSMoveL -
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InstructionMoveLRobotWare-OS[ \WObj
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InstructionMoveLRobotWare-OSRelated
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InstructionMoveLDORobotWare-OSMoveL
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InstructionMoveLDORobotWare-OSsigna
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InstructionMoveLSyncFixed Position
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InstructionMoveLSyncFixed Position
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolRotCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionMToolTCPCalibRobotWare-O
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InstructionOpenFile and Serial Chan
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InstructionOpenFile and Serial Chan
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InstructionOpenDirFile and Serial C
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InstructionPackDNHeaderFieldbus Com
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InstructionPackDNHeaderFieldbus Com
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InstructionPackRawBytesFile and Ser
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InstructionPathAccLimRobotWare-OSPa
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InstructionPathAccLimRobotWare-OSEx
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveBwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecMoveFwdPath Recov
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InstructionPathRecStartPath Recover
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InstructionPathRecStartPath Recover
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InstructionPathRecStopPath Recovery
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InstructionPathRecStopPath Recovery
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InstructionPathResolRobotWare-OSPat
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InstructionPathResolRobotWare-OSRel
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InstructionPDispOffRobotWare-OSPDis
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InstructionPDispOnRobotWare-OSPDisp
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InstructionPDispOnRobotWare-OSexecu
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InstructionPDispSetRobotWare-OSPDis
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InstructionPDispSetRobotWare-OSRela
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InstructionProcerrRecoveryAdvanced
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InstructionProcCallRobotWare-OSProc
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InstructionPulseDORobotWare-OSPulse
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InstructionPulseDORobotWare-OSLimit
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InstructionRAISERobotWare-OSRAISE -
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InstructionRaiseToUserRobotWare-OSR
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InstructionRaiseToUserRobotWare-OST
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InstructionReadAnyBinFile and Seria
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InstructionReadAnyBinFile and Seria
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InstructionReadBlockSensor Interfac
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InstructionReadCfgDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadErrDataAdvanced RAPI
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InstructionReadRawBytesFile and Ser
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InstructionReadRawBytesFile and Ser
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InstructionRemoveDirFile and Serial
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InstructionRemoveFileFile and Seria
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InstructionRenameFileFile and Seria
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InstructionResetRobotWare-OSReset -
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InstructionRestoPathPath RecoveryRe
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InstructionRETURNRobotWare-OSRETURN
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InstructionRewindFile and Serial Ch
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InstructionRETRYRobotWare-OSRETRY -
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IndexAacceleration reduction 1, 323
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IndexRemoveDir 391RemoveFile 393rep
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ABB Automation Technologies ABRobot
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