RAPID reference manual - Technology

InstructionMoveCDORobotWare-OS.CirPointStart pointSet/Resetthe signalToPointZoneNextpointFigure 17 Set/Reset of digital output signal in the corner path with MoveCDO.For stop points, we recommend the use of “normal” programming sequence withMoveC + SetDO. But when using stop point in instruction MoveCDO, the digital outputsignal is set/reset when the robot reaches the stop point.The specified I/O signal is set/reset in execution mode continuously and stepwise forwardbut not in stepwise backward.LimitationsGeneral limitations according to instruction MoveC.SyntaxMoveCDO [ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’[ Speed ’:=’ ] < expression (IN) of speeddata >[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’[ Tool ’:=’ ] < persistent (PERS) of tooldata > [ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] ’,’[ Signal ’:=’ ] < variable (VAR) of signaldo>] ‘,’[ Value ‘:=’ ] < expression (IN) of dionum > ] ’;’RAPID reference manual - part 1a, Instructions A-R 263