RAPID reference manual - Technology

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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
MoveCDORobotWare-OSInstructionRelated informationDescribed in:Other positioning instructionsDefinition of velocityDefinition of zone dataDefinition of toolsDefinition of work objectsMotion in generalCoordinate systemsMovements with I/O settingsRAPID Summary - MotionData Types - speeddataData Types - zonedataData Types - tooldataData Types - wobjdataMotion and I/O PrinciplesMotion and I/O Principles - Coordinate SystemsMotion and I/O Principles - SynchronisationUsing Logical Instructions264 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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InstructionISignalAOAnalog Signal I
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InstructionISignalAOAnalog Signal I
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InstructionISignalDIRobotWare-OSISi
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InstructionISignalDIRobotWare-OSLim
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InstructionISignalDORobotWare-OSISi
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InstructionISignalDORobotWare-OSLim
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InstructionISignalGIRobotWare-OSISi
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InstructionISignalGIRobotWare-OSSyn
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InstructionISignalGORobotWare-OSISi
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InstructionISignalGORobotWare-OSRel
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InstructionISleepRobotWare-OSISleep
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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 240 and 241: InstructionLoadIdRobotWare-OSExampl
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 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
Page 290 and 291: InstructionMoveJSyncFixed Position
Page 292 and 293: InstructionMoveLRobotWare-OSMoveL -
Page 294 and 295: InstructionMoveLRobotWare-OS[ \WObj
Page 296 and 297: InstructionMoveLRobotWare-OSRelated
Page 298 and 299: InstructionMoveLDORobotWare-OSMoveL
Page 300 and 301: InstructionMoveLDORobotWare-OSsigna
Page 302 and 303: InstructionMoveLSyncFixed Position
Page 304 and 305: InstructionMoveLSyncFixed Position
Page 306 and 307: InstructionMToolRotCalibRobotWare-O
Page 308 and 309: InstructionMToolRotCalibRobotWare-O
Page 310 and 311: InstructionMToolTCPCalibRobotWare-O
Page 312 and 313: InstructionMToolTCPCalibRobotWare-O
Page 314 and 315: InstructionOpenFile and Serial Chan
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Page 318 and 319: 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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