RAPID reference manual - Technology

More documents

Recommendations

Info

InstructionPathRecMoveBwdPath RecoveryPathRecMoveBwd - Move path recorder backwardsPathRecMoveBwd is used to move the robot backwards along a recorded path.ExampleVAR pathrecid fixture_id;PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;The robot is moved backwards to the position in the program where the instructionPathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Zdirection and the speed is set to 500 mm/s.ArgumentsPathRecMoveBwd [\ID] [\ToolOffs] [\Speed][\ID] (Identifier) Data type: pathrecidVariable that specify the position to move backward to. Data type pathrecid is anon-value type, only used as an identifier for naming the recording position.[\ToolOffs] (Tool Offset) Data type: posProvides clearance offset for TCP during motion. A cartesian offset coordinateis applied to the TCP coordinates. Positive Z offset value indicates clearance.This is useful when the robot runs a process adding material.[\Speed]Data type: speeddataSpeed replaces the speed original used during forward motion. Speeddatadefines the velocity for the tool centre point, the tool reorientation and the externalaxis. If present, this speed will be used throughout the backward movement.If omitted, the backward motion will execute with the speed in the originalmotion instructions.Program executionThe path recorder is activated with the PathRecStart instruction. After the recorder hasbeen started all move instructions will be recorded and the robot can be moved backwardsalong its recorded path at any point by executing PathRecMoveBwd.RAPID reference manual - part 1a, Instructions A-R 327
PathRecMoveBwdPath RecoveryInstructionExamplesVAR pathrecid safe_id;CONST robtarget p0 := [...];....CONST robtarget p4 := [...];VAR num choice;MoveJ p0, vmax, z50, tool1;PathRecStart safe_id;MoveJ p1, vmax, z50, tool1;MoveL p2, vmax, z50, tool1;MoveL p3, vmax, z50, tool1;MoveL p4, vmax, z50, tool1;ERROR:TPReadFK choice,"Go to safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";IF choice=5 THENIF PathRecValidBwd(\ID:=safe_id) THENStorePath;PathRecMoveBwd\ID:=safe_id \ToolOffs:=[0, 0 , 10];Stop;! Fix problemPathRecMoveFwd;RestoPath;StartMove;RETRY;ENDIFENDIF328 RAPID reference manual - part 1a, Instructions A-R
Page 1 and 2:
RAPID reference manualRAPID referen
Page 3 and 4:
The information in this manual is s
Page 5 and 6:
ContentsEOffsOff - Deactivates an o
Page 8 and 9:
InstructionAccSetRobotWare-OSAccSet
Page 10 and 11:
InstructionActUnitRobotWare-OSActUn
Page 13 and 14:
AddRobotWare-OSInstructionRelated i
Page 15 and 16:
AliasIOAdvanced RAPIDToSignalData t
Page 17 and 18:
AliasIOAdvanced RAPIDInstruction10
Page 19 and 20:
“:=”RobotWare-OSInstructionLimi
Page 21 and 22:
BitClearAdvanced RAPIDInstructionLi
Page 23 and 24:
BitSetAdvanced RAPIDInstructionLimi
Page 25 and 26:
BookErrNoAdvanced RAPIDInstructionL
Page 27 and 28:
BreakRobotWare-OSInstruction20 RAPI
Page 29 and 30:
CallByVarRobotWare-OSInstructionDyn
Page 31 and 32:
CallByVarRobotWare-OSInstruction24
Page 33 and 34:
CancelLoadRobotWare-OSInstructionSy
Page 35 and 36:
CirPathModeRobotWare-OSInstructionU
Page 37 and 38:
CirPathModeRobotWare-OSInstructionL
Page 39 and 40:
ClearRobotWare-OSInstruction32 RAPI
Page 41 and 42:
ClearIOBuffFile and Serial Channel
Page 43 and 44:
ClearPathRobotWare-OSInstructionPRO
Page 45 and 46:
ClearRawBytesFile and Serial Channe
Page 47 and 48:
ClkResetRobotWare-OSInstruction40 R
Page 49 and 50:
ClkStartRobotWare-OSInstructionErro
Page 51 and 52:
ClkStopRobotWare-OSInstructionRelat
Page 53 and 54:
CloseFile and Serial Channel Handli
Page 55 and 56:
CloseDirFile and Serial Channel Han
Page 57 and 58:
commentRobotWare-OSInstruction50 RA
Page 59 and 60:
Compact IFRobotWare-OSInstruction52
Page 61 and 62:
ConfJRobotWare-OSInstructionProgram
Page 63 and 64:
ConfLRobotWare-OSInstructionProgram
Page 65 and 66:
ConfLRobotWare-OSInstruction58 RAPI
Page 68 and 69:
InstructionCopyFileFile and Serial
Page 70 and 71:
InstructionCopyRawBytesFile and Ser
Page 72 and 73:
InstructionCopyRawBytesFile and Ser
Page 74:
InstructionCorrClearPath offset & R
Page 77 and 78:
CorrConPath offset & RobotWare-Arc
Page 79 and 80:
Page 81:
Page 84 and 85:
InstructionCorrWritePath offset & R
Page 86 and 87:
InstructionDeactUnitRobotWare-OSDea
Page 88 and 89:
InstructionDecrRobotWare-OSDecr - D
Page 90 and 91:
InstructionDitherActRobotWare-OSDit
Page 92 and 93:
InstructionDitherActRobotWare-OSRel
Page 94 and 95:
InstructionDitherDeactRobotWare-OSD
Page 96 and 97:
InstructionDropSensorSensor Synchro
Page 98 and 99:
InstructionDropWObjConveyor Trackin
Page 100 and 101:
InstructionEOffsOffRobotWare-OSEOff
Page 102 and 103:
InstructionEOffsOnRobotWare-OSEOffs
Page 104 and 105:
InstructionEOffsSetRobotWare-OSEOff
Page 106 and 107:
InstructionEraseModuleRobotWare-OSE
Page 108 and 109:
InstructionErrLogAdvanced RAPIDErrL
Page 110 and 111:
InstructionErrLogAdvanced RAPIDArgu
Page 112 and 113:
InstructionErrRaiseAdvanced RAPIDEr
Page 114 and 115:
InstructionErrRaiseAdvanced RAPIDAr
Page 116 and 117:
InstructionErrWriteRobotWare-OSErrW
Page 118 and 119:
InstructionEXITRobotWare-OSEXIT - T
Page 120 and 121:
InstructionExitCycleRobotWare-OSExi
Page 122 and 123:
InstructionFORRobotWare-OSFOR - Rep
Page 124 and 125:
InstructionFORRobotWare-OSSyntax(EB
Page 126 and 127:
InstructionGetDataValAdvanced RAPID
Page 128 and 129:
InstructionGetSysDataRobotWare-OSGe
Page 130 and 131:
InstructionGetTrapDataAdvanced RAPI
Page 132 and 133:
InstructionGOTORobotWare-OSGOTO - G
Page 134 and 135:
InstructionGripLoadRobotWare-OSGrip
Page 136 and 137:
InstructionHollowWristResetRobotWar
Page 138 and 139:
InstructionIDeleteRobotWare-OSIDele
Page 140 and 141:
InstructionIDisableRobotWare-OSIDis
Page 142 and 143:
InstructionIEnableRobotWare-OSIEnab
Page 144 and 145:
InstructionIErrorAdvanced RAPIDIErr
Page 146 and 147:
InstructionIErrorAdvanced RAPIDLimi
Page 148 and 149:
InstructionIFRobotWare-OSIF - If a
Page 150 and 151:
InstructionIncrRobotWare-OSIncr - I
Page 152 and 153:
InstructionIndAMoveIndependent Axis
Page 154 and 155:
Page 156 and 157:
InstructionIndCMoveIndependent Axis
Page 158 and 159:
InstructionIndCMoveIndependent Axis
Page 160 and 161:
InstructionIndDMoveIndependent Axis
Page 162 and 163:
Page 164 and 165:
InstructionIndResetIndependent Axis
Page 166 and 167:
InstructionIndResetIndependent Axis
Page 168 and 169:
InstructionIndRMoveIndependent Axis
Page 170 and 171:
Page 172 and 173:
Page 174 and 175:
InstructionInvertDORobotWare-OSInve
Page 176 and 177:
InstructionIODisableRobotWare-OSIOD
Page 178 and 179:
InstructionIODisableRobotWare-OSSyn
Page 180 and 181:
InstructionIOEnableRobotWare-OSIOEn
Page 182 and 183:
InstructionIOEnableRobotWare-OSRela
Page 184 and 185:
InstructionIPersAdvanced RAPIDIPers
Page 186 and 187:
InstructionISignalAIAnalog Signal I
Page 188 and 189:
Page 190 and 191:
Page 192 and 193:
Page 194 and 195:
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 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 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
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
Page 316 and 317: InstructionOpenFile and Serial Chan
Page 318 and 319: InstructionOpenDirFile and Serial C
Page 320 and 321: InstructionPackDNHeaderFieldbus Com
Page 322 and 323: InstructionPackDNHeaderFieldbus Com
Page 324 and 325: InstructionPackRawBytesFile and Ser
Page 330 and 331: InstructionPathAccLimRobotWare-OSPa
Page 332 and 333: InstructionPathAccLimRobotWare-OSEx
Page 336 and 337: InstructionPathRecMoveBwdPath Recov
Page 338 and 339: InstructionPathRecMoveFwdPath Recov
Page 340 and 341: InstructionPathRecMoveFwdPath Recov
Page 342 and 343: InstructionPathRecStartPath Recover
Page 344 and 345: InstructionPathRecStartPath Recover
Page 346 and 347: InstructionPathRecStopPath Recovery
Page 348 and 349: InstructionPathRecStopPath Recovery
Page 350 and 351: InstructionPathResolRobotWare-OSPat
Page 352 and 353: InstructionPathResolRobotWare-OSRel
Page 354 and 355: InstructionPDispOffRobotWare-OSPDis
Page 356 and 357: InstructionPDispOnRobotWare-OSPDisp
Page 358 and 359: InstructionPDispOnRobotWare-OSexecu
Page 360 and 361: InstructionPDispSetRobotWare-OSPDis
Page 362 and 363: InstructionPDispSetRobotWare-OSRela
Page 364 and 365: InstructionProcerrRecoveryAdvanced
Page 370 and 371: InstructionProcCallRobotWare-OSProc
Page 372 and 373: InstructionPulseDORobotWare-OSPulse
Page 374 and 375: InstructionPulseDORobotWare-OSLimit
Page 376 and 377: InstructionRAISERobotWare-OSRAISE -
Page 378 and 379: InstructionRaiseToUserRobotWare-OSR
Page 380 and 381: InstructionRaiseToUserRobotWare-OST
Page 382 and 383: InstructionReadAnyBinFile and Seria
Page 384 and 385:
InstructionReadAnyBinFile and Seria
Page 386 and 387:
InstructionReadBlockSensor Interfac
Page 388 and 389:
InstructionReadCfgDataAdvanced RAPI
Page 390 and 391:
InstructionReadErrDataAdvanced RAPI
Page 392 and 393:
InstructionReadErrDataAdvanced RAPI
Page 394 and 395:
InstructionReadRawBytesFile and Ser
Page 396 and 397:
InstructionReadRawBytesFile and Ser
Page 398 and 399:
InstructionRemoveDirFile and Serial
Page 400 and 401:
InstructionRemoveFileFile and Seria
Page 402 and 403:
InstructionRenameFileFile and Seria
Page 404 and 405:
InstructionResetRobotWare-OSReset -
Page 406 and 407:
InstructionRestoPathPath RecoveryRe
Page 408 and 409:
InstructionRETURNRobotWare-OSRETURN
Page 410 and 411:
InstructionRewindFile and Serial Ch
Page 412 and 413:
InstructionRETRYRobotWare-OSRETRY -
Page 414 and 415:
IndexAacceleration reduction 1, 323
Page 416 and 417:
IndexRemoveDir 391RemoveFile 393rep
Page 419:
ABB Automation Technologies ABRobot
show all

RAPID reference manual - Technology

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?