RAPID reference manual - Technology

PathRecMoveFwdPath RecoveryInstructionExamplesVAR pathrecid start_id;VAR pathrecid mid_id;CONST robtarget p1 := [...];CONST robtarget p2 := [...];CONST robtarget p3 := [...];PathRecStart start_id;MoveL p1, vmax, z50, tool1;MoveL p2, vmax, z50, tool1;PathRecStart mid_id;MoveL p3, vmax, z50, tool1;StorePath;PathRecMoveBwd \ID:=start_id;PathRecMoveFwd \ID:=mid_id;PathRecMoveFwd;RestoPath;MoveLstart_idp1MoveLp2MoveLp3mid_idPathRecMoveBwdPathRecMoveFwd \ID:=mid_idPathRecMoveFwdThe example above will start the path recorder and the starting point will betagged with the path identifier start_id. Thereafter, the robot will move forwardwith traditional move instructions and then move back to the path recorder identifierstart_id using the recorded path. Finally, it will move forward again in twosteps by the means of PathRecMoveFwd.Limitations- Movements using the path recorder has to be performed on trap-level, i.e. StorePathhas to executed prior to PathRecMoveFwd.- To be able to execute PathRecMoveFwd a PathRecMoveBwd must have been executedbefore.SyntaxPathRecMoveFwd ’(’[ ‘\’ ID ‘:=’ < variable (VAR) of pathid > ][ ‘\’ ToolOffs ‘:=’ ][ ‘\’ Speed ‘:=’ ]’;’332 RAPID reference manual - part 1a, Instructions A-R