RAPID reference manual - Technology

InstructionPDispOffRobotWare-OSPDispOff - Deactivates program displacementPDispOff (Program Displacement Off) is used to deactivate a program displacement.Program displacement is activated by the instruction PDispSet or PDispOn and appliesto all movements until some other program displacement is activated or until programdisplacement is deactivated.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesPDispOff;Deactivation of a program displacement.MoveL p10, v500, z10, tool1;PDispOn \ExeP:=p10, p11, tool1;MoveL p20, v500, z10, tool1;MoveL p30, v500, z10, tool1;PDispOff;MoveL p40, v500, z10, tool1;A program displacement is defined as the difference between the positions p10and p11. This displacement affects the movement to p20 and p30, but not to p40.Program executionActive program displacement is reset. This means that the program displacement coordinatesystem is the same as the object coordinate system, and thus all programmedpositions will be related to the latter.SyntaxPDispOff ‘;’RAPID reference manual - part 1a, Instructions A-R 347