RAPID reference manual - Technology

InstructionPDispOnRobotWare-OSPDispOn - Activates program displacementPDispOn (Program Displacement On) is used to define and activate a program displacementusing two robot positions.Program displacement is used, for example, after a search has been carried out, orwhen similar motion patterns are repeated at several different places in the program.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveL p10, v500, z10, tool1;PDispOn \ExeP:=p10, p20, tool1;Activation of a program displacement (parallel movement). This is calculatedbased on the difference between positions p10 and p20.MoveL p10, v500, fine \Inpos := inpos50, tool1;PDispOn *, tool1;Activation of a program displacement (parallel movement). Since a stop pointthat is accurately defined has been used in the previous instruction, the argument\ExeP does not have to be used. The displacement is calculated on the basis ofthe difference between the robot’s actual position and the programmed point (*)stored in the instruction.PDispOn \Rot \ExeP:=p10, p20, tool1;Activation of a program displacement including a rotation. This is calculatedbased on the difference between positions p10 and p20.ArgumentsPDispOn[\Rot] [\ExeP] ProgPoint Tool [\WObj][ \Rot ] (Rotation) Data type: switchThe difference in the tool orientation is taken into consideration and this involvesa rotation of the program.[ \ExeP ] (Executed Point) Data type: robtargetThe new robot position, used for calculation of the displacement.If this argument is omitted, the robot’s current position at the time of the programexecution is used.RAPID reference manual - part 1a, Instructions A-R 349