RAPID reference manual - Technology

ContentsEOffsOff - Deactivates an offset for external axes................................................................. 93EOffsOn - Activates an offset for external axes ..................................................................... 95EOffsSet - Activates an offset for external axes using a value.............................................. 97EraseModule - Erase a module................................................................................................ 99ErrLog - Write an error message .......................................................................................... 101ErrRaise - Writes a warning and calls an error handler .................................................... 105ErrWrite - Write an error message....................................................................................... 109EXIT - Terminates program execution ..................................................................................111ExitCycle - Break current cycle and start next .....................................................................113FOR - Repeats a given number of times ................................................................................115GetDataVal - Get the value of a data object ..........................................................................119GetSysData - Get system data................................................................................................ 121GetTrapData - Get interrupt data for current TRAP ......................................................... 123GOTO - Goes to a new instruction........................................................................................ 125GripLoad - Defines the payload of the robot........................................................................ 127HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403................................... 129IDelete - Cancels an interrupt................................................................................................131IDisable - Disables interrupts ................................................................................................133IEnable - Enables interrupts..................................................................................................135IError - Orders an interrupt on errors................................................................................. 137IF - If a condition is met, then ...; otherwise ........................................................................ 141Incr - Increments by 1 ............................................................................................................ 143IndAMove - Independent absolute position movement....................................................... 145IndCMove - Independent continuous movement................................................................. 149IndDMove - Independent delta position movement ............................................................ 153IndReset - Independent reset ................................................................................................. 157IndRMove - Independent relative position movement ........................................................ 161InvertDO - Inverts the value of a digital output signal ....................................................... 167IODisable - Disable I/O unit................................................................................................... 169IOEnable - Enable I/O unit....................................................................................................173IPers - Interrupt at value change of a persistent variable .................................................. 177ISignalAI - Interrupts from analog input signal.................................................................. 179ISignalAO - Interrupts from analog output signal .............................................................. 189ISignalDI - Orders interrupts from a digital input signal................................................... 193ISignalDO - Interrupts from a digital output signal............................................................ 197ISignalGI - Orders interrupts from a group of digital input signals ................................. 201ISignalGO - Orders interrupts from a group of digital output signals.............................. 205ISleep - Deactivates an interrupt ........................................................................................... 209IIRAPID reference manual - part 1a, Instructions A-R