Basic Characteristics RAPID

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Coordinate Systems Motion and I/O Principles 1.4 Related information Described in: Definition of the world coordinate system User’s Guide - System Parameters Definition of the user coordinate system User’s Guide - Calibration Data Types - wobjdata Definition of the object coordinate system User’s Guide - Calibration Data Types - wobjdata Definition of the tool coordinate system User’s Guide - Calibration Data Types - tooldata Definition of a tool centre point User’s Guide - Calibration Data Types - tooldata Definition of displacement frame User’s Guide - Calibration RAPID Summary - Motion Settings Jogging in different coordinate systems User’s Guide - Jogging 6-12 RAPID Reference Manual
Motion and I/O Principles Positioning during Program Execution 2 Positioning during Program Execution 2.1 General During program execution, positioning instructions in the robot program control all movements. The main task of the positioning instructions is to provide the following information on how to perform movements: - The destination point of the movement (defined as the position of the tool centre point, the orientation of the tool, the configuration of the robot and the position of the external axes). - The interpolation method used to reach the destination point, e.g. joint interpolation, linear interpolation or circle interpolation. - The velocity of the robot and external axes. - The zone data (defines how the robot and the external axes are to pass the destination point). - The coordinate systems (tool, user and object) used for the movement. As an alternative to defining the velocity of the robot and the external axes, the time for the movement can be programmed. This should, however, be avoided if the weaving function is used. Instead the velocities of the orientation and external axes should be used to limit the speed, when small or no TCP-movements are made. In material handling and palletising applications with intensive and frequent movements, the drive system supervision may trip out and stop the robot in order to prevent overheating of drives or motors. If this occurs, the cycle time needs to be slightly increased by reducing programmed speed or acceleration. 2.2 Interpolation of the position and orientation of the tool 2.2.1 Joint interpolation When path accuracy is not too important, this type of motion is used to move the tool quickly from one position to another. Joint interpolation also allows an axis to move from any location to another within its working space, in a single movement. All axes move from the start point to the destination point at constant axis velocity (see Figure 13). RAPID Reference Manual 6-13
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ABB Flexible Automation AB RAPID Re
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CONTENTS RAPID Reference Manual 1-1
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Page 11 Mathematics ...............
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Page 7.2 Logical expressions.......
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Page speeddata - Speed data .......
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Page SetAO - Changes the value of a
Page 13 and 14:
Page ReadMotor - Reads the current
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Page 6 The Service Window..........
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A Abs 9-Abs-1 absolute value 9-Abs-
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H heat 13-seamdata-4 I I/O principl
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measuring system 8-IndReset-1 Resto
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CONTENTS Introduction 1 Other Manua
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Introduction 1 Other Manuals Introd
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Simplified syntax Example: 2.3 Form
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CONTENTS RAPID Summary 1 The Struct
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RAPID Summary 12.3 Principles of Sp
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RAPID Summary The Structure of the
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RAPID Summary Controlling the Progr
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RAPID Summary Various Instructions
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RAPID Summary Motion Settings 4.3 D
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RAPID Summary Motion Settings 4.10
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RAPID Summary Motion 5.2 Positionin
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RAPID Summary Motion 5.8 Position f
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RAPID Summary Input and Output Sign
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RAPID Summary Communication 7 Commu
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RAPID Summary Interrupts 8 Interrup
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RAPID Summary Error Recovery 9 Erro
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RAPID Summary System & Time 10 Syst
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RAPID Summary Mathematics 11.4 Arit
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RAPID Summary Spot Welding SpotWare
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RAPID Summary Spot Welding 12.5 Spo
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RAPID Summary Arc Welding 13.3 Arc
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RAPID Summary GlueWare 14.4 Glue da
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RAPID Summary Service Instructions
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RAPID Summary String Functions 17 S
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RAPID Summary Syntax Summary 18 Syn
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RAPID Summary Syntax Summary MoveL
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RAPID Summary Syntax Summary ClkRea
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CONTENTS Basic Characteristics RAPI
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Basic Characteristics RAPID Basic E
Page 81 and 82: Basic Characteristics RAPID Basic E
Page 83 and 84: Basic Characteristics RAPID Basic E
Page 85 and 86: Basic Characteristics RAPID Modules
Page 87 and 88: Basic Characteristics RAPID Routine
Page 95 and 96: Basic Characteristics RAPID Data Ty
Page 97 and 98: Basic Characteristics RAPID Data Fi
Page 99 and 100: Basic Characteristics RAPID Data Sy
Page 101 and 102: Basic Characteristics RAPID Instruc
Page 103 and 104: Basic Characteristics RAPID Express
Page 109 and 110: Basic Characteristics RAPID Error R
Page 111 and 112: Basic Characteristics RAPID Interru
Page 113 and 114: Basic Characteristics RAPID Backwar
Page 115 and 116: Basic Characteristics RAPID Multita
Page 121 and 122: CONTENTS Motion and I/O Principles
Page 123 and 124: Motion and I/O Principles Coordinat
Page 131: Motion and I/O Principles Coordinat
Page 135 and 136: Motion and I/O Principles Positioni
Page 145 and 146: equired to obtain the same force. T
Page 147 and 148: 3 Synchronization with logical inst
Page 149 and 150: Execution of SetDO p1 DT MoveL p1,
Page 151 and 152: The accuracy is ±2 ms. On the part
Page 153 and 154: Usually you want the robot to attai
Page 155 and 156: 4.2 Related information Described i
Page 157 and 158: Singularity points/IRB 6400C Betwee
Page 159 and 160: 6.2 System signals An output can be
Page 161 and 162: ool Logical values Description Exam
Page 163 and 164: clock Time measurement Description
Page 165 and 166: confdata Robot configuration data D
Page 167 and 168: Example Structure VAR confdata conf
Page 169 and 170: dionum Digital values 0 - 1 Descrip
Page 171 and 172: errnum Error number Description Exa
Page 173 and 174: Characteristics ERR_REFUNKFUN Refer
Page 175 and 176: extjoint Position of external joint
Page 177 and 178: intnum Interrupt identity Descripti
Page 179 and 180: iodev Serial channels and files Des
Page 181 and 182: jointtarget Joint position data Des
Page 183 and 184:
loaddata Load data Description Comp
Page 185 and 186:
Examples Limitations Predefined dat
Page 187 and 188:
mecunit Mechanical unit Description
Page 189 and 190:
motsetdata Motion settings data Des
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Example Predefined data IF C_MOTSET
Page 193 and 194:
num Numeric values (registers) Desc
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o_jointtarget Original joint positi
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orient Orientation Description Comp
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Example 1 A tool is orientated so t
Page 201 and 202:
o_robtarget Original position data
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pos Positions (only X, Y and Z) Des
Page 205 and 206:
pose Coordinate transformations Des
Page 207 and 208:
progdisp Program displacement Descr
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objoint Joint position of robot axe
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obtarget Position data Description
Page 213 and 214:
Limitations Structure VAR robtarget
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signalxx Digital and analog signals
Page 217 and 218:
speeddata Speed data Description Co
Page 219 and 220:
Structure < dataobject of speeddata
Page 221 and 222:
string Strings Description Example
Page 223 and 224:
symnum Symbolic number Description
Page 225 and 226:
tooldata Tool data Description Comp
Page 227 and 228:
Examples Limitations Predefined dat
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triggdata Positioning events - trig
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tunetype Servo tune type Descriptio
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wobjdata Work object data Descripti
Page 235 and 236:
Example Limitations Predefined data
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zonedata Zone data Description Zone
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P1 Components MoveL with 200 mm mov
Page 241 and 242:
Predefined data Structure A number
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System Data System data is the inte
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“:=” Assigns a value Examples A
Page 247 and 248:
AccSet Reduces the acceleration Exa
Page 249 and 250:
ActUnit Activates a mechanical unit
Page 251 and 252:
Add Adds a numeric value Examples A
Page 253 and 254:
Break Break program execution Examp
Page 255 and 256:
CallByVar Call a procedure by a var
Page 257 and 258:
Clear Clears the value Example Argu
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ClkReset Resets a clock used for ti
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ClkStart Starts a clock used for ti
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ClkStop Stops a clock used for timi
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Close Closes a file or serial chann
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comment Comment Example Arguments C
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Compact IF If a condition is met, t
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ConfJ Controls the configuration du
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ConfL Monitors the configuration du
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CONNECT Connects an interrupt to a
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DeactUnit Deactivates a mechanical
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Decr Decrements by 1 Example Argume
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EOffsOff Deactivates an offset for
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EOffsOn Activates an offset for ext
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EOffsSet Activates an offset for ex
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ErrWrite Write an Error Message Exa
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EXIT Terminates program execution E
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FOR Repeats a given number of times
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Related information Described in: E
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GOTO Goes to a new instruction Exam
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GripLoad Defines the payload of the
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IDelete Cancels an interrupt Exampl
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IDisable Disables interrupts Exampl
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IEnable Enables interrupts Example
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IF If a condition is met, then ...;
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Incr Increments by 1 Example Argume
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IndAMove Independent Absolute posit
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Example Error handling Syntax ActUn
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IndCMove Independent Continuous Mov
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Error handling Syntax Axis 2 of Sta
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IndDMove Independent Delta position
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Example Error handling Syntax IndAM
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IndReset Independent Reset Example
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Limitations Example Error handling
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IndRMove Independent Relative posit
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Limitations Examples The speed can
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InvertDO Inverts the value of a dig
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ISignalDI Orders interrupts from a
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Syntax PROC main ( ) VAR intnum sig
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ISignalDO Interrupts from a digital
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Syntax PROC main ( ) VAR intnum sig
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ISleep Deactivates an interrupt Exa
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ITimer Orders a timed interrupt Exa
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IWatch Activates an interrupt Examp
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label Line name Example Arguments L
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Load Load a program module during e
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Related information Described in: U
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MoveAbsJMoves the robot to an absol
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Program execution Examples Error ha
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Related information Described in: O
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MoveC Moves the robot circularly Ex
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[ \WObj] (Work Object) Data type: w
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Related information Described in: O
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MoveJ Moves the robot by joint move
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Examples Syntax MoveJ *, v2000\V:=2
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MoveL Moves the robot linearly Exam
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Examples Syntax MoveL *, v2000 \V:=
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Open Opens a file or serial channel
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PDispOff Deactivates program displa
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PDispOn Activates program displacem
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Example at the two positions. The d
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PDispSet Activates program displace
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ProcCall Calls a new procedure Exam
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PulseDO Generates a pulse on a digi
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RAISE Calls an error handler Exampl
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Reset Resets a digital output signa
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RestoPath Restores the path after a
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RETRY Restarts following an error E
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RETURN Finishes execution of a rout
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SearchC Searches circularly using t
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Syntax SearchC [ ’\’ Stop’,
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SearchL Searches linearly using the
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Program execution Examples This arg
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Error handling Example An error is
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Set Sets a digital output signal Ex
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SetAO Changes the value of an analo
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SetDO Changes the value of a digita
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SetGO Changes the value of a group
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SingArea Defines interpolation arou
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SoftAct Activating the soft servo E
Page 419 and 420:
SoftDeact Deactivating the soft ser
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StartMove Restarts robot motion Exa
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Stop Stops program execution Exampl
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StopMove Stops robot motion Example
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StorePath Stores the path when an i
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TEST Depending on the value of an e
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TPErase Erases text printed on the
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TPReadFK Reads function keys Exampl
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Syntax TPReadFK [Answer’:=’]
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TPReadNum Reads a number from the t
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TPWrite Writes on the teach pendant
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TriggC Circular robot movement with
Page 443 and 444:
Page 445 and 446:
TriggEquip Defines a fixed position
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Program execution Examples If this
Page 449 and 450:
TriggInt Defines a position related
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Examples Limitations The position r
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TriggIO Defines a fixed position I/
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Examples Limitations The distance s
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TriggJ Axis-wise robot movements wi
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Program execution Examples Limitati
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TriggL Linear robot movements with
Page 463 and 464:
Program execution Examples Limitati
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TRYNEXT Jumps over an instruction w
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TuneReset Resetting servo tuning Ex
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TuneServo Tuning servos Description
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Example This argument can be omitte
Page 473 and 474:
UnLoad UnLoad a program module duri
Page 475 and 476:
Related information Described in: L
Page 477 and 478:
VelSet Changes the programmed veloc
Page 479 and 480:
WaitDI Waits until a digital input
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WaitDO Waits until a digital output
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WaitTime Waits a given amount of ti
Page 485 and 486:
WaitUntil Waits until a condition i
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WHILE Repeats as long as ... Exampl
Page 489 and 490:
Write Writes to a character-based f
Page 491 and 492:
Error handling Syntax If an error o
Page 493 and 494:
WriteBin Writes to a binary serial
Page 495 and 496:
Abs Gets the absolute value Example
Page 497 and 498:
ACos Calculates the arc cosine valu
Page 499 and 500:
ASin Calculates the arc sine value
Page 501 and 502:
ATan Calculates the arc tangent val
Page 503 and 504:
ATan2 Calculates the arc tangent2 v
Page 505 and 506:
CDate Reads the current date as a s
Page 507 and 508:
CJointT Reads the current joint ang
Page 509 and 510:
ClkRead Reads a clock used for timi
Page 511 and 512:
Cos Calculates the cosine value Exa
Page 513 and 514:
CPos Reads the current position (po
Page 515 and 516:
CRobT Reads the current position (r
Page 517 and 518:
CTime Reads the current time as a s
Page 519 and 520:
CTool Reads the current tool data E
Page 521 and 522:
CWObj Reads the current work object
Page 523 and 524:
DefDFrame Define a displacement fra
Page 525 and 526:
DefFrame Define a frame Example Def
Page 527 and 528:
Syntax Other values, or if Origin i
Page 529 and 530:
Dim Obtains the size of an array Ex
Page 531 and 532:
DOutput Reads the value of a digita
Page 533 and 534:
EulerZYX Gets Euler angles from ori
Page 535 and 536:
Exp Calculates the exponential valu
Page 537 and 538:
GetTime Reads the current time as a
Page 539 and 540:
GOutput Reads the value of a group
Page 541 and 542:
IndInpos Independent In position st
Page 543 and 544:
IndSpeed Independent Speed status E
Page 545 and 546:
IsPers Is Persistent Example IsPers
Page 547 and 548:
IsVar Is Variable Example IsVar is
Page 549 and 550:
MirPos Mirroring of a position Exam
Page 551 and 552:
NumToStr Converts numeric value to
Page 553 and 554:
Offs Displaces a robot position Exa
Page 555 and 556:
OpMode Read the operating mode Exam
Page 557 and 558:
OrientZYX Builds an orient from Eul
Page 559 and 560:
ORobT Removes a program displacemen
Page 561 and 562:
PoseInv Inverts the pose Example Po
Page 563 and 564:
PoseMult Multiplies pose data Examp
Page 565 and 566:
PoseVect Applies a transformation t
Page 567 and 568:
Pow Calculates the power of a value
Page 569 and 570:
Present Tests if an optional parame
Page 571 and 572:
ReadBin Reads from a binary serial
Page 573 and 574:
ReadMotor Reads the current motor a
Page 575 and 576:
ReadNum Reads a number from a file
Page 577 and 578:
ReadStr Reads a string from a file
Page 579 and 580:
RelTool Make a displacement relativ
Page 581 and 582:
Round Round is a numeric value Exam
Page 583 and 584:
RunMode Read the running mode Examp
Page 585 and 586:
Sin Calculates the sine value Examp
Page 587 and 588:
Sqrt Calculates the square root val
Page 589 and 590:
StrFind Searches for a character in
Page 591 and 592:
StrLen Gets the string length Examp
Page 593 and 594:
StrMap Maps a string Example StrMap
Page 595 and 596:
StrMatch Search for pattern in stri
Page 597 and 598:
StrMemb Checks if a character belon
Page 599 and 600:
StrOrder Checks if strings are orde
Page 601 and 602:
StrPart Finds a part of a string Ex
Page 603 and 604:
StrToVal Converts a string to a val
Page 605 and 606:
Tan Calculates the tangent value Ex
Page 607 and 608:
TestDI Tests if a digital input is
Page 609 and 610:
Trunc Truncates a numeric value Exa
Page 611 and 612:
ValToStr Converts a value to a stri
Page 613 and 614:
CONTENTS 1 System Module User .....
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1 System Module User 1.1 Contents I
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CONTENTS 1 Programming Off-line ...
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Programming Off-line 1 Programming
Page 621 and 622:
• Create a new system module wher
Page 623 and 624:
CONTENTS seamdata Seam data weaveda
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seamdata Seam data Description Seam
Page 627 and 628:
Components Component group: Ignitio
Page 629 and 630:
The unit is defined in System Param
Page 631 and 632:
Structure The unit is defined in th
Page 633 and 634:
weavedata Weave data Description Co
Page 635 and 636:
Y w Figure 5 The width (W) of the w
Page 637 and 638:
weave_bias (weave centre bias) Data
Page 639 and 640:
welddata Weld data Description Weld
Page 641 and 642:
The welding sequence sched-no 4 x a
Page 643 and 644:
In a weld end instruction the delay
Page 645 and 646:
The type of weld shown in Figure 4
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ArcC Arc welding with circular moti
Page 649 and 650:
CirPoint Data type: robtarget The c
Page 651 and 652:
Tool Data type: tooldata The tool u
Page 653 and 654:
Example MoveL ... ArcL \On, *,v100,
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ArcL Arc welding with linear motion
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ToPoint Data type: robtarget The de
Page 659 and 660:
Program execution When this argumen
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Syntax MoveL xxxxxx weld5, weave1 A
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CONTENTS gundata Spot weld gun data
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gundata Spot weld gun data Descript
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Structure build_up_p3 1 Data type:
Page 669 and 670:
spotdata Spot weld data Description
Page 671 and 672:
SpotL Spot Welding with motion Exam
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Program execution Internal sequence
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Gun closure The gun closure is acti
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Simulated welding Error handling Fu
Page 679 and 680:
Restart by choice Service (If SpotW
Page 681 and 682:
For a complete description of the I
Page 683 and 684:
System Module SWUSER Contents Data
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Routines Normally it is suitable to
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sw_service_wf (spotweld service wel
Page 689 and 690:
System Module SWUSRC Contents Data
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The following predefined data is us
Page 693 and 694:
User defined independent supervisio
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PROC sw_open_gun (num context) spot
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System Module SWUSRF Contents Data
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Default functionality: No functions
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System Module SWTOOL Contents The s
Page 703 and 704:
Functions The following predefined
Page 705 and 706:
CONTENTS ggundata Gluing gun data G
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ggundata Gluing gun data Descriptio
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Limitations Predefined data Structu
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GlueC Gluing with circular motion E
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an * in the instruction). ToPoint D
Page 715 and 716:
Instruction by instruction executio
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RAPID Reference Manual 15-GlueC-7
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GlueL Gluing with linear motion Exa
Page 721 and 722:
Speed Data type: speeddata The spee
Page 723 and 724:
Calculation of the glue flow values
Page 725 and 726:
The gluing is restarted with the ne
Page 727 and 728:
System Module GLUSER Contents Data
Page 729 and 730:
CONTENTS 1 The Jogging Window .....
Page 731 and 732:
1 The Jogging Window 1.1 Window: Jo
Page 733 and 734:
2.1.2 Menu: Edit Command: Used to:
Page 735 and 736:
3.2 General menus 3.2.1 Menu: File
Page 737 and 738:
3.2.3 Menu: View View 1 Instr.”
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3.4 Window: Program Routines Routin
Page 741 and 742:
3.5 Window: Program Data Data type
Page 743 and 744:
3.6 Window: Program Data Types Data
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3.8 Window: Program Modules Modules
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4.1.3 Menu: View View 1 Info ... 2
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5.1.2 Menu: Edit Command: Used to:
Page 751 and 752:
6.1.3 Menu: View View 1 Log 2 Date
Page 753 and 754:
6.3 Window Service Calibration Cali
Page 755 and 756:
7 The System Parameters 7.1 Window:
Page 757:
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