Basic Characteristics RAPID

The time at which they are executed (DT) comprises the following time components:
- The time it takes for the robot to plan the next move: approx. 0.1 seconds.
- The robot delay (servo lag) in seconds: 0 - 1.0 seconds depending on the
velocity and the actual deceleration performance of the robot.
3.3 Concurrent program execution
Concurrent program execution can be programmed using the argument \Conc in the
positioning instruction. This argument is used to:
- Execute one or more logical instructions at the same time as the robot moves in order
to reduce the cycle time (e.g. used when communicating via serial channels).
When a positioning instruction with the argument \Conc is executed, the following
logical instructions are also executed (in sequence):
- If the robot is not moving, or if the previous positioning instruction ended with a stop
point, the logical instructions are executed as soon as the current positioning
instruction starts (at the same time as the movement). See Figure 28.
- If the previous positioning instruction ends at a fly-by point, the logical
instructions are executed at a given time (DT) before reaching the largest zone
(for position, orientation or external axes). See Figure 29.
p1
Execution of SetDO
MoveL p1, v1000, fine, tool1;
MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
MoveL p3, v1000, z30, tool1;
Figure 28 In the case of concurrent program execution after a stop point, a positioning
instruction and subsequent logical instructions are started at the same time.
6-28 RAPID Reference Manual
p2