Basic Characteristics RAPID

Execution of
SetDO and SetAO
p1
Figure 30 If several positioning instructions with the argument \Conc are programmed in
sequence, all connected logical instructions are executed at the same time as the first
position is executed.
During concurrent program execution, the following instructions are programmed to
end the sequence and subsequently re-synchronize positioning instructions and
logical instructions:
3.4 Path synchronization
DT
MoveL p1, v1000, z30, tool1;
MoveL \Conc, p2, v1000, z30, tool1;
SetDO do1, on;
MoveL \Conc, p3, v1000, z30, tool1;
SetAO ao2, 5;
Largest zone
- a positioning instruction without the argument \Conc,
- the instruction WaitTime or WaitUntil with the argument \Inpos.
In order to synchronize process equipment (for applications such as gluing, painting
and arc welding) with the robot movements, different types of path synchronization
signals can be generated.
With a so-called positions event, a trig signal will be generated when the robot passes
a predefined position on the path. With a time event, a signal will be generated in a
predefined time before the robot stops in a stop position. Moreover, the control system
also handles weave events, which generate pulses at predefined phase angles of a
weave motion.
All the position synchronized signals can be achieved both before (look ahead time)
and after (delay time) the time that the robot passes the predefined position. The
position is given by a programmed position and can be tuned as a path distance before
the programmed position.
6-30 RAPID Reference Manual
p2