Basic Characteristics RAPID

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Predefined data The system variable ERRNO can be used to read the latest error that occurred. A number of predefined constants can be used to determine the type of error that has occurred. Name Cause of error ERR_ALRDYCNT The interrupt variable is already connected to a TRAP routine ERR_ARGDUPCND More than one present conditional argument for the same parameter ERR_ARGNOTPER Argument is not a persistent reference ERR_ARGNOTVAR Argument is not a variable reference ERR_AXIS_ACT Axis is not active ERR_AXIS_IND Axis is not independent ERR_AXIS_MOVING Axis is moving ERR_AXIS_PAR Parameter axis in instruction TestSign and SetCurrRef is wrong. ERR_CALLPROC Procedure call error at runtime (late binding) ERR_CNTNOTVAR CONNECT target is not a variable reference ERR_DEV_MAXTIME Timeout when executing a ReadBin, ReadNum or a ReadStr instruction ERR_DIVZERO Division by zero ERR_EXCRTYMAX Max. number of retries exceeded ERR_EXECPHR An attempt was made to execute an instruction using a place holder ERR_FILEACC A file is accessed incorrectly ERR_FILNOTFND File not found ERR_FILEOPEN A file cannot be opened ERR_FNCNORET No return value ERR_ILLDIM Incorrect array dimension ERR_ILLQUAT Attempt to use illegal orientation (quaternion) valve ERR_ILLRAISE Error number in RAISE out of range ERR_INOMAX No more interrupt numbers available ERR_MAXINTVAL The integer value is too large ERR_NEGARG Negative argument is not allowed ERR_NOTARR Data is not an array ERR_NOTEQDIM The array dimension used when calling the routine does not coincide with its parameters ERR_NOTINTVAL Not an integer value ERR_NOTPRES A parameter is used, despite the fact that the corresponding argument was not used at the routine call ERR_OUTOFBND The array index is outside the permitted limits ERR_REFUNKDAT Reference to unknown entire data object 7-errnum-2 RAPID Reference Manual
Characteristics ERR_REFUNKFUN Reference to unknown function ERR_REFUNKPRC Reference to unknown procedure ERR_REFUNKTRP Reference to unknown trap ERR_PATHDIST Too long regain distance for StartMove instruction ERR_RCVDATA An attempt was made to read non numeric data with ReadNum ERR_SC_WRITE Error when sending to external computer ERR_STEP_PAR Parameter Step in SetCurrRef is wrong ERR_STRTOOLNG The string is too long ERR_TP_DIBREAK A TPRead instruction was interrupted by a digital input ERR_TP_MAXTIME Timeout when executing a TPRead instruction ERR_UNIT_PAR Parameter Mech_unit in TestSign and SetCurrRef is wrong ERR_UNKINO Unknown interrupt number ERR_UNLOAD Unload error ERR_WAIT_MAXTIME Timeout when executing a WaitDI or WaitUntil instruction ERR_WHLSEARCH No search stop Errnum is an alias data type for num and consequently inherits its characteristics. Related information Described in: Error recovery RAPID Summary - Error Recovery Basic Characteristics - Error Recovery Data types in general, alias data types Basic Characteristics - Data Types RAPID Reference Manual 7-errnum-3
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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
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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
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Basic Characteristics RAPID Modules
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Basic Characteristics RAPID Routine
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Basic Characteristics RAPID Data Ty
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Basic Characteristics RAPID Data Fi
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Basic Characteristics RAPID Data Sy
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Basic Characteristics RAPID Instruc
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Basic Characteristics RAPID Express
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Basic Characteristics RAPID Error R
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Basic Characteristics RAPID Interru
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Basic Characteristics RAPID Backwar
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Basic Characteristics RAPID Multita
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Page 121 and 122: CONTENTS Motion and I/O Principles
Page 123 and 124: Motion and I/O Principles Coordinat
Page 133 and 134: 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: errnum Error number Description Exa
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
Page 191 and 192: Example Predefined data IF C_MOTSET
Page 193 and 194: num Numeric values (registers) Desc
Page 195 and 196: o_jointtarget Original joint positi
Page 197 and 198: orient Orientation Description Comp
Page 199 and 200: Example 1 A tool is orientated so t
Page 201 and 202: o_robtarget Original position data
Page 203 and 204: pos Positions (only X, Y and Z) Des
Page 205 and 206: pose Coordinate transformations Des
Page 207 and 208: progdisp Program displacement Descr
Page 209 and 210: objoint Joint position of robot axe
Page 211 and 212: obtarget Position data Description
Page 213 and 214: Limitations Structure VAR robtarget
Page 215 and 216: 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
Page 229 and 230:
triggdata Positioning events - trig
Page 231 and 232:
tunetype Servo tune type Descriptio
Page 233 and 234:
wobjdata Work object data Descripti
Page 235 and 236:
Example Limitations Predefined data
Page 237 and 238:
zonedata Zone data Description Zone
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P1 Components MoveL with 200 mm mov
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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
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AccSet Reduces the acceleration Exa
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ActUnit Activates a mechanical unit
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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
Page 259 and 260:
ClkReset Resets a clock used for ti
Page 261 and 262:
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
Page 351 and 352:
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
Page 415 and 416:
SingArea Defines interpolation arou
Page 417 and 418:
SoftAct Activating the soft servo E
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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
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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
Page 467 and 468:
TuneReset Resetting servo tuning Ex
Page 469 and 470:
TuneServo Tuning servos Description
Page 471 and 472:
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
Page 481 and 482:
WaitDO Waits until a digital output
Page 483 and 484:
WaitTime Waits a given amount of ti
Page 485 and 486:
WaitUntil Waits until a condition i
Page 487 and 488:
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 .....
Page 615 and 616:
1 System Module User 1.1 Contents I
Page 617 and 618:
CONTENTS 1 Programming Off-line ...
Page 619 and 620:
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
Page 647 and 648:
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
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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
Page 665 and 666:
gundata Spot weld gun data Descript
Page 667 and 668:
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
Page 673 and 674:
Program execution Internal sequence
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Gun closure The gun closure is acti
Page 677 and 678:
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
Page 685 and 686:
Routines Normally it is suitable to
Page 687 and 688:
sw_service_wf (spotweld service wel
Page 689 and 690:
System Module SWUSRC Contents Data
Page 691 and 692:
The following predefined data is us
Page 693 and 694:
User defined independent supervisio
Page 695 and 696:
PROC sw_open_gun (num context) spot
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System Module SWUSRF Contents Data
Page 699 and 700:
Default functionality: No functions
Page 701 and 702:
System Module SWTOOL Contents The s
Page 703 and 704:
Functions The following predefined
Page 705 and 706:
CONTENTS ggundata Gluing gun data G
Page 707 and 708:
ggundata Gluing gun data Descriptio
Page 709 and 710:
Limitations Predefined data Structu
Page 711 and 712:
GlueC Gluing with circular motion E
Page 713 and 714:
an * in the instruction). ToPoint D
Page 715 and 716:
Instruction by instruction executio
Page 717 and 718:
RAPID Reference Manual 15-GlueC-7
Page 719 and 720:
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.”
Page 739 and 740:
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
Page 745 and 746:
3.8 Window: Program Modules Modules
Page 747 and 748:
4.1.3 Menu: View View 1 Info ... 2
Page 749 and 750:
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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