Basic Characteristics RAPID

progdisp Program displacement
Description
Components
Example
Progdisp is used to store the current program displacement of the robot and the external
axes.
This data type does not normally have to be used since the data is set using the instructions
PDispSet, PDispOn, PDispOff, EOffsSet, EOffsOn and EOffsOff. It is only used
to temporarily store the current value for later use.
The current values for program displacement can be accessed using the system variable
C_PROGDISP.
For more information, see the instructions PDispSet, PDispOn, EOffsSet and EOffsOn.
pdisp (program displacement) Data type: pose
The program displacement for the robot, expressed using a translation and an orientation.
The translation is expressed in mm.
eoffs (external offset) Data type: extjoint
The offset for each of the external axes. If the axis is linear, the value is expressed
in mm; if it is rotating, the value is expressed in degrees.
VAR progdisp progdisp1;
.
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
.
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
.
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
First, a program displacement is activated from a searched position. Then, it is
temporarily deactivated by storing the value in the variable progdisp1 and, later
on, re-activated using the instructions PDispSet and EOffsSet.
RAPID Reference Manual 7-progdisp-1