Basic Characteristics RAPID

Examples
itive quarter revolution 0-90 o is defined as 0. The component cfx is not used at
present.
For more information, see data type confdata.
extax (external axes) Data type: extjoint
The position of the external axes.
The position is defined as follows for each individual axis (eax_a, eax_b ...
eax_f):
- For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
- For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the
physical axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in
the position data differ from the axes that are actually connected on program execution,
the following applies:
- If the position is not defined in the position data (value 9E9), the value will be
ignored, if the axis is connected and not activated. But if the axis is activated, it
will result in an error.
- If the position is defined in the position data although the axis is not connected,
the value is ignored.
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0],
[ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
- The position of the robot: x = 600, y = 500 and z = 225.3 mm in the object coordinate
system.
- The orientation of the tool in the same direction as the object coordinate system.
- The axis configuration of the robot: axes 1 and 4 in position 90-180 o , axis 6 in
position 0-90 o .
- The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
7-robtarget-2 RAPID Reference Manual