Basic Characteristics RAPID

triggdata Positioning events - trigg
Description
Example
Characteristics
Triggdata is used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
To define the conditions for the respective measures at a positioning event, variables
of the type triggdata are used. The data contents of the variable are formed in the program
using one of the instructions TriggIO or TriggInt, and are used by one of the
instructions TriggL, TriggC or TriggJ.
VAR triggdata gunoff;
TriggIO gunoff, 5 \DOp:=gun, off;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal gun is set to the value off when the TCP is at a position
5 mm before the point p1.
Triggdata is a non-value data type.
Related information
Described in:
Definition of triggs Instructions - TriggIO, TriggInt
Use of triggs Instructions - TriggL, TriggC,
TriggJ
Characteristics of non-value data types Basic Characteristics- Data Types
RAPID Reference Manual 7-triggdata-1