Basic Characteristics RAPID

CONTENTS
RAPID Reference Manual 1-1
Page
1 Table of Contents..................................................................................... 1-1
2 Introduction ............................................................................................. 2-1
1 Other Manuals ..................................................................................................... 2-3
2 How to Read this Manual.................................................................................... 2-3
2.1 Typographic conventions.............................................................................. 2-4
2.2 Syntax rules................................................................................................... 2-4
2.3 Formal syntax................................................................................................ 2-5
3 RAPID Summary..................................................................................... 3-1
1 The Structure of the Language........................................................................... 3-5
2 Controlling the Program Flow............................................................................ 3-6
2.1 Programming principles................................................................................ 3-6
2.2 Calling another routine.................................................................................. 3-6
2.3 Program control within the routine ............................................................... 3-6
2.4 Stopping program execution ......................................................................... 3-7
3 Various Instructions ............................................................................................ 3-8
3.1 Assigning a value to data .............................................................................. 3-8
3.2 Wait............................................................................................................... 3-8
3.3 Comments ..................................................................................................... 3-8
3.4 Loading program modules ............................................................................ 3-8
3.5 Various functions .......................................................................................... 3-9
3.6 Basic data ...................................................................................................... 3-9
4 Motion Settings .................................................................................................... 3-10
4.1 Programming principles................................................................................ 3-10
4.2 Defining velocity........................................................................................... 3-10
4.3 Defining acceleration .................................................................................... 3-11
4.4 Defining configuration management ............................................................ 3-11
4.5 Defining the payload..................................................................................... 3-11
4.6 Defining the behaviour near singular points ................................................. 3-11
4.7 Displacing a program.................................................................................... 3-12
4.8 Soft servo ...................................................................................................... 3-12
4.9 Adjust the robot tuning values ...................................................................... 3-12
4.10 Data for motion settings.............................................................................. 3-13
5 Motion................................................................................................................... 3-14
5.1 Programming principles................................................................................ 3-14
5.2 Positioning instructions................................................................................. 3-15
5.3 Searching....................................................................................................... 3-15