Basic Characteristics RAPID

RAPID Summary
6 Input and Output Signals............................................................................................... 19
6.1 Programming principles ........................................................................................ 19
6.2 Changing the value of a signal .............................................................................. 19
6.3 Reading the value of an input signal ..................................................................... 19
6.4 Reading the value of an output signal ................................................................... 19
6.5 Testing input on output signals ............................................................................. 20
6.6 Data for input and output signals .......................................................................... 20
7 Communication............................................................................................................... 21
7.1 Programming principles ........................................................................................ 21
7.2 Communicating using the teach pendant............................................................... 21
7.3 Reading from or writing to a character-based serial channel/file.......................... 22
7.4 Communicating using binary serial channels........................................................ 22
7.5 Data for serial channels ......................................................................................... 22
8 Interrupts......................................................................................................................... 23
8.1 Programming principles ........................................................................................ 23
8.2 Connecting interrupts to trap routines ................................................................... 23
8.3 Ordering interrupts ................................................................................................ 24
8.4 Cancelling interrupts ............................................................................................. 24
8.5 Enabling/disabling interrupts ................................................................................ 24
8.6 Data type of interrupts........................................................................................... 24
9 Error Recovery................................................................................................................ 25
9.1 Programming principles......................................................................................... 25
9.2 Creating an error situation from within the program............................................. 25
9.3 Restarting/returning from the error handler........................................................... 26
9.4 Data for error handling .......................................................................................... 26
10 System & Time .............................................................................................................. 27
10.1 Programming principles ...................................................................................... 27
10.2 Using a clock to time an event ............................................................................ 27
10.3 Reading current time and date............................................................................. 27
11 Mathematics .................................................................................................................. 28
11.1 Programming principles ...................................................................................... 28
11.2 Simple calculations on numeric data................................................................... 28
11.3 More advanced calculations ................................................................................ 28
11.4 Arithmetic functions............................................................................................ 29
12 Spot Welding ................................................................................................................. 30
12.1 Spot welding features .......................................................................................... 30
12.2 Principles of SpotWare........................................................................................ 31
3-2 RAPID Reference Manual
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