Basic Characteristics RAPID

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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 Page
RAPID Summary 12.3 Principles of SpotWare Plus................................................................................ 31 12.4 Programming principles ...................................................................................... 32 12.5 Spot welding instructions .................................................................................... 33 12.6 Spot welding data ................................................................................................ 33 13 Arc Welding................................................................................................................... 34 13.1 Programming principles ...................................................................................... 34 13.2 Arc welding instructions...................................................................................... 34 13.3 Arc welding data.................................................................................................. 35 14 GlueWare....................................................................................................................... 36 14.1 Glueing features................................................................................................... 36 14.2 Programming principles ...................................................................................... 36 14.3 Glue instructions.................................................................................................. 36 14.4 Glue data.............................................................................................................. 37 15 External Computer Communication........................................................................... 38 15.1 Programming principles ...................................................................................... 38 15.2 Sending a program-controlled message from the robot to a computer................ 38 16 Service Instructions....................................................................................................... 39 16.1 Directing a value to the robot’s test signal .......................................................... 39 17 String Functions ............................................................................................................ 41 17.1 Basic Operations.................................................................................................. 41 17.2 Comparison and Searching.................................................................................. 41 17.3 Conversion........................................................................................................... 41 18 Syntax Summary ........................................................................................................... 43 18.1 Instructions .......................................................................................................... 43 18.2 Functions ............................................................................................................. 46 RAPID Reference Manual 3-3 Page
Page 1 and 2: ABB Flexible Automation AB RAPID Re
Page 3 and 4: CONTENTS RAPID Reference Manual 1-1
Page 5 and 6: Page 11 Mathematics ...............
Page 7 and 8: Page 7.2 Logical expressions.......
Page 9 and 10: Page speeddata - Speed data .......
Page 11 and 12: Page SetAO - Changes the value of a
Page 13 and 14: Page ReadMotor - Reads the current
Page 15 and 16: Page 6 The Service Window..........
Page 17 and 18: A Abs 9-Abs-1 absolute value 9-Abs-
Page 19 and 20: H heat 13-seamdata-4 I I/O principl
Page 21 and 22: measuring system 8-IndReset-1 Resto
Page 23 and 24: CONTENTS Introduction 1 Other Manua
Page 25 and 26: Introduction 1 Other Manuals Introd
Page 27 and 28: Simplified syntax Example: 2.3 Form
Page 29: CONTENTS RAPID Summary 1 The Struct
Page 33 and 34: RAPID Summary The Structure of the
Page 35 and 36: RAPID Summary Controlling the Progr
Page 37 and 38: RAPID Summary Various Instructions
Page 39 and 40: RAPID Summary Motion Settings 4.3 D
Page 41 and 42: RAPID Summary Motion Settings 4.10
Page 43 and 44: RAPID Summary Motion 5.2 Positionin
Page 45 and 46: RAPID Summary Motion 5.8 Position f
Page 47 and 48: RAPID Summary Input and Output Sign
Page 49 and 50: RAPID Summary Communication 7 Commu
Page 51 and 52: RAPID Summary Interrupts 8 Interrup
Page 53 and 54: RAPID Summary Error Recovery 9 Erro
Page 55 and 56: RAPID Summary System & Time 10 Syst
Page 57 and 58: RAPID Summary Mathematics 11.4 Arit
Page 59 and 60: RAPID Summary Spot Welding SpotWare
Page 61 and 62: RAPID Summary Spot Welding 12.5 Spo
Page 63 and 64: RAPID Summary Arc Welding 13.3 Arc
Page 65 and 66: RAPID Summary GlueWare 14.4 Glue da
Page 67 and 68: RAPID Summary Service Instructions
Page 69 and 70: RAPID Summary String Functions 17 S
Page 71 and 72: RAPID Summary Syntax Summary 18 Syn
Page 73 and 74: RAPID Summary Syntax Summary MoveL
Page 75 and 76: RAPID Summary Syntax Summary ClkRea
Page 77 and 78: CONTENTS Basic Characteristics RAPI
Page 79 and 80: Basic Characteristics RAPID Basic E
Page 81 and 82:
Basic Characteristics RAPID Basic E
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Basic Characteristics RAPID Basic E
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Basic Characteristics RAPID Modules
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Basic Characteristics RAPID Routine
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Basic Characteristics RAPID Data Ty
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Basic Characteristics RAPID Data Fi
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Basic Characteristics RAPID Data Sy
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Basic Characteristics RAPID Instruc
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Basic Characteristics RAPID Express
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Basic Characteristics RAPID Error R
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Basic Characteristics RAPID Interru
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Basic Characteristics RAPID Backwar
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Basic Characteristics RAPID Multita
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CONTENTS Motion and I/O Principles
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Motion and I/O Principles Coordinat
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Motion and I/O Principles Positioni
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equired to obtain the same force. T
Page 147 and 148:
3 Synchronization with logical inst
Page 149 and 150:
Execution of SetDO p1 DT MoveL p1,
Page 151 and 152:
The accuracy is ±2 ms. On the part
Page 153 and 154:
Usually you want the robot to attai
Page 155 and 156:
4.2 Related information Described i
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Singularity points/IRB 6400C Betwee
Page 159 and 160:
6.2 System signals An output can be
Page 161 and 162:
ool Logical values Description Exam
Page 163 and 164:
clock Time measurement Description
Page 165 and 166:
confdata Robot configuration data D
Page 167 and 168:
Example Structure VAR confdata conf
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dionum Digital values 0 - 1 Descrip
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errnum Error number Description Exa
Page 173 and 174:
Characteristics ERR_REFUNKFUN Refer
Page 175 and 176:
extjoint Position of external joint
Page 177 and 178:
intnum Interrupt identity Descripti
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iodev Serial channels and files Des
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jointtarget Joint position data Des
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loaddata Load data Description Comp
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Examples Limitations Predefined dat
Page 187 and 188:
mecunit Mechanical unit Description
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motsetdata Motion settings data Des
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Example Predefined data IF C_MOTSET
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num Numeric values (registers) Desc
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o_jointtarget Original joint positi
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orient Orientation Description Comp
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Example 1 A tool is orientated so t
Page 201 and 202:
o_robtarget Original position data
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pos Positions (only X, Y and Z) Des
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pose Coordinate transformations Des
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progdisp Program displacement Descr
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objoint Joint position of robot axe
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obtarget Position data Description
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Limitations Structure VAR robtarget
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signalxx Digital and analog signals
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speeddata Speed data Description Co
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Structure < dataobject of speeddata
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string Strings Description Example
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symnum Symbolic number Description
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tooldata Tool data Description Comp
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Examples Limitations Predefined dat
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triggdata Positioning events - trig
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tunetype Servo tune type Descriptio
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wobjdata Work object data Descripti
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Example Limitations Predefined data
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zonedata Zone data Description Zone
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P1 Components MoveL with 200 mm mov
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Predefined data Structure A number
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System Data System data is the inte
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“:=” Assigns a value Examples A
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AccSet Reduces the acceleration Exa
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ActUnit Activates a mechanical unit
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Add Adds a numeric value Examples A
Page 253 and 254:
Break Break program execution Examp
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CallByVar Call a procedure by a var
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Clear Clears the value Example Argu
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ClkReset Resets a clock used for ti
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ClkStart Starts a clock used for ti
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ClkStop Stops a clock used for timi
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Close Closes a file or serial chann
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comment Comment Example Arguments C
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Compact IF If a condition is met, t
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ConfJ Controls the configuration du
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ConfL Monitors the configuration du
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CONNECT Connects an interrupt to a
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DeactUnit Deactivates a mechanical
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Decr Decrements by 1 Example Argume
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EOffsOff Deactivates an offset for
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EOffsOn Activates an offset for ext
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EOffsSet Activates an offset for ex
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ErrWrite Write an Error Message Exa
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EXIT Terminates program execution E
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FOR Repeats a given number of times
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Related information Described in: E
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GOTO Goes to a new instruction Exam
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GripLoad Defines the payload of the
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IDelete Cancels an interrupt Exampl
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IDisable Disables interrupts Exampl
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IEnable Enables interrupts Example
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IF If a condition is met, then ...;
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Incr Increments by 1 Example Argume
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IndAMove Independent Absolute posit
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Example Error handling Syntax ActUn
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IndCMove Independent Continuous Mov
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Error handling Syntax Axis 2 of Sta
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IndDMove Independent Delta position
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Example Error handling Syntax IndAM
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IndReset Independent Reset Example
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Limitations Example Error handling
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IndRMove Independent Relative posit
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Limitations Examples The speed can
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InvertDO Inverts the value of a dig
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ISignalDI Orders interrupts from a
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Syntax PROC main ( ) VAR intnum sig
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ISignalDO Interrupts from a digital
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Syntax PROC main ( ) VAR intnum sig
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ISleep Deactivates an interrupt Exa
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ITimer Orders a timed interrupt Exa
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IWatch Activates an interrupt Examp
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label Line name Example Arguments L
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Load Load a program module during e
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Related information Described in: U
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MoveAbsJMoves the robot to an absol
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Program execution Examples Error ha
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Related information Described in: O
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MoveC Moves the robot circularly Ex
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[ \WObj] (Work Object) Data type: w
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Related information Described in: O
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MoveJ Moves the robot by joint move
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Examples Syntax MoveJ *, v2000\V:=2
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MoveL Moves the robot linearly Exam
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Examples Syntax MoveL *, v2000 \V:=
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Open Opens a file or serial channel
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PDispOff Deactivates program displa
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PDispOn Activates program displacem
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Example at the two positions. The d
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PDispSet Activates program displace
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ProcCall Calls a new procedure Exam
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PulseDO Generates a pulse on a digi
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RAISE Calls an error handler Exampl
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Reset Resets a digital output signa
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RestoPath Restores the path after a
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RETRY Restarts following an error E
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RETURN Finishes execution of a rout
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SearchC Searches circularly using t
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Syntax SearchC [ ’\’ Stop’,
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SearchL Searches linearly using the
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Program execution Examples This arg
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Error handling Example An error is
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Set Sets a digital output signal Ex
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SetAO Changes the value of an analo
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SetDO Changes the value of a digita
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SetGO Changes the value of a group
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SingArea Defines interpolation arou
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SoftAct Activating the soft servo E
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SoftDeact Deactivating the soft ser
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StartMove Restarts robot motion Exa
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Stop Stops program execution Exampl
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StopMove Stops robot motion Example
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StorePath Stores the path when an i
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TEST Depending on the value of an e
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TPErase Erases text printed on the
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TPReadFK Reads function keys Exampl
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Syntax TPReadFK [Answer’:=’]
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TPReadNum Reads a number from the t
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TPWrite Writes on the teach pendant
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TriggC Circular robot movement with
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Page 445 and 446:
TriggEquip Defines a fixed position
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Program execution Examples If this
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TriggInt Defines a position related
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Examples Limitations The position r
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TriggIO Defines a fixed position I/
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Examples Limitations The distance s
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TriggJ Axis-wise robot movements wi
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Program execution Examples Limitati
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TriggL Linear robot movements with
Page 463 and 464:
Program execution Examples Limitati
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TRYNEXT Jumps over an instruction w
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TuneReset Resetting servo tuning Ex
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TuneServo Tuning servos Description
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Example This argument can be omitte
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UnLoad UnLoad a program module duri
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Related information Described in: L
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VelSet Changes the programmed veloc
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WaitDI Waits until a digital input
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WaitDO Waits until a digital output
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WaitTime Waits a given amount of ti
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WaitUntil Waits until a condition i
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WHILE Repeats as long as ... Exampl
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Write Writes to a character-based f
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Error handling Syntax If an error o
Page 493 and 494:
WriteBin Writes to a binary serial
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Abs Gets the absolute value Example
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ACos Calculates the arc cosine valu
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ASin Calculates the arc sine value
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ATan Calculates the arc tangent val
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ATan2 Calculates the arc tangent2 v
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CDate Reads the current date as a s
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CJointT Reads the current joint ang
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ClkRead Reads a clock used for timi
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Cos Calculates the cosine value Exa
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CPos Reads the current position (po
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CRobT Reads the current position (r
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CTime Reads the current time as a s
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CTool Reads the current tool data E
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CWObj Reads the current work object
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DefDFrame Define a displacement fra
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DefFrame Define a frame Example Def
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Syntax Other values, or if Origin i
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Dim Obtains the size of an array Ex
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DOutput Reads the value of a digita
Page 533 and 534:
EulerZYX Gets Euler angles from ori
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Exp Calculates the exponential valu
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GetTime Reads the current time as a
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GOutput Reads the value of a group
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IndInpos Independent In position st
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IndSpeed Independent Speed status E
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IsPers Is Persistent Example IsPers
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IsVar Is Variable Example IsVar is
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MirPos Mirroring of a position Exam
Page 551 and 552:
NumToStr Converts numeric value to
Page 553 and 554:
Offs Displaces a robot position Exa
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OpMode Read the operating mode Exam
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OrientZYX Builds an orient from Eul
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ORobT Removes a program displacemen
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PoseInv Inverts the pose Example Po
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PoseMult Multiplies pose data Examp
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PoseVect Applies a transformation t
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Pow Calculates the power of a value
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Present Tests if an optional parame
Page 571 and 572:
ReadBin Reads from a binary serial
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ReadMotor Reads the current motor a
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ReadNum Reads a number from a file
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ReadStr Reads a string from a file
Page 579 and 580:
RelTool Make a displacement relativ
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Round Round is a numeric value Exam
Page 583 and 584:
RunMode Read the running mode Examp
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Sin Calculates the sine value Examp
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Sqrt Calculates the square root val
Page 589 and 590:
StrFind Searches for a character in
Page 591 and 592:
StrLen Gets the string length Examp
Page 593 and 594:
StrMap Maps a string Example StrMap
Page 595 and 596:
StrMatch Search for pattern in stri
Page 597 and 598:
StrMemb Checks if a character belon
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StrOrder Checks if strings are orde
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StrPart Finds a part of a string Ex
Page 603 and 604:
StrToVal Converts a string to a val
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Tan Calculates the tangent value Ex
Page 607 and 608:
TestDI Tests if a digital input is
Page 609 and 610:
Trunc Truncates a numeric value Exa
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ValToStr Converts a value to a stri
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CONTENTS 1 System Module User .....
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1 System Module User 1.1 Contents I
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CONTENTS 1 Programming Off-line ...
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Programming Off-line 1 Programming
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• Create a new system module wher
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CONTENTS seamdata Seam data weaveda
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seamdata Seam data Description Seam
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Components Component group: Ignitio
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The unit is defined in System Param
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Structure The unit is defined in th
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weavedata Weave data Description Co
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Y w Figure 5 The width (W) of the w
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weave_bias (weave centre bias) Data
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welddata Weld data Description Weld
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The welding sequence sched-no 4 x a
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In a weld end instruction the delay
Page 645 and 646:
The type of weld shown in Figure 4
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ArcC Arc welding with circular moti
Page 649 and 650:
CirPoint Data type: robtarget The c
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Tool Data type: tooldata The tool u
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Example MoveL ... ArcL \On, *,v100,
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ArcL Arc welding with linear motion
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ToPoint Data type: robtarget The de
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Program execution When this argumen
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Syntax MoveL xxxxxx weld5, weave1 A
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CONTENTS gundata Spot weld gun data
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gundata Spot weld gun data Descript
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Structure build_up_p3 1 Data type:
Page 669 and 670:
spotdata Spot weld data Description
Page 671 and 672:
SpotL Spot Welding with motion Exam
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Program execution Internal sequence
Page 675 and 676:
Gun closure The gun closure is acti
Page 677 and 678:
Simulated welding Error handling Fu
Page 679 and 680:
Restart by choice Service (If SpotW
Page 681 and 682:
For a complete description of the I
Page 683 and 684:
System Module SWUSER Contents Data
Page 685 and 686:
Routines Normally it is suitable to
Page 687 and 688:
sw_service_wf (spotweld service wel
Page 689 and 690:
System Module SWUSRC Contents Data
Page 691 and 692:
The following predefined data is us
Page 693 and 694:
User defined independent supervisio
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PROC sw_open_gun (num context) spot
Page 697 and 698:
System Module SWUSRF Contents Data
Page 699 and 700:
Default functionality: No functions
Page 701 and 702:
System Module SWTOOL Contents The s
Page 703 and 704:
Functions The following predefined
Page 705 and 706:
CONTENTS ggundata Gluing gun data G
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ggundata Gluing gun data Descriptio
Page 709 and 710:
Limitations Predefined data Structu
Page 711 and 712:
GlueC Gluing with circular motion E
Page 713 and 714:
an * in the instruction). ToPoint D
Page 715 and 716:
Instruction by instruction executio
Page 717 and 718:
RAPID Reference Manual 15-GlueC-7
Page 719 and 720:
GlueL Gluing with linear motion Exa
Page 721 and 722:
Speed Data type: speeddata The spee
Page 723 and 724:
Calculation of the glue flow values
Page 725 and 726:
The gluing is restarted with the ne
Page 727 and 728:
System Module GLUSER Contents Data
Page 729 and 730:
CONTENTS 1 The Jogging Window .....
Page 731 and 732:
1 The Jogging Window 1.1 Window: Jo
Page 733 and 734:
2.1.2 Menu: Edit Command: Used to:
Page 735 and 736:
3.2 General menus 3.2.1 Menu: File
Page 737 and 738:
3.2.3 Menu: View View 1 Instr.”
Page 739 and 740:
3.4 Window: Program Routines Routin
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3.5 Window: Program Data Data type
Page 743 and 744:
3.6 Window: Program Data Types Data
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3.8 Window: Program Modules Modules
Page 747 and 748:
4.1.3 Menu: View View 1 Info ... 2
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5.1.2 Menu: Edit Command: Used to:
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6.1.3 Menu: View View 1 Log 2 Date
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6.3 Window Service Calibration Cali
Page 755 and 756:
7 The System Parameters 7.1 Window:
Page 757:
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