Basic Characteristics RAPID

PDispOn Activates program displacement
Examples
Arguments
PDispOn (Program Displacement On) is used to define and activate a program displacement
using two robot positions.
Program displacement is used, for example, after a search has been carried out, or
when similar motion patterns are repeated at several different places in the program.
MoveL p10, v500, z10, tool1;
PDispOn \ExeP:=p10, p20, tool1;
Activation of a program displacement (parallel movement). This is calculated
based on the difference between positions p10 and p20.
MoveL p10, v500, fine, tool1;
PDispOn *, tool1;
Activation of a program displacement (parallel movement). Since a stop point
has been used in the previous instruction, the argument \ExeP does not have to
be used. The displacement is calculated on the basis of the difference between
the robot’s actual position and the programmed point (*) stored in the instruction.
PDispOn \Rot \ExeP:=p10, p20, tool1;
Activation of a program displacement including a rotation. This is calculated
based on the difference between positions p10 and p20.
PDispOn [ \Rot ] [ \ExeP ] ProgPoint Tool [ \WObj ]
[\Rot ] (Rotation) Data type: switch
The difference in the tool orientation is taken into consideration and this involves
a rotation of the program.
[\ExeP ] (Executed Point) Data type: robtarget
The robot’s new position at the time of the program execution.
If this argument is omitted, the robot’s current position at the time of the program
execution is used.
ProgPoint (Programmed Point) Data type: robtarget
The robot’s original position at the time of programming.
RAPID Reference Manual 8-PDispOn-1