Basic Characteristics RAPID

Example
at the two positions. The displacement will be calculated in such a way that the new
position (ExeP) will have the same position and orientation in relation to the displaced
coordinate system, ProgDisp, as the old position (ProgPoint) had in relation to the
original coordinate system (see Figure 2).
y
Original
position, ProgPoint
Original
orientation
Program displacement
Object Coordinate System
Figure 2 Translation and rotation of a programmed position.
The program displacement is automatically reset
- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.
PROC draw_square()
PDispOn *, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
PDispOff;
ENDPROC
.
MoveL p10, v500, fine, tool1;
draw_square;
MoveL p20, v500, fine, tool1;
draw_square;
MoveL p30, v500, fine, tool1;
draw_square;
x
y
New
position, ExeP
New
orientation
Program Displacement Coordinate System
(ProgDisp)
The routine draw_square is used to execute the same motion pattern at three different
positions, based on the positions p10, p20 and p30. See Figure 3.
RAPID Reference Manual 8-PDispOn-3
x