Basic Characteristics RAPID

Syntax
p10
Figure 3 Using program displacement, motion patterns can be reused.
SearchL sen1, psearch, p10, v100, tool1\WObj:=fixture1;
PDispOn \ExeP:=psearch, *, tool1 \WObj:=fixture1;
A search is carried out in which the robot’s searched position is stored in the position
psearch. Any movement carried out after this starts from this position using
a program displacement (parallel movement). The latter is calculated based on
the difference between the searched position and the programmed point (*)
stored in the instruction. All positions are based on the fixture1 object coordinate
system.
PDispOn
[ ’\’ Rot ’,’ ]
[ ’\’ ExeP ’:=’ ] < expression (IN) of robtarget > ’,’]
[ ProgPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata>
[ ‘\’WObj ’:=’ < persistent (PERS) of wobjdata> ] ‘;’
Related information
p20
Described in:
Deactivation of program displacement Instructions - PDispOff
Definition of program displacement using
values
Instructions - PDispSet
Coordinate systems
tems
Motion Principles - Coordinate Sys-
Definition of tools Data Types - tooldata
Definition of work objects Data Types - wobjdata
More examples Instructions - PDispOff
8-PDispOn-4 RAPID Reference Manual
p30