Basic Characteristics RAPID

PDispSet Activates program displacement using a value
Example
Arguments
PDispSet (Program Displacement Set) is used to define and activate a program displacement
using values.
Program displacement is used, for example, when similar motion patterns are repeated
at several different places in the program.
VAR pose xp100 := [ [100, 0, 0], [1, 0, 0, 0] ];
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PDispSet xp100;
Activation of the xp100 program displacement, meaning that:
- The ProgDisp coordinate system is displaced 100 mm from the object coordinate
system, in the direction of the positive x-axis (see Figure 1).
- As long as this program displacement is active, all positions will be displaced
100 mm in the direction of the x-axis.
Figure 1 A 100 mm-program displacement along the x-axis.
PDispSet DispFrame
DispFrame (Displacement Frame) Datatyp: pose
Program execution
Object
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The program displacement is defined as data of the type pose.
Program displacement involves translating and/or rotating the ProgDisp coordinate
system relative to the object coordinate system. Since all positions are related to the
ProgDisp coordinate system, all programmed positions will also be displaced. See Figure
2.
RAPID Reference Manual 8-PDispSet-1
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