Basic Characteristics RAPID

Syntax
.
Figure 2 Translation and rotation of a programmed position.
Program displacement is activated when the instruction PDispSet is executed and
remains active until some other program displacement is activated (the instruction
PDispSet or PDispOn) or until program displacement is deactivated (the instruction
PDispOff).
Only one program displacement can be active at any one time. Program displacements
cannot be added to one another using PDispSet.
The program displacement is automatically reset
- at a cold start-up
- when a new program is loaded
- when starting program executing from the beginning.
PDispSet
[ DispFrame ’:=’ ] < expression (IN) of pose> ’;’
Related information
y
Original
position
Original
orientation
Program displacement
x
Object Coordinate System
y
New
position
New
orientation
Program Displacement Coordinate System
(ProgDisp)
Described in:
Deactivation of program displacement Instructions - PDispOff
Definition of program displacement
using two positions
Instructions - PDispOn
Definition of data of the type pose Data Types - pose
Coordinate systems
tems
Motion Principles- Coordinate Sys-
Examples of how program displacement
can be used
Instructions - PDispOn
8-PDispSet-2 RAPID Reference Manual
x