Basic Characteristics RAPID

[ \WObj] (Work Object) Data type: wobjdata
Program execution
Example
Limitations
The work object (coordinate system) to which the robot positions in the instruction
are related.
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified for a linear movement relative
to the work object to be performed.
See the instruction MoveC for information about circular movement.
The movement is always ended with a stop point, i.e. the robot is stopped at the destination
point.
If a flying search is used, i.e. the \Stop argument is not specified, the robot movement
always continues to the programmed destination point. If a search is made using the
switch \Stop or \PStop, the robot movement stops when the first signal is detected.
The SearchC instruction returns the position of the TCP when the value of the digital
signal changes to active, as illustrated in Figure 1.
1
0
Figure 1 Flank-triggered signal detection (the position is stored when the signal is changed to
active the first time only).
In order to get a fast response, use the interrupt-driven sensor signals sen1, sen2 or sen3
on the system board.
SearchC \Sup, sen1, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10. When the
value of the signal sen1 changes to active, the position is stored in sp. If the value
of the signal changes twice, program execution stops.
Zone data for the positioning instruction that precedes SearchC must be used carefully.
RAPID Reference Manual 8-SearchC-3
time
= Instruction reacts on
signal change