Basic Characteristics RAPID

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[\Sup ] (Supervision) Data type: switch The search instruction is sensitive to signal activation during the complete movement, i.e. even after the first signal change has been reported. If more than one match occurs during a search, program execution stops. If the argument \Stop, \PStop or \Sup is omitted, the movement continues (flying search) to the position specified in the ToPoint argument. Signal Data type: signaldi The name of the signal to supervise. SearchPoint Data type: robtarget The position of the TCP and external axes when the search signal has been triggered. The position is specified in the outermost coordinate system, taking the specified tool, work object and active ProgDisp/ExtOffs coordinate system into consideration. ToPoint Data type: robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). SearchL always uses a stop point as zone data for the destination. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool centre point, the external axes and of the tool reorientation. [ \V ] (Velocity) Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] (Time) Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Tool Data type: tooldata The tool in use when the robot moves. The tool centre point is the point that is moved to the specified destination position. [ \WObj] (Work Object) Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. 8-SearchL-2 <strong>RAPID</strong> Reference Manual
Program execution Examples 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 MoveL for information about linear movement. The movement always ends with a stop point, i.e. the robot stops 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 SearchL instruction stores 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 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. SearchL \Sup, sen1, sp, p10, v100, probe; The TCP of the probe is moved linearly 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. SearchL \Stop, sen1, sp, p10, v100, tool1; MoveL sp, v100, fine, tool1; PDispOn *, tool1; MoveL p100, v100, z10, tool1; MoveL p110, v100, z10, tool1; MoveL p120, v100, z10, tool1; PDispOff; The TCP of tool1 is moved linearly towards the position p10. When the value of the signal sen1 changes to active, the position is stored in sp and the robot is <strong>RAPID</strong> Reference Manual 8-SearchL-3 time = Instruction reaction when the signal changes
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ABB Flexible Automation AB RAPID Re
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CONTENTS RAPID Reference Manual 1-1
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Page 11 Mathematics ...............
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Page 7.2 Logical expressions.......
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Page speeddata - Speed data .......
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Page SetAO - Changes the value of a
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Page ReadMotor - Reads the current
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Page 6 The Service Window..........
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A Abs 9-Abs-1 absolute value 9-Abs-
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H heat 13-seamdata-4 I I/O principl
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measuring system 8-IndReset-1 Resto
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CONTENTS Introduction 1 Other Manua
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Introduction 1 Other Manuals Introd
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Simplified syntax Example: 2.3 Form
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CONTENTS RAPID Summary 1 The Struct
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RAPID Summary 12.3 Principles of Sp
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RAPID Summary The Structure of the
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RAPID Summary Controlling the Progr
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RAPID Summary Various Instructions
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RAPID Summary Motion Settings 4.3 D
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RAPID Summary Motion Settings 4.10
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RAPID Summary Motion 5.2 Positionin
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RAPID Summary Motion 5.8 Position f
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RAPID Summary Input and Output Sign
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RAPID Summary Communication 7 Commu
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RAPID Summary Interrupts 8 Interrup
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RAPID Summary Error Recovery 9 Erro
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RAPID Summary System & Time 10 Syst
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RAPID Summary Mathematics 11.4 Arit
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RAPID Summary Spot Welding SpotWare
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RAPID Summary Spot Welding 12.5 Spo
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RAPID Summary Arc Welding 13.3 Arc
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RAPID Summary GlueWare 14.4 Glue da
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RAPID Summary Service Instructions
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RAPID Summary String Functions 17 S
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RAPID Summary Syntax Summary 18 Syn
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RAPID Summary Syntax Summary MoveL
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RAPID Summary Syntax Summary ClkRea
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CONTENTS Basic Characteristics RAPI
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Basic Characteristics RAPID Basic E
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Basic Characteristics RAPID Modules
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Basic Characteristics RAPID Routine
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Basic Characteristics RAPID Data Ty
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Basic Characteristics RAPID Data Fi
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Basic Characteristics RAPID Data Sy
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Basic Characteristics RAPID Instruc
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Basic Characteristics RAPID Express
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Basic Characteristics RAPID Error R
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Basic Characteristics RAPID Interru
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Basic Characteristics RAPID Backwar
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Basic Characteristics RAPID Multita
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CONTENTS Motion and I/O Principles
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Motion and I/O Principles Coordinat
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Motion and I/O Principles Positioni
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equired to obtain the same force. T
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3 Synchronization with logical inst
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Execution of SetDO p1 DT MoveL p1,
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The accuracy is ±2 ms. On the part
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Usually you want the robot to attai
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4.2 Related information Described i
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Singularity points/IRB 6400C Betwee
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6.2 System signals An output can be
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ool Logical values Description Exam
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clock Time measurement Description
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confdata Robot configuration data D
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Example Structure VAR confdata conf
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dionum Digital values 0 - 1 Descrip
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errnum Error number Description Exa
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Characteristics ERR_REFUNKFUN Refer
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extjoint Position of external joint
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intnum Interrupt identity Descripti
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iodev Serial channels and files Des
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jointtarget Joint position data Des
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loaddata Load data Description Comp
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Examples Limitations Predefined dat
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mecunit Mechanical unit Description
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motsetdata Motion settings data Des
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Example Predefined data IF C_MOTSET
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num Numeric values (registers) Desc
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o_jointtarget Original joint positi
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orient Orientation Description Comp
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Example 1 A tool is orientated so t
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o_robtarget Original position data
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pos Positions (only X, Y and Z) Des
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pose Coordinate transformations Des
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progdisp Program displacement Descr
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objoint Joint position of robot axe
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obtarget Position data Description
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Limitations Structure VAR robtarget
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signalxx Digital and analog signals
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speeddata Speed data Description Co
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Structure < dataobject of speeddata
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string Strings Description Example
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symnum Symbolic number Description
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tooldata Tool data Description Comp
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Examples Limitations Predefined dat
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triggdata Positioning events - trig
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tunetype Servo tune type Descriptio
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wobjdata Work object data Descripti
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Example Limitations Predefined data
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zonedata Zone data Description Zone
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P1 Components MoveL with 200 mm mov
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Predefined data Structure A number
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System Data System data is the inte
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“:=” Assigns a value Examples A
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AccSet Reduces the acceleration Exa
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ActUnit Activates a mechanical unit
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Add Adds a numeric value Examples A
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Break Break program execution Examp
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CallByVar Call a procedure by a var
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Clear Clears the value Example Argu
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ClkReset Resets a clock used for ti
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ClkStart Starts a clock used for ti
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ClkStop Stops a clock used for timi
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Close Closes a file or serial chann
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comment Comment Example Arguments C
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Compact IF If a condition is met, t
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ConfJ Controls the configuration du
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ConfL Monitors the configuration du
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CONNECT Connects an interrupt to a
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DeactUnit Deactivates a mechanical
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Decr Decrements by 1 Example Argume
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EOffsOff Deactivates an offset for
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EOffsOn Activates an offset for ext
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EOffsSet Activates an offset for ex
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ErrWrite Write an Error Message Exa
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EXIT Terminates program execution E
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FOR Repeats a given number of times
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Related information Described in: E
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GOTO Goes to a new instruction Exam
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GripLoad Defines the payload of the
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IDelete Cancels an interrupt Exampl
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IDisable Disables interrupts Exampl
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IEnable Enables interrupts Example
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IF If a condition is met, then ...;
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Incr Increments by 1 Example Argume
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IndAMove Independent Absolute posit
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Example Error handling Syntax ActUn
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IndCMove Independent Continuous Mov
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Error handling Syntax Axis 2 of Sta
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IndDMove Independent Delta position
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Example Error handling Syntax IndAM
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IndReset Independent Reset Example
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Limitations Example Error handling
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IndRMove Independent Relative posit
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Limitations Examples The speed can
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InvertDO Inverts the value of a dig
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ISignalDI Orders interrupts from a
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Syntax PROC main ( ) VAR intnum sig
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ISignalDO Interrupts from a digital
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Syntax PROC main ( ) VAR intnum sig
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ISleep Deactivates an interrupt Exa
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ITimer Orders a timed interrupt Exa
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IWatch Activates an interrupt Examp
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label Line name Example Arguments L
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Load Load a program module during e
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Related information Described in: U
Page 351 and 352: MoveAbsJMoves the robot to an absol
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Page 357 and 358: MoveC Moves the robot circularly Ex
Page 359 and 360: [ \WObj] (Work Object) Data type: w
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Page 363 and 364: MoveJ Moves the robot by joint move
Page 365 and 366: Examples Syntax MoveJ *, v2000\V:=2
Page 367 and 368: MoveL Moves the robot linearly Exam
Page 369 and 370: Examples Syntax MoveL *, v2000 \V:=
Page 371 and 372: Open Opens a file or serial channel
Page 373 and 374: PDispOff Deactivates program displa
Page 375 and 376: PDispOn Activates program displacem
Page 377 and 378: Example at the two positions. The d
Page 379 and 380: PDispSet Activates program displace
Page 381 and 382: ProcCall Calls a new procedure Exam
Page 383 and 384: PulseDO Generates a pulse on a digi
Page 385 and 386: RAISE Calls an error handler Exampl
Page 387 and 388: Reset Resets a digital output signa
Page 389 and 390: RestoPath Restores the path after a
Page 391 and 392: RETRY Restarts following an error E
Page 393 and 394: RETURN Finishes execution of a rout
Page 395 and 396: SearchC Searches circularly using t
Page 399 and 400: Syntax SearchC [ ’\’ Stop’,
Page 401: SearchL Searches linearly using the
Page 405 and 406: Error handling Example An error is
Page 407 and 408: Set Sets a digital output signal Ex
Page 409 and 410: SetAO Changes the value of an analo
Page 411 and 412: SetDO Changes the value of a digita
Page 413 and 414: SetGO Changes the value of a group
Page 415 and 416: SingArea Defines interpolation arou
Page 417 and 418: SoftAct Activating the soft servo E
Page 419 and 420: SoftDeact Deactivating the soft ser
Page 421 and 422: StartMove Restarts robot motion Exa
Page 423 and 424: Stop Stops program execution Exampl
Page 425 and 426: StopMove Stops robot motion Example
Page 427 and 428: StorePath Stores the path when an i
Page 429 and 430: TEST Depending on the value of an e
Page 431 and 432: TPErase Erases text printed on the
Page 433 and 434: TPReadFK Reads function keys Exampl
Page 435 and 436: Syntax TPReadFK [Answer’:=’]
Page 437 and 438: TPReadNum Reads a number from the t
Page 439 and 440: TPWrite Writes on the teach pendant
Page 441 and 442: TriggC Circular robot movement with
Page 445 and 446: TriggEquip Defines a fixed position
Page 447 and 448: Program execution Examples If this
Page 449 and 450: TriggInt Defines a position related
Page 451 and 452: Examples Limitations The position r
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TriggIO Defines a fixed position I/
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Examples Limitations The distance s
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TriggJ Axis-wise robot movements wi
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Program execution Examples Limitati
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TriggL Linear robot movements with
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Program execution Examples Limitati
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TRYNEXT Jumps over an instruction w
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TuneReset Resetting servo tuning Ex
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TuneServo Tuning servos Description
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Example This argument can be omitte
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UnLoad UnLoad a program module duri
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Related information Described in: L
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VelSet Changes the programmed veloc
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WaitDI Waits until a digital input
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WaitDO Waits until a digital output
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WaitTime Waits a given amount of ti
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WaitUntil Waits until a condition i
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WHILE Repeats as long as ... Exampl
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Write Writes to a character-based f
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Error handling Syntax If an error o
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WriteBin Writes to a binary serial
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Abs Gets the absolute value Example
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ACos Calculates the arc cosine valu
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ASin Calculates the arc sine value
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ATan Calculates the arc tangent val
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ATan2 Calculates the arc tangent2 v
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CDate Reads the current date as a s
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CJointT Reads the current joint ang
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ClkRead Reads a clock used for timi
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Cos Calculates the cosine value Exa
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CPos Reads the current position (po
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CRobT Reads the current position (r
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CTime Reads the current time as a s
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CTool Reads the current tool data E
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CWObj Reads the current work object
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DefDFrame Define a displacement fra
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DefFrame Define a frame Example Def
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Syntax Other values, or if Origin i
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Dim Obtains the size of an array Ex
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DOutput Reads the value of a digita
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EulerZYX Gets Euler angles from ori
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Exp Calculates the exponential valu
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GetTime Reads the current time as a
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GOutput Reads the value of a group
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IndInpos Independent In position st
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IndSpeed Independent Speed status E
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IsPers Is Persistent Example IsPers
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IsVar Is Variable Example IsVar is
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MirPos Mirroring of a position Exam
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NumToStr Converts numeric value to
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Offs Displaces a robot position Exa
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OpMode Read the operating mode Exam
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OrientZYX Builds an orient from Eul
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ORobT Removes a program displacemen
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PoseInv Inverts the pose Example Po
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PoseMult Multiplies pose data Examp
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PoseVect Applies a transformation t
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Pow Calculates the power of a value
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Present Tests if an optional parame
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ReadBin Reads from a binary serial
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ReadMotor Reads the current motor a
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ReadNum Reads a number from a file
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ReadStr Reads a string from a file
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RelTool Make a displacement relativ
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Round Round is a numeric value Exam
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RunMode Read the running mode Examp
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Sin Calculates the sine value Examp
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Sqrt Calculates the square root val
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StrFind Searches for a character in
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StrLen Gets the string length Examp
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StrMap Maps a string Example StrMap
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StrMatch Search for pattern in stri
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StrMemb Checks if a character belon
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StrOrder Checks if strings are orde
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StrPart Finds a part of a string Ex
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StrToVal Converts a string to a val
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Tan Calculates the tangent value Ex
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TestDI Tests if a digital input is
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Trunc Truncates a numeric value Exa
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ValToStr Converts a value to a stri
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CONTENTS 1 System Module User .....
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1 System Module User 1.1 Contents I
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CONTENTS 1 Programming Off-line ...
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Programming Off-line 1 Programming
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• Create a new system module wher
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CONTENTS seamdata Seam data weaveda
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seamdata Seam data Description Seam
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Components Component group: Ignitio
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The unit is defined in System Param
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Structure The unit is defined in th
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weavedata Weave data Description Co
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Y w Figure 5 The width (W) of the w
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weave_bias (weave centre bias) Data
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welddata Weld data Description Weld
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The welding sequence sched-no 4 x a
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In a weld end instruction the delay
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The type of weld shown in Figure 4
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ArcC Arc welding with circular moti
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CirPoint Data type: robtarget The c
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Tool Data type: tooldata The tool u
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Example MoveL ... ArcL \On, *,v100,
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ArcL Arc welding with linear motion
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ToPoint Data type: robtarget The de
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Program execution When this argumen
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Syntax MoveL xxxxxx weld5, weave1 A
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CONTENTS gundata Spot weld gun data
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gundata Spot weld gun data Descript
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Structure build_up_p3 1 Data type:
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spotdata Spot weld data Description
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SpotL Spot Welding with motion Exam
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Program execution Internal sequence
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Gun closure The gun closure is acti
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Simulated welding Error handling Fu
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Restart by choice Service (If SpotW
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For a complete description of the I
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System Module SWUSER Contents Data
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Routines Normally it is suitable to
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sw_service_wf (spotweld service wel
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System Module SWUSRC Contents Data
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The following predefined data is us
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User defined independent supervisio
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PROC sw_open_gun (num context) spot
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System Module SWUSRF Contents Data
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Default functionality: No functions
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System Module SWTOOL Contents The s
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Functions The following predefined
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CONTENTS ggundata Gluing gun data G
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ggundata Gluing gun data Descriptio
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Limitations Predefined data Structu
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GlueC Gluing with circular motion E
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an * in the instruction). ToPoint D
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Instruction by instruction executio
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RAPID Reference Manual 15-GlueC-7
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GlueL Gluing with linear motion Exa
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Speed Data type: speeddata The spee
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Calculation of the glue flow values
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The gluing is restarted with the ne
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System Module GLUSER Contents Data
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CONTENTS 1 The Jogging Window .....
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1 The Jogging Window 1.1 Window: Jo
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2.1.2 Menu: Edit Command: Used to:
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3.2 General menus 3.2.1 Menu: File
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3.2.3 Menu: View View 1 Instr.”
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3.4 Window: Program Routines Routin
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3.5 Window: Program Data Data type
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3.6 Window: Program Data Types Data
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3.8 Window: Program Modules Modules
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4.1.3 Menu: View View 1 Info ... 2
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5.1.2 Menu: Edit Command: Used to:
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6.1.3 Menu: View View 1 Log 2 Date
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6.3 Window Service Calibration Cali
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7 The System Parameters 7.1 Window:
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