Basic Characteristics RAPID

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
RAPID Reference Manual 8-SearchL-3
time
= Instruction reaction when
the signal changes