Basic Characteristics RAPID

RAPID Summary Motion
5.2 Positioning instructions
5.3 Searching
Instruction Type of movement:
MoveC TCP moves along a circular path
MoveJ Joint movement
MoveL TCP moves along a linear path
MoveAbsJ Absolute joint movement
During the movement, the robot can search for the position of a work object, for example.
The searched position (indicated by a sensor signal) is stored and can be used later
to position the robot or to calculate a program displacement.
Instruction Type of movement:
SearchC TCP along a circular path
SearchL TCP along a linear path
5.4 Activating outputs or interrupts at specific positions
Normally, logical instructions are executed in the transition from one positioning
instruction to another. If, however, special motion instructions are used, these can be
executed instead when the robot is at a specific position.
Instruction Used to:
TriggIO 1
Define a trigg condition to set an output at a given position
TriggInt1 Define a trigg condition to execute a trap routine at a given
position
TriggEquip1 Define a trigg condition to set an output at a given position
with the possibility to include time compensation for the lag
in the external equipment
TriggC1 Run the robot (TCP) circularly with an activated trigg
condition
TriggJ1 Run the robot axis-by-axis with an activated trigg condition
TriggL1 Run the robot (TCP) linearly with an activated trigg condition
Data type Used to define:
triggdata1 Trigg conditions
1. Only if the robot is equipped with the option “Advanced functions”
RAPID Reference Manual 3-15