Basic Characteristics RAPID

TriggC Circular robot movement with events
Examples
Arguments
TriggC (Trigg Circular) is used to set output signals and/or run interrupt routines at
fixed positions, at the same time as the robot is moving on a circular path.
One or more (max. 4) events can be defined using the instructions TriggIO,
TriggEquip or TriggInt and afterwards these definitions are referred to in the instruction
TriggC.
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, on;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of
the corner path of the point p1.
Start point p1
TriggC p2, p3, v500,gunon, fine, gun1;
Figure 1 Example of fixed-position IO event.
Circle point p2
The output signal gun is set to on
when the TCP of the robot is here
End point p3
TriggC [\Conc] CirPoint ToPoint Speed [ \T ]
Trigg_1 [ \T2 ] [ \T3 ] [ \T4] Zone Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch
Subsequent logical instructions are executed while the robot is moving. This
argument is used to shorten the cycle time when, for example, communicating
with external equipment, and synchronisation is not required. It can also be used
to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc, the number of movement instructions in succession
is limited to 5. In a program section that includes StorePath-RestoPath,
movement instructions with the argument \Conc are not permitted.
RAPID Reference Manual 8-TriggC-1