Basic Characteristics RAPID

[ \WObj] (Work Object) Data type: wobjdata
Program execution
Examples
Limitations
The work object (coordinate system) to which the robot position in the instruction
is 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.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to
the end point, the defined trigger activities are carried out. The trigger conditions are
fulfilled either at a certain distance before the end point of the instruction, or at a certain
distance after the start point of the instruction, or at a certain point in time (limited to
a short time) before the end point of the instruction.
During stepping execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time , intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position
0.1 s before the point p2 or p4 respectively.
If the current start point deviates from the usual, so that the total positioning length of
the instruction TriggC is shorter than usual, it may happen that several or all of the trigger
conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program
logic in the user program may not be based on a normal sequence of trigger activities
RAPID Reference Manual 8-TriggC-3