Basic Characteristics RAPID

TriggEquip Defines a fixed position-time I/O event
Examples
Arguments
TriggEquip (Trigg Equipment) is used to define conditions and actions for setting a digital,
a group of digital, or an analog output signal at a fixed position along the robot’s
movement path with possibility to do time compensation for the lag in the external
equipment.
The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.
VAR triggdata gunon;
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 opens in point p2, when the TCP is 10 mm before the point p1. To
reach this, the digital output signal gun is set to the value 1, when TCP is 0.1 s
before the point p2. The gun is full open when TCP reach point p2.
Start point
TriggL p1, v500, gunon, z50, gun1; End point p1
10 mm
Figure 1 Example of fixed position-time I/O event.
Point p2 for open of the gun
TriggEquip TriggData Distance [ \Start ] EquipLag
[ \DOp ] | [ \GOp ] | [\AOp ] SetValue [ \Inhib ]
TriggData Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata
are then used in the subsequent TriggL, TriggC or TriggJ instructions.
Distance Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement
path (applicable if the argument \ Start is not set).
RAPID Reference Manual 8-TriggEquip-1