Basic Characteristics RAPID

See the section entitled Program execution for further details.
[ \Start ] Data type: switch
Used when the distance for the argument Distance starts at the movement start
point instead of the end point.
EquipLag (Equipment Lag) Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use positive argument value. Positive
argument value means that the I/O signal is set by the robot system at specified
time before the TCP physical reach the specified distance in relation to the
movement start or end point.
Negative argument value means that the I/O signal is set by the robot system at
specified time after that the TCP physical has passed the specified distance in
relation to the movement start or end point.
Start point
Distance
\Start
Figure 2 Use of argument EquipLag.
+ - + -
EquipLag
Distance
End point
[ \DOp ] (Digital OutPut) Data type: signaldo
The name of the signal, when a digital output signal shall be changed.
[ \GOp ] (Group OutPut) Data type: signalgo
The name of the signal, when a group of digital output signals shall be changed.
[ \AOp ] (Analog Output) Data type: signalao
The name of the signal, when a analog output signal shall be changed.
SetValue Data type: num
Desired value of output signal (within the allowed range for the current signal).
[ \Inhib ] (Inhibit) Data type: bool
The name of a persistent variable flag for inhibit the setting of the signal at
runtime.
8-TriggEquip-2 RAPID Reference Manual