Basic Characteristics RAPID

Program execution
Examples
If this optional argument is used and the actual value of the specified flag is
TRUE at the position-time for setting of the signal then the specified signal
(DOp, GOp or AOp) will be set to 0 in stead of specified value.
When running the instruction TriggEquip, the trigger condition is stored in the specified
variable for the argument TriggData.
Afterwards, when one of the instructions TriggL, TriggC or TriggJ is executed, the following
are applicable, with regard to the definitions in TriggEquip:
The distance specified in the argument Distance:
Linear movement The straight line distance
Circular movement The circle arc length
Non-linear movement The approximate arc length along the path
(to obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Figure 3 Fixed position-time I/O on a corner path.
The position-time related event will be generated when the start point (end point) is
passed, if the specified distance from the end point (start point) is not within the length
of movement of the current instruction (Trigg...). With use of argument EquipLag with
negative time (delay), the I/O signal can be set after the end point.
VAR triggdata glueflow;
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
...
If the Distance is 0, the output signal is
set when the robot’s TCP is here
End point with
corner path
The analog output signal glue is set to the value 5.3 when the TCP passes a point
located 1 mm after the start point p1 with compensation for equipment lag 0.05 s.
RAPID Reference Manual 8-TriggEquip-3