Basic Characteristics RAPID

Limitations
Syntax
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the TCP
passes a point located 1 mm after the start point p2.
Regarding accuracy with TriggEquip, the following is applicable when setting I/O at a
specified distance from the start point/end point in the instructions TriggL or TriggC:
- Better accuracy is obtained by using corner paths than with stop points.
- When setting I/O in advance, the best accuracy is obtained when EquipLag < 60
ms, equivalent to the lag in the robot’s servo. For EquipLag > 60 ms, an approximate
method is used in which the dynamic limitations of the robot are taken
into consideration. For EquipLag > 60 ms, SingArea must be used in the vicinity
of a singular point in order to achieve an acceptable accuracy.
- When using delayed I/O setting by specifying a negative EquipLag, the resolution
obtained is better for digital signals (1 ms) than for analog signals (10 ms).
TriggEquip
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ‘,’
[ Distance ’:=’ ] < expression (IN) of num>
[ ’\’ Start ] ‘,’
[ EquipLag ’:=’ ] < expression (IN) of num>
[ ’\’ DOp ’:=’ < variable (VAR) of signaldo> ]
| [ ’\’ GOp ’:=’ < variable (VAR) of signalgo> ]
| [ ’\’ AOp ’:=’ < variable (VAR) of signalao> ] ‘,’
[ SetValue ’:=’ ] < expression (IN) of num>
[ ’\’ Inhibit ’:=’ < persistent (PERS) of bool> ] ‘,’
Related information
Described in:
Use of triggers Instructions - TriggL, TriggC, TriggJ
Definition of other triggs Instruction - TriggIO, TriggInt
More examples Data Types - triggdata
Set of I/O Instructions - SetDO, SetGO, SetAO
8-TriggEquip-4 RAPID Reference Manual