Basic Characteristics RAPID

TriggInt Defines a position related interrupt
Examples
Arguments
TriggInt is used to define conditions and actions for running an interrupt routine at a
position on the robot’s movement path.
The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
TriggL p2, v500, trigg1, z50, gun1;
...
IDelete intno1;
Start point
The interrupt routine trap1 is run when the TCP is at a position 5 mm
before the point p1 or p2 respectively.
TriggL p1, v500, trigg1, z50, gun1; End point p1 or p2
5 mm
Figure 1 Example position related interrupt.
The interrupt is generated
when the TCP is here
TriggInt TriggData Distance [ \Start ] | [ \Time ]
Interrupt
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 interrupt shall be generated.
RAPID Reference Manual 8-TriggInt-1