Basic Characteristics RAPID

TriggIO Defines a fixed position I/O event
Examples
Arguments
TriggIO 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.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system
(lag between robot and servo) but not for any lag in the external equipment. For
compensation of both lags use TriggEquip.
The data defined is used for implementation in one or more subsequent TriggL, TriggC
or TriggJ instructions.
VAR triggdata gunon;
TriggIO gunon, 10 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The digital output signal gun is set to the value 1 when the TCP is 10 mm before
the point p1.
Start point
TriggL p1, v500, gunon, z50,, gun1; End point p1
10 mm
Figure 1 Example of fixed-position IO event.
TriggIO TriggData Distance [ \Start ] | [ \Time ]
[ \DOp ] | [ \GOp ] | [\AOp ] SetValue
[ \DODelay ]
The output signal gun is set
when the TCP is here
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 event shall occur.
RAPID Reference Manual 8-TriggIO-1