Basic Characteristics RAPID

Program execution
Specified as the distance in mm (positive value) from the end point of the movement
path (applicable if the argument \ Start or \Time is not set).
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.
[ \Time ] Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the
robot reaches the end point of the instruction. See the section entitled Limitations
for more details.
[ \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).
[ \DODelay] (Digital Output Delay) Data type: num
Time delay in seconds (positive value) for a digital output signal or group of digital
output signals.
Only used to delay setting digital output signals, after the robot has reached the
specified position. There will be no delay if the argument is omitted.
The delay is not synchronised with the movement.
When running the instruction TriggIO, the trigger condition is stored in a 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 TriggIO:
8-TriggIO-2 RAPID Reference Manual