Basic Characteristics RAPID

Syntax
of the movement. This time cannot exceed the current braking time of the robot, which
is max. approx. 0,5 s (typical values at speed 500 mm/s for IRB2400 150 ms and for
IRB6400 250 ms). If the specified time is greater that the current braking time, the event
will be generated anyhow, but not until braking is started (later than specified). However,
the whole of the movement time for the current movement can be utilised during
small and fast movements.
TriggIO
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ‘,’
[ Distance ’:=’ ] < expression (IN) of num>
[ ’\’ Start ] | [ ’\’ Time ]
[ ’\’ DOp ’:=’ < variable (VAR) of signaldo> ]
| [ ’\’ GOp ’:=’ < variable (VAR) of signalgo> ]
| [ ’\’ AOp ’:=’ < variable (VAR) of signalao> ] ‘,’
[ SetValue ’:=’ ] < expression (IN) of num>
[ ’\’ DODelay ’:=’ < expression (IN) of num> ] ‘;’
Related information
Described in:
Use of triggers Instructions - TriggL, TriggC, TriggJ
Definition of position-time I/O event Instruction - TriggEquip
Definition of position related interrupts Instruction - TriggInt
More examples Data Types - triggdata
Set of I/O Instructions - SetDO, SetGO, SetAO
8-TriggIO-4 RAPID Reference Manual