Basic Characteristics RAPID

TriggJ Axis-wise robot movements with events
Examples
Arguments
TriggJ (Trigg Joint) is used to set output signals and/or run interrupt routines at fixed
positions, at the same time as the robot is moving on a circular path.
One or more (max. 4) events can be defined using the instructions TriggIO, TriggEquip
or TriggInt and afterwards these definitions are referred to in the instruction TriggJ.
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, on;
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of
the corner path of the point p1.
Start point p1
TriggJ p2, v500,gunon, fine, gun1;
Figure 1 Example of fixed-position IO event.
The output signal gun is set to on
when the robot’s TCP is here
End point p2
TriggJ [\Conc] ToPoint Speed [ \T ] Trigg_1 [ \T2 ] [ \T3 ] [ \T4 ]
Zone Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch
Subsequent logical instructions are executed while the robot is moving. This
argument is used to shorten the cycle time when, for example, communicating
with external equipment, if synchronisation is not required. It can also be used
to tune the execution of the robot path, to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Using the argument \Conc, the number of movement instructions in succession
is limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
RAPID Reference Manual 8-TriggJ-1