Basic Characteristics RAPID

Program execution
Examples
Limitations
axes are used, this argument must be specified for a linear movement relative to
the work object to be performed.
See the instruction MoveL for information about linear movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to
the end point, the defined trigger activities are carried out. The trigger conditions are
fulfilled either at a certain distance before the end point of the instruction, or at a certain
distance after the start point of the instruction, or at a certain point in time (limited to
a short time) before the end point of the instruction.
During stepping execution forwards, the I/O activities are carried out but the interrupt
routines are not run. During stepping execution backwards, no trigger activities at all
are carried out.
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time , intno1;
...
TriggL p1, v500, trigg1, fine, gun1;
TriggL p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position
0.1 s before the point p1 or p2 respectively.
If the current start point deviates from the usual, so that the total positioning length of
the instruction TriggL is shorter than usual (e.g. at the start of TriggL with the robot
position at the end point), it may happen that several or all of the trigger conditions are
fulfilled immediately and at the same position. In such cases, the sequence in which the
trigger activities are carried out will be undefined. The program logic in the user program
may not be based on a normal sequence of trigger activities for an ”incomplete
movement”.
RAPID Reference Manual 8-TriggL-3