Basic Characteristics RAPID

Page
11 Mathematics ....................................................................................................... 3-28
11.1 Programming principles.............................................................................. 3-28
11.2 Simple calculations on numeric data .......................................................... 3-28
11.3 More advanced calculations........................................................................ 3-28
11.4 Arithmetic functions ................................................................................... 3-29
12 Spot Welding ...................................................................................................... 3-30
12.1 Spot welding features.................................................................................. 3-30
12.2 Principles of SpotWare ............................................................................... 3-31
12.3 Principles of SpotWare Plus ....................................................................... 3-31
12.4 Programming principles.............................................................................. 3-32
12.5 Spot welding instructions............................................................................ 3-33
12.6 Spot welding data........................................................................................ 3-33
13 Arc Welding........................................................................................................ 3-34
13.1 Programming principles.............................................................................. 3-34
13.2 Arc welding instructions ............................................................................. 3-34
13.3 Arc welding data ......................................................................................... 3-35
14 GlueWare............................................................................................................ 3-36
14.1 Glueing features .......................................................................................... 3-36
14.2 Programming principles.............................................................................. 3-36
14.3 Glue instructions ......................................................................................... 3-36
14.4 Glue data ..................................................................................................... 3-37
15 External Computer Communication ............................................................... 3-38
15.1 Programming principles.............................................................................. 3-38
15.2 Sending a program-controlled message from the robot to a computer....... 3-38
16 Service Instructions ........................................................................................... 3-39
16.1 Directing a value to the robot’s test signal.................................................. 3-39
17 String Functions................................................................................................. 3-41
17.1 Basic Operations ......................................................................................... 3-41
17.2 Comparison and Searching ......................................................................... 3-41
17.3 Conversion .................................................................................................. 3-41
18 Syntax Summary................................................................................................ 3-43
18.1 Instructions.................................................................................................. 3-43
18.2 Functions..................................................................................................... 3-46
4
5 Basic Characteristics ............................................................................... 5-1
1 Basic Elements...................................................................................................... 5-3
RAPID Reference Manual 1-3