Basic Characteristics RAPID

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Arguments Syntax DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3) OldP1 Data type: robtarget The first original position. OldP2 Data type: robtarget The second original position. OldP3 Data type: robtarget The third original position. NewP1 Data type: robtarget The first displaced position. This position must be measured and determined with great accuracy. NewP2 Data type: robtarget The second displaced position. It should be noted that this position can be measured and determined with less accuracy in one direction, e.g. this position must be placed on a line describing the new direction of p1 to p2. NewP3 Data type: robtarget The third displaced position. This position can be measured and determined with less accuracy in two directions, e.g. it has to be placed in a plane describing the new plane of p1, p2 and p3. DefDFrame’(’ [OldP1 ’:=’] ’,’ [OldP2 ’:=’] ’,’ [OldP3 ’:=’] ’,’ [NewP1 ’:=’] ’,’ [NewP2 ’:=’] ’,’ [NewP3 ’:=’] ’)’ A function with a return value of the data type pose. Related information Described in: Activation of displacement frame Instructions - PDispSet Manual definition of displacement frame User’s Guide - Calibration 9-DefDFrame-2 <strong>RAPID</strong> Reference Manual
DefFrame Define a frame Example DefFrame (Define Frame) is used to calculate a frame, from three positions defining the frame. z object frame y Three positions, p1- p3, related to the object coordinate system, are used to define the new coordinate system, frame1. The first position, p1, is defining the origin of frame1, the second position, p2, is defining the direction of the x-axis and the third position, p3, is defining the location of the xy-plane. The defined frame1 may be used as a displacement frame, as shown in the example below: CONST robtarget p1 := [...]; CONST robtarget p2 := [...]; CONST robtarget p3 := [...]; VAR pose frame1; . . frame1 := DefFrame (p1, p2, p3); . . !activation of the displacement defined by frame1 PDispSet frame1; Return value Data type: pose The calculated frame. x z The calculation is related to the active object coordinate system. <strong>RAPID</strong> Reference Manual 9-DefFrame-1 y p3 p1 frame1 p2 x
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ABB Flexible Automation AB RAPID Re
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CONTENTS RAPID Reference Manual 1-1
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Page 11 Mathematics ...............
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Page 7.2 Logical expressions.......
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Page speeddata - Speed data .......
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Page SetAO - Changes the value of a
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Page ReadMotor - Reads the current
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Page 6 The Service Window..........
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A Abs 9-Abs-1 absolute value 9-Abs-
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H heat 13-seamdata-4 I I/O principl
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measuring system 8-IndReset-1 Resto
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CONTENTS Introduction 1 Other Manua
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Introduction 1 Other Manuals Introd
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Simplified syntax Example: 2.3 Form
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CONTENTS RAPID Summary 1 The Struct
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RAPID Summary 12.3 Principles of Sp
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RAPID Summary The Structure of the
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RAPID Summary Controlling the Progr
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RAPID Summary Various Instructions
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RAPID Summary Motion Settings 4.3 D
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RAPID Summary Motion Settings 4.10
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RAPID Summary Motion 5.2 Positionin
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RAPID Summary Motion 5.8 Position f
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RAPID Summary Input and Output Sign
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RAPID Summary Communication 7 Commu
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RAPID Summary Interrupts 8 Interrup
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RAPID Summary Error Recovery 9 Erro
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RAPID Summary System & Time 10 Syst
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RAPID Summary Mathematics 11.4 Arit
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RAPID Summary Spot Welding SpotWare
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RAPID Summary Spot Welding 12.5 Spo
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RAPID Summary Arc Welding 13.3 Arc
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RAPID Summary GlueWare 14.4 Glue da
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RAPID Summary Service Instructions
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RAPID Summary String Functions 17 S
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RAPID Summary Syntax Summary 18 Syn
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RAPID Summary Syntax Summary MoveL
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RAPID Summary Syntax Summary ClkRea
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CONTENTS Basic Characteristics RAPI
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Basic Characteristics RAPID Basic E
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Basic Characteristics RAPID Modules
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Basic Characteristics RAPID Routine
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Basic Characteristics RAPID Data Ty
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Basic Characteristics RAPID Data Fi
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Basic Characteristics RAPID Data Sy
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Basic Characteristics RAPID Instruc
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Basic Characteristics RAPID Express
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Basic Characteristics RAPID Error R
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Basic Characteristics RAPID Interru
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Basic Characteristics RAPID Backwar
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Basic Characteristics RAPID Multita
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CONTENTS Motion and I/O Principles
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Motion and I/O Principles Coordinat
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Motion and I/O Principles Positioni
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equired to obtain the same force. T
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3 Synchronization with logical inst
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Execution of SetDO p1 DT MoveL p1,
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The accuracy is ±2 ms. On the part
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Usually you want the robot to attai
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4.2 Related information Described i
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Singularity points/IRB 6400C Betwee
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6.2 System signals An output can be
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ool Logical values Description Exam
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clock Time measurement Description
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confdata Robot configuration data D
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Example Structure VAR confdata conf
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dionum Digital values 0 - 1 Descrip
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errnum Error number Description Exa
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Characteristics ERR_REFUNKFUN Refer
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extjoint Position of external joint
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intnum Interrupt identity Descripti
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iodev Serial channels and files Des
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jointtarget Joint position data Des
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loaddata Load data Description Comp
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Examples Limitations Predefined dat
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mecunit Mechanical unit Description
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motsetdata Motion settings data Des
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Example Predefined data IF C_MOTSET
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num Numeric values (registers) Desc
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o_jointtarget Original joint positi
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orient Orientation Description Comp
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Example 1 A tool is orientated so t
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o_robtarget Original position data
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pos Positions (only X, Y and Z) Des
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pose Coordinate transformations Des
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progdisp Program displacement Descr
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objoint Joint position of robot axe
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obtarget Position data Description
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Limitations Structure VAR robtarget
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signalxx Digital and analog signals
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speeddata Speed data Description Co
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Structure < dataobject of speeddata
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string Strings Description Example
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symnum Symbolic number Description
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tooldata Tool data Description Comp
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Examples Limitations Predefined dat
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triggdata Positioning events - trig
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tunetype Servo tune type Descriptio
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wobjdata Work object data Descripti
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Example Limitations Predefined data
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zonedata Zone data Description Zone
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P1 Components MoveL with 200 mm mov
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Predefined data Structure A number
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System Data System data is the inte
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“:=” Assigns a value Examples A
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AccSet Reduces the acceleration Exa
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ActUnit Activates a mechanical unit
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Add Adds a numeric value Examples A
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Break Break program execution Examp
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CallByVar Call a procedure by a var
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Clear Clears the value Example Argu
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ClkReset Resets a clock used for ti
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ClkStart Starts a clock used for ti
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ClkStop Stops a clock used for timi
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Close Closes a file or serial chann
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comment Comment Example Arguments C
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Compact IF If a condition is met, t
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ConfJ Controls the configuration du
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ConfL Monitors the configuration du
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CONNECT Connects an interrupt to a
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DeactUnit Deactivates a mechanical
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Decr Decrements by 1 Example Argume
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EOffsOff Deactivates an offset for
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EOffsOn Activates an offset for ext
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EOffsSet Activates an offset for ex
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ErrWrite Write an Error Message Exa
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EXIT Terminates program execution E
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FOR Repeats a given number of times
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Related information Described in: E
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GOTO Goes to a new instruction Exam
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GripLoad Defines the payload of the
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IDelete Cancels an interrupt Exampl
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IDisable Disables interrupts Exampl
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IEnable Enables interrupts Example
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IF If a condition is met, then ...;
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Incr Increments by 1 Example Argume
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IndAMove Independent Absolute posit
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Example Error handling Syntax ActUn
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IndCMove Independent Continuous Mov
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Error handling Syntax Axis 2 of Sta
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IndDMove Independent Delta position
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Example Error handling Syntax IndAM
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IndReset Independent Reset Example
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Limitations Example Error handling
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IndRMove Independent Relative posit
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Limitations Examples The speed can
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InvertDO Inverts the value of a dig
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ISignalDI Orders interrupts from a
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Syntax PROC main ( ) VAR intnum sig
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ISignalDO Interrupts from a digital
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Syntax PROC main ( ) VAR intnum sig
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ISleep Deactivates an interrupt Exa
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ITimer Orders a timed interrupt Exa
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IWatch Activates an interrupt Examp
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label Line name Example Arguments L
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Load Load a program module during e
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Related information Described in: U
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MoveAbsJMoves the robot to an absol
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Program execution Examples Error ha
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Related information Described in: O
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MoveC Moves the robot circularly Ex
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[ \WObj] (Work Object) Data type: w
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Related information Described in: O
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MoveJ Moves the robot by joint move
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Examples Syntax MoveJ *, v2000\V:=2
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MoveL Moves the robot linearly Exam
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Examples Syntax MoveL *, v2000 \V:=
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Open Opens a file or serial channel
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PDispOff Deactivates program displa
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PDispOn Activates program displacem
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Example at the two positions. The d
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PDispSet Activates program displace
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ProcCall Calls a new procedure Exam
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PulseDO Generates a pulse on a digi
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RAISE Calls an error handler Exampl
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Reset Resets a digital output signa
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RestoPath Restores the path after a
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RETRY Restarts following an error E
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RETURN Finishes execution of a rout
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SearchC Searches circularly using t
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Syntax SearchC [ ’\’ Stop’,
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SearchL Searches linearly using the
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Program execution Examples This arg
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Error handling Example An error is
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Set Sets a digital output signal Ex
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SetAO Changes the value of an analo
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SetDO Changes the value of a digita
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SetGO Changes the value of a group
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SingArea Defines interpolation arou
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SoftAct Activating the soft servo E
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SoftDeact Deactivating the soft ser
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StartMove Restarts robot motion Exa
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Stop Stops program execution Exampl
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StopMove Stops robot motion Example
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StorePath Stores the path when an i
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TEST Depending on the value of an e
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TPErase Erases text printed on the
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TPReadFK Reads function keys Exampl
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Syntax TPReadFK [Answer’:=’]
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TPReadNum Reads a number from the t
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TPWrite Writes on the teach pendant
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TriggC Circular robot movement with
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TriggEquip Defines a fixed position
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Program execution Examples If this
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TriggInt Defines a position related
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Examples Limitations The position r
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TriggIO Defines a fixed position I/
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Examples Limitations The distance s
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TriggJ Axis-wise robot movements wi
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Program execution Examples Limitati
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TriggL Linear robot movements with
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Program execution Examples Limitati
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TRYNEXT Jumps over an instruction w
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TuneReset Resetting servo tuning Ex
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TuneServo Tuning servos Description
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Example This argument can be omitte
Page 473 and 474: UnLoad UnLoad a program module duri
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Page 477 and 478: VelSet Changes the programmed veloc
Page 479 and 480: WaitDI Waits until a digital input
Page 481 and 482: WaitDO Waits until a digital output
Page 483 and 484: WaitTime Waits a given amount of ti
Page 485 and 486: WaitUntil Waits until a condition i
Page 487 and 488: WHILE Repeats as long as ... Exampl
Page 489 and 490: Write Writes to a character-based f
Page 491 and 492: Error handling Syntax If an error o
Page 493 and 494: WriteBin Writes to a binary serial
Page 495 and 496: Abs Gets the absolute value Example
Page 497 and 498: ACos Calculates the arc cosine valu
Page 499 and 500: ASin Calculates the arc sine value
Page 501 and 502: ATan Calculates the arc tangent val
Page 503 and 504: ATan2 Calculates the arc tangent2 v
Page 505 and 506: CDate Reads the current date as a s
Page 507 and 508: CJointT Reads the current joint ang
Page 509 and 510: ClkRead Reads a clock used for timi
Page 511 and 512: Cos Calculates the cosine value Exa
Page 513 and 514: CPos Reads the current position (po
Page 515 and 516: CRobT Reads the current position (r
Page 517 and 518: CTime Reads the current time as a s
Page 519 and 520: CTool Reads the current tool data E
Page 521 and 522: CWObj Reads the current work object
Page 523: DefDFrame Define a displacement fra
Page 527 and 528: Syntax Other values, or if Origin i
Page 529 and 530: Dim Obtains the size of an array Ex
Page 531 and 532: DOutput Reads the value of a digita
Page 533 and 534: EulerZYX Gets Euler angles from ori
Page 535 and 536: Exp Calculates the exponential valu
Page 537 and 538: GetTime Reads the current time as a
Page 539 and 540: GOutput Reads the value of a group
Page 541 and 542: IndInpos Independent In position st
Page 543 and 544: IndSpeed Independent Speed status E
Page 545 and 546: IsPers Is Persistent Example IsPers
Page 547 and 548: IsVar Is Variable Example IsVar is
Page 549 and 550: MirPos Mirroring of a position Exam
Page 551 and 552: NumToStr Converts numeric value to
Page 553 and 554: Offs Displaces a robot position Exa
Page 555 and 556: OpMode Read the operating mode Exam
Page 557 and 558: OrientZYX Builds an orient from Eul
Page 559 and 560: ORobT Removes a program displacemen
Page 561 and 562: PoseInv Inverts the pose Example Po
Page 563 and 564: PoseMult Multiplies pose data Examp
Page 565 and 566: PoseVect Applies a transformation t
Page 567 and 568: Pow Calculates the power of a value
Page 569 and 570: Present Tests if an optional parame
Page 571 and 572: ReadBin Reads from a binary serial
Page 573 and 574: ReadMotor Reads the current motor a
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ReadNum Reads a number from a file
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ReadStr Reads a string from a file
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RelTool Make a displacement relativ
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Round Round is a numeric value Exam
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RunMode Read the running mode Examp
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Sin Calculates the sine value Examp
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Sqrt Calculates the square root val
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StrFind Searches for a character in
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StrLen Gets the string length Examp
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StrMap Maps a string Example StrMap
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StrMatch Search for pattern in stri
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StrMemb Checks if a character belon
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StrOrder Checks if strings are orde
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StrPart Finds a part of a string Ex
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StrToVal Converts a string to a val
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Tan Calculates the tangent value Ex
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TestDI Tests if a digital input is
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Trunc Truncates a numeric value Exa
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ValToStr Converts a value to a stri
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CONTENTS 1 System Module User .....
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1 System Module User 1.1 Contents I
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CONTENTS 1 Programming Off-line ...
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Programming Off-line 1 Programming
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• Create a new system module wher
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CONTENTS seamdata Seam data weaveda
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seamdata Seam data Description Seam
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Components Component group: Ignitio
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The unit is defined in System Param
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Structure The unit is defined in th
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weavedata Weave data Description Co
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Y w Figure 5 The width (W) of the w
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weave_bias (weave centre bias) Data
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welddata Weld data Description Weld
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The welding sequence sched-no 4 x a
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In a weld end instruction the delay
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The type of weld shown in Figure 4
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ArcC Arc welding with circular moti
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CirPoint Data type: robtarget The c
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Tool Data type: tooldata The tool u
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Example MoveL ... ArcL \On, *,v100,
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ArcL Arc welding with linear motion
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ToPoint Data type: robtarget The de
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Program execution When this argumen
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Syntax MoveL xxxxxx weld5, weave1 A
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CONTENTS gundata Spot weld gun data
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gundata Spot weld gun data Descript
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Structure build_up_p3 1 Data type:
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spotdata Spot weld data Description
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SpotL Spot Welding with motion Exam
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Program execution Internal sequence
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Gun closure The gun closure is acti
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Simulated welding Error handling Fu
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Restart by choice Service (If SpotW
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For a complete description of the I
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System Module SWUSER Contents Data
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Routines Normally it is suitable to
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sw_service_wf (spotweld service wel
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System Module SWUSRC Contents Data
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The following predefined data is us
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User defined independent supervisio
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PROC sw_open_gun (num context) spot
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System Module SWUSRF Contents Data
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Default functionality: No functions
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System Module SWTOOL Contents The s
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Functions The following predefined
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CONTENTS ggundata Gluing gun data G
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ggundata Gluing gun data Descriptio
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Limitations Predefined data Structu
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GlueC Gluing with circular motion E
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an * in the instruction). ToPoint D
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Instruction by instruction executio
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RAPID Reference Manual 15-GlueC-7
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GlueL Gluing with linear motion Exa
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Speed Data type: speeddata The spee
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Calculation of the glue flow values
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The gluing is restarted with the ne
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System Module GLUSER Contents Data
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CONTENTS 1 The Jogging Window .....
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1 The Jogging Window 1.1 Window: Jo
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2.1.2 Menu: Edit Command: Used to:
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3.2 General menus 3.2.1 Menu: File
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3.2.3 Menu: View View 1 Instr.”
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3.4 Window: Program Routines Routin
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3.5 Window: Program Data Data type
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3.6 Window: Program Data Types Data
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3.8 Window: Program Modules Modules
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4.1.3 Menu: View View 1 Info ... 2
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5.1.2 Menu: Edit Command: Used to:
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6.1.3 Menu: View View 1 Log 2 Date
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6.3 Window Service Calibration Cali
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7 The System Parameters 7.1 Window:
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The contents under the chapter “S
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Basic Characteristics RAPID

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