Basic Characteristics RAPID

More documents

Recommendations

Info

Arguments Syntax PoseMult (Pose1 Pose2) Pose1 Data type: pose The first pose. Pose2 Data type: pose The second pose. PoseMult’(’ [Pose1 ’:=’] ’,’ [Pose2 ’:=’] ’)’ A function with a return value of the data type pose. Related information Described in: Mathematical instructions and functions RAPID Summary - Mathematics 9-PoseMult-2 RAPID Reference Manual
PoseVect Applies a transformation to a vector Example PoseVect (Pose Vector) is used to calculate the product of a pose and a vector. It is typically used to calculate a vector as the result of the effect of a displacement on an original vector. x0 z0 Frame0 y0 pos2 pose1 pose1 represents the coordinates of Frame1 related to Frame0. pos1 is a vector related to Frame1. The corresponding vector related to Frame0 is obtained by the product: VAR pose pose1; VAR pos pos1; VAR pos pos2; . . pos2:= PoseVect(pose1, pos1); Return value Data type: pos The value of the product of the pose and the original pos. RAPID Reference Manual 9-PoseVect-1 z1 Frame1 x1 pos1 y1
Page 1 and 2:
ABB Flexible Automation AB RAPID Re
Page 3 and 4:
CONTENTS RAPID Reference Manual 1-1
Page 5 and 6:
Page 11 Mathematics ...............
Page 7 and 8:
Page 7.2 Logical expressions.......
Page 9 and 10:
Page speeddata - Speed data .......
Page 11 and 12:
Page SetAO - Changes the value of a
Page 13 and 14:
Page ReadMotor - Reads the current
Page 15 and 16:
Page 6 The Service Window..........
Page 17 and 18:
A Abs 9-Abs-1 absolute value 9-Abs-
Page 19 and 20:
H heat 13-seamdata-4 I I/O principl
Page 21 and 22:
measuring system 8-IndReset-1 Resto
Page 23 and 24:
CONTENTS Introduction 1 Other Manua
Page 25 and 26:
Introduction 1 Other Manuals Introd
Page 27 and 28:
Simplified syntax Example: 2.3 Form
Page 29 and 30:
CONTENTS RAPID Summary 1 The Struct
Page 31 and 32:
RAPID Summary 12.3 Principles of Sp
Page 33 and 34:
RAPID Summary The Structure of the
Page 35 and 36:
RAPID Summary Controlling the Progr
Page 37 and 38:
RAPID Summary Various Instructions
Page 39 and 40:
RAPID Summary Motion Settings 4.3 D
Page 41 and 42:
RAPID Summary Motion Settings 4.10
Page 43 and 44:
RAPID Summary Motion 5.2 Positionin
Page 45 and 46:
RAPID Summary Motion 5.8 Position f
Page 47 and 48:
RAPID Summary Input and Output Sign
Page 49 and 50:
RAPID Summary Communication 7 Commu
Page 51 and 52:
RAPID Summary Interrupts 8 Interrup
Page 53 and 54:
RAPID Summary Error Recovery 9 Erro
Page 55 and 56:
RAPID Summary System & Time 10 Syst
Page 57 and 58:
RAPID Summary Mathematics 11.4 Arit
Page 59 and 60:
RAPID Summary Spot Welding SpotWare
Page 61 and 62:
RAPID Summary Spot Welding 12.5 Spo
Page 63 and 64:
RAPID Summary Arc Welding 13.3 Arc
Page 65 and 66:
RAPID Summary GlueWare 14.4 Glue da
Page 67 and 68:
RAPID Summary Service Instructions
Page 69 and 70:
RAPID Summary String Functions 17 S
Page 71 and 72:
RAPID Summary Syntax Summary 18 Syn
Page 73 and 74:
RAPID Summary Syntax Summary MoveL
Page 75 and 76:
RAPID Summary Syntax Summary ClkRea
Page 77 and 78:
CONTENTS Basic Characteristics RAPI
Page 79 and 80:
Basic Characteristics RAPID Basic E
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Basic Characteristics RAPID Modules
Page 87 and 88:
Basic Characteristics RAPID Routine
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Basic Characteristics RAPID Data Ty
Page 97 and 98:
Basic Characteristics RAPID Data Fi
Page 99 and 100:
Basic Characteristics RAPID Data Sy
Page 101 and 102:
Basic Characteristics RAPID Instruc
Page 103 and 104:
Basic Characteristics RAPID Express
Page 105 and 106:
Page 107 and 108:
Page 109 and 110:
Basic Characteristics RAPID Error R
Page 111 and 112:
Basic Characteristics RAPID Interru
Page 113 and 114:
Basic Characteristics RAPID Backwar
Page 115 and 116:
Basic Characteristics RAPID Multita
Page 117 and 118:
Page 119 and 120:
Page 121 and 122:
CONTENTS Motion and I/O Principles
Page 123 and 124:
Motion and I/O Principles Coordinat
Page 125 and 126:
Page 127 and 128:
Page 129 and 130:
Page 131 and 132:
Page 133 and 134:
Motion and I/O Principles Positioni
Page 135 and 136:
Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
Page 143 and 144:
Page 145 and 146:
equired to obtain the same force. T
Page 147 and 148:
3 Synchronization with logical inst
Page 149 and 150:
Execution of SetDO p1 DT MoveL p1,
Page 151 and 152:
The accuracy is ±2 ms. On the part
Page 153 and 154:
Usually you want the robot to attai
Page 155 and 156:
4.2 Related information Described i
Page 157 and 158:
Singularity points/IRB 6400C Betwee
Page 159 and 160:
6.2 System signals An output can be
Page 161 and 162:
ool Logical values Description Exam
Page 163 and 164:
clock Time measurement Description
Page 165 and 166:
confdata Robot configuration data D
Page 167 and 168:
Example Structure VAR confdata conf
Page 169 and 170:
dionum Digital values 0 - 1 Descrip
Page 171 and 172:
errnum Error number Description Exa
Page 173 and 174:
Characteristics ERR_REFUNKFUN Refer
Page 175 and 176:
extjoint Position of external joint
Page 177 and 178:
intnum Interrupt identity Descripti
Page 179 and 180:
iodev Serial channels and files Des
Page 181 and 182:
jointtarget Joint position data Des
Page 183 and 184:
loaddata Load data Description Comp
Page 185 and 186:
Examples Limitations Predefined dat
Page 187 and 188:
mecunit Mechanical unit Description
Page 189 and 190:
motsetdata Motion settings data Des
Page 191 and 192:
Example Predefined data IF C_MOTSET
Page 193 and 194:
num Numeric values (registers) Desc
Page 195 and 196:
o_jointtarget Original joint positi
Page 197 and 198:
orient Orientation Description Comp
Page 199 and 200:
Example 1 A tool is orientated so t
Page 201 and 202:
o_robtarget Original position data
Page 203 and 204:
pos Positions (only X, Y and Z) Des
Page 205 and 206:
pose Coordinate transformations Des
Page 207 and 208:
progdisp Program displacement Descr
Page 209 and 210:
objoint Joint position of robot axe
Page 211 and 212:
obtarget Position data Description
Page 213 and 214:
Limitations Structure VAR robtarget
Page 215 and 216:
signalxx Digital and analog signals
Page 217 and 218:
speeddata Speed data Description Co
Page 219 and 220:
Structure < dataobject of speeddata
Page 221 and 222:
string Strings Description Example
Page 223 and 224:
symnum Symbolic number Description
Page 225 and 226:
tooldata Tool data Description Comp
Page 227 and 228:
Examples Limitations Predefined dat
Page 229 and 230:
triggdata Positioning events - trig
Page 231 and 232:
tunetype Servo tune type Descriptio
Page 233 and 234:
wobjdata Work object data Descripti
Page 235 and 236:
Example Limitations Predefined data
Page 237 and 238:
zonedata Zone data Description Zone
Page 239 and 240:
P1 Components MoveL with 200 mm mov
Page 241 and 242:
Predefined data Structure A number
Page 243 and 244:
System Data System data is the inte
Page 245 and 246:
“:=” Assigns a value Examples A
Page 247 and 248:
AccSet Reduces the acceleration Exa
Page 249 and 250:
ActUnit Activates a mechanical unit
Page 251 and 252:
Add Adds a numeric value Examples A
Page 253 and 254:
Break Break program execution Examp
Page 255 and 256:
CallByVar Call a procedure by a var
Page 257 and 258:
Clear Clears the value Example Argu
Page 259 and 260:
ClkReset Resets a clock used for ti
Page 261 and 262:
ClkStart Starts a clock used for ti
Page 263 and 264:
ClkStop Stops a clock used for timi
Page 265 and 266:
Close Closes a file or serial chann
Page 267 and 268:
comment Comment Example Arguments C
Page 269 and 270:
Compact IF If a condition is met, t
Page 271 and 272:
ConfJ Controls the configuration du
Page 273 and 274:
ConfL Monitors the configuration du
Page 275 and 276:
CONNECT Connects an interrupt to a
Page 277 and 278:
DeactUnit Deactivates a mechanical
Page 279 and 280:
Decr Decrements by 1 Example Argume
Page 281 and 282:
EOffsOff Deactivates an offset for
Page 283 and 284:
EOffsOn Activates an offset for ext
Page 285 and 286:
EOffsSet Activates an offset for ex
Page 287 and 288:
ErrWrite Write an Error Message Exa
Page 289 and 290:
EXIT Terminates program execution E
Page 291 and 292:
FOR Repeats a given number of times
Page 293 and 294:
Related information Described in: E
Page 295 and 296:
GOTO Goes to a new instruction Exam
Page 297 and 298:
GripLoad Defines the payload of the
Page 299 and 300:
IDelete Cancels an interrupt Exampl
Page 301 and 302:
IDisable Disables interrupts Exampl
Page 303 and 304:
IEnable Enables interrupts Example
Page 305 and 306:
IF If a condition is met, then ...;
Page 307 and 308:
Incr Increments by 1 Example Argume
Page 309 and 310:
IndAMove Independent Absolute posit
Page 311 and 312:
Example Error handling Syntax ActUn
Page 313 and 314:
IndCMove Independent Continuous Mov
Page 315 and 316:
Error handling Syntax Axis 2 of Sta
Page 317 and 318:
IndDMove Independent Delta position
Page 319 and 320:
Example Error handling Syntax IndAM
Page 321 and 322:
IndReset Independent Reset Example
Page 323 and 324:
Limitations Example Error handling
Page 325 and 326:
IndRMove Independent Relative posit
Page 327 and 328:
Limitations Examples The speed can
Page 329 and 330:
InvertDO Inverts the value of a dig
Page 331 and 332:
ISignalDI Orders interrupts from a
Page 333 and 334:
Syntax PROC main ( ) VAR intnum sig
Page 335 and 336:
ISignalDO Interrupts from a digital
Page 337 and 338:
Syntax PROC main ( ) VAR intnum sig
Page 339 and 340:
ISleep Deactivates an interrupt Exa
Page 341 and 342:
ITimer Orders a timed interrupt Exa
Page 343 and 344:
IWatch Activates an interrupt Examp
Page 345 and 346:
label Line name Example Arguments L
Page 347 and 348:
Load Load a program module during e
Page 349 and 350:
Related information Described in: U
Page 351 and 352:
MoveAbsJMoves the robot to an absol
Page 353 and 354:
Program execution Examples Error ha
Page 355 and 356:
Related information Described in: O
Page 357 and 358:
MoveC Moves the robot circularly Ex
Page 359 and 360:
[ \WObj] (Work Object) Data type: w
Page 361 and 362:
Related information Described in: O
Page 363 and 364:
MoveJ Moves the robot by joint move
Page 365 and 366:
Examples Syntax MoveJ *, v2000\V:=2
Page 367 and 368:
MoveL Moves the robot linearly Exam
Page 369 and 370:
Examples Syntax MoveL *, v2000 \V:=
Page 371 and 372:
Open Opens a file or serial channel
Page 373 and 374:
PDispOff Deactivates program displa
Page 375 and 376:
PDispOn Activates program displacem
Page 377 and 378:
Example at the two positions. The d
Page 379 and 380:
PDispSet Activates program displace
Page 381 and 382:
ProcCall Calls a new procedure Exam
Page 383 and 384:
PulseDO Generates a pulse on a digi
Page 385 and 386:
RAISE Calls an error handler Exampl
Page 387 and 388:
Reset Resets a digital output signa
Page 389 and 390:
RestoPath Restores the path after a
Page 391 and 392:
RETRY Restarts following an error E
Page 393 and 394:
RETURN Finishes execution of a rout
Page 395 and 396:
SearchC Searches circularly using t
Page 397 and 398:
Page 399 and 400:
Syntax SearchC [ ’\’ Stop’,
Page 401 and 402:
SearchL Searches linearly using the
Page 403 and 404:
Program execution Examples This arg
Page 405 and 406:
Error handling Example An error is
Page 407 and 408:
Set Sets a digital output signal Ex
Page 409 and 410:
SetAO Changes the value of an analo
Page 411 and 412:
SetDO Changes the value of a digita
Page 413 and 414:
SetGO Changes the value of a group
Page 415 and 416:
SingArea Defines interpolation arou
Page 417 and 418:
SoftAct Activating the soft servo E
Page 419 and 420:
SoftDeact Deactivating the soft ser
Page 421 and 422:
StartMove Restarts robot motion Exa
Page 423 and 424:
Stop Stops program execution Exampl
Page 425 and 426:
StopMove Stops robot motion Example
Page 427 and 428:
StorePath Stores the path when an i
Page 429 and 430:
TEST Depending on the value of an e
Page 431 and 432:
TPErase Erases text printed on the
Page 433 and 434:
TPReadFK Reads function keys Exampl
Page 435 and 436:
Syntax TPReadFK [Answer’:=’]
Page 437 and 438:
TPReadNum Reads a number from the t
Page 439 and 440:
TPWrite Writes on the teach pendant
Page 441 and 442:
TriggC Circular robot movement with
Page 443 and 444:
Page 445 and 446:
TriggEquip Defines a fixed position
Page 447 and 448:
Program execution Examples If this
Page 449 and 450:
TriggInt Defines a position related
Page 451 and 452:
Examples Limitations The position r
Page 453 and 454:
TriggIO Defines a fixed position I/
Page 455 and 456:
Examples Limitations The distance s
Page 457 and 458:
TriggJ Axis-wise robot movements wi
Page 459 and 460:
Program execution Examples Limitati
Page 461 and 462:
TriggL Linear robot movements with
Page 463 and 464:
Program execution Examples Limitati
Page 465 and 466:
TRYNEXT Jumps over an instruction w
Page 467 and 468:
TuneReset Resetting servo tuning Ex
Page 469 and 470:
TuneServo Tuning servos Description
Page 471 and 472:
Example This argument can be omitte
Page 473 and 474:
UnLoad UnLoad a program module duri
Page 475 and 476:
Related information Described in: L
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 and 524: DefDFrame Define a displacement fra
Page 525 and 526: DefFrame Define a frame Example Def
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: PoseMult Multiplies pose data Examp
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
Page 575 and 576: ReadNum Reads a number from a file
Page 577 and 578: ReadStr Reads a string from a file
Page 579 and 580: RelTool Make a displacement relativ
Page 581 and 582: Round Round is a numeric value Exam
Page 583 and 584: RunMode Read the running mode Examp
Page 585 and 586: Sin Calculates the sine value Examp
Page 587 and 588: Sqrt Calculates the square root val
Page 589 and 590: StrFind Searches for a character in
Page 591 and 592: StrLen Gets the string length Examp
Page 593 and 594: StrMap Maps a string Example StrMap
Page 595 and 596: StrMatch Search for pattern in stri
Page 597 and 598: StrMemb Checks if a character belon
Page 599 and 600: StrOrder Checks if strings are orde
Page 601 and 602: StrPart Finds a part of a string Ex
Page 603 and 604: StrToVal Converts a string to a val
Page 605 and 606: Tan Calculates the tangent value Ex
Page 607 and 608: TestDI Tests if a digital input is
Page 609 and 610: Trunc Truncates a numeric value Exa
Page 611 and 612: ValToStr Converts a value to a stri
Page 613 and 614: CONTENTS 1 System Module User .....
Page 615 and 616:
1 System Module User 1.1 Contents I
Page 617 and 618:
CONTENTS 1 Programming Off-line ...
Page 619 and 620:
Programming Off-line 1 Programming
Page 621 and 622:
• Create a new system module wher
Page 623 and 624:
CONTENTS seamdata Seam data weaveda
Page 625 and 626:
seamdata Seam data Description Seam
Page 627 and 628:
Components Component group: Ignitio
Page 629 and 630:
The unit is defined in System Param
Page 631 and 632:
Structure The unit is defined in th
Page 633 and 634:
weavedata Weave data Description Co
Page 635 and 636:
Y w Figure 5 The width (W) of the w
Page 637 and 638:
weave_bias (weave centre bias) Data
Page 639 and 640:
welddata Weld data Description Weld
Page 641 and 642:
The welding sequence sched-no 4 x a
Page 643 and 644:
In a weld end instruction the delay
Page 645 and 646:
The type of weld shown in Figure 4
Page 647 and 648:
ArcC Arc welding with circular moti
Page 649 and 650:
CirPoint Data type: robtarget The c
Page 651 and 652:
Tool Data type: tooldata The tool u
Page 653 and 654:
Example MoveL ... ArcL \On, *,v100,
Page 655 and 656:
ArcL Arc welding with linear motion
Page 657 and 658:
ToPoint Data type: robtarget The de
Page 659 and 660:
Program execution When this argumen
Page 661 and 662:
Syntax MoveL xxxxxx weld5, weave1 A
Page 663 and 664:
CONTENTS gundata Spot weld gun data
Page 665 and 666:
gundata Spot weld gun data Descript
Page 667 and 668:
Structure build_up_p3 1 Data type:
Page 669 and 670:
spotdata Spot weld data Description
Page 671 and 672:
SpotL Spot Welding with motion Exam
Page 673 and 674:
Program execution Internal sequence
Page 675 and 676:
Gun closure The gun closure is acti
Page 677 and 678:
Simulated welding Error handling Fu
Page 679 and 680:
Restart by choice Service (If SpotW
Page 681 and 682:
For a complete description of the I
Page 683 and 684:
System Module SWUSER Contents Data
Page 685 and 686:
Routines Normally it is suitable to
Page 687 and 688:
sw_service_wf (spotweld service wel
Page 689 and 690:
System Module SWUSRC Contents Data
Page 691 and 692:
The following predefined data is us
Page 693 and 694:
User defined independent supervisio
Page 695 and 696:
PROC sw_open_gun (num context) spot
Page 697 and 698:
System Module SWUSRF Contents Data
Page 699 and 700:
Default functionality: No functions
Page 701 and 702:
System Module SWTOOL Contents The s
Page 703 and 704:
Functions The following predefined
Page 705 and 706:
CONTENTS ggundata Gluing gun data G
Page 707 and 708:
ggundata Gluing gun data Descriptio
Page 709 and 710:
Limitations Predefined data Structu
Page 711 and 712:
GlueC Gluing with circular motion E
Page 713 and 714:
an * in the instruction). ToPoint D
Page 715 and 716:
Instruction by instruction executio
Page 717 and 718:
RAPID Reference Manual 15-GlueC-7
Page 719 and 720:
GlueL Gluing with linear motion Exa
Page 721 and 722:
Speed Data type: speeddata The spee
Page 723 and 724:
Calculation of the glue flow values
Page 725 and 726:
The gluing is restarted with the ne
Page 727 and 728:
System Module GLUSER Contents Data
Page 729 and 730:
CONTENTS 1 The Jogging Window .....
Page 731 and 732:
1 The Jogging Window 1.1 Window: Jo
Page 733 and 734:
2.1.2 Menu: Edit Command: Used to:
Page 735 and 736:
3.2 General menus 3.2.1 Menu: File
Page 737 and 738:
3.2.3 Menu: View View 1 Instr.”
Page 739 and 740:
3.4 Window: Program Routines Routin
Page 741 and 742:
3.5 Window: Program Data Data type
Page 743 and 744:
3.6 Window: Program Data Types Data
Page 745 and 746:
3.8 Window: Program Modules Modules
Page 747 and 748:
4.1.3 Menu: View View 1 Info ... 2
Page 749 and 750:
5.1.2 Menu: Edit Command: Used to:
Page 751 and 752:
6.1.3 Menu: View View 1 Log 2 Date
Page 753 and 754:
6.3 Window Service Calibration Cali
Page 755 and 756:
7 The System Parameters 7.1 Window:
Page 757:
The contents under the chapter “S
show all

Basic Characteristics RAPID

Create successful ePaper yourself

Delete template?

Save as template?