Basic Characteristics RAPID

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10-2 <strong>RAPID</strong> Reference Manual
1 System Module User 1.1 Contents In order to facilitate programming, predefined data is supplied with the robot. This data does not have to be created and, consequently, can be used directly. If this data is used, initial programming is made easier. It is, however, usually better to give your own names to the data you use, since this makes the program easier for you to read. User comprises five numerical data (registers), one work object data, one clock and two symbolic values for digital signals. Name Data type Declaration reg1 num VAR num reg1:=0 reg2 . . reg3 . . reg4 . . reg5 num VAR num reg5:=0 wobj1 wobjdata PERS wobjdata wobj1:=wobj0 clock1 clock VAR clock clock1 high dionum CONST dionum high:=1 low dionum CONST dionum low:=0 User is a system module, which means that it is always present in the memory of the robot regardless of which program is loaded. 1.2 Creating new data in this module This module can be used to create such data and routines that must always be present in the program memory regardless of which program is loaded, e.g. tools and service routines. • Choose View: Modules from the Program window. • Select the system module User and press Enter . • Change, create data and routines in the normal way (see Programming and Testing). <strong>RAPID</strong> Reference Manual 10-3
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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
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UnLoad UnLoad a program module duri
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Related information Described in: L
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VelSet Changes the programmed veloc
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WaitDI Waits until a digital input
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WaitDO Waits until a digital output
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WaitTime Waits a given amount of ti
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WaitUntil Waits until a condition i
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WHILE Repeats as long as ... Exampl
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Write Writes to a character-based f
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Error handling Syntax If an error o
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WriteBin Writes to a binary serial
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Abs Gets the absolute value Example
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ACos Calculates the arc cosine valu
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ASin Calculates the arc sine value
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ATan Calculates the arc tangent val
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ATan2 Calculates the arc tangent2 v
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CDate Reads the current date as a s
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CJointT Reads the current joint ang
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ClkRead Reads a clock used for timi
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Cos Calculates the cosine value Exa
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CPos Reads the current position (po
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CRobT Reads the current position (r
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CTime Reads the current time as a s
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CTool Reads the current tool data E
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CWObj Reads the current work object
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DefDFrame Define a displacement fra
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DefFrame Define a frame Example Def
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Syntax Other values, or if Origin i
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Dim Obtains the size of an array Ex
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DOutput Reads the value of a digita
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EulerZYX Gets Euler angles from ori
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Exp Calculates the exponential valu
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GetTime Reads the current time as a
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GOutput Reads the value of a group
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IndInpos Independent In position st
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IndSpeed Independent Speed status E
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IsPers Is Persistent Example IsPers
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IsVar Is Variable Example IsVar is
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MirPos Mirroring of a position Exam
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NumToStr Converts numeric value to
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Offs Displaces a robot position Exa
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OpMode Read the operating mode Exam
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OrientZYX Builds an orient from Eul
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ORobT Removes a program displacemen
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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
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: CONTENTS 1 System Module User .....
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
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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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