Basic Characteristics RAPID

• Create a new system module where you can place your routines that will function as
instructions. Alternatively, you can place them in the USER system module.
• Create a routine in this system module with the name that you want your new
instruction to be called. The arguments of the instruction are defined in the form of
routine parameters. Note that the name of the parameters will be displayed in the
window during programming and should therefore be given names that the user will
understand.
• Place the routine in one of the Most Common pick lists.
• If the instruction is to behave in a certain way during backward program execution,
this can be done in the form of a backward handler. If there is no such handler, it will
not be possible to get past the instruction during backward program execution (see
Chapter 13 in this manual - Basic Characteristics). A backward handler can be
entered using the command Routine: Add Backward Handler from the Program
Routines window.
• Test the routine thoroughly so that it works with different types of input data
(arguments).
• Change the module attribute to NOSTEPIN. The complete routine will then be run
during step-by-step execution. This attribute, however, must be entered off-line.
Example: To make the gripper easier to handle, two new instructions are made,
GripOpen and GripClose. The output signal’s name is given to the instruction’s
argument, e.g. GripOpen gripper1.
MODULE My_instr (SYSMODULE, NOSTEPIN)
PROC GripOpen (VAR signaldo Gripper)
Set Gripper;
WaitTime 0.2;
ENDPROC
PROC GripClose (VAR signaldo Gripper)
Reset Gripper;
WaitTime 0.2;
ENDPROC
ENDMODULE
RAPID Reference Manual 11-5