Basic Characteristics RAPID

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Gun closure - sw_close_gun Gun opening - sw_open_gun Pressure setting - sw_set_pressure Preclose time calculation - sw_close_time Note that the default code gives the same behaviour as described above for SpotWare. See Predefined Data and Programs - System Modules SWUSRC. Internal sequence: The start signal can be sent to the timer immediately - if so configured - after the preweld supervision has been acknowledged. See Predefined Data and Programs - System Module SWUSRC. Program stop and restart Stop during the motion and restart The robot stops on the path. If the signal to close the gun has already been sent the gun reopens at the stop. On restart, the robot continues towards the programmed position, closes the gun again and the sequence in SpotL carries on as normal. Stop during welding and restart The welding is finished. The program pointer is in the next motion instruction. Validation of the weld is not done (ready/timeout). On restart, the instruction is resumed by opening the gun, weld validation and then the normal sequence. If SpotWare Plus is used, validation is done after the stop and after the gun has opened. Instruction by instruction execution Forwards The motion and the welding are done. Backwards The gun is set to work or retract stroke depending on \Retract. The motion is performed backwards. 14-SpotL-6 <strong>RAPID</strong> Reference Manual
Simulated welding Error handling Full simulation of a timer. Activated by setting sw_sim_weld TRUE. This will inhibit the start signal to the timer. The simulation time is defined in sw_sim_time. No preweld supervision is performed. Simulation in the timer Activated by setting sw_inhib_weld TRUE. This will set the current_enable signal low at the next weld. No preweld supervisions performed. Events in an error situation When SpotL is stopped by a supervision, the following take place: - The signal process_error is set. - An error message is displayed. - The error message is logged. Error situations The following error situations can occur: - Instruction parameter error. - Supervision error before welding. - Weld error. - Supervision error after welding and before the next motion. - Supervision error for gun pressure. - Supervision error for gun closure (SpotWare Plus) - Supervision error for gun opening. The supervision activities before and after welding can be modified by the user. In SpotWare Plus all the supervision behaviour described above, except weld error and parameter error, can be modified by the user. To stop execution with an error message, simply put the desired message in the assigned error string and it will show on the teach pendant. The behaviour below is programmed as default. <strong>RAPID</strong> Reference Manual 14-SpotL-7
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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
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PoseMult Multiplies pose data Examp
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PoseVect Applies a transformation t
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Pow Calculates the power of a value
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Present Tests if an optional parame
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ReadBin Reads from a binary serial
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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
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: Gun closure The gun closure is acti
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 .....
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1 The Jogging Window 1.1 Window: Jo
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2.1.2 Menu: Edit Command: Used to:
Page 735 and 736:
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:
Page 757:
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