Basic Characteristics RAPID

Page
7.2 Logical expressions....................................................................................... 5-27
7.3 String expressions ......................................................................................... 5-27
7.4 Using data in expressions.............................................................................. 5-28
7.5 Using aggregates in expressions ................................................................... 5-29
7.6 Using function calls in expressions............................................................... 5-29
7.7 Priority between operators ............................................................................ 5-30
7.8 Syntax............................................................................................................ 5-31
8 Error Recovery .................................................................................................... 5-33
8.1 Error handlers................................................................................................ 5-33
9 Interrupts.............................................................................................................. 5-35
9.1 Interrupt manipulation................................................................................... 5-35
9.2 Trap routines ................................................................................................. 5-36
10 Backward execution........................................................................................... 5-37
10.1 Backward handlers...................................................................................... 5-37
11 Multitasking ....................................................................................................... 5-39
11.1 Synchronising the tasks............................................................................... 5-39
11.2 Intertask communication............................................................................. 5-41
11.3 Type of task................................................................................................. 5-42
11.4 Priorities ...................................................................................................... 5-42
11.5 Task sizes .................................................................................................... 5-43
11.6 Something to think about ............................................................................ 5-44
6 Motion and I/O Principles ...................................................................... 6-1
1 Coordinate Systems ............................................................................................. 6-3
1.1 The robot’s tool centre point (TCP) .............................................................. 6-3
1.2 Coordinate systems used to determine the position of the TCP ................... 6-3
1.3 Coordinate systems used to determine the direction of the tool ................... 6-8
2 Positioning during Program Execution ............................................................. 6-13
2.1 General.......................................................................................................... 6-13
2.2 Interpolation of the position and orientation of the tool ............................... 6-13
2.3 Interpolation of corner paths ......................................................................... 6-16
2.4 Independent axes........................................................................................... 6-22
2.5 Soft Servo...................................................................................................... 6-24
2.6 Path Resolution ............................................................................................. 6-25
2.7 Stop and restart.............................................................................................. 6-25
3 Synchronization with logical instructions.......................................................... 6-27
3.1 Sequential program execution at stop points ................................................ 6-27
RAPID Reference Manual 1-5