Basic Characteristics RAPID

Arguments
GlueC [\On|]\[Off] [\Conc] CirPoint ToPoint Speed Gluegun [\F1]
[\F2] [\D] Zone Tool [\WObj]
[\On] Data type: switch
The argument \On is used in the first Glue instruction to start the glue process (see
Figure 1).
The argument may only be used in the first glue instruction to perform the
necessary gun opening and setting of the flow in advance. Executing two
consecutive instructions with \On argument will result in an error message.
As the instruction cannot contain the arguments \On and \Off together, the gluing
path must have at least 2 instructions, one containing the \On and one containing
the \Off argument.
The pre-actions, which are performed on the path to the programmed position,
are setting of the gun opening output and setting of the analog glue outputs.
[\Off] Data type: switch
The argument \Off is used in the last gluing instruction to terminate the gluing
when the programmed position is reached. On the way to the end position the
output for opening the gun as well as the flow outputs will be reset according to
the given time within the specified ggundata.
So it is not possible to terminate gluing without using the \Off argument during
movements.
[\Conc] (Concurrent) Data type: switch
Subsequent instructions are executed while the robot is moving. This argument
is used in the same situations as corresponding argument in other Move instructions
but for gluing it is also useful to permit higher speeds when consecutive
glue instructions are close to each other.
Using the argument \Conc, the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
If this argument is omitted, the subsequent instruction is only executed after the
robot has reached the specified zone.
CirPoint Data type: robtarget
The circle point of the robot. The circle point is a point on the circle between the
start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or end point, the robot may give a warning. The circle point is
defined as a named position or stored directly in the instruction (if marked with
15-GlueC-2 RAPID Reference Manual