Basic Characteristics RAPID

Customizing
This argument can be omitted, and if it is, the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used, this argument must be specified in order to perform a linear
movement relative to the work object.
The GlueWare package provides opportunities for the user to customize the GlueL
instruction:
Program execution
- by user defined data which affects the internal behaviour in GlueL. (See Predefined
Data and Programs - System Module GLUSER).
- by changing the I/O configuration. (See System Parameters - Gluing).
However, the main subject of this GlueC instruction description is the default setup.
Internal sequence in a GlueC instruction:
- The gun starts to move towards the position.
- If the argument \On is used the gun opening output DO_Ggun1 or DO_Ggun2
is set at the specified time before the position is reached. If the argument \D is
used the output is set at the specified distance plus the specified times before the
position is reached.
- The values for flow1 and flow2 are set at the analog outputs AO_G1Flow1 and
AO_G1Flow2, and AO_G2Flow1 and AO_G2Flow2 respectively at the
specified time before the position is reached. If the argument \D is used the
outputs are set at the specified distance plus the specified times before the
position is reached.
- When the programmed position is reached, the program execution continues
with the next instruction.
Calculation of the glue flow values
See corresponding description of GlueL
Program stop and restart
Stop during the glue process
If a stop occurs when the glue process is active, the gluing outputs are cleared and an
error message is displayed. When the restart is ordered, the remaining instructions in
the current set of glue instructions are performed as normal positioning instructions.
The gluing is restarted with the next glue instruction with an \On argument.
15-GlueC-4 RAPID Reference Manual