Basic Characteristics RAPID

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Example 2 Pre-actions GlueL \On, p1, v250, ggun1 \F1:=100 \F2:=80 \D:=50, z30, tool7; GlueL p2, v250, ggun1 \F1:=90 \F2:=70 \D:=50, z30, tool7; GlueL \Off, p3, v250, ggun1 \D:=50, z30, tool7; xxxxxxxx MoveJ p1 S1 Start of gluing is performed 50 mm before the position is reached. Figure 2 Glue example 2 Program stop and restart GlueL\On Direction of movement In this example everything is the same as in example 1 except that all glue specific actions are executed an additional distance (50 mm) before the programmed positions are reached. Assume that the logical maximum value for the signals is 10. When fl1_type=1 (fixed) and gl_fl1_our=100 (normal value for glue flow override), the values 10 on stretch S1 and 9 on stretch S2 are obtained for flow 1. When gl_fl1.our is changed to 50, the values 500 and 450 respectively will be obtained. When fl2_type=2 (proportional) and gl_fl2_our=100, the values 800 on stretch S1 and 700 on stretch S2 are obtained for flow 2, if the current speed is the same as the reference speed (fl2_refspeed). When the speed is reduced, e.g. in a corner path , the flow will also be reduced correspondingly. The physical values of the signals are also determined by how the analog signals are configured in the system parameters (relationship between physical and logical values). Stop during the glue process p2 S2 GlueL End of gluing is performed 50 mm before the position is reached. xxxxxx GlueL\Off MoveX Movement without gluing Pre-actions Gluing and pre-actions at end of gluing 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. 15-GlueL-6 <strong>RAPID</strong> Reference Manual p3
The gluing is restarted with the next glue instruction with an \On argument. Instruction by instruction execution Forwards The gun is closed and motion without gluing is done. Backwards Simulated gluing Limitations Error handling The gun is closed and the motion is performed backwards without gluing. Activated by setting the variable gl_sim_glue to TRUE. This will inhibit the gun opening and the flow signals. (See Predefined Data and Programs - System Module GLUSER) It is not possible to restart the current glue sequence after a stop. The gluing is restarted with the next glue instruction with an \On argument. Error situations The following error situations are handled: - Instruction argument error. - Wrong ggundata values. - Start without \On argument. - Start with two instructions with \On argument. - End with \Off argument without having started with \On argument. - Stop during execution of glue instructions. The faulty instruction or data must be changed and the current set of glue instructions must be restarted from the beginning. <strong>RAPID</strong> Reference Manual 15-GlueL-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
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seamdata Seam data Description Seam
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Components Component group: Ignitio
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The unit is defined in System Param
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Structure The unit is defined in th
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weavedata Weave data Description Co
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Y w Figure 5 The width (W) of the w
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weave_bias (weave centre bias) Data
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welddata Weld data Description Weld
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The welding sequence sched-no 4 x a
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In a weld end instruction the delay
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The type of weld shown in Figure 4
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ArcC Arc welding with circular moti
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CirPoint Data type: robtarget The c
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Tool Data type: tooldata The tool u
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Example MoveL ... ArcL \On, *,v100,
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ArcL Arc welding with linear motion
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ToPoint Data type: robtarget The de
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Program execution When this argumen
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Syntax MoveL xxxxxx weld5, weave1 A
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CONTENTS gundata Spot weld gun data
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gundata Spot weld gun data Descript
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Structure build_up_p3 1 Data type:
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spotdata Spot weld data Description
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SpotL Spot Welding with motion Exam
Page 673 and 674: Program execution Internal sequence
Page 675 and 676: Gun closure The gun closure is acti
Page 677 and 678: Simulated welding Error handling Fu
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: Calculation of the glue flow values
Page 727 and 728: System Module GLUSER Contents Data
Page 729 and 730: CONTENTS 1 The Jogging Window .....
Page 731 and 732: 1 The Jogging Window 1.1 Window: Jo
Page 733 and 734: 2.1.2 Menu: Edit Command: Used to:
Page 735 and 736: 3.2 General menus 3.2.1 Menu: File
Page 737 and 738: 3.2.3 Menu: View View 1 Instr.”
Page 739 and 740: 3.4 Window: Program Routines Routin
Page 741 and 742: 3.5 Window: Program Data Data type
Page 743 and 744: 3.6 Window: Program Data Types Data
Page 745 and 746: 3.8 Window: Program Modules Modules
Page 747 and 748: 4.1.3 Menu: View View 1 Info ... 2
Page 749 and 750: 5.1.2 Menu: Edit Command: Used to:
Page 751 and 752: 6.1.3 Menu: View View 1 Log 2 Date
Page 753 and 754: 6.3 Window Service Calibration Cali
Page 755 and 756: 7 The System Parameters 7.1 Window:
Page 757: The contents under the chapter “S
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