Basic Characteristics RAPID

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outine gl_power_on This routine is executed each time the system is switched on. routine gl_start The routine is executed each time the execution of a program is started from the beginning. (From Main) routine gl_restart The routine is executed each time the execution of a stopped program is continued. routine gl_stop This routine is executed when a normal stop during program execution is performed. routine gl_qstop This routine is executed when an emergency stop during program execution is performed. 15-GLUSER-2 <strong>RAPID</strong> Reference Manual
CONTENTS 1 The Jogging Window ...................................................................................................... 3 1.1 Window: Jogging.................................................................................................... 3 1.1.1 Menu: Special .............................................................................................. 3 2 The Inputs/Outputs Window ......................................................................................... 4 2.1 Window: Inputs/Outputs......................................................................................... 4 2.1.1 Menu: File.................................................................................................... 4 2.1.2 Menu: Edit.................................................................................................... 5 2.1.3 Menu: View.................................................................................................. 5 3 The Program Window .................................................................................................... 6 3.1 Moving between different parts of the program..................................................... 6 3.2 General menus ........................................................................................................ 7 3.2.1 Menu: File.................................................................................................... 7 3.2.2 Menu: Edit.................................................................................................... 8 3.2.3 Menu: View.................................................................................................. 9 3.3 Window: Program Instr .......................................................................................... 10 3.3.1 Menu: IPL1 (shows different instruction pick lists) .................................... 10 3.3.2 Menu: IPL2 (shows different instruction pick lists) .................................... 10 3.4 Window: Program Routines ................................................................................... 11 3.4.1 Menu: Routine.............................................................................................. 12 3.4.2 Menu: Special .............................................................................................. 12 3.5 Window: Program Data.......................................................................................... 13 3.5.1 Menu: Data................................................................................................... 13 3.5.2 Menu: Special .............................................................................................. 14 3.6 Window: Program Data Types ............................................................................... 15 3.6.1 Menu: Types ................................................................................................ 15 3.7 Window: Program Test........................................................................................... 16 3.7.1 Menu: Test ................................................................................................... 16 3.8 Window: Program Modules.................................................................................... 17 3.8.1 Menu: Module.............................................................................................. 17 4 The Production Window................................................................................................. 18 4.1 Window: Production............................................................................................... 18 4.1.1 Menu: File.................................................................................................... 18 4.1.2 Menu: Edit.................................................................................................... 18 4.1.3 Menu: View.................................................................................................. 19 5 The FileManager ............................................................................................................. 20 5.1 Window: FileManager............................................................................................ 20 <strong>RAPID</strong> Reference Manual 18-1 Page
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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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Page 131 and 132:
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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
Page 161 and 162:
ool Logical values Description Exam
Page 163 and 164:
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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Page 445 and 446:
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
Page 463 and 464:
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
Page 477 and 478:
VelSet Changes the programmed veloc
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WaitDI Waits until a digital input
Page 481 and 482:
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
Page 489 and 490:
Write Writes to a character-based f
Page 491 and 492:
Error handling Syntax If an error o
Page 493 and 494:
WriteBin Writes to a binary serial
Page 495 and 496:
Abs Gets the absolute value Example
Page 497 and 498:
ACos Calculates the arc cosine valu
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ASin Calculates the arc sine value
Page 501 and 502:
ATan Calculates the arc tangent val
Page 503 and 504:
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
Page 509 and 510:
ClkRead Reads a clock used for timi
Page 511 and 512:
Cos Calculates the cosine value Exa
Page 513 and 514:
CPos Reads the current position (po
Page 515 and 516:
CRobT Reads the current position (r
Page 517 and 518:
CTime Reads the current time as a s
Page 519 and 520:
CTool Reads the current tool data E
Page 521 and 522:
CWObj Reads the current work object
Page 523 and 524:
DefDFrame Define a displacement fra
Page 525 and 526:
DefFrame Define a frame Example Def
Page 527 and 528:
Syntax Other values, or if Origin i
Page 529 and 530:
Dim Obtains the size of an array Ex
Page 531 and 532:
DOutput Reads the value of a digita
Page 533 and 534:
EulerZYX Gets Euler angles from ori
Page 535 and 536:
Exp Calculates the exponential valu
Page 537 and 538:
GetTime Reads the current time as a
Page 539 and 540:
GOutput Reads the value of a group
Page 541 and 542:
IndInpos Independent In position st
Page 543 and 544:
IndSpeed Independent Speed status E
Page 545 and 546:
IsPers Is Persistent Example IsPers
Page 547 and 548:
IsVar Is Variable Example IsVar is
Page 549 and 550:
MirPos Mirroring of a position Exam
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NumToStr Converts numeric value to
Page 553 and 554:
Offs Displaces a robot position Exa
Page 555 and 556:
OpMode Read the operating mode Exam
Page 557 and 558:
OrientZYX Builds an orient from Eul
Page 559 and 560:
ORobT Removes a program displacemen
Page 561 and 562:
PoseInv Inverts the pose Example Po
Page 563 and 564:
PoseMult Multiplies pose data Examp
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PoseVect Applies a transformation t
Page 567 and 568:
Pow Calculates the power of a value
Page 569 and 570:
Present Tests if an optional parame
Page 571 and 572:
ReadBin Reads from a binary serial
Page 573 and 574:
ReadMotor Reads the current motor a
Page 575 and 576:
ReadNum Reads a number from a file
Page 577 and 578:
ReadStr Reads a string from a file
Page 579 and 580:
RelTool Make a displacement relativ
Page 581 and 582:
Round Round is a numeric value Exam
Page 583 and 584:
RunMode Read the running mode Examp
Page 585 and 586:
Sin Calculates the sine value Examp
Page 587 and 588:
Sqrt Calculates the square root val
Page 589 and 590:
StrFind Searches for a character in
Page 591 and 592:
StrLen Gets the string length Examp
Page 593 and 594:
StrMap Maps a string Example StrMap
Page 595 and 596:
StrMatch Search for pattern in stri
Page 597 and 598:
StrMemb Checks if a character belon
Page 599 and 600:
StrOrder Checks if strings are orde
Page 601 and 602:
StrPart Finds a part of a string Ex
Page 603 and 604:
StrToVal Converts a string to a val
Page 605 and 606:
Tan Calculates the tangent value Ex
Page 607 and 608:
TestDI Tests if a digital input is
Page 609 and 610:
Trunc Truncates a numeric value Exa
Page 611 and 612:
ValToStr Converts a value to a stri
Page 613 and 614:
CONTENTS 1 System Module User .....
Page 615 and 616:
1 System Module User 1.1 Contents I
Page 617 and 618:
CONTENTS 1 Programming Off-line ...
Page 619 and 620:
Programming Off-line 1 Programming
Page 621 and 622:
• 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
Page 635 and 636:
Y w Figure 5 The width (W) of the w
Page 637 and 638:
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
Page 643 and 644:
In a weld end instruction the delay
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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
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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 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 and 724: Calculation of the glue flow values
Page 725 and 726: The gluing is restarted with the ne
Page 727: System Module GLUSER Contents Data
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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