Basic Characteristics RAPID

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Modules Basic Characteristics RAPID 2 Modules The program is divided into program and system modules. The program can also be divided into modules (see Figure 1). Program memory Program Main module Module1 Module2 Module3 Module4 System module1 System module2 2.1 Program modules Program data Main routine Routine1 Routine2 Routine3 Program data Routine4 Routine5 Program data Routine6 Routine7 Figure 1 The program can be divided into modules. A program module can consist of different data and routines. Each module, or the whole program, can be copied to diskette, RAM disk, etc., and vice versa. One of the modules contains the entry procedure, a global procedure called main. Executing the program means, in actual fact, executing the main procedure. The program can include many modules, but only one of these will have a main procedure. A module may, for example, define the interface with external equipment or contain geometrical data that is either generated from CAD systems or created on-line by digitizing (teach programming). Whereas small installations are often contained in one module, larger installations may have a main module that references routines and/or data contained in one or several other modules. 5-8 RAPID Reference Manual
Basic Characteristics RAPID Modules 2.2 System modules System modules are used to define common, system-specific data and routines, such as tools. They are not included when a program is saved, meaning that any update made to a system module will affect all existing programs currently in, or loaded at a later stage into the program memory. 2.3 Module declarations 2.4 Syntax A module declaration specifies the name and attributes of that module. These attributes can only be added off-line, not using the teach pendant. The following are examples of the attributes of a module: Attribute If specified, the module: SYSMODULE is a system module, otherwise a program module NOSTEPIN cannot be entered during stepwise execution VIEWONLY cannot be modified READONLY cannot be modified, but the attribute can be removed NOVIEW cannot be viewed, only executed. Global routines can be reached from other modules and are always run as NOS- TEPIN. The current values for global data can be reached from other modules or from the data window on the teach pendant. A module or a program containing a NOVIEW program module cannot be saved. Therefore, NOVIEW should primarily be used for system modules. NOVIEW can only be defined offline from a PC. e.g. MODULE module_name (SYSMODULE, VIEWONLY) !data declarations !routine declarations ENDMODULE A module may not have the same name as another module or a global routine or data. Module declaration ::= MODULE [ ] ENDMODULE ::= ::= ‘(‘ { ‘,’ } ‘)’ RAPID Reference Manual 5-9
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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
Page 33 and 34: RAPID Summary The Structure of the
Page 35 and 36: RAPID Summary Controlling the Progr
Page 37 and 38: RAPID Summary Various Instructions
Page 39 and 40: RAPID Summary Motion Settings 4.3 D
Page 41 and 42: RAPID Summary Motion Settings 4.10
Page 43 and 44: RAPID Summary Motion 5.2 Positionin
Page 45 and 46: RAPID Summary Motion 5.8 Position f
Page 47 and 48: RAPID Summary Input and Output Sign
Page 49 and 50: RAPID Summary Communication 7 Commu
Page 51 and 52: RAPID Summary Interrupts 8 Interrup
Page 53 and 54: RAPID Summary Error Recovery 9 Erro
Page 55 and 56: RAPID Summary System & Time 10 Syst
Page 57 and 58: RAPID Summary Mathematics 11.4 Arit
Page 59 and 60: RAPID Summary Spot Welding SpotWare
Page 61 and 62: RAPID Summary Spot Welding 12.5 Spo
Page 63 and 64: RAPID Summary Arc Welding 13.3 Arc
Page 65 and 66: RAPID Summary GlueWare 14.4 Glue da
Page 67 and 68: RAPID Summary Service Instructions
Page 69 and 70: RAPID Summary String Functions 17 S
Page 71 and 72: RAPID Summary Syntax Summary 18 Syn
Page 73 and 74: RAPID Summary Syntax Summary MoveL
Page 75 and 76: RAPID Summary Syntax Summary ClkRea
Page 77 and 78: CONTENTS Basic Characteristics RAPI
Page 79 and 80: Basic Characteristics RAPID Basic E
Page 81 and 82: Basic Characteristics RAPID Basic E
Page 83: Basic Characteristics RAPID Basic E
Page 87 and 88: Basic Characteristics RAPID Routine
Page 95 and 96: Basic Characteristics RAPID Data Ty
Page 97 and 98: Basic Characteristics RAPID Data Fi
Page 99 and 100: Basic Characteristics RAPID Data Sy
Page 101 and 102: Basic Characteristics RAPID Instruc
Page 103 and 104: Basic Characteristics RAPID Express
Page 109 and 110: Basic Characteristics RAPID Error R
Page 111 and 112: Basic Characteristics RAPID Interru
Page 113 and 114: Basic Characteristics RAPID Backwar
Page 115 and 116: Basic Characteristics RAPID Multita
Page 121 and 122: CONTENTS Motion and I/O Principles
Page 123 and 124: Motion and I/O Principles Coordinat
Page 133 and 134: Motion and I/O Principles Positioni
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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
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Program execution Internal sequence
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Gun closure The gun closure is acti
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Simulated welding Error handling Fu
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Restart by choice Service (If SpotW
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For a complete description of the I
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System Module SWUSER Contents Data
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Routines Normally it is suitable to
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sw_service_wf (spotweld service wel
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System Module SWUSRC Contents Data
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The following predefined data is us
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User defined independent supervisio
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PROC sw_open_gun (num context) spot
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System Module SWUSRF Contents Data
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Default functionality: No functions
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System Module SWTOOL Contents The s
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Functions The following predefined
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CONTENTS ggundata Gluing gun data G
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ggundata Gluing gun data Descriptio
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Limitations Predefined data Structu
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GlueC Gluing with circular motion E
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an * in the instruction). ToPoint D
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Instruction by instruction executio
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RAPID Reference Manual 15-GlueC-7
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GlueL Gluing with linear motion Exa
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Speed Data type: speeddata The spee
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Calculation of the glue flow values
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The gluing is restarted with the ne
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System Module GLUSER Contents Data
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CONTENTS 1 The Jogging Window .....
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1 The Jogging Window 1.1 Window: Jo
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2.1.2 Menu: Edit Command: Used to:
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3.2 General menus 3.2.1 Menu: File
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3.2.3 Menu: View View 1 Instr.”
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3.4 Window: Program Routines Routin
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3.5 Window: Program Data Data type
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3.6 Window: Program Data Types Data
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3.8 Window: Program Modules Modules
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4.1.3 Menu: View View 1 Info ... 2
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5.1.2 Menu: Edit Command: Used to:
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6.1.3 Menu: View View 1 Log 2 Date
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6.3 Window Service Calibration Cali
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7 The System Parameters 7.1 Window:
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