Basic Characteristics RAPID

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Page 3.2 Sequential program execution at fly-by points ............................................. 6-27 3.3 Concurrent program execution ..................................................................... 6-28 3.4 Path synchronization..................................................................................... 6-30 4 Robot Configuration............................................................................................ 6-32 4.1 Robot configuration data for 6400C ............................................................. 6-34 5 Singularities.......................................................................................................... 6-36 5.1 Program execution through singularities ...................................................... 6-37 5.2 Jogging through singularities........................................................................ 6-37 6 I/O Principles ....................................................................................................... 6-38 6.1 Signal characteristics .................................................................................... 6-38 6.2 System signals............................................................................................... 6-39 6.3 Cross connections ......................................................................................... 6-39 6.4 Limitations .................................................................................................... 6-40 7 Data Types and System Data.................................................................. 7-1 bool - Logical values ........................................................................... 7-bool-1 clock - Time measurement ................................................................. 7-clock-1 confdata - Robot configuration data................................................. 7-confdata-1 dionum - Digital values 0 - 1 .............................................................. 7-dionum-1 errnum - Error number ..................................................................... 7-errnum-1 extjoint - Position of external joints .................................................. 7-extjoint-1 intnum - Interrupt identity ................................................................ 7-intnum-1 iodev - Serial channels and files......................................................... 7-iodev-1 jointtarget - Joint position data......................................................... 7-jointtarget-1 loaddata - Load data........................................................................... 7-loaddata-1 mecunit - Mechanical unit ................................................................. 7-mecunit-1 motsetdata - Motion settings data ..................................................... 7-motsetdata-1 num - Numeric values (registers) ...................................................... 7-num-1 orient - Orientation............................................................................. 7-orient-1 o_robtarget - Original position data ................................................. 7-o_robtarget-1 o_jointtarget - Original joint position data .................................. 7-o_jointtarget-1 pos - Positions (only X, Y and Z)....................................................... 7-pos-1 pose - Coordinate transformations ................................................... 7-pose-1 progdisp - Program displacement..................................................... 7-progdisp-1 robjoint - Joint position of robot axes............................................... 7-robjoint-1 robtarget - Position data .................................................................... 7-robtarget-1 signalxx - Digital and analog signals................................................. 7-signalxx-1 1-6 <strong>RAPID</strong> Reference Manual
Page speeddata - Speed data ....................................................................... 7-speeddata-1 string - Strings..................................................................................... 7-string-1 symnum - Symbolic number .............................................................. 7-symnum-1 tooldat - Tool data............................................................................... 7-tooldata-1 triggdata - Positioning events - trigg................................................. 7-triggdata-1 tunedata - Servo tune type ................................................................. 7-tunedata-1 wobjdata - Work object data ............................................................. 7-wobjdata-1 zonedata - Zone data........................................................................... 7--zonedata-1 System Data......................................................................................... 7-System data-1 8 Instructions .............................................................................................. 8-1 “:=” - Assigns a value ......................................................................... 8-:=-1 AccSet - Reduces the acceleration ..................................................... 8-AccSet-1 ActUnit - Activates a mechanical unit............................................... 8-ActUnit-1 Add - Adds a numeric value............................................................... 8-Add-1 Break - Break program execution..................................................... 8-Break-1 CallByVar - Call a procedure by a variable..................................... 8-CallByVar-1 Clear - Clears the value ...................................................................... 8-Clear-1 ClkReset - Resets a clock used for timing......................................... 8-ClkReset-1 ClkStart - Starts a clock used for timing .......................................... 8-ClkStart-1 ClkStop - Stops a clock used for timing............................................ 8-ClkStop-1 Close - Closes a file or serial channel ................................................ 8-Close-1 comment - Comment .......................................................................... 8-comment-1 Compact IF - If a condition is met, then... (one instruction)........... 8-Compact IF-1 ConfJ - Controls the configuration during joint movement........... 8-ConfJ-1 ConfL - Monitors the configuration during linear movement ....... -ConfL-1 CONNECT - Connects an interrupt to a trap routine .................... 8-CONNECT-1 DeactUnit - Deactivates a mechanical unit....................................... 8-DeActUnit-1 Decr - Decrements by 1 ...................................................................... 8-Decr-1 EOffsOff - Deactivates an offset for external axes.......................... 8-EOffsOff-1 EOffsOn - Activates an offset for external axes ............................... 8-EOffsOn-1 EOffsSet - Activates an offset for external axes using a value........ 8-EOffsSet-1 ErrWrite - Write an Error Message ................................................. 8-ErrWrite-1 EXIT - Terminates program execution ............................................ 8-EXIT-1 FOR - Repeats a given number of times........................................... 8-FOR-1 GOTO - Goes to a new instruction.................................................... 8-GOTO-1 GripLoad - Defines the payload of the robot ................................... 8-GripLoad-1 <strong>RAPID</strong> Reference Manual 1-7
Page 1 and 2: ABB Flexible Automation AB RAPID Re
Page 3 and 4: CONTENTS RAPID Reference Manual 1-1
Page 5 and 6: Page 11 Mathematics ...............
Page 7: Page 7.2 Logical expressions.......
Page 11 and 12: Page SetAO - Changes the value of a
Page 13 and 14: Page ReadMotor - Reads the current
Page 15 and 16: Page 6 The Service Window..........
Page 17 and 18: A Abs 9-Abs-1 absolute value 9-Abs-
Page 19 and 20: H heat 13-seamdata-4 I I/O principl
Page 21 and 22: measuring system 8-IndReset-1 Resto
Page 23 and 24: CONTENTS Introduction 1 Other Manua
Page 25 and 26: Introduction 1 Other Manuals Introd
Page 27 and 28: Simplified syntax Example: 2.3 Form
Page 29 and 30: CONTENTS RAPID Summary 1 The Struct
Page 31 and 32: 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
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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
Page 147 and 148:
3 Synchronization with logical inst
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Execution of SetDO p1 DT MoveL p1,
Page 151 and 152:
The accuracy is ±2 ms. On the part
Page 153 and 154:
Usually you want the robot to attai
Page 155 and 156:
4.2 Related information Described i
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Singularity points/IRB 6400C Betwee
Page 159 and 160:
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
Page 165 and 166:
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
Page 175 and 176:
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
Page 201 and 202:
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
Page 215 and 216:
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
Page 241 and 242:
Predefined data Structure A number
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System Data System data is the inte
Page 245 and 246:
“:=” Assigns a value Examples A
Page 247 and 248:
AccSet Reduces the acceleration Exa
Page 249 and 250:
ActUnit Activates a mechanical unit
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Add Adds a numeric value Examples A
Page 253 and 254:
Break Break program execution Examp
Page 255 and 256:
CallByVar Call a procedure by a var
Page 257 and 258:
Clear Clears the value Example Argu
Page 259 and 260:
ClkReset Resets a clock used for ti
Page 261 and 262:
ClkStart Starts a clock used for ti
Page 263 and 264:
ClkStop Stops a clock used for timi
Page 265 and 266:
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
Page 273 and 274:
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
Page 283 and 284:
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
Page 297 and 298:
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
Page 329 and 330:
InvertDO Inverts the value of a dig
Page 331 and 332:
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
Page 347 and 348:
Load Load a program module during e
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Related information Described in: U
Page 351 and 352:
MoveAbsJMoves the robot to an absol
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Program execution Examples Error ha
Page 355 and 356:
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
Page 407 and 408:
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
Page 415 and 416:
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
Page 433 and 434:
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
Page 441 and 442:
TriggC Circular robot movement with
Page 443 and 444:
Page 445 and 446:
TriggEquip Defines a fixed position
Page 447 and 448:
Program execution Examples If this
Page 449 and 450:
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
Page 467 and 468:
TuneReset Resetting servo tuning Ex
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TuneServo Tuning servos Description
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Example This argument can be omitte
Page 473 and 474:
UnLoad UnLoad a program module duri
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Related information Described in: L
Page 477 and 478:
VelSet Changes the programmed veloc
Page 479 and 480:
WaitDI Waits until a digital input
Page 481 and 482:
WaitDO Waits until a digital output
Page 483 and 484:
WaitTime Waits a given amount of ti
Page 485 and 486:
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
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
Page 507 and 508:
CJointT Reads the current joint ang
Page 509 and 510:
ClkRead Reads a clock used for timi
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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
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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
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IsPers Is Persistent Example IsPers
Page 547 and 548:
IsVar Is Variable Example IsVar is
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MirPos Mirroring of a position Exam
Page 551 and 552:
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
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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
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ReadMotor Reads the current motor a
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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
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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
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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 ...
Page 619 and 620:
Programming Off-line 1 Programming
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• Create a new system module wher
Page 623 and 624:
CONTENTS seamdata Seam data weaveda
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seamdata Seam data Description Seam
Page 627 and 628:
Components Component group: Ignitio
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The unit is defined in System Param
Page 631 and 632:
Structure The unit is defined in th
Page 633 and 634:
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
Page 639 and 640:
welddata Weld data Description Weld
Page 641 and 642:
The welding sequence sched-no 4 x a
Page 643 and 644:
In a weld end instruction the delay
Page 645 and 646:
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
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gundata Spot weld gun data Descript
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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
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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 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
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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
Page 755 and 756:
7 The System Parameters 7.1 Window:
Page 757:
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