Technical reference manual - RAPID Instructions, Functions and Data typesTrace back information: Workspace R17-2 version a18 Checked in 2017-10-16 Skribenta version 5.1.011
Technical reference manual RAPID Instructions, Functions and Data types
RobotWare 6.06
© Copyright 2004-2017 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Keep for future reference. Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2017 ABB. All rights reserved. ABB AB, Robotics Robotics and Motion Se-721 68 Västerås
Sweden
Table of contents 17Overview of this manual ...................................................................................................................
211 Instructions 211.1 AccSet - Reduces the acceleration ....................................................................... 241.2 ActEventBuffer - Activation of event buffer ............................................................. 261.3 ActUnit - Activates a mechanical unit .................................................................... 281.4 Add - Adds a numeric value ................................................................................ 301.5 AliasCamera - Define camera device with alias name ............................................... 321.6 AliasIO - Define I/O signal with alias name ............................................................. 351.7 AliasIOReset - Resetting I/O signal with alias name ................................................. 371.8 ":=" - Assigns a value ......................................................................................... 391.9 BitClear - Clear a specified bit in a byte or dnum data .............................................. 421.10 BitSet - Set a specified bit in a byte or dnum data .................................................... 451.11 BookErrNo - Book a RAPID system error number .................................................... 471.12 Break - Break program execution ......................................................................... 481.13 CallByVar - Call a procedure by a variable ............................................................. 501.14 CamFlush - Removes the collection data for the camera ........................................... 511.15 CamGetParameter - Get different named camera parameters .................................... 531.16 CamGetResult - Gets a camera target from the collection ......................................... 551.17 CamLoadJob - Load a camera task into a camera ................................................... 571.18 CamReqImage - Order the camera to acquire an image ............................................ 591.19 CamSetExposure - Set camera specific data .......................................................... 611.20 CamSetParameter - Set different named camera parameters ..................................... 631.21 CamSetProgramMode - Orders the camera to go to program mode ............................ 641.22 CamSetRunMode - Orders the camera to run mode ................................................. 651.23 CamStartLoadJob - Start load of a camera task into a camera ................................... 671.24 CamWaitLoadJob – Wait until a camera task is loaded ............................................. 691.25 CancelLoad - Cancel loading of a module .............................................................. 711.26 CapAPTrSetup - Setup an At-Point-Tracker ............................................................ 741.27 CapC - Circular CAP motion instruction ................................................................. 841.28 CapCondSetDO - Set a digital output signal at TCP stop ........................................... 861.29 CapEquiDist - Generate equidistant event .............................................................. 881.30 CapL - Linear CAP motion instruction ................................................................... 971.31 CapLATrSetup - Set up a Look-Ahead-Tracker ........................................................ 1021.32 CapNoProcess - Run CAP without process ............................................................ 1041.33 CapRefresh - Refresh CAP data ........................................................................... 1061.34 CapWeaveSync - set up signals and levels for weave synchronization ........................ 1091.35 CheckProgRef - Check program references ........................................................... 1111.36 CirPathMode - Tool reorientation during circle path ................................................. 1171.37 Clear - Clears the value ...................................................................................... 1181.38 ClearIOBuff - Clear input buffer of a serial channel .................................................. 1201.39 ClearPath - Clear current path ............................................................................. 1241.40 ClearRawBytes - Clear the contents of rawbytes data .............................................. 1261.41 ClkReset - Resets a clock used for timing .............................................................. 1271.42 ClkStart - Starts a clock used for timing ................................................................. 1291.43 ClkStop - Stops a clock used for timing ................................................................. 1301.44 Close - Closes a file or serial channel .................................................................... 1311.45 CloseDir - Close a directory ................................................................................. 1321.46 Comment - Comment ......................................................................................... 1331.47 Compact IF - If a condition is met, then... (one instruction) ........................................ 1341.48 ConfJ - Controls the configuration during joint movement ......................................... 1361.49 ConfL - Monitors the configuration during linear movement ....................................... 1391.50 CONNECT - Connects an interrupt to a trap routine ................................................. 1411.51 ContactL - Linear contact movement ..................................................................... 1461.52 CopyFile - Copy a file ......................................................................................... 1481.53 CopyRawBytes - Copy the contents of rawbytes data ............................................... 1501.54 CorrClear - Removes all correction generators .......................................................
Technical reference manual - RAPID Instructions, Functions and Data types 5 3HAC050917-001 Revision: F
© Copyright 2004-2017 ABB. All rights reserved.
Table of contents
1511.55 CorrCon - Connects to a correction generator ......................................................... 1561.56 CorrDiscon - Disconnects from a correction generator ............................................. 1571.57 CorrWrite - Writes to a correction generator ........................................................... 1591.58 DeactEventBuffer - Deactivation of event buffer ...................................................... 1611.59 DeactUnit - Deactivates a mechanical unit ............................................................. 1631.60 Decr - Decrements by 1 ...................................................................................... 1651.61 DropSensor - Drop object on sensor ..................................................................... 1661.62 DropWObj - Drop work object on conveyor ............................................................. 1671.63 EGMActJoint - Prepare an EGM movement for a joint target ...................................... 1701.64 EGMActMove - Prepare an EGM movement with path correction ................................ 1721.65 EGMActPose - Prepare an EGM movement for a pose target ..................................... 1761.66 EGMGetId - Gets an EGM identity ........................................................................ 1771.67 EGMMoveC - Circular EGM movement with path correction ...................................... 1811.68 EGMMoveL - Linear EGM movement with path correction ......................................... 1841.69 EGMReset - Reset an EGM process ..................................................................... 1851.70 EGMRunJoint - Perform an EGM movement with a joint target ................................... 1871.71 EGMRunPose - Perform an EGM movement with a pose target .................................. 1901.72 EGMSetupAI - Setup analog input signals for EGM .................................................. 1931.73 EGMSetupAO - Setup analog output signals for EGM .............................................. 1961.74 EGMSetupGI - Setup group input signals for EGM ................................................... 1991.75 EGMSetupLTAPP - Setup the LTAPP protocol for EGM ............................................ 2011.76 EGMSetupUC - Setup the UdpUc protocol for EGM ................................................. 2031.77 EGMStop - Stop an EGM movement ..................................................................... 2051.78 EOffsOff - Deactivates an offset for additional axes ................................................. 2061.79 EOffsOn - Activates an offset for additional axes ..................................................... 2081.80 EOffsSet - Activates an offset for additional axes using known values ......................... 2101.81 EraseModule - Erase a module ............................................................................ 2121.82 ErrLog - Write an error message .......................................................................... 2161.83 ErrRaise - Writes a warning and calls an error handler ............................................. 2201.84 ErrWrite - Write an error message ........................................................................ 2221.85 EXIT - Terminates program execution ................................................................... 2231.86 ExitCycle - Break current cycle and start next ......................................................... 2251.87 FitCircle - Fits a circle to 3D-points ....................................................................... 2291.88 FOR - Repeats a given number of times ................................................................ 2311.89 FricIdInit - Initiate friction identification .................................................................. 2321.90 FricIdEvaluate - Evaluate friction identification ........................................................ 2351.91 FricIdSetFricLevels - Set friction levels after friction identification ............................... 2371.92 GetDataVal - Get the value of a data object ............................................................ 2401.93 GetJointData - Get joint specific data .................................................................... 2421.94 GetSysData - Get system data ............................................................................. 2451.95 GetTrapData - Get interrupt data for current TRAP .................................................. 2471.96 GOTO - Goes to a new instruction ........................................................................ 2491.97 GripLoad - Defines the payload for a robot ............................................................. 2511.98 HollowWristReset - Reset hollow wrist .................................................................. 2531.99 ICap - connect CAP events to trap routines ............................................................ 2581.100 IDelete - Cancels an interrupt .............................................................................. 2591.101 IDisable - Disables interrupts ............................................................................... 2601.102 IEnable - Enables interrupts ................................................................................ 2611.103 IError - Orders an interrupt on errors ..................................................................... 2641.104 IF - If a condition is met, then ...; otherwise ... ......................................................... 2661.105 Incr - Increments by 1 ........................................................................................ 2681.106 IndAMove - Independent absolute position movement ............................................. 2721.107 IndCMove - Independent continuous movement ...................................................... 2761.108 IndDMove - Independent delta position movement .................................................. 2791.109 IndReset - Independent reset .............................................................................. 2841.110 IndRMove - Independent relative position movement ............................................... 2881.111 InitSuperv - Reset all supervision for CAP .............................................................. 2891.112 InvertDO - Inverts the value of a digital output signal ............................................... 2911.113 IOBusStart - Start of I/O network ..........................................................................
6 Technical reference manual - RAPID Instructions, Functions and Data types 3HAC050917-001 Revision: F
© Copyright 2004-2017 ABB. All rights reserved.
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2921.114 IOBusState - Get current state of I/O network ......................................................... 2951.115 IODisable - Deactivate an I/O device ..................................................................... 2981.116 IOEnable - Activate an I/O device ......................................................................... 3011.117 IPathPos - Get center line robtarget when weaving .................................................. 3031.118 IPers - Interrupt at value change of a persistent variable ........................................... 3051.119 IRMQMessage - Orders RMQ interrupts for a data type ............................................ 3091.120 ISignalAI - Interrupts from analog input signal ........................................................ 3191.121 ISignalAO - Interrupts from analog output signal ..................................................... 3231.122 ISignalDI - Orders interrupts from a digital input signal ............................................. 3261.123 ISignalDO - Interrupts from a digital output signal .................................................... 3291.124 ISignalGI - Orders interrupts from a group of digital input signals ............................... 3321.125 ISignalGO - Orders interrupts from a group of digital output signals ............................ 3351.126 ISleep - Deactivates an interrupt .......................................................................... 3371.127 ITimer - Orders a timed interrupt .......................................................................... 3391.128 IVarValue - orders a variable value interrupt ........................................................... 3421.129 IWatch - Activates an interrupt ............................................................................. 3441.130 Label - Line name .............................................................................................. 3451.131 Load - Load a program module during execution ..................................................... 3491.132 LoadId - Load identification of tool or payload ......................................................... 3551.133 MakeDir - Create a new directory ......................................................................... 3561.134 ManLoadIdProc - Load identification of IRBP manipulators ....................................... 3601.135 MatrixSolve - Solve a linear equation system .......................................................... 3631.136 MatrixSolveQR - Computes a QR-factorization ........................................................ 3651.137 MatrixSVD - Computes a singular value decomposition ............................................ 3681.138 MechUnitLoad - Defines a payload for a mechanical unit .......................................... 3731.139 MotionProcessModeSet - Set motion process mode ................................................ 3751.140 MotionSup - Deactivates/Activates motion supervision ............................................. 3781.141 MoveAbsJ - Moves the robot to an absolute joint position ......................................... 3851.142 MoveC - Moves the robot circularly ....................................................................... 3931.143 MoveCAO - Moves the robot circularly and sets analog output in the corner ................. 3981.144 MoveCDO - Moves the robot circularly and sets digital output in the corner .................. 4031.145 MoveCGO - Moves the robot circularly and set a group output signal in the corner ........ 4081.146 MoveCSync - Moves the robot circularly and executes a RAPID procedure .................. 4131.147 MoveExtJ - Move one or several mechanical units without TCP ................................. 4161.148 MoveJ - Moves the robot by joint movement ........................................................... 4221.149 MoveJAO - Moves the robot by joint movement and sets analog output in the corner ..... 4261.150 MoveJDO - Moves the robot by joint movement and sets digital output in the corner ......
430 1.151 MoveJGO - Moves the robot by joint movement and set a group output signal in the
corner ............................................................................................................. 4351.152 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure ...... 4401.153 MoveL - Moves the robot linearly .......................................................................... 4461.154 MoveLAO - Moves the robot linearly and sets analog output in the corner .................... 4501.155 MoveLDO - Moves the robot linearly and sets digital output in the corner ..................... 4541.156 MoveLGO - Moves the robot linearly and sets group output signal in the corner ............ 4591.157 MoveLSync - Moves the robot linearly and executes a RAPID procedure ..................... 4641.158 MToolRotCalib - Calibration of rotation for moving tool ............................................. 4671.159 MToolTCPCalib - Calibration of TCP for moving tool ................................................ 4701.160 Open - Opens a file or serial channel .................................................................... 4741.161 OpenDir - Open a directory ................................................................................. 4761.162 PackDNHeader - Pack DeviceNet Header into rawbytes data ..................................... 4791.163 PackRawBytes - Pack data into rawbytes data ........................................................ 4831.164 PathAccLim - Reduce TCP acceleration along the path ............................................ 4871.165 PathRecMoveBwd - Move path recorder backwards ................................................ 4931.166 PathRecMoveFwd - Move path recorder forward ..................................................... 4961.167 PathRecStart - Start the path recorder ................................................................... 4991.168 PathRecStop - Stop the path recorder ................................................................... 5021.169 PathResol - Override path resolution .................................................................... 5051.170 PDispOff - Deactivates program displacement ........................................................ 5061.171 PDispOn - Activates program displacement ...........................................................
Technical reference manual - RAPID Instructions, Functions and Data types 7 3HAC050917-001 Revision: F
© Copyright 2004-2017 ABB. All rights reserved.
Table of contents
5111.172 PDispSet - Activates program displacement using known frame ................................ 5141.173 ProcCall - Calls a new procedure ......................................................................... 5161.174 ProcerrRecovery - Generate and recover from process-move error ............................ 5221.175 PrxActivAndStoreRecord - Activate and store the recorded profile data ....................... 5241.176 PrxActivRecord - Activate the recorded profile data ................................................. 5261.177 PrxDbgStoreRecord - Store and debug the recorded profile data ................................ 5271.178 PrxDeactRecord - Deactivate a record ................................................................... 5281.179 PrxResetPos - Reset the zero position of the sensor ................................................ 5291.180 PrxResetRecords - Reset and deactivate all records ................................................ 5301.181 PrxSetPosOffset - Set a reference position for the sensor ......................................... 5311.182 PrxSetRecordSampleTime - Set the sample time for recording a profile ....................... 5321.183 PrxSetSyncalarm - Set sync alarm behavior ........................................................... 5331.184 PrxStartRecord - Record a new profile .................................................................. 5351.185 PrxStopRecord - Stop recording a profile ............................................................... 5361.186 PrxStoreRecord - Store the recorded profile data .................................................... 5381.187 PrxUseFileRecord - Use the recorded profile data ................................................... 5391.188 PulseDO - Generates a pulse on a digital output signal ............................................ 5421.189 RAISE - Calls an error handler ............................................................................. 5451.190 RaiseToUser - Propagates an error to user level ..................................................... 5481.191 ReadAnyBin - Read data from a binary serial channel or file ...................................... 5511.192 ReadBlock - read a block of data from device ......................................................... 5531.193 ReadCfgData - Reads attribute of a system parameter ............................................. 5571.194 ReadErrData - Gets information about an error ....................................................... 5601.195 ReadRawBytes - Read rawbytes data .................................................................... 5631.196 ReadVarArr - Read multiple variables from a sensor device ...................................... 5651.197 RemoveAllCyclicBool - Remove all Cyclic bool conditions ........................................ 5671.198 RemoveCyclicBool - Remove a Cyclic bool condition ............................................... 5691.199 RemoveDir - Delete a directory ............................................................................ 5711.200 RemoveFile - Delete a file ................................................................................... 5721.201 RemoveSuperv - Remove condition for one signal ................................................... 5741.202 RenameFile - Rename a file ................................................................................ 5761.203 Reset - Resets a digital output signal .................................................................... 5781.204 ResetAxisDistance - Reset the traversed distance information for the axis ................... 5801.205 ResetAxisMoveTime - Reset the move time counter of the axis .................................. 5821.206 ResetPPMoved - Reset state for the program pointer moved in manual mode .............. 5831.207 ResetRetryCount - Reset the number of retries ....................................................... 5841.208 RestoPath - Restores the path after an interrupt ...................................................... 5861.209 RETRY - Resume execution after an error .............................................................. 5871.210 RETURN - Finishes execution of a routine ............................................................. 5891.211 Rewind - Rewind file position ............................................................................... 5901.212 RMQEmptyQueue - Empty RAPID Message Queue ................................................. 5921.213 RMQFindSlot - Find a slot identity from the slot name .............................................. 5941.214 RMQGetMessage - Get an RMQ message ............................................................. 5971.215 RMQGetMsgData - Get the data part from an RMQ message ..................................... 6001.216 RMQGetMsgHeader - Get header information from an RMQ message ......................... 6031.217 RMQReadWait - Returns message from RMQ ......................................................... 6061.218 RMQSendMessage - Send an RMQ data message .................................................. 6101.219 RMQSendWait - Send an RMQ data message and wait for a response ........................ 6151.220 SafetyControllerSyncRequest - Initiation of hardware synchronization procedure .......... 6161.221 Save - Save a program module ............................................................................ 6191.222 SaveCfgData - Save system parameters to file ........................................................ 6211.223 SCWrite - Send variable data to a client application ................................................. 6241.224 SearchC - Searches circularly using the robot ........................................................ 6341.225 SearchExtJ - Search with one or several mechanical units without TCP ....................... 6421.226 SearchL - Searches linearly using the robot ........................................................... 6541.227 SenDevice - connect to a sensor device ................................................................ 6561.228 Set - Sets a digital output signal ........................................................................... 6581.229 SetAllDataVal - Set a value to all data objects in a defined set ................................... 6601.230 SetAO - Changes the value of an analog output signal .............................................
8 Technical reference manual - RAPID Instructions, Functions and Data types 3HAC050917-001 Revision: F
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6621.231 SetDataSearch - Define the symbol set in a search sequence .................................... 6661.232 SetDataVal - Set the value of a data object ............................................................. 6691.233 SetDO - Changes the value of a digital output signal ................................................ 6721.234 SetGO - Changes the value of a group of digital output signals .................................. 6751.235 SetLeadThrough - Activate and deactivate lead-through ........................................... 6781.236 SetSysData - Set system data .............................................................................. 6801.237 SetupCyclicBool - Setup a Cyclic bool condition ..................................................... 6831.238 SetupSuperv - Setup conditions for signal supervision in CAP ................................... 6861.239 SiConnect - Sensor Interface Connect ................................................................... 6891.240 SiClose - Sensor Interface Close .......................................................................... 6911.241 SiGetCyclic - Sensor Interface Get Cyclic .............................................................. 6931.242 SingArea - Defines interpolation around singular points ............................................ 6961.243 SiSetCyclic - Sensor Interface Set Cyclic ............................................................... 6981.244 SkipWarn - Skip the latest warning ....................................................................... 6991.245 SocketAccept - Accept an incoming connection ...................................................... 7021.246 SocketBind - Bind a socket to my IP-address and port ............................................. 7041.247 SocketClose - Close a socket .............................................................................. 7061.248 SocketConnect - Connect to a remote computer ..................................................... 7091.249 SocketCreate - Create a new socket ..................................................................... 7111.250 SocketListen - Listen for incoming connections ...................................................... 7131.251 SocketReceive - Receive data from remote computer .............................................. 7181.252 SocketReceiveFrom - Receive data from remote computer ....................................... 7231.253 SocketSend - Send data to remote computer .......................................................... 7271.254 SocketSendTo - Send data to remote computer ...................................................... 7311.255 SoftAct - Activating the soft servo ......................................................................... 7331.256 SoftDeact - Deactivating the soft servo .................................................................. 7341.257 SpeedLimAxis - Set speed limitation for an axis ...................................................... 7381.258 SpeedLimCheckPoint - Set speed limitation for check points ..................................... 7431.259 SpeedRefresh - Update speed override for ongoing movement .................................. 7461.260 SpyStart - Start recording of execution time data ..................................................... 7481.261 SpyStop - Stop recording of time execution data ..................................................... 7491.262 StartLoad - Load a program module during execution .............................................. 7531.263 StartMove - Restarts robot movement ................................................................... 7561.264 StartMoveRetry - Restarts robot movement and execution ........................................ 7591.265 STCalib - Calibrate a Servo Tool .......................................................................... 7631.266 STClose - Close a Servo Tool .............................................................................. 7661.267 StepBwdPath - Move backwards one step on path .................................................. 7681.268 STIndGun - Sets the gun in independent mode ....................................................... 7701.269 STIndGunReset - Resets the gun from independent mode ........................................ 7711.270 SToolRotCalib - Calibration of TCP and rotation for stationary tool ............................. 7741.271 SToolTCPCalib - Calibration of TCP for stationary tool ............................................. 7771.272 Stop - Stops program execution ........................................................................... 7801.273 STOpen - Open a Servo Tool ............................................................................... 7821.274 StopMove - Stops robot movement ....................................................................... 7861.275 StopMoveReset - Reset the system stop move state ................................................ 7881.276 StorePath - Stores the path when an interrupt occurs ............................................... 7901.277 STTune - Tuning Servo Tool ................................................................................ 7941.278 STTuneReset - Resetting Servo tool tuning ............................................................ 7951.279 SupSyncSensorOff - Stop synchronized sensor supervision ...................................... 7961.280 SupSyncSensorOn - Start synchronized sensor supervision ..................................... 7981.281 SyncMoveOff - End coordinated synchronized movements ....................................... 8041.282 SyncMoveOn - Start coordinated synchronized movements ...................................... 8101.283 SyncMoveResume - Set synchronized coordinated movements ................................. 8121.284 SyncMoveSuspend - Set independent-semicoordinated movements ........................... 8141.285 SyncMoveUndo - Set independent movements ....................................................... 8161.286 SyncToSensor - Sync to sensor ........................................................................... 8181.287 SystemStopAction - Stop the robot system ............................................................ 8201.288 TEST - Depending on the value of an expression ... ................................................. 8221.289 TestSignDefine - Define test signal .......................................................................
Technical reference manual - RAPID Instructions, Functions and Data types 9 3HAC050917-001 Revision: F
© Copyright 2004-2017 ABB. All rights reserved.
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8241.290 TestSignReset - Reset all test signal definitions ...................................................... 8251.291 TextTabInstall - Installing a text table .................................................................... 8271.292 TPErase - Erases text printed on the FlexPendant ................................................... 8281.293 TPReadDnum - Reads a number from the FlexPendant ............................................ 8321.294 TPReadFK - Reads function keys ......................................................................... 8371.295 TPReadNum - Reads a number from the FlexPendant .............................................. 8411.296 TPShow - Switch window on the FlexPendant ......................................................... 8421.297 TPWrite - Writes on the FlexPendant ..................................................................... 8451.298 TriggC - Circular robot movement with events ........................................................ 8541.299 TriggCheckIO - Defines I/O check at a fixed position ................................................ 8601.300 TriggDataCopy - Copy the content in a triggdata variable .......................................... 8621.301 TriggDataReset - Reset the content in a triggdata variable ........................................ 8641.302 TriggEquip - Define a fixed position and time I/O event on the path ............................. 8701.303 TriggInt - Defines a position related interrupt .......................................................... 8751.304 TriggIO - Define a fixed position or time I/O event near a stop point ............................ 8811.305 TriggJ - Axis-wise robot movements with events ..................................................... 8891.306 TriggL - Linear robot movements with events ......................................................... 8971.307 TriggJIOs - Joint robot movements with I/O events .................................................. 9041.308 TriggLIOs - Linear robot movements with I/O events ................................................ 9121.309 TriggRampAO - Define a fixed position ramp AO event on the path ............................
919 1.310 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale
event .............................................................................................................. 9281.311 TriggStopProc - Generate restart data for trigg signals at stop ................................... 9341.312 TryInt - Test if data object is a valid integer ............................................................ 9361.313 TRYNEXT - Jumps over an instruction which has caused an error .............................. 9371.314 TuneReset - Resetting servo tuning ...................................................................... 9381.315 TuneServo - Tuning servos ................................................................................. 9451.316 UIMsgBox - User Message Dialog Box type basic .................................................... 9541.317 UIMsgWrite - User message dialog box type non-waiting .......................................... 9581.318 UIMsgWriteAbort - Abort user message dialog box type non-waiting ........................... 9591.319 UIShow - User Interface show .............................................................................. 9631.320 UnLoad - UnLoad a program module during execution ............................................. 9661.321 UnpackRawBytes - Unpack data from rawbytes data ............................................... 9701.322 VelSet - Changes the programmed velocity ............................................................ 9721.323 WaitAI - Waits until an analog input signal value is set ............................................. 9781.324 WaitAO - Waits until an analog output signal value is set .......................................... 9841.325 WaitDI - Waits until a digital input signal is set ........................................................ 9891.326 WaitDO - Waits until a digital output signal is set ..................................................... 9941.327 WaitGI - Waits until a group of digital input signals are set ........................................ 10001.328 WaitGO - Waits until a group of digital output signals are set ..................................... 10061.329 WaitLoad - Connect the loaded module to the task .................................................. 10101.330 WaitRob - Wait until stop point or zero speed ......................................................... 10121.331 WaitSensor - Wait for connection on sensor ........................................................... 10151.332 WaitSyncTask - Wait at synchronization point for other program tasks ........................ 10191.333 WaitTestAndSet - Wait until variable becomes FALSE, then set ................................. 10221.334 WaitTime - Waits a given amount of time ............................................................... 10241.335 WaitUntil - Waits until a condition is met ................................................................ 10311.336 WaitWObj - Wait for work object on conveyor ......................................................... 10341.337 WarmStart - Restart the controller ........................................................................ 10351.338 WHILE - Repeats as long as ... ............................................................................. 10371.339 WorldAccLim - Control acceleration in world coordinate system ................................. 10391.340 Write - Writes to a character-based file or serial channel ........................................... 10421.341 WriteAnyBin - Writes data to a binary serial channel or file ........................................ 10451.342 WriteBin - Writes to a binary serial channel ............................................................ 10471.343 WriteBlock - Write block of data to device .............................................................. 10491.344 WriteCfgData - Writes attribute of a system parameter ............................................. 10531.345 WriteRawBytes - Write rawbytes data .................................................................... 10551.346 WriteStrBin - Writes a string to a binary serial channel ............................................. 10571.347 WriteVar - Write variable .....................................................................................
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10601.348 WriteVarArr - Write multiple variables to a sensor device .......................................... 10621.349 WZBoxDef - Define a box-shaped world zone ......................................................... 10641.350 WZCylDef - Define a cylinder-shaped world zone .................................................... 10671.351 WZDisable - Deactivate temporary world zone supervision ....................................... 10691.352 WZDOSet - Activate world zone to set digital output ................................................ 10731.353 WZEnable - Activate temporary world zone supervision ............................................ 10751.354 WZFree - Erase temporary world zone supervision .................................................. 10771.355 WZHomeJointDef - Define a world zone for home joints ........................................... 10801.356 WZLimJointDef - Define a world zone for limitation in joints ....................................... 10841.357 WZLimSup - Activate world zone limit supervision ................................................... 10871.358 WZSphDef - Define a sphere-shaped world zone .....................................................
10892 Functions 10892.1 Abs - Gets the absolute value .............................................................................. 10912.2 AbsDnum - Gets the absolute value of a dnum ....................................................... 10932.3 ACos - Calculates the arc cosine value .................................................................. 10942.4 ACosDnum - Calculates the arc cosine value .......................................................... 10952.5 AInput - Reads the value of an analog input signal .................................................. 10972.6 AND - Evaluates a logical value ........................................................................... 10992.7 AOutput - Reads the value of an analog output signal .............................................. 11012.8 ArgName - Gets argument name .......................................................................... 11042.9 ASin - Calculates the arc sine value ...................................................................... 11052.10 ASinDnum - Calculates the arc sine value .............................................................. 11062.11 ATan - Calculates the arc tangent value ................................................................. 11072.12 ATanDnum - Calculates the arc tangent value ........................................................ 11082.13 ATan2 - Calculates the arc tangent2 value ............................................................. 11092.14 ATan2Dnum - Calculates the arc tangent2 value ..................................................... 11102.15 BitAnd - Logical bitwise AND - operation on byte data .............................................. 11122.16 BitAndDnum - Logical bitwise AND - operation on dnum data .................................... 11142.17 BitCheck - Check if a specified bit in a byte data is set ............................................. 11162.18 BitCheckDnum - Check if a specified bit in a dnum data is set ................................... 11182.19 BitLSh - Logical bitwise LEFT SHIFT - operation on byte .......................................... 11202.20 BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum ................................ 11232.21 BitNeg - Logical bitwise NEGATION - operation on byte data ..................................... 11252.22 BitNegDnum - Logical bitwise NEGATION - operation on dnum data ........................... 11272.23 BitOr - Logical bitwise OR - operation on byte data .................................................. 11292.24 BitOrDnum - Logical bitwise OR - operation on dnum data ........................................ 11312.25 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte ........................................ 11332.26 BitRShDnum - Logical bitwise RIGHT SHIFT - operation on dnum .............................. 11352.27 BitXOr - Logical bitwise XOR - operation on byte data .............................................. 11372.28 BitXOrDnum - Logical bitwise XOR - operation on dnum data .................................... 11392.29 ByteToStr - Converts a byte to a string data ........................................................... 11412.30 CalcJointT - Calculates joint angles from robtarget .................................................. 11452.31 CalcRobT - Calculates robtarget from jointtarget ..................................................... 11472.32 CalcRotAxFrameZ - Calculate a rotational axis frame ............................................... 11522.33 CalcRotAxisFrame - Calculate a rotational axis frame .............................................. 11562.34 CamGetExposure - Get camera specific data .......................................................... 11582.35 CamGetLoadedJob - Get name of the loaded camera task ........................................ 11602.36 CamGetName - Get the name of the used camera ................................................... 11612.37 CamNumberOfResults - Get number of available results .......................................... 11632.38 CapGetFailSigs - Get failed I/O signals .................................................................. 11652.39 CDate - Reads the current date as a string ............................................................. 11662.40 CJointT - Reads the current joint angles ................................................................ 11682.41 ClkRead - Reads a clock used for timing ................................................................ 11702.42 CorrRead - Reads the current total offsets ............................................................. 11712.43 Cos - Calculates the cosine value ......................................................................... 11722.44 CosDnum - Calculates the cosine value ................................................................. 11732.45 CPos - Reads the current position (pos) data .......................................................... 11752.46 CRobT - Reads the current position (robtarget) data ................................................
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11782.47 CSpeedOverride - Reads the current override speed ............................................... 11802.48 CTime - Reads the current time as a string ............................................................. 11812.49 CTool - Reads the current tool data ...................................................................... 11832.50 CWObj - Reads the current work object data .......................................................... 11852.51 DecToHex - Convert from decimal to hexadecimal ................................................... 11862.52 DefAccFrame - Define an accurate frame ............................................................... 11892.53 DefDFrame - Define a displacement frame ............................................................. 11922.54 DefFrame - Define a frame .................................................................................. 11952.55 Dim - Obtains the size of an array ......................................................................... 11972.56 DInput - Reads the value of a digital input signal ..................................................... 11992.57 Distance - Distance between two points ................................................................ 12012.58 DIV - Evaluates an integer division ....................................................................... 12022.59 DnumToNum - Converts dnum to num .................................................................. 12042.60 DnumToStr - Converts numeric value to string ........................................................ 12062.61 DotProd - Dot product of two pos vectors ............................................................... 12082.62 DOutput - Reads the value of a digital output signal ................................................. 12102.63 EGMGetState - Gets the current EGM state ............................................................ 12112.64 EulerZYX - Gets euler angles from orient ............................................................... 12132.65 EventType - Get current event type inside any event routine ..................................... 12152.66 ExecHandler - Get type of execution handler .......................................................... 12162.67 ExecLevel - Get execution level ........................................................................... 12172.68 Exp - Calculates the exponential value .................................................................. 12182.69 FileSize - Retrieve the size of a file ....................................................................... 12212.70 FileTimeDnum - Retrieve time information about a file .............................................. 12242.71 FSSize - Retrieve the size of a file system .............................................................. 12272.72 GetAxisDistance - Get the traversed distance counter of the axis ............................... 12292.73 GetAxisMoveTime - Get the move time counter of the axis ........................................ 12312.74 GetMaxNumberOfCyclicBool - Get the maximum number of Cyclic bool conditions ....... 12322.75 GetMecUnitName - Get the name of the mechanical unit .......................................... 12332.76 GetModalPayLoadMode - Get the ModalPayLoadMode value .................................... 12342.77 GetMotorTorque - Reads the current motor torque .................................................. 12372.78 GetNextCyclicBool - Get the names of all Cyclic bools ............................................. 12392.79 GetNextMechUnit - Get name and data for mechanical units ..................................... 12422.80 GetNextSym - Get next matching symbol ............................................................... 12442.81 GetNumberOfCyclicBool - Get the number of Cyclic bool conditions ........................... 12452.82 GetServiceInfo - Get service information from the system ......................................... 12472.83 GetSignalOrigin - Get information about the origin of an I/O signal ............................. 12492.84 GetSysInfo - Get information about the system ....................................................... 12522.85 GetTaskName - Gets the name and number of current task ....................................... 12542.86 GetTime - Reads the current time as a numeric value ............................................... 12562.87 GetTSPStatus - Get current task selection panel status ............................................ 12582.88 GInput - Read value of group input signal .............................................................. 12602.89 GInputDnum - Read value of group input signal ...................................................... 12632.90 GOutput - Reads the value of a group of digital output signals ................................... 12652.91 GOutputDnum - Read value of group output signal .................................................. 12682.92 HexToDec - Convert from hexadecimal to decimal ................................................... 12692.93 IndInpos - Independent axis in position status ........................................................ 12712.94 IndSpeed - Independent speed status ................................................................... 12732.95 IOUnitState - Get current state of I/O device ........................................................... 12762.96 IsBrakeCheckActive - Test if brake check is running ................................................ 12772.97 IsCyclicBool - Checks if a persistent variable is a Cyclic bool .................................... 12802.98 IsFile - Check the type of a file ............................................................................. 12842.99 IsLeadThrough - Check lead-through status ........................................................... 12862.100 IsMechUnitActive - Is mechanical unit active .......................................................... 12872.101 IsPers - Is persistent .......................................................................................... 12892.102 IsStopMoveAct - Is stop move flags active ............................................................. 12912.103 IsStopStateEvent - Test whether moved program pointer .......................................... 12932.104 IsSyncMoveOn - Test if in synchronized movement mode ......................................... 12952.105 IsSysId - Test system identity ..............................................................................
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12962.106 IsVar - Is variable .............................................................................................. 12972.107 MaxRobSpeed - Maximum robot speed ................................................................. 12982.108 MirPos - Mirroring of a position ............................................................................ 13002.109 MOD - Evaluates an integer modulo ...................................................................... 13012.110 ModExist - Check if program module exist ............................................................. 13022.111 ModTimeDnum - Get file modify time for the loaded module ...................................... 13042.112 MotionPlannerNo - Get connected motion planner number ....................................... 13062.113 NonMotionMode - Read the Non-Motion execution mode .......................................... 13082.114 NOT - Inverts a logical value ................................................................................ 13092.115 NOrient - Normalize orientation ............................................................................ 13112.116 NumToDnum - Converts num to dnum .................................................................. 13122.117 NumToStr - Converts numeric value to string ......................................................... 13142.118 Offs - Displaces a robot position .......................................................................... 13162.119 OpMode - Read the operating mode ..................................................................... 13172.120 OR - Evaluates a logical value ............................................................................. 13182.121 OrientZYX - Builds an orient from euler angles ........................................................ 13202.122 ORobT - Removes the program displacement from a position .................................... 13222.123 ParIdPosValid - Valid robot position for parameter identification ................................ 13252.124 ParIdRobValid - Valid robot type for parameter identification ..................................... 13282.125 PathLevel - Get current path level ......................................................................... 13302.126 PathRecValidBwd - Is there a valid backward path recorded ...................................... 13332.127 PathRecValidFwd - Is there a valid forward path recorded ......................................... 13372.128 PFRestart - Check interrupted path after power failure ............................................. 13382.129 PoseInv - Inverts pose data ................................................................................. 13402.130 PoseMult - Multiplies pose data ........................................................................... 13422.131 PoseVect - Applies a transformation to a vector ...................................................... 13442.132 Pow - Calculates the power of a value ................................................................... 13452.133 PowDnum - Calculates the power of a value ........................................................... 13462.134 PPMovedInManMode - Test whether the program pointer is moved in manual mode ..... 13472.135 Present - Tests if an optional parameter is used ...................................................... 13492.136 ProgMemFree - Get the size of free program memory .............................................. 13502.137 PrxGetMaxRecordpos - Get the maximum sensor position ........................................ 13512.138 RawBytesLen - Get the length of rawbytes data ...................................................... 13532.139 ReadBin - Reads a byte from a file or serial channel ................................................ 13552.140 ReadDir - Read next entry in a directory ................................................................ 13582.141 ReadMotor - Reads the current motor angles .......................................................... 13602.142 ReadNum - Reads a number from a file or serial channel .......................................... 13632.143 ReadStr - Reads a string from a file or serial channel ............................................... 13672.144 ReadStrBin - Reads a string from a binary serial channel or file ................................. 13692.145 ReadVar - Read variable from a device .................................................................. 13712.146 RelTool - Make a displacement relative to the tool ................................................... 13732.147 RemainingRetries - Remaining retries left to do ...................................................... 13742.148 RMQGetSlotName - Get the name of an RMQ client ................................................. 13762.149 RobName - Get the TCP robot name ..................................................................... 13782.150 RobOS - Check if execution is on RC or VC ............................................................ 13792.151 Round - Round a numeric value ........................................................................... 13812.152 RoundDnum - Round a numeric value ................................................................... 13832.153 RunMode - Read the running mode ...................................................................... 13852.154 SafetyControllerGetChecksum - Get the checksum for the user configuration file .......... 13862.155 SafetyControllerGetOpModePinCode - Get the operating mode pin code ..................... 13872.156 SafetyControllerGetSWVersion - Get the safety controller firmware version ................. 13882.157 SafetyControllerGetUserChecksum - Get the checksum for protected parameters ......... 13892.158 Sin - Calculates the sine value ............................................................................. 13902.159 SinDnum - Calculates the sine value ..................................................................... 13912.160 SocketGetStatus - Get current socket state ............................................................ 13942.161 SocketPeek - Test for the presence of data on a socket ............................................ 13962.162 Sqrt - Calculates the square root value .................................................................. 13972.163 SqrtDnum - Calculates the square root value .......................................................... 13982.164 STCalcForce - Calculate the tip force for a Servo Tool ..............................................
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14002.165 STCalcTorque - Calculate the motor torque for a servo tool ....................................... 14022.166 STIsCalib - Tests if a servo tool is calibrated .......................................................... 14042.167 STIsClosed - Tests if a servo tool is closed ............................................................ 14062.168 STIsIndGun - Tests if a servo tool is in independent mode ........................................ 14072.169 STIsOpen - Tests if a servo tool is open ................................................................ 14092.170 StrDigCalc - Arithmetic operations with datatype stringdig ........................................ 14122.171 StrDigCmp - Compare two strings with only digits ................................................... 14142.172 StrFind - Searches for a character in a string .......................................................... 14162.173 StrLen - Gets the string length ............................................................................. 14172.174 StrMap - Maps a string ....................................................................................... 14192.175 StrMatch - Search for pattern in string ................................................................... 14212.176 StrMemb - Checks if a character belongs to a set .................................................... 14232.177 StrOrder - Checks if strings are ordered ................................................................ 14252.178 StrPart - Finds a part of a string ........................................................................... 14272.179 StrToByte - Converts a string to a byte data ........................................................... 14292.180 StrToVal - Converts a string to a value .................................................................. 14312.181 Tan - Calculates the tangent value ........................................................................ 14322.182 TanDnum - Calculates the tangent value ................................................................ 14332.183 TaskRunMec - Check if task controls any mechanical unit ........................................ 14342.184 TaskRunRob - Check if task controls some robot .................................................... 14352.185 TasksInSync - Returns the number of synchronized tasks ........................................ 14372.186 TaskIsActive - Check if a normal task is active ........................................................ 14392.187 TaskIsExecuting - Check if task is executing .......................................................... 14412.188 TestAndSet - Test variable and set if unset ............................................................ 14442.189 TestDI - Tests if a digital input is set ..................................................................... 14462.190 TestSignRead - Read test signal value .................................................................. 14482.191 TextGet - Get text from system text tables ............................................................. 14502.192 TextTabFreeToUse - Test whether text table is free ................................................. 14522.193 TextTabGet - Get text table number ...................................................................... 14542.194 TriggDataValid - Check if the content in a triggdata variable is valid ............................ 14562.195 Trunc - Truncates a numeric value ....................................................................... 14582.196 TruncDnum - Truncates a numeric value ............................................................... 14602.197 Type - Get the data type name for a variable .......................................................... 14622.198 UIAlphaEntry - User Alpha Entry .......................................................................... 14692.199 UIClientExist - Exist User Client ........................................................................... 14702.200 UIDnumEntry - User Number Entry ....................................................................... 14772.201 UIDnumTune - User Number Tune ........................................................................ 14842.202 UIListView - User List View ................................................................................. 14922.203 UIMessageBox - User Message Box type advanced ................................................. 15002.204 UINumEntry - User Number Entry ......................................................................... 15072.205 UINumTune - User Number Tune ......................................................................... 15142.206 ValidIO - Valid I/O signal to access ....................................................................... 15162.207 ValToStr - Converts a value to a string .................................................................. 15182.208 VectMagn - Magnitude of a pos vector .................................................................. 15202.209 XOR - Evaluates a logical value ...........................................................................
15213 Data types 15213.1 aiotrigg - Analog I/O trigger condition .................................................................... 15233.2 ALIAS - Assigning an alias data type ..................................................................... 15243.3 bool - Logical values .......................................................................................... 15253.4 btnres - Push button result data ........................................................................... 15273.5 busstate - State of I/O network ............................................................................. 15283.6 buttondata - Push button data .............................................................................. 15303.7 byte - Integer values 0 - 255 ................................................................................ 15313.8 cameradev - camera device ................................................................................. 15323.9 cameratarget - camera data ................................................................................. 15343.10 capdata - CAP data ............................................................................................ 15383.11 caplatrackdata - CAP Look-Ahead-Tracker track data ............................................... 15423.12 capspeeddata - Speed data for CAP .....................................................................
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15443.13 captrackdata - CAP track data ............................................................................. 15473.14 capweavedata - Weavedata for CAP ..................................................................... 15553.15 cfgdomain - Configuration domain ........................................................................ 15563.16 clock - Time measurement .................................................................................. 15573.17 confdata - Robot configuration data ...................................................................... 15643.18 corrdescr - Correction generator descriptor ............................................................ 15663.19 datapos - Enclosing block for a data object ............................................................ 15673.20 dionum - Digital values (0 - 1) .............................................................................. 15683.21 dir - File directory structure ................................................................................. 15693.22 dnum - Double numeric values ............................................................................ 15713.23 egmframetype - Defines frame types for EGM ......................................................... 15723.24 egmident - Identifies a specific EGM process ......................................................... 15743.25 egm_minmax - Convergence criteria for EGM ......................................................... 15753.26 egmstate - Defines the state for EGM .................................................................... 15763.27 egmstopmode - Defines stop modes for EGM ......................................................... 15773.28 errdomain - Error domain .................................................................................... 15793.29 errnum - Error number ....................................................................................... 15863.30 errstr - Error string ............................................................................................. 15873.31 errtype - Error type ............................................................................................ 15883.32 event_type - Event routine type ............................................................................ 15893.33 exec_level - Execution level ................................................................................ 15903.34 extjoint - Position of external joints ....................................................................... 15923.35 flypointdata - Data for flying start/end .................................................................... 15953.36 handler_type - Type of execution handler .............................................................. 15963.37 icondata - Icon display data ................................................................................. 15983.38 identno - Identity for move instructions .................................................................. 16003.39 intnum - Interrupt identity .................................................................................... 16023.40 iodev - Serial channels and files ........................................................................... 16033.41 iounit_state - State of I/O device ........................................................................... 16043.42 jointtarget - Joint position data ............................................................................. 16063.43 listitem - List item data structure .......................................................................... 16073.44 loaddata - Load data .......................................................................................... 16133.45 loadidnum - Type of load identification .................................................................. 16143.46 loadsession - Program load session ..................................................................... 16153.47 mecunit - Mechanical unit ................................................................................... 16173.48 motsetdata - Motion settings data ......................................................................... 16233.49 num - Numeric values ........................................................................................ 16253.50 opcalc - Arithmetic Operator ................................................................................ 16263.51 opnum - Comparison operator ............................................................................. 16273.52 orient - Orientation ............................................................................................ 16323.53 paridnum - Type of parameter identification ........................................................... 16343.54 paridvalidnum - Result of ParIdRobValid ................................................................ 16363.55 pathrecid - Path recorder identifier ....................................................................... 16383.56 pos - Positions (only X, Y and Z) .......................................................................... 16403.57 pose - Coordinate transformations ........................................................................ 16413.58 processtimes - process times .............................................................................. 16423.59 progdisp - Program displacement ......................................................................... 16443.60 rawbytes - Raw data .......................................................................................... 16463.61 restartblkdata - blockdata for restart ..................................................................... 16483.62 restartdata - Restart data for trigg signals .............................................................. 16523.63 rmqheader - RAPID Message Queue Message header ............................................. 16543.64 rmqmessage - RAPID Message Queue message ..................................................... 16553.65 rmqslot - Identity number of an RMQ client ............................................................ 16563.66 robjoint - Joint position of robot axes .................................................................... 16573.67 robtarget - Position data ..................................................................................... 16603.68 sensor - External device descriptor ....................................................................... 16623.69 sensorstate - Communication state of the device .................................................... 16633.70 sensorvardata - Multiple variable setup data for sensor interface ............................... 16653.71 shapedata - World zone shape data ......................................................................
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16673.72 signalorigin - Describes the I/O signal origin ........................................................... 16693.73 signalxx - Digital and analog signals ..................................................................... 16713.74 socketdev - Socket device .................................................................................. 16723.75 socketstatus - Socket communication status .......................................................... 16733.76 speeddata - Speed data ...................................................................................... 16773.77 stoppointdata - Stop point data ............................................................................ 16833.78 string - Strings .................................................................................................. 16853.79 stringdig - String with only digits .......................................................................... 16863.80 supervtimeouts - Handshake supervision time outs ................................................. 16883.81 switch - Optional parameters .............................................................................. 16893.82 symnum - Symbolic number ................................................................................ 16903.83 syncident - Identity for synchronization point .......................................................... 16913.84 System data - Current RAPID system data settings ................................................. 16933.85 taskid - Task identification .................................................................................. 16943.86 tasks - RAPID program tasks ............................................................................... 16963.87 testsignal - Test signal ....................................................................................... 16983.88 tooldata - Tool data ............................................................................................ 17043.89 tpnum - FlexPendant window number ................................................................... 17053.90 trapdata - Interrupt data for current TRAP .............................................................. 17073.91 triggdata - Positioning events, trigg ...................................................................... 17083.92 triggios - Positioning events, trigg ........................................................................ 17113.93 triggiosdnum - Positioning events, trigg ................................................................. 17133.94 triggmode - Trigg action mode ............................................................................. 17163.95 triggstrgo - Positioning events, trigg ..................................................................... 17193.96 tsp_status - Task selection panel status ................................................................ 17213.97 tunetype - Servo tune type .................................................................................. 17223.98 uishownum - Instance ID for UIShow .................................................................... 17233.99 weavestartdata - weave start data ........................................................................ 17253.100 wobjdata - Work object data ................................................................................ 17293.101 wzstationary - Stationary world zone data .............................................................. 17313.102 wztemporary - Temporary world zone data ............................................................. 17333.103 zonedata - Zone data .........................................................................................
17414 Programming type examples 17414.1 ERROR handler with movements ......................................................................... 17444.2 Service routines with or without movements ........................................................... 17474.3 System I/O interrupts with or without movements .................................................... 17504.4 TRAP routines with movements ...........................................................................
1753Index
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Table of contents
Overview of this manual About this manual
This is a technical reference manual intended for the RAPID programmer. The RAPID base instructions, functions and data types are detailed in this manual.
Usage This manual should be read during programming and when you need specific information about a RAPID instruction, function or data type.
Who should read this manual? This manual is intended for someone with some previous experience in programming, for example, a robot programmer.
Prerequisites The reader should have some programming experience and have studied
• Operating manual - Introduction to RAPID • Technical reference manual - RAPID overview
Organization of chapters The manual is organized in the following chapters:
ContentsChapter
Detailed descriptions of all RAPID base instruc- tions, including examples of how to use them.
1 Instructions
Detailed descriptions of all RAPID base func- tions, including examples of how to use them.
2 Functions
Detailed descriptions of all RAPID base data types, including examples of how to use them.
3 Data types
A general view of how to write program code that contains different instructions/func- tions/data types. The chapter contains also programming tips and explanations.
4 Programming type examples
3HAC029364-001Operating manual - Introduction to RAPID
3HAC050947-001Technical reference manual - RAPID over- view
3HAC050946-001Technical reference manual - RAPID kernel
3HAC050798-001Application manual - Controller software IRC5
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Overview of this manual
-
Released with RobotWare 6.01. • The following instructions, functions, and data types are added:
AliasIOReset - Resetting I/O signal with alias name on page 35, TriggJIOs - Joint robot movements with I/O events on page 897
• Information about 7-axis robots is added to the data type confdata - Robot configuration data on page 1557.
A
Released with RobotWare 6.02. • The following common instructions, functions, and data types are
added: SaveCfgData - Save systemparameters to file on page619, cfgdomain -Configurationdomainonpage1555,TriggDataCopy -Copy the content in a triggdata variable on page860, TriggDataReset - Reset the content in a triggdata variable on page 862, TriggDataValid - Check if the content in a triggdata variable is valid on page 1454 AInput - Reads the value of an analog input signal on page1095,DInput - Reads the value of a digital input signal on page1197,GInput - Read value of group input signal on page 1258
• Added all instructions, functions, and data types for the RobotWare option Integrated Vision.
• Warning about breaking distance is added to SoftAct - Activating the soft servo on page 731.
• Added trigonometric functions for data type dnum: ACosDnum, ASinDnum, ATanDnum, ATan2Dnum, CosDnum, TanDnum, SinDnum
• Added RAPID instructions for the functionality EGMPath Correction: EGMActJoint - Prepare an EGM movement for a joint target on page167,EGMMoveC - Circular EGMmovement with path correction on page177,EGMMoveL - Linear EGMmovementwith path correction on page181, EGMSetupLTAPP - Setup the LTAPP protocol for EGM on page 199
• Minor corrections.
Released with RobotWare 6.03. • New functionality added to instructionMotionProcessModeSet - Set
motion process mode on page 373. • Added CAP instructions, functions, and data types. • Added Cyclic bool instructions and functions. • Added instructions and functions related to Functional Safety. • signalxx is now a semi-value data type that permits value oriented
operations, see signalxx - Digital and analog signals on page 1669. • Minor corrections.
C
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Overview of this manual Continued
DescriptionRevision
Released with RobotWare 6.04. • Added SafetyControllerGetOpModePinCode - Get the operating
mode pin code on page 1386. • Added new instructions for displaying wait conditions, see
UIMsgWrite - Usermessage dialog box type non-waiting on page954. • Added the error recovery ERR_TASKNAME where it was missing. • Added SetLeadThrough - Activate and deactivate lead-through on
page675and IsLeadThrough -Check lead-throughstatusonpage1284. • Minor corrections.
D
Released with RobotWare 6.05. • Added new instruction for Integrated Vision, seeAliasCamera - Define
camera device with alias name on page 30. • Added mathematical instructions for calculating matrixes, see Mat-
rixSolve - Solve a linear equation system on page 360. • Added new instructions for travelling distance and time for track
motion, seeResetAxisDistance - Reset the traversed distance inform- ation for the axis on page 578.
• Added the possibility to interrupt all UIxx and TPxx instructions with a persistent boolean.
• Added new instructions for handlingmultiple variables from a device, seeWriteVarArr - Write multiple variables to a sensor device on page 1060.
• Removed the instructions DitherAct and DitherDeact. • Minor corrections.
E
Released with RobotWare 6.06. • Added FitCircle - Fits a circle to 3D-points on page 225. • Added GetJointData - Get joint specific data on page 240. • Added GetTSPStatus - Get current task selection panel status on
page1256 and tsp_status - Task selection panel status on page1719. • Added IsBrakeCheckActive - Test if brake check is running on
page 1276. • Added TaskIsActive - Check if a normal task is active on page 1437
and TaskIsExecuting - Check if task is executing on page 1439. • Minor corrections.
F
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1 Instructions 1.1 AccSet - Reduces the acceleration
Usage AccSet is used when handling fragile loads or in order to decrease vibrations and path errors. It allows slower acceleration and deceleration, which results in smoother robot movements. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks.
Basic examples The following examples illustrate the instruction AccSet:
Example 1 AccSet 50, 100;
The acceleration is limited to 50% of the normal value.
Example 2 AccSet 100, 50;
The acceleration ramp is limited to 50% of the normal value, which means that the time to reach the acceleration is increased by a factor of 2.
Example 3 AccSet 100, 100 \FinePointRamp:=50;
The deceleration ramp when decelerating towards a finepoint is limited to 50% of the normal value.
Arguments AccSet Acc Ramp [\FinePointRamp]
Acc
Data type: num Acceleration and deceleration as a percentage of the normal values. 100% corresponds to maximum acceleration. Input value < 20% gives 20% of maximum acceleration.
Ramp
Data type: num The rate at which acceleration and deceleration increases as a percentage of the normal values. Jerking can be restricted by reducing this value. 100% corresponds to maximum rate. Input value < 10% gives 10% of maximum rate.
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1 Instructions 1.1 AccSet - Reduces the acceleration
RobotWare - OS
The figures show that reducing the acceleration results in smoother movements.
Ti
xx0500002146
[\FinePointRamp]
Data type: num The rate at which deceleration decreases as a percentage of the normal values. The parameter only affects the rampwhen the robot decelerates towards a finepoint. In a finepoint the deceleration ramp value is a combination of this parameter and the Ramp value, Ramp * FinePointRamp. The parameter must be greater than 0 and be in the interval 0 to 100%. If this optional argument is not used, the FinePointRamp value is set to the default value, 100%.
Program execution The acceleration applies for the next executed movement instruction, for both the robot and external axes, until a new AccSet instruction is executed. The default values (AccSet 100, 100) are automatically set
• when using the restart mode Reset RAPID • when loading a new program or a new module • when starting program execution from the beginning • when moving the program pointer to main • when moving the program pointer to a routine • when moving the program pointer in such a way that the execution order is
lost.
Continues on next page 22 Technical reference manual - RAPID Instructions, Functions and Data types
3HAC050917-001 Revision: F © Copyright 2004-2017 ABB. All rights reserved.
1 Instructions 1.1 AccSet - Reduces the acceleration RobotWare - OS Continued
Related information
PathAccLim - Reduce TCP acceleration along the path on page 483
Reduce TCP acceleration along the path
VelSet - Changes the programmed velocity on page 970
Definition of maximum velocity
WorldAccLim - Control acceleration in world co- ordinate system on page 1037
Control acceleration in world coordinate system
Technical reference manual - RAPID overviewPositioning instructions
Technical reference manual - RAPID Instructions, Functions and Data types 23 3HAC050917-001 Revision: F
© Copyright 2004-2017 ABB. All rights reserved.
1 Instructions 1.1 AccSet - Reduces the acceleration
RobotWare - OS Continued
1.2 ActEventBuffer - Activation of event buffer
Description ActEventBuffer is used to activate the use of the event buffer in current motion program task. The instructions ActEventBuffer and DeactEventBuffer should be used when combining an application using finepoints and a continuous application where signals needs to be set in advance due to slow process equipment. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks.
Basic examples The f