ABB Robotics

Technical reference manual RAPID Instructions, Functions and Data types

Trace back information: Workspace R12-2 version a10 Checked in 2012-10-11 Skribenta version 1184

Technical reference manual RAPID Instructions, Functions and Data types

RobotWare 5.15 Document ID: 3HAC16581-1 Revision: N

Copyright 2004-2012 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. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English.

Copyright 2004-2012 ABB. All rights reserved. ABB AB Robotics Products SE-721 68 Vsters Sweden

Table of contents

Table of contents
Overview of this manual ................................................................................................................... 15 1 Instructions 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 1.12 1.13 1.14 1.15 1.16 1.17 1.18 1.19 1.20 1.21 1.22 1.23 1.24 1.25 1.26 1.27 1.28 1.29 1.30 1.31 1.32 1.33 1.34 1.35 1.36 1.37 1.38 1.39 1.40 1.41 1.42 1.43 1.44 1.45 1.46 1.47 1.48 1.49 1.50 1.51 1.52 1.53 AccSet - Reduces the acceleration ....................................................................... ActEventBuffer - Activation of event buffer ............................................................. ActUnit - Activates a mechanical unit .................................................................... Add - Adds a numeric value ................................................................................ AliasIO - Define I/O signal with alias name ............................................................. ":=" - Assigns a value ......................................................................................... BitClear - Clear a specified bit in a byte or dnum data .............................................. BitSet - Set a specified bit in a byte or dnum data .................................................... BookErrNo - Book a RAPID system error number .................................................... Break - Break program execution ......................................................................... CallByVar - Call a procedure by a variable ............................................................. CancelLoad - Cancel loading of a module .............................................................. CheckProgRef - Check program references ........................................................... CirPathMode - Tool reorientation during circle path ................................................. Clear - Clears the value ...................................................................................... ClearIOBuff - Clear input buffer of a serial channel .................................................. ClearPath - Clear current path ............................................................................. ClearRawBytes - Clear the contents of rawbytes data .............................................. ClkReset - Resets a clock used for timing .............................................................. ClkStart - Starts a clock used for timing ................................................................. ClkStop - Stops a clock used for timing ................................................................. Close - Closes a file or serial channel .................................................................... CloseDir - Close a directory ................................................................................. Comment - Comment ......................................................................................... Compact IF - If a condition is met, then... (one instruction) ........................................ ConfJ - Controls the configuration during joint movement ......................................... ConfL - Monitors the configuration during linear movement ....................................... CONNECT - Connects an interrupt to a trap routine ................................................ CopyFile - Copy a file ......................................................................................... CopyRawBytes - Copy the contents of rawbytes data ............................................... CorrClear - Removes all correction generators ....................................................... CorrCon - Connects to a correction generator ......................................................... CorrDiscon - Disconnects from a correction generator ............................................. CorrWrite - Writes to a correction generator ........................................................... DeactEventBuffer - Deactivation of event buffer ...................................................... DeactUnit - Deactivates a mechanical unit ............................................................. Decr - Decrements by 1 ...................................................................................... DitherAct - Enables dither for soft servo ................................................................ DitherDeact - Disables dither for soft servo ............................................................ DropWObj - Drop work object on conveyor ............................................................. EOffsOff - Deactivates an offset for external axes .................................................... EOffsOn - Activates an offset for external axes ...................................................... EOffsSet - Activates an offset for external axes using known values ........................... EraseModule - Erase a module ............................................................................ ErrLog - Write an error message .......................................................................... ErrRaise - Writes a warning and calls an error handler ............................................. ErrWrite - Write an error message ........................................................................ EXIT - Terminates program execution .................................................................. ExitCycle - Break current cycle and start next ......................................................... FOR - Repeats a given number of times ................................................................ GetDataVal - Get the value of a data object ............................................................ GetSysData - Get system data ............................................................................. GetTrapData - Get interrupt data for current TRAP .................................................. 17 17 19 21 23 25 28 30 33 36 38 39 41 43 44 50 51 53 57 59 60 62 63 64 65 66 67 69 71 73 75 77 78 83 84 86 88 90 92 94 95 96 97 99 101 103 107 111 113 114 116 118 121 124

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

Table of contents

1.54 1.55 1.56 1.57 1.58 1.59 1.60 1.61 1.62 1.63 1.64 1.65 1.66 1.67 1.68 1.69 1.70 1.71 1.72 1.73 1.74 1.75 1.76 1.77 1.78 1.79 1.80 1.81 1.82 1.83 1.84 1.85 1.86 1.87 1.88 1.89 1.90 1.91 1.92 1.93 1.94 1.95 1.96 1.97 1.98 1.99 1.100 1.101 1.102 1.103 1.104 1.105 1.106 1.107 1.108 1.109 1.110 1.111 1.112

GOTO - Goes to a new instruction ........................................................................ GripLoad - Defines the payload for a robot ............................................................. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403 ............................... IDelete - Cancels an interrupt .............................................................................. IDisable - Disables interrupts ............................................................................... IEnable - Enables interrupts ................................................................................ IError - Orders an interrupt on errors ..................................................................... IF - If a condition is met, then ...; otherwise ... ......................................................... Incr - Increments by 1 ........................................................................................ IndAMove - Independent absolute position movement ............................................. IndCMove - Independent continuous movement ...................................................... IndDMove - Independent delta position movement .................................................. IndReset - Independent reset .............................................................................. IndRMove - Independent relative position movement ............................................... InvertDO - Inverts the value of a digital output signal ............................................... IOBusStart - Start of I/O bus ................................................................................ IOBusState - Get current state of I/O bus ............................................................... IODisable - Disable I/O unit ................................................................................. IOEnable - Enable I/O unit ................................................................................... IPers - Interrupt at value change of a persistent variable ........................................... IRMQMessage - Orders RMQ interrupts for a data type ............................................ ISignalAI - Interrupts from analog input signal ........................................................ ISignalAO - Interrupts from analog output signal ..................................................... ISignalDI - Orders interrupts from a digital input signal ............................................. ISignalDO - Interrupts from a digital output signal .................................................... ISignalGI - Orders interrupts from a group of digital input signals ............................... ISignalGO - Orders interrupts from a group of digital output signals ............................ ISleep - Deactivates an interrupt .......................................................................... ITimer - Orders a timed interrupt .......................................................................... IVarValue - orders a variable value interrupt ........................................................... IWatch - Activates an interrupt ............................................................................. Label - Line name .............................................................................................. Load - Load a program module during execution ..................................................... LoadId - Load identification of tool or payload ......................................................... MakeDir - Create a new directory ......................................................................... ManLoadIdProc - Load identification of IRBP manipulators ....................................... MechUnitLoad - Defines a payload for a mechanical unit .......................................... MotionSup - Deactivates/Activates motion supervision ............................................. MoveAbsJ - Moves the robot to an absolute joint position ......................................... MoveC - Moves the robot circularly ....................................................................... MoveCDO - Moves the robot circularly and sets digital output in the corner .................. MoveCSync - Moves the robot circularly and executes a RAPID procedure .................. MoveExtJ - Move one or several mechanical units without TCP ................................. MoveJ - Moves the robot by joint movement ........................................................... MoveJDO - Moves the robot by joint movement and sets digital output in the corner ...... MoveJSync - Moves the robot by joint movement and executes a RAPID procedure ...... MoveL - Moves the robot linearly .......................................................................... MoveLDO - Moves the robot linearly and sets digital output in the corner ..................... MoveLSync - Moves the robot linearly and executes a RAPID procedure ..................... MToolRotCalib - Calibration of rotation for moving tool ............................................. MToolTCPCalib - Calibration of TCP for moving tool ................................................ Open - Opens a file or serial channel .................................................................... OpenDir - Open a directory ................................................................................. PackDNHeader - Pack DeviceNet Header into rawbytes data ..................................... PackRawBytes - Pack data into rawbytes data ........................................................ PathAccLim - Reduce TCP acceleration along the path ............................................ PathRecMoveBwd - Move path recorder backwards ................................................ PathRecMoveFwd - Move path recorder forward ..................................................... PathRecStart - Start the path recorder ...................................................................

126 128 130 132 133 134 135 138 140 142 146 150 153 158 162 164 165 168 171 173 175 179 189 193 196 199 202 205 207 209 212 214 215 219 224 225 229 233 235 241 249 253 258 261 266 270 275 281 285 290 293 296 301 303 306 310 314 320 323

6 Copyright 2004-2012 ABB. All rights reserved.

3HAC16581-1 Revision: N

Table of contents

1.113 1.114 1.115 1.116 1.117 1.118 1.119 1.120 1.121 1.122 1.123 1.124 1.125 1.126 1.127 1.128 1.129 1.130 1.131 1.132 1.133 1.134 1.135 1.136 1.137 1.138 1.139 1.140 1.141 1.142 1.143 1.144 1.145 1.146 1.147 1.148 1.149 1.150 1.151 1.152 1.153 1.154 1.155 1.156 1.157 1.158 1.159 1.160 1.161 1.162 1.163 1.164 1.165 1.166 1.167 1.168 1.169 1.170 1.171

PathRecStop - Stop the path recorder ................................................................... PathResol - Override path resolution .................................................................... PDispOff - Deactivates program displacement ....................................................... PDispOn - Activates program displacement ........................................................... PDispSet - Activates program displacement using known frame ................................ ProcCall - Calls a new procedure ......................................................................... ProcerrRecovery - Generate and recover from process-move error ............................ PulseDO - Generates a pulse on a digital output signal ............................................ RAISE - Calls an error handler ............................................................................. RaiseToUser - Propagates an error to user level ..................................................... ReadAnyBin - Read data from a binary serial channel or file ...................................... ReadBlock - read a block of data from device ......................................................... ReadCfgData - Reads attribute of a system parameter ............................................. ReadErrData - Gets information about an error ....................................................... ReadRawBytes - Read rawbytes data .................................................................... RemoveDir - Delete a directory ............................................................................ RemoveFile - Delete a file ................................................................................... RenameFile - Rename a file ................................................................................ Reset - Resets a digital output signal .................................................................... ResetPPMoved - Reset state for the program pointer moved in manual mode .............. ResetRetryCount - Reset the number of retries ....................................................... RestoPath - Restores the path after an interrupt ...................................................... RETRY - Resume execution after an error .............................................................. RETURN - Finishes execution of a routine ............................................................. Rewind - Rewind file position ............................................................................... RMQEmptyQueue - Empty RAPID Message Queue ................................................. RMQFindSlot - Find a slot identity from the slot name .............................................. RMQGetMessage - Get an RMQ message ............................................................. RMQGetMsgData - Get the data part from an RMQ message ..................................... RMQGetMsgHeader - Get header information from an RMQ message ......................... RMQReadWait - Returns message from RMQ ......................................................... RMQSendMessage - Send an RMQ data message .................................................. RMQSendWait - Send an RMQ data message and wait for a response ........................ Save - Save a program module ............................................................................ SCWrite - Send variable data to a client application ................................................. SearchC - Searches circularly using the robot ........................................................ SearchExtJ - Search with one or several mechanical units without TCP ....................... SearchL - Searches linearly using the robot ........................................................... SenDevice - connect to a sensor device ................................................................ Set - Sets a digital output signal ........................................................................... SetAllDataVal - Set a value to all data objects in a defined set ................................... SetAO - Changes the value of an analog output signal ............................................. SetDataSearch - Define the symbol set in a search sequence .................................... SetDataVal - Set the value of a data object ............................................................. SetDO - Changes the value of a digital output signal ................................................ SetGO - Changes the value of a group of digital output signals .................................. SetSysData - Set system data .............................................................................. SingArea - Defines interpolation around singular points ............................................ SkipWarn - Skip the latest warning ....................................................................... SocketAccept - Accept an incoming connection ...................................................... SocketBind - Bind a socket to my IP-address and port ............................................. SocketClose - Close a socket .............................................................................. SocketConnect - Connect to a remote computer ..................................................... SocketCreate - Create a new socket ..................................................................... SocketListen - Listen for incoming connections ...................................................... SocketReceive - Receive data from remote computer .............................................. SocketSend - Send data to remote computer .......................................................... SoftAct - Activating the soft servo ......................................................................... SoftDeact - Deactivating the soft servo ..................................................................

326 329 331 332 336 338 340 346 349 352 355 358 360 364 367 370 372 373 375 376 377 378 380 381 383 385 387 389 392 395 398 401 405 410 413 416 425 432 442 444 446 448 450 454 457 459 462 464 466 467 470 472 474 477 479 481 486 490 492

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

Table of contents

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SpeedLimAxis - Set speed limitation for an axis ...................................................... 493 SpeedLimCheckPoint - Set speed limitation for check points ..................................... 497 SpeedRefresh - Update speed override for ongoing movement .................................. 502 SpyStart - Start recording of execution time data ..................................................... 505 SpyStop - Stop recording of time execution data ..................................................... 508 StartLoad - Load a program module during execution .............................................. 509 StartMove - Restarts robot movement ................................................................... 513 StartMoveRetry - Restarts robot movement and execution ........................................ 516 STCalib - Calibrate a Servo Tool .......................................................................... 519 STClose - Close a Servo Tool .............................................................................. 523 StepBwdPath - Move backwards one step on path .................................................. 526 STIndGun - Sets the gun in independent mode ....................................................... 528 STIndGunReset - Resets the gun from independent mode ........................................ 530 SToolRotCalib - Calibration of TCP and rotation for stationary tool ............................. 531 SToolTCPCalib - Calibration of TCP for stationary tool ............................................. 534 Stop - Stops program execution ........................................................................... 537 STOpen - Open a Servo Tool ............................................................................... 540 StopMove - Stops robot movement ....................................................................... 542 StopMoveReset - Reset the system stop move state ................................................ 546 StorePath - Stores the path when an interrupt occurs ............................................... 548 STTune - Tuning Servo Tool ................................................................................ 550 STTuneReset - Resetting Servo tool tuning ............................................................ 554 SyncMoveOff - End coordinated synchronized movements ....................................... 555 SyncMoveOn - Start coordinated synchronized movements ...................................... 561 SyncMoveResume - Set synchronized coordinated movements ................................. 567 SyncMoveSuspend - Set independent-semicoordinated movements ........................... 569 SyncMoveUndo - Set independent movements ....................................................... 571 SystemStopAction - Stop the robot system ............................................................ 573 TEST - Depending on the value of an expression ... ................................................. 575 TestSignDefine - Define test signal ....................................................................... 577 TestSignReset - Reset all test signal definitions ...................................................... 579 TextTabInstall - Installing a text table .................................................................... 580 TPErase - Erases text printed on the FlexPendant ................................................... 582 TPReadDnum - Reads a number from the FlexPendant ............................................ 583 TPReadFK - Reads function keys ......................................................................... 586 TPReadNum - Reads a number from the FlexPendant ............................................. 590 TPShow - Switch window on the FlexPendant ......................................................... 593 TPWrite - Writes on the FlexPendant ..................................................................... 594 TriggC - Circular robot movement with events ........................................................ 596 TriggCheckIO - Defines IO check at a fixed position ................................................. 604 TriggEquip - Define a fixed position and time I/O event on the path ............................. 609 TriggInt - Defines a position related interrupt .......................................................... 615 TriggIO - Define a fixed position or time I/O event near a stop point ............................ 619 TriggJ - Axis-wise robot movements with events ..................................................... 624 TriggL - Linear robot movements with events ......................................................... 631 TriggLIOs - Linear robot movements with I/O events ................................................ 638 TriggRampAO - Define a fixed position ramp AO event on the path ............................ 645 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event .............................................................................................................. 651 TriggStopProc - Generate restart data for trigg signals at stop ................................... 659 TryInt - Test if data object is a valid integer ............................................................ 664 TRYNEXT - Jumps over an instruction which has caused an error .............................. 666 TuneReset - Resetting servo tuning ...................................................................... 667 TuneServo - Tuning servos ................................................................................. 668 UIMsgBox - User Message Dialog Box type basic .................................................... 674 UIShow - User Interface show .............................................................................. 682 UnLoad - UnLoad a program module during execution ............................................. 686 UnpackRawBytes - Unpack data from rawbytes data ............................................... 689 VelSet - Changes the programmed velocity ............................................................ 693

8 Copyright 2004-2012 ABB. All rights reserved.

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1.230 1.231 1.232 1.233 1.234 1.235 1.236 1.237 1.238 1.239 1.240 1.241 1.242 1.243 1.244 1.245 1.246 1.247 1.248 1.249 1.250 1.251 1.252 1.253 1.254 1.255 1.256 1.257 1.258 1.259 1.260 1.261 1.262 1.263 2

WaitAI - Waits until an analog input signal value is set ............................................. WaitAO - Waits until an analog output signal value is set .......................................... WaitDI - Waits until a digital input signal is set ........................................................ WaitDO - Waits until a digital output signal is set ..................................................... WaitGI - Waits until a group of digital input signals are set ........................................ WaitGO - Waits until a group of digital output signals are set ..................................... WaitLoad - Connect the loaded module to the task .................................................. WaitRob - Wait until stop point or zero speed ......................................................... WaitSyncTask - Wait at synchronization point for other program tasks ........................ WaitTestAndSet - Wait until variable unset - then set ............................................... WaitTime - Waits a given amount of time ............................................................... WaitUntil - Waits until a condition is met ................................................................ WaitWObj - Wait for work object on conveyor ......................................................... WarmStart - Restart the controller ........................................................................ WHILE - Repeats as long as ... ............................................................................. WorldAccLim - Control acceleration in world coordinate system ................................. Write - Writes to a character-based file or serial channel ........................................... WriteAnyBin - Writes data to a binary serial channel or file ........................................ WriteBin - Writes to a binary serial channel ............................................................ WriteBlock - write block of data to device ............................................................... WriteCfgData - Writes attribute of a system parameter ............................................. WriteRawBytes - Write rawbytes data .................................................................... WriteStrBin - Writes a string to a binary serial channel ............................................. WriteVar - write variable ..................................................................................... WZBoxDef - Define a box-shaped world zone ......................................................... WZCylDef - Define a cylinder-shaped world zone .................................................... WZDisable - Deactivate temporary world zone supervision ....................................... WZDOSet - Activate world zone to set digital output ................................................ WZEnable - Activate temporary world zone supervision ............................................ WZFree - Erase temporary world zone supervision .................................................. WZHomeJointDef - Define a world zone for home joints ........................................... WZLimJointDef - Define a world zone for limitation in joints ....................................... WZLimSup - Activate world zone limit supervision ................................................... WZSphDef - Define a sphere-shaped world zone .....................................................

695 698 701 703 705 709 713 717 719 723 726 728 731 734 735 737 739 742 745 747 749 753 755 757 759 761 764 766 770 772 774 777 781 784 787 787 789 791 792 794 797 798 799 800 802 804 806 808 810 813 815 817 819 821 823 825 827 829

Functions 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 2.12 2.13 2.14 2.15 2.16 2.17 2.18 2.19 2.20 2.21 2.22 2.23 Abs - Gets the absolute value .............................................................................. AbsDnum - Gets the absolute value of a dnum ....................................................... ACos - Calculates the arc cosine value .................................................................. AOutput - Reads the value of an analog output signal .............................................. ArgName - Gets argument name ......................................................................... ASin - Calculates the arc sine value ...................................................................... ATan - Calculates the arc tangent value ................................................................. ATan2 - Calculates the arc tangent2 value ............................................................. BitAnd - Logical bitwise AND - operation on byte data .............................................. BitAndDnum - Logical bitwise AND - operation on dnum data .................................... BitCheck - Check if a specified bit in a byte data is set ............................................. BitCheckDnum - Check if a specified bit in a dnum data is set ................................... BitLSh - Logical bitwise LEFT SHIFT - operation on byte .......................................... BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum ................................ BitNeg - Logical bitwise NEGATION - operation on byte data ..................................... BitNegDnum - Logical bitwise NEGATION - operation on dnum data ........................... BitOr - Logical bitwise OR - operation on byte data .................................................. BitOrDnum - Logical bitwise OR - operation on dnum data ........................................ BitRSh - Logical bitwise RIGHT SHIFT - operation on byte ........................................ BitRShDnum - Logical bitwise RIGHT SHIFT - operation on dnum .............................. BitXOr - Logical bitwise XOR - operation on byte data .............................................. BitXOrDnum - Logical bitwise XOR - operation on dnum data .................................... ByteToStr - Converts a byte to a string data ...........................................................

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

Table of contents

2.24 2.25 2.26 2.27 2.28 2.29 2.30 2.31 2.32 2.33 2.34 2.35 2.36 2.37 2.38 2.39 2.40 2.41 2.42 2.43 2.44 2.45 2.46 2.47 2.48 2.49 2.50 2.51 2.52 2.53 2.54 2.55 2.56 2.57 2.58 2.59 2.60 2.61 2.62 2.63 2.64 2.65 2.66 2.67 2.68 2.69 2.70 2.71 2.72 2.73 2.74 2.75 2.76 2.77 2.78 2.79 2.80 2.81 2.82

CalcJointT - Calculates joint angles from robtarget .................................................. CalcRobT - Calculates robtarget from jointtarget ..................................................... CalcRotAxFrameZ - Calculate a rotational axis frame ............................................... CalcRotAxisFrame - Calculate a rotational axis frame .............................................. CDate - Reads the current date as a string ............................................................. CJointT - Reads the current joint angles ................................................................ ClkRead - Reads a clock used for timing ................................................................ CorrRead - Reads the current total offsets ............................................................. Cos - Calculates the cosine value ......................................................................... CPos - Reads the current position (pos) data .......................................................... CRobT - Reads the current position (robtarget) data ................................................ CSpeedOverride - Reads the current override speed ............................................... CTime - Reads the current time as a string ............................................................. CTool - Reads the current tool data ...................................................................... CWObj - Reads the current work object data .......................................................... DecToHex - Convert from decimal to hexadecimal ................................................... DefAccFrame - Define an accurate frame ............................................................... DefDFrame - Define a displacement frame ............................................................. DefFrame - Define a frame .................................................................................. Dim - Obtains the size of an array ......................................................................... Distance - Distance between two points ................................................................ DnumToNum - Converts dnum to num .................................................................. DnumToStr - Converts numeric value to string ........................................................ DotProd - Dot product of two pos vectors ............................................................... DOutput - Reads the value of a digital output signal ................................................. EulerZYX - Gets euler angles from orient ............................................................... EventType - Get current event type inside any event routine ..................................... ExecHandler - Get type of execution handler .......................................................... ExecLevel - Get execution level ........................................................................... Exp - Calculates the exponential value .................................................................. FileSize - Retrieve the size of a file ....................................................................... FileTime - Retrieve time information about a file ...................................................... FSSize - Retrieve the size of a file system .............................................................. GetMecUnitName - Get the name of the mechanical unit .......................................... GetModalPayLoadMode - Get the ModalPayLoadMode value .................................... GetNextMechUnit - Get name and data for mechanical units ..................................... GetNextSym - Get next matching symbol ............................................................... GetServiceInfo - Get service information from the system ......................................... GetSysInfo - Get information about the system ....................................................... GetTaskName - Gets the name and number of current task ....................................... GetTime - Reads the current time as a numeric value ............................................... GInputDnum - Read value of group input signal ...................................................... GOutput - Reads the value of a group of digital output signals ................................... GOutputDnum - Read value of group output signal .................................................. HexToDec - Convert from hexadecimal to decimal ................................................... IndInpos - Independent axis in position status ........................................................ IndSpeed - Independent speed status ................................................................... IOUnitState - Get current state of I/O unit ............................................................... IsFile - Check the type of a file ............................................................................. IsMechUnitActive - Is mechanical unit active .......................................................... IsPers - Is persistent .......................................................................................... IsStopMoveAct - Is stop move flags active ............................................................. IsStopStateEvent - Test whether moved program pointer .......................................... IsSyncMoveOn - Test if in synchronized movement mode ......................................... IsSysId - Test system identity .............................................................................. IsVar - Is variable .............................................................................................. MaxRobSpeed - Maximum robot speed ................................................................. MirPos - Mirroring of a position ............................................................................ ModExist - Check if program module exist .............................................................

831 835 837 841 845 846 848 850 851 852 854 857 859 860 862 864 865 868 871 874 876 878 880 882 884 886 888 890 891 892 893 896 899 902 903 904 907 909 911 914 916 918 920 922 925 926 928 930 933 937 938 939 941 943 945 946 947 948 950

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2.83 2.84 2.85 2.86 2.87 2.88 2.89 2.90 2.91 2.92 2.93 2.94 2.95 2.96 2.97 2.98 2.99 2.100 2.101 2.102 2.103 2.104 2.105 2.106 2.107 2.108 2.109 2.110 2.111 2.112 2.113 2.114 2.115 2.116 2.117 2.118 2.119 2.120 2.121 2.122 2.123 2.124 2.125 2.126 2.127 2.128 2.129 2.130 2.131 2.132 2.133 2.134 2.135 2.136 2.137 2.138 2.139 2.140 2.141

ModTime - Get file modify time for the loaded module .............................................. 951 MotionPlannerNo - Get connected motion planner number ....................................... 953 NonMotionMode - Read the Non-Motion execution mode .......................................... 955 NOrient - Normalize orientation ............................................................................ 957 NumToDnum - Converts num to dnum .................................................................. 959 NumToStr - Converts numeric value to string ......................................................... 960 Offs - Displaces a robot position .......................................................................... 962 OpMode - Read the operating mode ..................................................................... 964 OrientZYX - Builds an orient from euler angles ........................................................ 965 ORobT - Removes the program displacement from a position .................................... 967 ParIdPosValid - Valid robot position for parameter identification ................................ 969 ParIdRobValid - Valid robot type for parameter identification ..................................... 972 PathLevel - Get current path level ......................................................................... 975 PathRecValidBwd - Is there a valid backward path recorded ...................................... 977 PathRecValidFwd - Is there a valid forward path recorded ......................................... 980 PFRestart - Check interrupted path after power failure ............................................. 984 PoseInv - Inverts pose data ................................................................................. 985 PoseMult - Multiplies pose data ........................................................................... 987 PoseVect - Applies a transformation to a vector ...................................................... 989 Pow - Calculates the power of a value ................................................................... 991 PowDnum - Calculates the power of a value ........................................................... 992 PPMovedInManMode - Test whether the program pointer is moved in manual mode ..... 993 Present - Tests if an optional parameter is used ...................................................... 994 ProgMemFree - Get the size of free program memory .............................................. 996 RawBytesLen - Get the length of rawbytes data ...................................................... 997 ReadBin - Reads a byte from a file or serial channel ................................................ 999 ReadDir - Read next entry in a directory ................................................................ 1001 ReadMotor - Reads the current motor angles .......................................................... 1004 ReadNum - Reads a number from a file or serial channel .......................................... 1006 ReadStr - Reads a string from a file or serial channel ............................................... 1009 ReadStrBin - Reads a string from a binary serial channel or file ................................. 1013 ReadVar - Read variable from a device .................................................................. 1015 RelTool - Make a displacement relative to the tool ................................................... 1017 RemainingRetries - Remaining retries left to do ...................................................... 1019 RMQGetSlotName - Get the name of an RMQ client ................................................. 1020 RobName - Get the TCP robot name ..................................................................... 1022 RobOS - Check if execution is on RC or VC ............................................................ 1024 Round - Round a numeric value ........................................................................... 1025 RoundDnum - Round a numeric value ................................................................... 1027 RunMode - Read the running mode ...................................................................... 1029 Sin - Calculates the sine value ............................................................................. 1030 SocketGetStatus - Get current socket state ............................................................ 1031 Sqrt - Calculates the square root value .................................................................. 1033 SqrtDnum - Calculates the square root value .......................................................... 1034 STCalcForce - Calculate the tip force for a Servo Tool .............................................. 1035 STCalcTorque - Calc. the motor torque for a servo tool ............................................ 1036 STIsCalib - Tests if a servo tool is calibrated .......................................................... 1037 STIsClosed - Tests if a servo tool is closed ............................................................ 1039 STIsIndGun - Tests if a servo tool is in independent mode ........................................ 1041 STIsOpen - Tests if a servo tool is open ................................................................ 1042 StrDigCalc - Arithmetic operations with datatype stringdig ........................................ 1044 StrDigCmp - Compare two strings with only digits ................................................... 1047 StrFind - Searches for a character in a string .......................................................... 1050 StrLen - Gets the string length ............................................................................. 1052 StrMap - Maps a string ....................................................................................... 1053 StrMatch - Search for pattern in string ................................................................... 1055 StrMemb - Checks if a character belongs to a set .................................................... 1057 StrOrder - Checks if strings are ordered ................................................................ 1059 StrPart - Finds a part of a string ........................................................................... 1062

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Table of contents

2.142 2.143 2.144 2.145 2.146 2.147 2.148 2.149 2.150 2.151 2.152 2.153 2.154 2.155 2.156 2.157 2.158 2.159 2.160 2.161 2.162 2.163 2.164 2.165 2.166 2.167 3

StrToByte - Converts a string to a byte data ........................................................... 1064 StrToVal - Converts a string to a value .................................................................. 1066 Tan - Calculates the tangent value ........................................................................ 1068 TaskRunMec - Check if task controls any mechanical unit ........................................ 1069 TaskRunRob - Check if task controls some robot .................................................... 1070 TasksInSync - Returns the number of synchronized tasks ........................................ 1071 TestAndSet - Test variable and set if unset ............................................................ 1073 TestDI - Tests if a digital input is set ..................................................................... 1076 TestSignRead - Read test signal value .................................................................. 1077 TextGet - Get text from system text tables ............................................................. 1079 TextTabFreeToUse - Test whether text table is free ................................................. 1081 TextTabGet - Get text table number ...................................................................... 1083 Trunc - Truncates a numeric value ....................................................................... 1085 TruncDnum - Truncates a numeric value ............................................................... 1087 Type - Get the data type name for a variable .......................................................... 1089 UIAlphaEntry - User Alpha Entry .......................................................................... 1091 UIClientExist - Exist User Client ........................................................................... 1097 UIDnumEntry - User Number Entry ....................................................................... 1098 UIDnumTune - User Number Tune ........................................................................ 1104 UIListView - User List View ................................................................................. 1110 UIMessageBox - User Message Box type advanced ................................................. 1117 UINumEntry - User Number Entry ......................................................................... 1124 UINumTune - User Number Tune ......................................................................... 1130 ValidIO - Valid I/O signal to access ....................................................................... 1136 ValToStr - Converts a value to a string .................................................................. 1138 VectMagn - Magnitude of a pos vector .................................................................. 1140 1143

Data types 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 3.15 3.16 3.17 3.18 3.19 3.20 3.21 3.22 3.23 3.24 3.25 3.26 3.27 3.28 3.29 3.30 3.31

aiotrigg - Analog I/O trigger condition .................................................................... 1143 bool - Logical values .......................................................................................... 1145 btnres - Push button result data ........................................................................... 1146 busstate - State of I/O bus ................................................................................... 1148 buttondata - Push button data .............................................................................. 1149 byte - Integer values 0 - 255 ................................................................................ 1151 clock - Time measurement .................................................................................. 1152 confdata - Robot configuration data ...................................................................... 1153 corrdescr - Correction generator descriptor ............................................................ 1159 datapos - Enclosing block for a data object ............................................................ 1161 dionum - Digital values (0 - 1) .............................................................................. 1162 dir - File directory structure ................................................................................. 1163 dnum - Double numeric values ............................................................................ 1164 errdomain - Error domain .................................................................................... 1166 errnum - Error number ....................................................................................... 1168 errstr - Error string ............................................................................................. 1174 errtype - Error type ............................................................................................ 1175 event_type - Event routine type ............................................................................ 1176 exec_level - Execution level ................................................................................ 1177 extjoint - Position of external joints ....................................................................... 1178 handler_type - Type of execution handler .............................................................. 1180 icondata - Icon display data ................................................................................. 1181 identno - Identity for move instructions .................................................................. 1183 intnum - Interrupt identity .................................................................................... 1185 iodev - Serial channels and files ........................................................................... 1187 iounit_state - State of I/O unit .............................................................................. 1188 jointtarget - Joint position data ............................................................................. 1189 listitem - List item data structure .......................................................................... 1191 loaddata - Load data .......................................................................................... 1192 loadidnum - Type of load identification .................................................................. 1198 loadsession - Program load session ..................................................................... 1199

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Table of contents

3.32 3.33 3.34 3.35 3.36 3.37 3.38 3.39 3.40 3.41 3.42 3.43 3.44 3.45 3.46 3.47 3.48 3.49 3.50 3.51 3.52 3.53 3.54 3.55 3.56 3.57 3.58 3.59 3.60 3.61 3.62 3.63 3.64 3.65 3.66 3.67 3.68 3.69 3.70 3.71 3.72 3.73 3.74 3.75 3.76 3.77 3.78 4

mecunit - Mechanical unit ................................................................................... 1200 motsetdata - Motion settings data ......................................................................... 1202 num - Numeric values ........................................................................................ 1207 opcalc - Arithmetic Operator ................................................................................ 1209 opnum - Comparison operator ............................................................................. 1210 orient - Orientation ............................................................................................ 1211 paridnum - Type of parameter identification ........................................................... 1216 paridvalidnum - Result of ParIdRobValid ................................................................ 1218 pathrecid - Path recorder identifier ....................................................................... 1220 pos - Positions (only X, Y and Z) .......................................................................... 1222 pose - Coordinate transformations ........................................................................ 1224 progdisp - Program displacement ......................................................................... 1225 rawbytes - Raw data .......................................................................................... 1227 restartdata - Restart data for trigg signals .............................................................. 1229 rmqheader - RAPID Message Queue Message header ............................................. 1233 rmqmessage - RAPID Message Queue message ..................................................... 1235 rmqslot - Identity number of an RMQ client ............................................................ 1237 robjoint - Joint position of robot axes .................................................................... 1238 robtarget - Position data ..................................................................................... 1239 shapedata - World zone shape data ...................................................................... 1242 signalxx - Digital and analog signals ..................................................................... 1244 socketdev - Socket device .................................................................................. 1246 socketstatus - Socket communication status .......................................................... 1247 speeddata - Speed data ...................................................................................... 1248 stoppointdata - Stop point data ............................................................................ 1252 string - Strings .................................................................................................. 1258 stringdig - String with only digits .......................................................................... 1260 switch - Optional parameters .............................................................................. 1261 symnum - Symbolic number ................................................................................ 1262 syncident - Identity for synchronization point .......................................................... 1263 System data - Current RAPID system data settings ................................................. 1264 taskid - Task identification .................................................................................. 1266 tasks - RAPID program tasks ............................................................................... 1267 testsignal - Test signal ....................................................................................... 1269 tooldata - Tool data ............................................................................................ 1270 tpnum - FlexPendant window number ................................................................... 1276 trapdata - Interrupt data for current TRAP .............................................................. 1277 triggdata - Positioning events, trigg ...................................................................... 1279 triggios - Positioning events, trigg ........................................................................ 1280 triggiosdnum - Positioning events, trigg ................................................................. 1283 triggstrgo - Positioning events, trigg ..................................................................... 1285 tunetype - Servo tune type .................................................................................. 1288 uishownum - Instance ID for UIShow .................................................................... 1289 wobjdata - Work object data ................................................................................ 1290 wzstationary - Stationary world zone data .............................................................. 1294 wztemporary - Temporary world zone data ............................................................. 1296 zonedata - Zone data ......................................................................................... 1298 1305

Programming type examples 4.1 4.2 4.3 4.4

ERROR handler with movements ......................................................................... 1305 Service routines with or without movements ........................................................... 1308 System I/O interrupts with or without movements .................................................... 1311 TRAP routines with movements ........................................................................... 1314 1317

Index

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Overview of this manual

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:

Chapter 1 Instructions 2 Functions 3 Data types 4 Programming type examples Contents Detailed descriptions of all RAPID base instructions, including examples of how to use them. Detailed descriptions of all RAPID base functions, including examples of how to use them. Detailed descriptions of all RAPID base data types, including examples of how to use them. A general view of how to write program code that contains different instructions/functions/data types. The chapter contains also programming tips and explanations.

References
Reference Document ID

Operating manual - Introduction to RAPID 3HAC029364-001 Technical reference manual - RAPID over- 3HAC16580-1 view Technical reference manual - RAPID kernel 3HAC16585-1

Revisions
Revision F Description 7th edition. RobotWare 5.10. New chapter added, 4 Programming type examples.

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Overview of this manual

Continued

Revision G

Description 8th edition. RobotWare 5.11. New instructions, functions and data types are added. Also a new programming type example is added. 9th edition. RobotWare 5.12. New instructions, functions and data types are added. 10th edition. RobotWare 5.13. The following new instructions, functions and data types are added: TPReadNum - Reads a number from the FlexPendant on page 590 Type - Get the data type name for a variable on page 1089 UIDnumEntry - User Number Entry on page 1098 UIDnumTune - User Number Tune on page 1104 triggiosdnum - Positioning events, trigg on page 1283 Updated safety signal graphics for the levels Danger and Warning. 11th edition. RobotWare 5.14. The following new functions are added: AbsDnum - Gets the absolute value of a dnum on page 789 DnumToStr - Converts numeric value to string on page 880 GetServiceInfo - Get service information from the system on page 909 PowDnum - Calculates the power of a value on page 992 RoundDnum - Round a numeric value on page 1027 SqrtDnum - Calculates the square root value on page 1034 TruncDnum - Truncates a numeric value on page 1087 12th edition. RobotWare 5.14.02. Updates related to the stationary case and the relation of the different coordinate systems in the following data types: loaddata - Load data on page 1192 tooldata - Tool data on page 1270 Miscellaneous updates in the following instructions: GripLoad - Defines the payload for a robot on page 128 MechUnitLoad - Defines a payload for a mechanical unit on page 229 13th edition. RobotWare 5.14.03. Bit functions are added for dnum: BitAndDnum, BitCheckDnum, BitLshDnum, BitNegDnum, BitOrDnum, BitRshDnum, and BitXorDnum. Instructions BitClear and BitSet are updated to support dnum data. Total Load (TLoad) argument added to all movement instructions: MoveAbsJ, MoveC, MoveCDO, MoveCSync, MoveJ, MoveJDO, MoveJSync, MoveL, MoveLDO, MoveL, SyncSearchC, SearchL, TriggC, TriggJ, TriggL, TriggLIOs. A new error handler, ERR_SIG_NOT_VALID, is added to following I/O instructions: AOutput, DOutput, GInputDnum, GOutput, GOutputDnum, InvertDO, ProcErrRecovery, PulseDO, Reset, Set, SetDO, SetGO, WaitAI, WaitAO, WaitDI, WaitDO, WaitGI, WaitGO. GetSysData and SetSysData modified for new total load concept. 14th edition. RobotWare 5.15. Minor corrections Instructions SpeedLimAxis and SpeedLimCheckPoint are added

H J

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1 Instructions
1.1 AccSet - Reduces the acceleration

1 Instructions
1.1 AccSet - Reduces the acceleration
Usage AccSet is used when handling fragile loads. 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 Basic examples of the instruction AccSet are illustrated below. 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. Arguments

AccSet Acc Ramp

Acc Data type: num Acceleration and deceleration as a percentage of the normal values. 100% corresponds to maximum acceleration. Maximum value: 100%. 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. Maximum value: 100%. Input value < 10% gives 10% of maximum rate.

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1 Instructions
1.1 AccSet - Reduces the acceleration Continued The figures show that reducing the acceleration results in smoother movements.

Ti

xx0500002146

Program execution The acceleration applies to both the robot and external axes until a new AccSet instruction is executed. The default values (100%) are automatically set Syntax
AccSet [ Acc ':=' ] < expression (IN) of num > ',' [ Ramp ':=' ] < expression (IN) of num > ';'

at a cold start. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about See

Control acceleration in world coordinate WorldAccLim - Control acceleration in world cosystem ordinate system on page 737 Reduce TCP acceleration along the path PathAccLim - Reduce TCP acceleration along the path on page 310 Positioning instructions Motion settings data Technical reference manual - RAPID overview motsetdata - Motion settings data on page 1202

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1 Instructions
1.2 ActEventBuffer - Activation of event buffer

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 A basic example of the instruction ActEventBuffer is illustrated below. Example 1
.. DeactEventBuffer; ! Use an application that uses finepoints, such as SpotWelding .. ! Activate the event buffer again ActEventBuffer; ! Now it is possible to use an application that needs ! to set signals in advance, such as Dispense ..

The DeactEventBuffer deactivates the configured event buffer. When using an application with finepoints, the start of the robot from the finepoint will be faster. When activating the event buffer with ActEventBuffer, it is possible to set signals in advance for an application with slow process equipment. Program execution The use of an event buffer applies for the next executed robot movement of any type, and is valid until a DeactEventBuffer instruction is executed. The instruction will wait until the robot and external axes has reached the stop point (ToPoint of current move instruction) before the activation of the event buffer. Therefore it is recommended to program the movement instruction preceding ActEventBuffer with a fine point. The default value (use event buffer = TRUE) is automatically set Limitations ActEventBuffer cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart or Step. at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

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1 Instructions
1.2 ActEventBuffer - Activation of event buffer Continued Syntax
ActEventBuffer ;

Related information
For information about Deactivation of event buffer Configuration of Event preset time Motion settings data See DeactEventBuffer - Deactivation of event buffer on page 86 Technical reference manual - System parameters motsetdata - Motion settings data on page 1202

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1 Instructions
1.3 ActUnit - Activates a mechanical unit

1.3 ActUnit - Activates a mechanical unit

Usage ActUnit is used to activate a mechanical unit. It can be used to determine which unit is to be active when, for example, common drive units are used. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples A basic example of the instruction ActUnit is illustrated below. Example 1
ActUnit orbit_a;

Activation of the orbit_a mechanical unit. Arguments

ActUnit MechUnit

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit that is to be activated. Program execution When the robots and external axes actual path is ready, the path on current path level is cleared and the specified mechanical unit is activated. This means that it is controlled and monitored by the robot. If several mechanical units share a common drive unit, activation of one of these mechanical units will also connect that unit to the common drive unit. Limitations If this instruction is preceded by a move instruction, that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after power failure will not be possible. ActUnit cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart, Reset or Step. It is possible to use ActUnit - DeactUnit on StorePath level, but the same mechanical units must be active when doing RestoPath as when StorePath was done. Such operation on the Path Recorder and the path on the base level will be intact, but the path on the StorePath level will be cleared. Syntax
ActUnit [MechUnit ':=' ] < variable (VAR) of mecunit> ';'

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1 Instructions
1.3 ActUnit - Activates a mechanical unit Continued Related information
For information about Deactivating mechanical units Mechanical units More examples Path Recorder See DeactUnit - Deactivates a mechanical unit on page 88 mecunit - Mechanical unit on page 1200 DeactUnit - Deactivates a mechanical unit on page 88 PathRecMoveBwd - Move path recorder backwards on page 314

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1 Instructions
1.4 Add - Adds a numeric value

1.4 Add - Adds a numeric value

Usage Add is used to add or subtract a value to or from a numeric variable or persistent. Basic examples Basic examples of the instruction Add are illustrated below. Example 1
Add reg1, 3;

3 is added to reg1, i.e. reg1:=reg1+3. Example 2

Add reg1, -reg2;

The value of reg2 is subtracted from reg1, i.e. reg1:=reg1-reg2. Example 3

VAR dnum mydnum:=5; Add mydnum, 500000000;

500000000 is added to mydnum, i.e. mynum:=mynum+500000000. Example 4

VAR dnum mydnum:=5000; VAR num mynum:=6000; Add mynum, DnumToNum(mydnum \Integer);

5000 is added to mynum, i.e. mynum:=mynum+5000. You have to use DnumToNum to get a num numeric value that you can use together with the num variable mynum. Arguments
Add Name | Dname AddValue | AddDvalue

Name Data type: num The name of the variable or persistent to be changed. Dname Data type: dnum The name of the variable or persistent to be changed. AddValue Data type: num The value to be added. AddDvalue Data type: dnum The value to be added.

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1 Instructions
1.4 Add - Adds a numeric value Continued Limitations If the value to be added is of the type dnum, and the variable/persistent that should be changed is a num, a runtime error will be generated. The combination of arguments is not possible (see Example 4 above how to solve this). Syntax
Add [ | [ | Name ':=' ] < var or pers (INOUT) of [ Dname := ] < var or pers (INOUT) AddValue ':=' ] < expression (IN) of [ AddDvalue := ] < expression (IN) num > of dnum > , num > of dnum > ;

Related information
For information about Incrementing a variable by 1 Decrementing a variable by 1 See Incr - Increments by 1 on page 140 Decr - Decrements by 1 on page 90

Changing data using an arbitrary expres- ":=" - Assigns a value on page 28 sion, e.g. multiplication

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1 Instructions
1.5 AliasIO - Define I/O signal with alias name

1.5 AliasIO - Define I/O signal with alias name

Usage AliasIO is used to define a signal of any type with an alias name or to use signals in built-in task modules. Signals with alias names can be used for predefined generic programs, without any modification of the program before running in different robot installations. The instruction AliasIO must be run before any use of the actual signal. See Basic examples on page 25 for loaded modules, and More examples on page 26 for installed modules. Basic examples A basic example of the instruction AliasIO is illustrated below. See also More examples on page 26. Example 1
VAR signaldo alias_do; PROC prog_start() AliasIO config_do, alias_do; ENDPROC

The routine prog_start is connected to the START event in system parameters. The program defining digital output signal alias_do is connected to the configured digital output signal config_do at program start. Arguments
AliasIO FromSignal ToSignal

FromSignal Data type: signalxx or string Loaded modules: The signal identifier named according to the configuration (data type signalxx) from which the signal descriptor is copied. The signal must be defined in the I/O configuration. Installed modules or loaded modules: A reference (CONST, VAR or parameter of these) containing the name of the signal (data type string) from which the signal descriptor after search in the system is copied. The signal must be defined in the I/O configuration. ToSignal Data type: signalxx The signal identifier according to the program (data type signalxx) to which the signal descriptor is copied. The signal must be declared in the RAPID program. The same data type must be used (or found) for the arguments FromSignal and ToSignal and must be one of type signalxx (signalai, signalao, signaldi, signaldo, signalgi, or signalgo).

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1 Instructions
1.5 AliasIO - Define I/O signal with alias name Continued Program execution The signal descriptor value is copied from the signal given in argument FromSignal to the signal given in argument ToSignal. Error handling Following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to:
ERR_ALIASIO_DEF The FromSignal is not defined in the IO configuration or the ToSignal is not declared in the RAPID program or the ToSignal is defined in the IO configuration. The data types for the arguments FromSignal and ToSignal is not the same type.

ERR_ALIASIO_TYPE

More examples More examples of the instruction AliasIO are illustrated below. Example 1
VAR signaldi alias_di; PROC prog_start() CONST string config_string := "config_di"; AliasIO config_string, alias_di; ENDPROC

The routine prog_start is connected to the START event in system parameters. The program defined digital input signal alias_di is connected to the configured digital input signal config_di (via constant config_string) at program start. Limitation When starting the program, the alias signal cannot be used until the AliasIO instruction is executed. Instruction AliasIOmust be placed either in the event routine executed at program start (event START) or in the program part executed after every program start (before use of the signal)

In order to prevent mistakes it is not recommended to use dynamic reconnection of an AliasIO signal to different physical signals. Syntax
AliasIO [ FromSignal ':=' ] < reference (REF) of anytype> ',' [ ToSignal ':=' ] < variable (VAR) of anytype> ';'

Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1 Instructions
1.5 AliasIO - Define I/O signal with alias name Continued
For information about Defining event routines Loaded/Installed task modules See Technical reference manual - System parameters Technical reference manual - System parameters

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1 Instructions
1.6 ":=" - Assigns a value

1.6 ":=" - Assigns a value

Usage The := instruction is used to assign a new value to data. This value can be anything from a constant value to an arithmetic expression, e.g. reg1+5*reg3. Basic examples Basic examples of the instruction := are illustrated below. See also More examples on page 28. Example 1
reg1 := 5;

reg1 is assigned the value 5. Example 2

reg1 := reg2 - reg3;

reg1 is assigned the value that the reg2-reg3 calculation returns. Example 3
counter := counter + 1;

counter is incremented by one. Arguments

Data := Value

Data Data type: All The data that is to be assigned a new value. Value Data type: Same as Data The desired value. More examples More examples of the instruction := are illustrated below. Example 1
tool1.tframe.trans.x := tool1.tframe.trans.x + 20;

The TCP for tool1 is shifted 20 mm in the X-direction. Example 2

pallet{5,8} := Abs(value);

An element in the pallet matrix is assigned a value equal to the absolute value of the value variable. Limitations The data (whose value is to be changed) must not be Continues on next page
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a constant a non-value data type.

1 Instructions
1.6 ":=" - Assigns a value Continued The data and value must have similar (the same or alias) data types. Syntax
(EBNF) <assignment target> ':=' <expression> ';' <assignment target> ::= <variable> | <persistent> | <parameter> | <VAR>

Related information
For information about Expressions Non-value data types Assigning an initial value to data See Technical reference manual - RAPID overview Technical reference manual - RAPID overview Operating manual - IRC5 with FlexPendant

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1 Instructions
1.7 BitClear - Clear a specified bit in a byte or dnum data

1.7 BitClear - Clear a specified bit in a byte or dnum data

Usage BitClear is used to clear (set to 0) a specified bit in a defined byte data or dnum data. Basic examples Basic examples of the instruction BitClear are illustrated below. Example 1
CONST num parity_bit := 8; VAR byte data1 := 130; BitClear data1, parity_bit;

Bit number 8 (parity_bit) in the variable data1 will be set to 0, e.g. the content of the variable data1 will be changed from 130 to 2 (integer representation). Bit manipulation of data type byte when using BitClear is illustrated in the figure below.

xx0500002147

Example 2
CONST num parity_bit := 52; VAR dnum data2 := 2251799813685378; BitClear data2, parity_bit;

Bit number 52 (parity_bit) in the variable data2 will be set to 0, e.g. the content of the variable data2 will be changed from 2251799813685378 to 130 (integer

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1 Instructions
1.7 BitClear - Clear a specified bit in a byte or dnum data Continued representation). Bit manipulation of data type dnum when using BitClear is illustrated in the figure below.

BitPos 52

BitPos 1 data2 : 2251799813685378

Clear bit 52

data2 : 130

xx1200000014

Arguments
BitClear BitData | DnumData BitPos

BitData Data type: byte The bit data, in integer representation, to be changed. DnumData Data type: dnum The dnum bit data, in integer representation, to be changed. BitPos Bit Position Data type: num The bit position (1-8) in the BitData, or bit position (1-52) in the DnumData, to be set to 0. Limitations The range for a data type byte is 0 - 255 decimal. The bit position is valid from 1 - 8 for data type byte. The range for a data type dnum is 0 - 4503599627370495 decimal. The bit position is valid from 1 - 52 for data type dnum. Syntax
BitClear [ BitData ':=' ] < var or pers (INOUT) of byte > | [ DnumData ':=' ] < var or pers (INOUT) of dnum > ',' [ BitPos ':=' ] < expression (IN) of num > ';'

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1 Instructions
1.7 BitClear - Clear a specified bit in a byte or dnum data Continued Related information
For information about See

Set a specified bit in a byte or dnum data BitSet - Set a specified bit in a byte or dnum data on page 33 Check if a specified bit in a byte data is set BitCheck - Check if a specified bit in a byte data is set on page 804

Check if a specified bit in a dnum data is BitCheckDnum - Check if a specified bit in a set dnum data is set on page 806 Other bit functions Technical reference manual - RAPID overview

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1.8 BitSet - Set a specified bit in a byte or dnum data

1.8 BitSet - Set a specified bit in a byte or dnum data

Usage BitSet is used to set a specified bit to 1 in a defined byte data or dnum data. Basic examples Basic examples of the instruction BitSet are illustrated below. Example 1
CONST num parity_bit := 8; VAR byte data1 := 2; BitSet data1, parity_bit;

Bit number 8 (parity_bit) in the variable data1 will be set to 1, e.g. the content of the variable data1 will be changed from 2 to 130 (integer representation). Bit manipulation of data type byte when using BitSet is illustrated in the figure below.

xx0500002148

Example 2
CONST num parity_bit := 52; VAR dnum data2 := 130; BitSet data2, parity_bit;

Bit number 52 (parity_bit) in the variable data2 will be set to 1, e.g. the content of the variable data2 will be changed from 130 to 2251799813685378 (integer

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1 Instructions
1.8 BitSet - Set a specified bit in a byte or dnum data Continued representation). Bit manipulation of data type dnum when using BitSet is illustrated in the figure below.

BitPos 52

BitPos 1 data2 : 130

Set bit 52

data2 : 2251799813685378

xx1200000015

Arguments
BitSet BitData | DnumData BitPos

BitData Data type: byte The bit data, in integer representation, to be changed. DnumData Data type: dnum The bit data, in integer representation, to be changed. BitPos Bit Position Data type: num The bit position (1-8) in the BitData, or bit position (1-52) in the DnumData, to be set to 1. Limitations The range for a data type byte is integer 0 - 255. The bit position is valid from 1 - 8 for data type byte. The range for a data type dnum is integer 0 - 4503599627370495. The bit position is valid from 1 - 52 for data type dnum. Syntax
BitSet [ BitData':=' ] < var or pers (INOUT) of byte > | [ DnumData':=' ] < var or pers (INOUT) of dnum > ',' [ BitPos':=' ] < expression (IN) of num > ';'

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1 Instructions
1.8 BitSet - Set a specified bit in a byte or dnum data Continued Related information
For information about Clear a specified bit in a byte or dnum data Check if a specified bit in a byte data is set See BitClear - Clear a specified bit in a byte or dnum data on page 30 BitCheck - Check if a specified bit in a byte data is set on page 804

Check if a specified bit in a dnum data is set BitCheckDnum - Check if a specified bit in a dnum data is set on page 806 Other bit functions Technical reference manual - RAPID overview

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1 Instructions
1.9 BookErrNo - Book a RAPID system error number

1.9 BookErrNo - Book a RAPID system error number

Usage BookErrNois used to book a new RAPID system error number. Basic examples A basic example of the instruction BookErrNo is illustrated below. Example 1
! Introduce a new error number in a glue system ! Note: The new error variable must be declared with the initial value -1 VAR errnum ERR_GLUEFLOW := -1; ! Book the new RAPID system error number BookErrNo ERR_GLUEFLOW;

The variable ERR_GLUEFLOW will be assigned to a free system error number for use in the RAPID code.
! Use the new error number IF di1 = 0 THEN RAISE ERR_GLUEFLOW; ELSE ... ENDIF ! Error handling ERROR IF ERRNO = ERR_GLUEFLOW THEN ... ELSE ... ENDIF

If the digital input di1 is 0, the new booked error number will be raised and the system error variable ERRNO will be set to the new booked error number. The error handling of those user generated errors can then be handled in the error handler as usual. Arguments
BookErrNo ErrorName

ErrorName Data type: errnum The new RAPID system error variable name. Limitations The new error variable must not be declared as a routine variable. The new error variable must be declared with an initial value of -1, that gives the information that this error should be a RAPID system error. Continues on next page
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1.9 BookErrNo - Book a RAPID system error number Continued Syntax
BookErrNo [ ErrorName ':='] < variable (VAR) of errnum > ';'

Related information
For information about Error handling Error number Call an error handler See Technical reference manual - RAPID overview errnum - Error number on page 1168 RAISE - Calls an error handler on page 349

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1.10 Break - Break program execution

1.10 Break - Break program execution

Usage Break is used to make an immediate break in program execution for RAPID program code debugging purposes. The robot movement is stopped at once. Basic examples A basic example of the instruction Break is illustrated below. Example 1
... Break; ...

Program execution stops and it is possible to analyze variables, values etc. for debugging purposes. Program execution The instruction stops program execution at once, without waiting for the robot and external axes to reach their programmed destination points for the movement being performed at the time. Program execution can then be restarted from the next instruction. If there is a Break instruction in some routine event, the execution of the routine will be interrupted and no STOP routine event will be executed. The routine event will be executed from the beginning the next time the same event occurs. Syntax
Break';'

Related information
For information about Stopping for program actions Stopping after a fatal error Terminating program execution Only stopping robot movements See Stop - Stops program execution on page 537 EXIT - Terminates program execution on page 113 EXIT - Terminates program execution on page 113 StopMove - Stops robot movement on page 542

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1.11 CallByVar - Call a procedure by a variable

1.11 CallByVar - Call a procedure by a variable

Usage CallByVar (Call By Variable) can be used to call procedures with specific names, e.g. proc_name1, proc_name2, proc_name3 ... proc_namex via a variable. Basic examples A basic example of the instruction CallByVar is illustrated below. See also More examples on page 39. Example 1
reg1 := 2; CallByVar "proc", reg1;

The procedure proc2 is called. Arguments

CallByVar Name Number

Name Data type: string The first part of the procedure name, e.g. proc_name. Number Data type: num The numeric value for the number of the procedure. This value will be converted to a string and gives the 2nd part of the procedure name, e.g. 1. The value must be a positive integer. More examples More examples of how to make static and dynamic selection of procedure call. Example 1 - Static selection of procedure call
TEST reg1 CASE 1: lf_door CASE 2: rf_door CASE 3: lr_door CASE 4: rr_door DEFAULT: EXIT; ENDTEST

door_loc; door_loc; door_loc; door_loc;

Depending on whether the value of register reg1 is 1, 2, 3, or 4, different procedures are called that perform the appropriate type of work for the selected door. The door location in argument door_loc.

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1 Instructions
1.11 CallByVar - Call a procedure by a variable Continued Example 2 - Dynamic selection of procedure call with RAPID syntax
reg1 := 2; %"proc"+NumToStr(reg1,0)% door_loc;

The procedure proc2 is called with argument door_loc. Limitation: All procedures must have a specific name e.g. proc1, proc2, proc3. Example 3 - Dynamic selection of procedure call with CallByVar
reg1 := 2; CallByVar "proc",reg1;

The procedure proc2 is called. Limitation: All procedures must have specific name, e.g. proc1, proc2, proc3, and no arguments can be used. Limitations Can only be used to call procedures without parameters. Can not be used to call LOCAL procedures. Execution of CallByVar takes a little more time than execution of a normal procedure call. Error handling In the argument Number is < 0 or is not an integer, the system variable ERRNO is set to ERR_ARGVALERR. In reference to an unknown procedure, the system variable ERRNO is set to ERR_REFUNKPRC. In procedure call error (not procedure), the system variable ERRNO is set to ERR_CALLPROC. These errors can be handled in the error handler. Syntax
CallByVar [Name ':='] <expression (IN) of string>',' [Number ':='] <expression (IN) of num>';'

Related information
For information about Calling procedures See Technical reference manual - RAPID overview Operating manual - IRC5 with FlexPendant

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1.12 CancelLoad - Cancel loading of a module

1.12 CancelLoad - Cancel loading of a module

Usage CancelLoad can be used to cancel the loading operation generated from the instruction StartLoad. CancelLoad can only be used between the instruction StartLoad and WaitLoad. Basic examples A basic example of the instruction CancelLoad is illustrated below. See also More examples on page 41. Example1
CancelLoad load1;

The load session load1 is cancelled. Arguments

CancelLoad LoadNo

LoadNo Data type: loadsession Reference to the load session, created by the instruction StartLoad. More examples More examples of how to use the instruction CancelLoad are illustrated below. Example 1
VAR loadsession load1; StartLoad "HOME:"\File:="PART_B.MOD",load1; ... IF ... CancelLoad load1; StartLoad "HOME:"\File:="PART_C.MOD",load1; ENDIF ... WaitLoad load1;

The instruction CancelLoad will cancel the on-going loading of the module PART_B.MOD and instead make it possible to load PART_C.MOD. Error handling If the variable specified in argument LoadNo is not in use, meaning that no load session is in use, the system variable ERRNO is set to ERR_LOADNO_NOUSE. This error can then be handled in the error handler. Limitation CancelLoad can only be used in the sequence after that instruction StartLoad is ready and before instruction WaitLoad is started.

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1 Instructions
1.12 CancelLoad - Cancel loading of a module Continued Syntax
CancelLoad [ LoadNo ':=' ] < variable (VAR) of loadsession >';'

Related information
For information about See

Load a program module during execu- StartLoad - Load a program module during execution tion on page 509 Connect the loaded module to the task WaitLoad - Connect the loaded module to the task on page 713 Load session Load a program module Unload a program module Check program references loadsession - Program load session on page 1199 Load - Load a program module during execution on page 215 UnLoad - UnLoad a program module during execution on page 686 CheckProgRef - Check program references on page 43

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1.13 CheckProgRef - Check program references

1.13 CheckProgRef - Check program references

Usage CheckProgRef is used to check for unresolved references at any time during execution. Basic examples A basic example of the instruction CheckProgRef is illustrated below. Example 1
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef; Unload "PART_A.MOD"; CheckProgRef;

In this case the program contains a module called PART_A.MOD. A new module PART_B.MOD is loaded, which checks if all references are OK. Then PART_A.MOD is unloaded. To check for unresolved references after unload, a call to CheckProgRef is done. Program execution Program execution forces a new link of the program task and checks for unresolved references. If an error occurs during CheckProgRef, the program is not affected, it just tells you that an unresolved reference exists in the program task. Therefore, use CheckProgRef immediately after changing the number of modules in the program task (loading or unloading) to be able to know which module caused the link error. This instruction can also be used as a substitute for using the optional argument \CheckRef in instruction Load or WaitLoad. Error handling If the program task contains unresolved references, the system variable ERRNO will be set to ERR_LINKREF, which can be handled in the error handler. Syntax
CheckProgRef';'

Related information
For information about Load of a program module Unload of a program module Start loading of a program module Finish loading of a program module See Load - Load a program module during execution on page 215 UnLoad - UnLoad a program module during execution on page 686 StartLoad - Load a program module during execution on page 509 WaitLoad - Connect the loaded module to the task on page 713

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1.14 CirPathMode - Tool reorientation during circle path

1.14 CirPathMode - Tool reorientation during circle path

Usage CirPathMode (Circle Path Mode) makes it possible to select different modes to reorientate the tool during circular movements. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system in Motion tasks. Basic examples Basic examples of the instruction CirPathMode are illustrated below. Example 1
CirPathMode \PathFrame;

Standard mode for tool reorientation in the actual path frame from the start point to the ToPoint during all succeeding circular movements. This is default in the system. Example 2
CirPathMode \ObjectFrame;

Modified mode for tool reorientation in actual object frame from the start point to the ToPoint during all succeeding circular movements. Example 3
CirPathMode \CirPointOri;

Modified mode for tool reorientation from the start point via the programmed CirPoint orientation to the ToPoint during all succeeding circular movements. Example 4
CirPathMode \Wrist45;

Modified mode such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. Only wrist axes 4 and 5 are used. This mode should only be used for thin objects. Example 5
CirPathMode \Wrist46;

Modified mode such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. Only wrist axes 4 and 6 are used. This mode should only be used for thin objects. Example 6
CirPathMode \Wrist56;

Modified mode such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. Only wrist axes 5 and 6 are used. This mode should only be used for thin objects.

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1.14 CirPathMode - Tool reorientation during circle path Continued Description PathFrame The figure in the table shows the tool reorientation for the standard mode \PathFrame.
Illustration Description The arrows shows the tool from wrist center point to tool center point for the programmed points. The path for the wrist center point is dotted in the figure. The \PathFrame mode makes it easy to get the same angle of the tool around the cylinder. The robot wrist will not go through the programmed orientation in the CirPoint

xx0500002152

The figure in the table shows the use of standard mode \PathFrame with fixed tool orientation.
Illustration Description This picture shows the obtained orientation of the tool in the middle of the circle using a leaning tool and \PathFrame mode. Compare with the figure below when \ObjectFrame mode is used.

xx0500002153

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1 Instructions
1.14 CirPathMode - Tool reorientation during circle path Continued ObjectFrame The figure in the table shows the use of modified mode \ObjectFrame with fixed tool orientation.
Illustration Description This picture shows the obtained orientation of the tool in the middle of the circle using a leaning tool and \ObjectFrame mode. This mode will make a linear reorientation of the tool in the same way as for MoveL. The robot wrist will not go through the programmed orientation in the CirPoint. Compare with the figure above when \PathFrame mode is used.

xx0500002151

CirPointOri The figure in the table shows the different tool reorientation between the standard mode \PathFrame and the modified mode \CirPointOri.
Illustration Description The arrows show the tool from wrist center point to tool center point for the programmed points. The different paths for the wrist center point are dashed in the figure. The \CirPointOri mode will make the robot wrist to go through the programmed orientation in the CirPoint.

xx0500002150

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1.14 CirPathMode - Tool reorientation during circle path Continued Wrist45 / Wrist46 / Wrist56 The figure in the table shows the frames involved when cutting a shape using axes 4 and 5..
Illustration Description It is assumed that the cutting beam is aligned with the tools z axis. The coordinate frame of the cut plane is defined by the robots starting position when executing the MoveC instruction.

xx0800000294

Arguments
CirPathMode [\PathFrame] | [\ObjectFrame] | [\CirPointOri] | [\Wrist45] | [\Wrist46] | [\Wrist56]

[ \PathFrame ] Data type: switch During the circular movement the reorientation of the tool is done continuously from the start point orientation to the ToPoint orientation in the actual path frame. This is the standard mode in the system. [ \ObjectFrame ] Data type: switch During the circular movement the reorientation of the tool is done continuously from the start point orientation to the ToPoint orientation in the actual object frame. [ \CirPointOri ] Data type: switch During the circular movement the reorientation of the tool is done continuously from the start point orientation to the programmed CirPoint orientation and further to the ToPoint orientation. [ \Wrist45 ] Data type: switch The robot will move axes 4 and 5 such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. This mode should only be used for thin objects as only 2 wrist axes are used and thus give us increased accuracy but also less control. NOTE: This switch requires option Wrist Move. [ \Wrist46 ] Data type: switch Continues on next page
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1 Instructions
1.14 CirPathMode - Tool reorientation during circle path Continued The robot will move axes 4 and 6 such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. This mode should only be used for thin objects as only 2 wrist axes are used and thus give us increased accuracy but also less control. NOTE: This switch requires option Wrist Move. [ \Wrist56 ] Data type: switch The robot will move axes 5 and 6 such that the projection of the tools z-axis onto the cut plane will follow the programmed circle segment. This mode should only be used for thin objects as only 2 wrist axes are used and thus give us increased accuracy but also less control. NOTE: This switch requires option Wrist Move. If you use CirPathMode without any switch then result is the same as CirPointMode \PathFrame Program execution The specified circular tool reorientation mode applies for the next executed robot circular movements of any type (MoveC, SearchC, TriggC, MoveCDO, MoveCSync, ArcC, PaintC ... ) and is valid until a new CirPathMode (or obsolete CirPathReori) instruction is executed. The standard circular reorientation mode (CirPathMode \PathFrame) is automatically set Limitations The instruction only affects circular movements. When using the \CirPointOri mode, the CirPoint must be between the points A and B according to the figure below to make the circle movement to go through the programmed orientation in the CirPoint. At a cold start-up. When a new program is loaded. When starting program execution from the beginning.

xx0500002149

\Wrist45, \Wrist46, and \Wrist56 mode should only be used for cutting thin objects as the ability to control the angle of the tool is lost when using only two wrist axes. Coordinated movements are not possible since the main axis is locked. If working in wrist singularity area and the instruction SingArea\Wrist has been executed, the instruction CirPathMode has no effect because the system then selects another tool reorientation mode for circular movements (joint interpolation). Continues on next page
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1.14 CirPathMode - Tool reorientation during circle path Continued This instruction replaces the old instruction CirPathReori (will work even in the future but will not be documented any more). Syntax
CirPathMode ['\'PathFrame] | ['\'ObjectFrame] | ['\'CirPointOri] | ['\'Wrist45] | ['\'Wrist46] | ['\'Wrist56] ';'

Related information
For information about Interpolation Motion settings data Circular move instruction Wrist movements See Technical reference manual - RAPID overview motsetdata - Motion settings data on page 1202 MoveC - Moves the robot circularly on page 241 Application manual - Motion performance, section Wrist Move

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1 Instructions
1.15 Clear - Clears the value

1.15 Clear - Clears the value

Usage Clear is used to clear a numeric variable or persistent , i.e. set it to 0. Basic examples Basic examples of the instruction Clear are illustrated below. Example 1
Clear reg1;

Reg1 is cleared, i.e. reg1:=0. Example 2

CVAR dnum mydnum:=5; Clear mydnum;

mydnum is cleared, i.e. mydnum:=0. Arguments

Clear Name | Dname

Name Data type: num The name of the variable or persistent to be cleared. Dname Data type: dnum The name of the variable or persistent to be cleared. Syntax
Clear [ Name ':=' ] < var or pers (INOUT) of num > | [ Dname ':=' ] < var or pers (INOUT) of dnum > ';'

Related information
For information about Incrementing a variable by 1 Decrementing a variable by 1 Adding any value to a variable Changing data using arbitrary See Incr - Increments by 1 on page 140 Decr - Decrements by 1 on page 90 Add - Adds a numeric value on page 23 ":=" - Assigns a value on page 28

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1.16 ClearIOBuff - Clear input buffer of a serial channel

1.16 ClearIOBuff - Clear input buffer of a serial channel

Usage ClearIOBuff (Clear I/O Buffer) is used to clear the input buffer of a serial channel. All buffered characters from the input serial channel are discarded. Basic examples A basic example of the instruction ClearIOBuff is illustrated below. Example 1
VAR iodev channel2; ... Open "com2:", channel2 \Bin; ClearIOBuff channel2; WaitTime 0.1;

The input buffer for the serial channel referred to by channel2 is cleared. The wait time guarantees the clear operation enough time to finish. Arguments
ClearIOBuff IODevice

IODevice Data type: iodev The name (reference) of the serial channel whose input buffer is to be cleared. Program execution All buffered characters from the input serial channel are discarded. Next read instructions will wait for new input from the channel. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Limitations This instruction can only be used for serial channels. Do not wait for acknowledgement of the operation to finish. Allow a wait time 0.1 after the instruction is recommended to give the operation enough time in every application. Error handling If trying to use the instruction on a file, the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
ClearIOBuff [IODevice ':='] <variable (VAR) of iodev>';'

Related information
For information about Opening a serial channel See Technical reference manual - RAPID overview

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1 Instructions
1.16 ClearIOBuff - Clear input buffer of a serial channel Continued
For information about File and serial channel handling See Application manual - Robot communication and I/O control

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1.17 ClearPath - Clear current path

1.17 ClearPath - Clear current path

Usage ClearPath (Clear Path) clears the whole motion path on the current motion path level (base level or StorePath level). With motion path, meaning all the movement segments from any move instructions which have been executed in RAPID but not performed by the robot at the execution time of ClearPath. The robot must be in a stop point position or must be stopped with StopMove before the instruction ClearPath can be executed. Basic examples Basic examples of the instruction ClearPath are illustrated below.

xx0500002154

In the following program example, the robot moves from the position home to the position p1. At the point px the signal di1 will indicate that the payload has been dropped. The execution continues in the trap routine gohome. The robot will stop moving (start the braking) at px, the path will be cleared, the robot will move to position home. The error will be raised up to the calling routine minicycle and the whole user defined program cycle proc1 .. proc2 will be executed from the beginning one more time. Example 1
VAR intnum drop_payload; VAR errnum ERR_DROP_LOAD := -1; PROC minicycle() BookErrNo ERR_DROP_LOAD; proc1; ... ERROR (ERR_DROP_LOAD) RETRY; ENDPROC PROC proc1() ... proc2; ... ENDPROC

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1 Instructions
1.17 ClearPath - Clear current path Continued

PROC proc2() CONNECT drop_payload WITH gohome; ISignalDI \Single, di1, 1, drop_payload; MoveL p1, v500, fine, gripper; ........... IDelete drop_payload ENDPROC TRAP gohome StopMove \Quick; ClearPath; IDelete drop_payload; StorePath; MoveL home, v500, fine, gripper; RestoPath; RAISE ERR_DROP_LOAD; ERROR RAISE; ENDTRAP

If the same program is being run but withoutStopMoveandClearPath in the trap routine gohome, the robot will continue to position p1 before going back to position home. If programming MoveLhome with flying-point (zone) instead of stop-point (fine), the movement is going on during the RAISE to the error handler in procedure minicycle and further until the movement is ready. Limitations Limitation examples of the instruction ClearPath are illustrated below. Example 1 - Limitation
VAR intnum int_move_stop; ... PROC test_move_stop() CONNECT int_move_stop WITH trap_move_stop; ISignalDI di1, 1, int_move_stop; MoveJ p10, v200, z20, gripper; MoveL p20, v200, z20, gripper; ENDPROC TRAP trap_move_stop StopMove; ClearPath; StartMove; StorePath; MoveJ p10, v200, z20, gripper; RestoPath; ENDTRAP

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1.17 ClearPath - Clear current path Continued This is an example of ClearPath limitation. During the robot movement to p10 and p20, the ongoing movement is stopped and the motion path is cleared, but no action is done to break off the active instruction MoveJ p10 or MoveL p20 in the PROC test_move_stop. So the ongoing movement will be interrupted and the robot will go to p10 in the TRAP trap_move_stop, but no further movement to p10 or p20 in the PROC test_move_stop will be done. The program execution will be hanging. This problem can be solved with either error recovery with long jump as described in example 2 below or with asynchronously raised error with instruction ProcerrRecovery. Example 2 - No limitations
VAR intnum int_move_stop; VAR errnum err_move_stop := -1; ... PROC test_move_stop() BookErrNo err_move_stop; CONNECT int_move_stop WITH trap_move_stop; ISignalDI di1, 1, int_move_stop; MoveJ p10, v200, z20, gripper; MoveL p20, v200, z20, gripper; ERROR (err_move_stop) StopMove; ClearPath; StartMove; StorePath; MoveJ p10, v200, z20, gripper; RestoPath; RETRY; ENDPROC TRAP trap_move_stop RAISE err_move_stop; ERROR RAISE; ENDTRAP

This is an example of how to use error recovery with long jump together with ClearPath without any limitation. During the robot movement to p10 and p20, the ongoing movement is stopped. The motion path is cleared, and because of error recovery through execution level boundaries, break off is done of the active instruction MoveJ p10 or MoveL p20. So the ongoing movement will be interrupted and the robot will go to p10 in the ERROR handler, and once more execute the interrupted instruction MoveJ p10 or MoveL p20 in the PROC test_move_stop. Syntax
ClearPath ';'

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1 Instructions
1.17 ClearPath - Clear current path Continued Related information
For information about Stop robot movements Error recovery See StopMove - Stops robot movement on page 542 Technical reference manual - RAPID overview Technical reference manual - RAPID kernel

Asynchronously raised error ProcerrRecovery - Generate and recover from process-move error on page 340

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1.18 ClearRawBytes - Clear the contents of rawbytes data

1.18 ClearRawBytes - Clear the contents of rawbytes data

Usage ClearRawBytes is used to set all the contents of a rawbytes variable to 0. Basic examples A basic example of the instruction is illustrated below. Example 1
VAR rawbytes raw_data; VAR num integer := 8 VAR num float := 13.4; PackRawBytes integer, raw_data, 1 \IntX := DINT; PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4; ClearRawBytes raw_data \FromIndex := 5;

In the first 4 bytes the value of integer is placed (from index 1) and in the next 4 bytes starting from index 5 the value of float. The last instruction in the example clears the contents of raw_data, starting at index 5, i.e. float will be cleared, but integer is kept in raw_data. Current length of valid bytes in raw_data is set to 4. Arguments
ClearRawBytes RawData [ \FromIndex ]

RawData Data type: rawbytes RawData is the data container which will be cleared. [ \FromIndex ] Data type: num With \FromIndex it is specified where to start clearing the contents of RawData. Everything is cleared to the end. If \FromIndex is not specified, all data starting at index 1 is cleared. Program execution Data from index 1 (default) or from \FromIndex in the specified variable is reset to 0. The current length of valid bytes in the specified variable is set to 0 (default) or to (FromIndex - 1) if \FromIndex is programmed. Syntax
ClearRawBytes [RawData ':=' ] < variable (VAR) of rawbytes> ['\'FromIndex ':=' <expression (IN) of num>]';'

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1 Instructions
1.18 ClearRawBytes - Clear the contents of rawbytes data Continued Related information
For information about rawbytes data Get the length of rawbytes data Copy the contents of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997 CopyRawBytes - Copy the contents of rawbytes data on page 75

Pack DeviceNet header into rawbytes PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 data Pack data into rawbytes data Write rawbytes data Read rawbytes data Unpack data from rawbytes data File and serial channel handling PackRawBytes - Pack data into rawbytes data on page 306 WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Application manual - Robot communication and I/O control

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1.19 ClkReset - Resets a clock used for timing

1.19 ClkReset - Resets a clock used for timing

Usage ClkReset is used to reset a clock that functions as a stop-watch used for timing. This instruction can be used before using a clock to make sure that it is set to 0. Basic examples A basic example of the instruction ClkReset is illustrated below. Example 1
ClkReset clock1;

The clock clock1 is reset. Arguments

ClkReset Clock

Clock Data type: clock The name of the clock to reset. Program execution When a clock is reset, it is set to 0. If a clock is running it will be stopped and then reset. Syntax
ClkReset [ Clock ':=' ] < variable (VAR) of clock > ';'

Related Information
For information about Other clock instructions See Technical reference manual - RAPID overview

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1.20 ClkStart - Starts a clock used for timing

1.20 ClkStart - Starts a clock used for timing

Usage ClkStart is used to start a clock that functions as a stop-watch used for timing. Basic examples A basic example of the instruction ClkStart is illustrated below. Example 1
ClkStart clock1;

The clock clock1 is started. Arguments

ClkStart Clock

Clock Data type: clock The name of the clock to start. Program execution When a clock is started, it will run and continue counting seconds until it is stopped. A clock continues to run when the program that started it is stopped. However, the event that you intended to time may no longer be valid. For example, if the program was measuring the waiting time for an input, the input may have been received while the program was stopped. In this case, the program will not be able to see the event that occurred while the program was stopped. A clock continues to run when the robot is powered down as long as the battery back-up retains the program that contains the clock variable. If a clock is running it can be read, stopped, or reset. More examples More examples of the instruction ClkStart are illustrated below. Example 1
VAR clock clock2; VAR num time; ClkReset clock2; ClkStart clock2; WaitUntil di1 = 1; ClkStop clock2; time:=ClkRead(clock2);

The waiting time for di1 to become 1 is measured. Error handling If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it becomes overflowed and the system variable ERRNO is set to ERR_OVERFLOW. The error can be handled in the error handler. Continues on next page
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1.20 ClkStart - Starts a clock used for timing Continued Syntax
ClkStart [ Clock ':=' ] < variable (VAR) of clock >';'

Related Information
For information about Other clock instructions See Technical reference manual - RAPID overview

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1.21 ClkStop - Stops a clock used for timing

1.21 ClkStop - Stops a clock used for timing

Usage ClkStop is used to stop a clock that functions as a stop-watch used for timing. Basic examples A basic example of the instruction ClkStop is illustrated below.
ClkStop clock1;

The clock clock1 is stopped. Arguments

ClkStop Clock

Clock Data type: clock The name of the clock to stop. Program execution When a clock is stopped, it will stop running. If a clock is stopped, it can be read, started again, or reset. Error handling If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it becomes overflowed and the system variable ERRNO is set to ERR_OVERFLOW. The error can be handled in the error handler. Syntax
ClkStop [ Clock ':=' ] < variable (VAR) of clock >';'

Related Information
For information about Other clock instructions More examples See Technical reference manual - RAPID overview ClkStart - Starts a clock used for timing on page 60

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1.22 Close - Closes a file or serial channel

1.22 Close - Closes a file or serial channel

Usage Close is used to close a file or serial channel. Basic examples A basic example of the instruction Close is illustrated below. Example 1
Close channel2;

The serial channel referred to by channel2 is closed. Arguments

Close IODevice

IODevice Data type: iodev The name (reference) of the file or serial channel to be closed. Program execution The specified file or serial channel is closed and must be re-opened before reading or writing. If it is already closed the instruction is ignored. Syntax
Close [IODevice ':='] <variable (VAR) of iodev>';'

Related information
For information about Opening a file or serial channel File and serial channel handling See Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1.23 CloseDir - Close a directory

1.23 CloseDir - Close a directory

Usage CloseDir is used to close a directory in balance with OpenDir. Basic examples A basic example of the instruction CloseDir is illustrated below. Example 1
PROC lsdir(string dirname) VAR dir directory; VAR string filename; OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO TPWrite filename; ENDWHILE CloseDir directory; ENDPROC

This example prints out the names of all files or subdirectories under the specified directory. Arguments
CloseDir Dev

Dev Data type: dir A variable with reference to the directory fetched with instruction OpenDir. Syntax
CloseDir [ Dev ':=' ] < variable (VAR) of dir>';'

Related information
For information about Directory Make a directory Open a directory Read a directory Remove a directory Remove a file Rename a file See dir - File directory structure on page 1163 MakeDir - Create a new directory on page 224 OpenDir - Open a directory on page 301 ReadDir - Read next entry in a directory on page 1001 RemoveDir - Delete a directory on page 370 RemoveFile - Delete a file on page 372 RenameFile - Rename a file on page 373

File and serial channel handling Application manual - Robot communication and I/O control

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1.24 Comment - Comment

1.24 Comment - Comment

Usage Comment is only used to make the program easier to understand. It has no effect on the execution of the program. Basic examples A basic example of the instruction Comment is illustrated below. Example 1
! Goto the position above pallet MoveL p100, v500, z20, tool1;

A comment is inserted into the program to make it easier to understand. Arguments

! Comment

Comment Text string Any text. Program execution Nothing happens when you execute this instruction. Syntax
(EBNF) '!' {<character>} <newline>

Related information
For information about Characters permitted in a comment See Technical reference manual - RAPID overview

Comments within data and routine de- Technical reference manual - RAPID overview clarations

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1.25 Compact IF - If a condition is met, then... (one instruction)

1.25 Compact IF - If a condition is met, then... (one instruction)

Usage Compact IF is used when a single instruction is only to be executed if a given condition is met. If different instructions are to be executed, depending on whether the specified condition is met or not, the IF instruction is used. Basic examples Basic examples of the instruction CompactIF are illustrated below. Example 1
IF reg1 > 5 GOTO next;

If reg1 is greater than 5, program execution continues at the next label. Example 2
IF counter > 10 Set do1;

The do1 signal is set if counter > 10. Arguments

IF Condition ...

Condition Data type: bool The condition that must be satisfied for the instruction to be executed. Syntax
(EBNF) IF <conditional expression> ( <instruction> | <SMT>) ';'

Related information
For information about Conditions (logical expressions IF with several instructions See Technical reference manual - RAPID overview IF - If a condition is met, then ...; otherwise ... on page 138

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1.26 ConfJ - Controls the configuration during joint movement

1.26 ConfJ - Controls the configuration during joint movement

Usage ConfJ (Configuration Joint) is used to specify whether or not the robots configuration is to be controlled during joint movement. If it is not controlled, the robot can sometimes use a different configuration than that which was programmed. With ConfJ \Off, the robot cannot switch main axis configuration - it will search for a solution with the same main axis configuration as the current one, but it moves to the closest wrist configuration for axes 4 and 6. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction ConfJ are illustrated below. Example 1
ConfJ \Off; MoveJ *, v1000, fine, tool1;

The robot moves to the programmed position and orientation. If this position can be reached in several different ways, with different axis configurations, the closest possible position is chosen. Example 2
ConfJ \On; MoveJ *, v1000, fine, tool1;

The robot moves to the programmed position, orientation and axis configuration. If this is not possible, program execution stops. Arguments
ConfJ [\On] | [\Off]

[ \On ] Data type: switch The robot always moves to the programmed axis configuration. If this is not possible using the programmed position and orientation, program execution stops. The IRB5400 robot will move to the programmed axis configuration or to an axis configuration close the the programmed one. Program execution will not stop if it is impossible to reach the programmed axis configuration. [ \Off ] Data type: switch The robot always moves to the closest axis configuration. Program execution If the argument \On (or no argument) is chosen, the robot always moves to the programmed axis configuration. If this is not possible using the programmed position and orientation, program execution stops before the movement starts. Continues on next page
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1.26 ConfJ - Controls the configuration during joint movement Continued If the argument \Off is chosen, the robot always moves to the closest axis configuration. This may be different to the programmed one if the configuration has been incorrectly specified manually, or if a program displacement has been carried out. To control the configuration (ConfJ \On) is active by default. This is automatically set: Syntax
ConfJ [ '\' On] | [ '\' Off]';'

At a cold start-up. When a new program is loaded. When starting program execution from the beginning.

Related information
For information about Handling different configurations Robot configuration during linear movement Motion settings data See Technical reference manual - RAPID overview ConfL - Monitors the configuration during linear movement on page 69 motsetdata - Motion settings data on page 1202

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1.27 ConfL - Monitors the configuration during linear movement

1.27 ConfL - Monitors the configuration during linear movement

Usage ConfL (Configuration Linear) is used to specify whether or not the robots configuration is to be monitored during linear or circular movement. If it is not monitored, the configuration at execution time may differ from that at programmed time. It may also result in unexpected sweeping robot movements when the mode is changed to joint movement. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Note For the IRB 5400 robot monitoring is always off independent of what is specified in ConfL. Basic examples Basic examples of the instruction ConfL are illustrated below. Example 1
ConfL \On; MoveL *, v1000, fine, tool1;

Program execution stops when the programmed configuration is not possible to reach from the current position. Example 2
SingArea \Wrist; ConfL \On; MoveL *, v1000, fine, tool1;

The robot moves to the programmed position, orientation and wrist axis configuration. If this is not possible, program execution stops. Example 3
ConfL \Off; MoveL *, v1000, fine, tool1;

The robot moves to the programmed position and orientation but to the closest possible axis configuration, which can be different from the programmed. Arguments
ConfL [\On]|[\Off]

[ \On ] Data type: switch The robot configuration is monitored. [ \Off ] Data type: switch The robot configuration is not monitored.

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1.27 ConfL - Monitors the configuration during linear movement Continued Program execution During linear or circular movement, the robot always moves to the programmed position and orientation that has the closest possible axis configuration. If the argument \On (or no argument) is chosen, then the program execution stops as soon as theres a risk that the configuration of the programmed position will not be attained from the current position. However, it is possible to restart the program again, although the wrist axes may continue to be the wrong configuration. At a stop point, the robot will check that the configurations of all axes are achieved, not only the wrist axes. If SingArea\Wrist is also used, the robot always moves to the programmed wrist axis configuration and at a stop point the remaining axes configurations will be checked. If the argument \Off is chosen, there is no monitoring. A simple rule to avoid problems, both for ConfL\On and \Off, is to insert intermediate points to make the movement of each axis less than 90 degrees between points. More precisely, the sum of movements for any of the par of axes (1+4), (1+6), (3+4) or (3+6) should not exceed 180 degrees. If ConfL\Off is used with a big movement, it can cause stops directly or later in the program with error 50050 Position outside reach or 50080 Position not compatible. In a program with ConfL\Off it is recommended to have movements to known configurations points withConfJ\On + MoveJ or ConfL\On + SingArea\Wrist + MoveL as start points for different program parts. Monitoring is active by default. This is automatically set: Syntax
ConfL [ '\' On] | [ '\' Off]';'

At a cold start-up. When a new program is loaded. When starting program execution from the beginning.

Related information
For information about Handling different configurations Robot configuration during joint movement Define interpolation around singular points Motion settings data See Technical reference manual - RAPID overview ConfJ - Controls the configuration during joint movement on page 67 SingArea - Defines interpolation around singular points on page 464 motsetdata - Motion settings data on page 1202

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1.28 CONNECT - Connects an interrupt to a trap routine

1.28 CONNECT - Connects an interrupt to a trap routine

Usage CONNECT is used to find the identity of an interrupt and connect it to a trap routine. The interrupt is defined by ordering an interrupt event and specifying its identity. Thus, when that event occurs, the trap routine is automatically executed. Basic examples A basic example of the instruction CONNECT is illustrated below. Example 1
VAR intnum feeder_low; PROC main() CONNECT feeder_low WITH feeder_empty; ISignalDI di1, 1 , feeder_low; ...

An interrupt identity feeder_low is created which is connected to the trap routine feeder_empty. There will be an interrupt when input di1 is getting high. In other words, when this signal becomes high, the feeder_empty trap routine is executed. Arguments
CONNECT Interrupt WITH Trap routine

Interrupt Data type: intnum The variable that is to be assigned the identity of the interrupt. This must not be declared within a routine (routine data). Trap routine Identifier The name of the trap routine. Program execution The variable is assigned an interrupt identity which shall be used when ordering or disabling interrupts. This identity is also connected to the specified trap routine. Note All interrupts in a task are cancelled when program pointer is set to main for that task and must be reconnected. The interrupts will not be affected by a power fail or a warm start. Limitations An interrupt (interrupt identity) cannot be connected to more than one trap routine. Different interrupts, however, can be connected to the same trap routine. When an interrupt has been connected to a trap routine, it cannot be reconnected or transferred to another routine; it must first be deleted using the instruction IDelete. Continues on next page
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1.28 CONNECT - Connects an interrupt to a trap routine Continued Interrupts that come or have not been handled when program execution is stopped will be neglected. The interrupts are not considered when stopping the program. Interrupts that has been set as safe will not be neglected at program stop. They will be handled when the program is started again. Error handling If the interrupt variable is already connected to a TRAP routine, the system variable ERRNO is set to ERR_ALRDYCNT. If the interrupt variable is not a variable reference, the system variable ERRNO is set to ERR_CNTNOTVAR. If no more interrupt numbers are available, the system variable ERRNO is set to ERR_INOMAX. These errors can be handled in the ERROR handler. Syntax
(EBNF) CONNECT <connect target> WITH <trap>';' <connect target> ::= <variable> | <parameter> | <VAR> <trap> ::= <identifier>

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information on interrupt management Technical reference manual - RAPID overview Data type for interrupt Cancelling an interrupt intnum - Interrupt identity on page 1185 IDelete - Cancels an interrupt on page 132

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1.29 CopyFile - Copy a file

1.29 CopyFile - Copy a file

Usage CopyFile is used to make a copy of an existing file. Basic examples A basic example of the instruction CopyFile is illustrated below. Example 1 CopyFile "HOME:/myfile", "HOME:/yourfile"; The file myfile is copied to yourfile. Both files are then identical.
CopyFile "HOME:/myfile", "HOME:/mydir/yourfile";

The file myfile is copied to yourfile in directory mydir. Arguments

CopyFile OldPath NewPath

OldPath Data type: string The complete path of the file to be copied from. NewPath Data type: string The complete path where the file is to be copied to. Program execution The file specified in OldPath will be copied to the file specified in NewPath. Error Handling If the file specified in NewPath already exists, the system variable ERRNO is set to ERR_FILEEXIST. This error can then be handled in the error handler. Syntax
CopyFile [ OldPath ':=' ] < expression (IN) of string > ',' [ NewPath ':=' ] < expression (IN) of string >';'

Related information
For information about Make a directory Remove a directory Rename a file Remove a file Check file type Check file size See MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893

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1 Instructions
1.29 CopyFile - Copy a file Continued
For information about Check file system size File and serial channel handling See FSSize - Retrieve the size of a file system on page 899 Application manual - Robot communication and I/O control

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1.30 CopyRawBytes - Copy the contents of rawbytes data

1.30 CopyRawBytes - Copy the contents of rawbytes data

Usage CopyRawBytes is used to copy all or part of the contents from one rawbytes variable to another. Basic examples A basic example of the instruction CopyRawBytes is illustrated below. Example 1
VAR VAR VAR VAR rawbytes from_raw_data; rawbytes to_raw_data; num integer := 8 num float := 13.4;

ClearRawBytes from_raw_data; PackRawBytes integer, from_raw_data, 1 \IntX := DINT; PackRawBytes float, from_raw_data, (RawBytesLen(from_raw_data)+1) \Float4; CopyRawBytes from_raw_data, 1, to_raw_data, 3, RawBytesLen(from_raw_data);

In this example the variable from_raw_data of type rawbytes is first cleared,that is all bytes set to 0. Then in the first 4 bytes the value of integer is placed and in the next 4 bytes the value of float. After having filled from_raw_data with data, the contents (8 bytes) is copied to to_raw_data, starting at position 3. Arguments
CopyRawBytes FromRawData FromIndex ToRawData ToIndex[\NoOfBytes]

FromRawData Data type: rawbytes FromRawData is the data container from which the rawbytes data shall be copied. FromIndex Data type: num FromIndex is the position in FromRawData where the data to be copied starts. Indexing starts at 1. ToRawData Data type: rawbytes ToRawData is the data container to which the rawbytes data shall be copied. ToIndex Data type: num ToIndex is the position in ToRawData where the data to be copied will be placed. Everything is copied to the end. Indexing starts at 1.

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1.30 CopyRawBytes - Copy the contents of rawbytes data Continued [\NoOfBytes] Data type: num The value specified with \NoOfBytes is the number of bytes to be copied from FromRawData to ToRawData. If \NoOfBytes is not specified, all bytes from FromIndex to the end of current length of valid bytes in FromRawData is copied. Program execution During program execution data is copied from one rawbytes variable to another. The current length of valid bytes in the ToRawData variable is set to: (ToIndex + copied_number_of_bytes - 1) The current length of valid bytes in the ToRawData variable is not changed, if the complete copy operation is done inside the old current length of valid bytes in the ToRawData variable.

Limitations CopyRawBytes can not be used to copy some data from one rawbytes variable to other part of the same rawbytes variable. Syntax
CopyRawBytes [FromRawData ':=' ] < variable (VAR) of rawbytes> ',' [FromIndex ':=' ] < expression (IN) of num> ',' [ToRawData ':=' ] < variable (VAR) of rawbytes> ',' [ToIndex ':=' ] < expression (IN) of num> ['\'NoOfBytes ':=' < expression (IN) of num> ]';'

Related information
For information about rawbytes data Get the length of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997

Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes data on page 57 Pack DeviceNet header into rawbytes data Pack data into rawbytes data Write rawbytes data Read rawbytes data Unpack data from rawbytes data File and serial channel handling PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 PackRawBytes - Pack data into rawbytes data on page 306 WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Application manual - Robot communication and I/O control

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1.31 CorrClear - Removes all correction generators

1.31 CorrClear - Removes all correction generators

Descriptions CorrClear is used to remove all connected correction generators. The instruction can be used to remove all offsets provided earlier by all correction generators. Basic examples Basic examples of the instruction CorrClear are illustrated below. Example 1 CorrClear; The instruction removes all connected correction generators. Note An easy way to ensure that all correction generators (with corrections) are removed at program start, is to run CorrClear in a START event routine. See Technical reference manual - System parameters, topic Controller. Syntax
CorrClear ';'

Related information
For information about Connects to a correction generator See CorrCon - Connects to a correction generator on page 78

Disconnects from a correction generator CorrDiscon - Disconnects from a correction generator on page 83 Writes to a correction generator Reads the current total offsets Correction descriptor CorrWrite - Writes to a correction generator on page 84 CorrRead - Reads the current total offsets on page 850 corrdescr - Correction generator descriptor on page 1159

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1.32 CorrCon - Connects to a correction generator

1.32 CorrCon - Connects to a correction generator

Usage CorrCon is used to connect to a correction generator. Basic examples A basic example of the instruction CorrCon is illustrated below. See also More examples on page 78. Example1
VAR corrdescr id; ... CorrCon id;

The correction generator reference corresponds to the variable id reservation. Arguments

CorrCon Descr

Descr Data type: corrdescr Descriptor of the correction generator. More examples More examples of the instruction CorrCon are illustrated below. Path coordinate system All path corrections (offsets on the path) are added in the path coordinate system. The path coordinate system is defined as illustrated below:

xx0500002156

A B X X

Path direction Tool Path coordinate system Tool coordinate system

Path coordinate axis X is given as the tangent of the path. Path coordinate axis Y is derived as the cross product of path coordinate axis X and tool coordinate axis Z.

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1.32 CorrCon - Connects to a correction generator Continued Path coordinate axis Z is derived as the cross product of path coordinate axis X and path coordinate axis Y.

Application example An example of an application using path corrections is a robot holding a tool with two sensors mounted on it to detect the vertical and horizontal distances to a work object. The figure below illustrates a path correction device.

xx0500002155

A B C T

Sensor for horizontal correction Sensor for vertical correction Path coordinate system Tool

Program example Note hori_sig and vert_sig are analog signals defined in system parameters.
CONST num TARGET_DIST := 5; CONST num SCALE_FACTOR := 0.5; VAR intnum intno1; VAR corrdescr hori_id; VAR corrdescr vert_id; VAR pos total_offset; VAR pos write_offset; VAR bool conFlag; PROC PathRoutine() ! Connect to the correction generators for horizontal and vertical correction. CorrCon hori_id; CorrCon vert_id; conFlag := TRUE;

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1.32 CorrCon - Connects to a correction generator Continued
! Setup a 5 Hz timer interrupt. The trap routine will read the sensor values and ! compute the path corrections. CONNECT intno1 WITH ReadSensors; ITimer\Single, 0.2, intno1; ! Position for start of contour tracking MoveJ p10, v100, z10, tool1; ! Run MoveL with both vertical and horizontal correction. MoveL p20, v100, z10, tool1 \Corr; ! Read the total corrections added by all connected correction generators. total_offset := CorrRead(); ! Write the total vertical correction on the FlexPendant. TPWrite "The total vertical correction is:" \Num:=total_offset.z; ! Disconnect the correction generator for vertical correction. ! Horizontal corrections will be unaffected. CorrDiscon vert_id; conFlag := FALSE; ! Run MoveL with only horizontal interrupt correction. MoveL p30, v100, fine, tool1 \Corr; ! Remove all outstanding connected correction generators. ! In this case, the only connected correction generator is the one for horizontal ! correction. CorrClear; ! Remove the timer interrupt. IDelete intno1; ENDPROC TRAP ReadSensors VAR num horiSig; VAR num vertSig; ! Compute the horizontal correction values and execute the correction. horiSig := hori_sig; write_offset.x := 0; write_offset.y := (hori_sig - TARGET_DIST)*SCALE_FACTOR; write_offset.z := 0; CorrWrite hori_id, write_offset; IF conFlag THEN ! Compute the vertical correction values and execute the correction. write_offset.x := 0; write_offset.y := 0; write_offset.z := (vert_sig - TARGET_DIST)*SCALE_FACTOR; CorrWrite vert_id, write_offset;

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1.32 CorrCon - Connects to a correction generator Continued
ENDIF !Setup interrupt again IDelete intnol; CONNECT intno1 WITH ReadSensors; ITimer\single, 0.2, intno1; ENDTRAP

Program explanation Two correction generators are connected with the instruction CorrCon. Each correction generator is referenced by a unique descriptor (hori_id and vert_id) of the type corrdescr. The two sensors will use one correction generator each. A timer interrupt is set up to call the trap routine ReadSensors with a frequency of 5 Hz. The offsets, needed for path correction, are computed in the trap routine and written to the corresponding correction generator (referenced by the descriptors hori_id and vert_id) by the instruction CorrWrite. All the corrections will have immediate effect on the path. The MoveL instruction must be programmed with the switch argument Corr when path corrections are used. Otherwise, no corrections will be executed. When the first MoveL instruction is ready, the function CorrRead is used to read the sum of all the corrections (the total path correction) given by all the connected correction generators. The result of the total vertical path correction is written to the FlexPendant with the instruction TPWrite. CorrDiscon will then disconnect the correction generator for vertical correction (referenced by the descriptor vert_id). All corrections added by this correction generator will be removed from the total path correction. The corrections added by the correction generator for horizontal correction will still be preserved. Finally, the function CorrClear will remove all remaining connected correction generators and their previously added corrections. In this case, it is only the correction generator for horizontal correction that will be removed. The timer interrupt will also be removed by the instruction IDelete. The correction generators The table below illustrates the correction generators.
X 0 0 0 Y 0 1 1 Z 3 0 3 Path codinate axis Vertical correction generator with the sum of all its own path corrections Horizontal correction generator with the sum of all its own path corrections Not connected correction generator Not connected correction generator Not connected correction generator The sum of all corrections done by all connected correction generators

Limitations A maximum number of 5 correction generators can be connected simultaneously. Connected Correction Generators do not survive a controller restart.

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1.32 CorrCon - Connects to a correction generator Continued Syntax
CorrCon [ Descr ':=' ] < variable (VAR) of corrdescr > ';'

Related information
For information about Disconnects from a correction generator Writes to a correction generator Reads the current total offsets Removes all correction generators Correction generator descriptor See CorrDiscon - Disconnects from a correction generator on page 83 CorrWrite - Writes to a correction generator on page 84 CorrRead - Reads the current total offsets on page 850 CorrClear - Removes all correction generators on page 77 corrdescr - Correction generator descriptor on page 1159

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1.33 CorrDiscon - Disconnects from a correction generator

1.33 CorrDiscon - Disconnects from a correction generator

Description CorrDiscon is used to disconnect from a previously connected correction generator. The instruction can be used to remove corrections given earlier. Basic examples A basic example of the instruction CorrDiscon is illustrated below. See also More examples on page 83. Example 1
VAR corrdescr id; ... CorrCon id; ... CorrDiscon id;

CorrDiscon disconnects from the previously connected correction generator referenced by the descriptor id. Arguments
CorrDiscon Descr

Descr Data type: corrdescr Descriptor of the correction generator. More examples For more examples of the instruction CorrDiscon, see CorrCon - Connects to a correction generator on page 78. Syntax
CorrDiscon [ Descr ':=' ] < variable (VAR) of corrdescr > ';'

Related information
For information about Connects to a correction generator Writes to a correction generator Reads the current total offsets Removes all correction generators Correction descriptor See CorrCon - Connects to a correction generator on page 78 CorrWrite - Writes to a correction generator on page 84 CorrRead - Reads the current total offsets on page 850 CorrClear - Removes all correction generators on page 77 corrdescr - Correction generator descriptor on page 1159

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1.34 CorrWrite - Writes to a correction generator

1.34 CorrWrite - Writes to a correction generator

Description CorrWrite is used to write offsets in the path coordinate system to a correction generator. Basic examples A basic example of the instruction CorrWrite is illustrated below. Example 1
VAR corrdescr id; VAR pos offset; ... CorrWrite id, offset;

The current offsets, stored in the variable offset, are written to the correction generator referenced by the descriptor id. Arguments
CorrWrite Descr Data

Descr Data type: corrdescr Descriptor of the correction generator. Data Data type: pos The offset to be written. More examples For more examples of the instruction CorrWrite, see CorrCon - Connects to a correction generator on page 78. Limitations The best performance is achieved on straight paths. As the speed and angles between consecutive linear paths increase, the deviation from the expected path will also increase. The same applies to circles with decreasing circle radius. Syntax
CorrWrite [ Descr ':=' ] < variable (VAR) of corrdescr > ',' [ Data ':=' ] < expression (IN) of pos > ';'

Related information
For information about Connects to a correction generator See CorrCon - Connects to a correction generator on page 78

Disconnects from a correction generator CorrDiscon - Disconnects from a correction generator on page 83

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1.34 CorrWrite - Writes to a correction generator Continued
For information about Reads the current total offsets Removes all correction generators Correction generator descriptor See CorrRead - Reads the current total offsets on page 850 CorrClear - Removes all correction generators on page 77 corrdescr - Correction generator descriptor on page 1159

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1.35 DeactEventBuffer - Deactivation of event buffer

1.35 DeactEventBuffer - Deactivation of event buffer

Description DeactEventBuffer is used to deactivate the use of the event buffer in current motion program task. The instructions DeactEventBuffer and ActEventBuffer 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 A basic example of the instruction DeactEventBuffer is illustrated below. Example 1
.. DeactEventBuffer; ! Use an application that use finepoints, such as SpotWelding .. ! Activate the event buffer again ActEventBuffer; ! Now it is possible to use an application that needs ! to set signals in advance, such as Dispense ..

The DeactEventBuffer deactivates the configured event buffer. When using an application with finepoints, the start of the robot from the finepoint will be faster. When activating the the event buffer with ActEventBuffer, it is possible to set signals in advance for an application with slow process equipment. Program execution The deactivation of an event buffer applies for the next executed robot movement of any type and is valid until a ActEventBuffer instruction is executed. The instruction will wait until the robot and external axes has reached the stop point (ToPoint of current move instruction) before the deactivation of the event buffer. Therefore it is recommended to program the movement instruction preceding DeactEventBuffer with a fine point. The default value (use event buffer = TRUE) is automatically set Limitations DeactEventBuffer cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart or Step. at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

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1.35 DeactEventBuffer - Deactivation of event buffer Continued Syntax
DeactEventBuffer ;

Related information
For information about Deactivation of event buffer Configuration of Event preset time Motion settings data See ActEventBuffer - Activation of event buffer on page 19 Technical reference manual - System parameters motsetdata - Motion settings data on page 1202

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1.36 DeactUnit - Deactivates a mechanical unit

1.36 DeactUnit - Deactivates a mechanical unit

Usage DeactUnit is used to deactivate a mechanical unit. It can be used to determine which unit is to be active when, for example, common drive units are used. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Examples Basic examples of the instruction DeactUnit are illustrated below. Example 1
DeactUnit orbit_a;

Deactivation of the orbit_a mechanical unit. Example 2

MoveL p10, v100, fine, tool1; DeactUnit track_motion; MoveL p20, v100, z10, tool1; MoveL p30, v100, fine, tool1; ActUnit track_motion; MoveL p40, v100, z10, tool1;

The unit track_motion will be stationary when the robot moves to p20 and p30. After this, both the robot and track_motion will move to p40. Example 3
MoveL p10, v100, fine, tool1; DeactUnit orbit1; ActUnit orbit2; MoveL p20, v100, z10, tool1;

The unit orbit1 is deactivated and orbit2 is activated. Arguments

DeactUnit MechUnit

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit that is to be deactivated. Program execution When the robots and external axes actual path is ready, the path on current path level is cleared and the specified mechanical unit is deactivated. This means that it will neither be controlled nor monitored until it is re-activated. If several mechanical units share a common drive unit, deactivation of one of the mechanical units will also disconnect that unit from the common drive unit.

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1.36 DeactUnit - Deactivates a mechanical unit Continued Limitations Instruction DeactUnit cannot be used when one of the mechanical unit is in independent mode. If this instruction is preceded by a move instruction, that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after power failure will not be possible. DeactUnit cannot be executed in a RAPID routine connected to any of following special system events: PowerOn, Stop, QStop, Restart or Step. It is possible to use ActUnit - DeactUnit on StorePath level, but the same mechanical units must be active when doing RestoPath as when StorePath was done. If such operation the Path Recorder and the path on the base level will be intact, but the path on the StorePath level will be cleared. Syntax
DeactUnit [MechUnit ':='] < variable (VAR) of mecunit> ';'

Related information
For information about Activating mechanical units Mechanical units Path Recorder See ActUnit - Activates a mechanical unit on page 21 mecunit - Mechanical unit on page 1200 PathRecMoveBwd - Move path recorder backwards on page 314mecunit - Mechanical unit on page 1200

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1.37 Decr - Decrements by 1

1.37 Decr - Decrements by 1

Usage Decr is used to subtract 1 from a numeric variable or persistent. Basic examples A basic example of the instruction Decr is illustrated below. See also More examples on page 90. Example 1
Decr reg1;

1 is subtracted from reg1, that is reg1:=reg1-1. Arguments

Decr Name | Dname

Name Data type: num The name of the variable or persistent to be decremented. Dname Data type: dnum The name of the variable or persistent to be decremented. More examples More examples of the instruction Decr are illustrated below. Example 1
VAR num no_of_parts:=0; ... TPReadNum no_of_parts, "How many parts should be produced? "; WHILE no_of_parts>0 DO produce_part; Decr no_of_parts; ENDWHILE

The operator is asked to input the number of parts to be produced. The variable no_of_parts is used to count the number that still have to be produced. Example 2
VAR dnum no_of_parts:=0; ... TPReadDnum no_of_parts, "How many parts should be produced? "; WHILE no_of_parts>0 DO produce_part; Decr no_of_parts; ENDWHILE

The operator is asked to input the number of parts to be produced. The variable no_of_parts is used to count the number that still have to be produced.

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1.37 Decr - Decrements by 1 Continued Syntax
Decr [ Name ':=' ] < var or pers (INOUT) of num > | [ Dname ':=' ] < var or pers (INOUT) of dnum >' ;'

Related information
For information about Incrementing a variable by 1 Subtracting any value from a variable See Incr - Increments by 1 on page 140 Add - Adds a numeric value on page 23

Changing data using an arbitrary expres- ":=" - Assigns a value on page 28 sion, e.g. multiplication

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1.38 DitherAct - Enables dither for soft servo

1.38 DitherAct - Enables dither for soft servo

Usage DitherAct is used to enable the dither functionality, which will reduce the friction in soft servo for IRB 7600. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction DitherAct are illustrated below. Example 1
SoftAct \MechUnit:=ROB_1, 2, 100; WaitTime 2; DitherAct \MechUnit:=ROB_1, 2; WaitTime 1; DitherDeact; SoftDeact;

Dither is enabled only for one second while in soft servo. Example 2
DitherAct \MechUnit:=ROB_1, 2; SoftAct \MechUnit:=ROB_1, 2, 100; WaitTime 1; MoveL p1, v50, z20, tool1; SoftDeact; DitherDeact;

Dither is enabled for axis 2. Movement is delayed for one second to allow sufficient transition time for the SoftAct ramp. If DitherAct is called before SoftAct, dither will start whenever a SoftAct is executed for that axis. If no DitherDeact is called, dither will stay enabled for all subsequent SoftAct calls. Arguments
DitherAct [\MechUnit] Axis [\Level]

[ \MechUnit ] Mechanical Unit Data type: mecunit The name of the mechanical unit. If argument is omitted, it means activation of the soft servo for specified robot axis. Axis Data type: num Axis number (1-6). [ \Level ] Data type: num

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1.38 DitherAct - Enables dither for soft servo Continued Amplitude of dither (50-150%). At 50%, oscillations are reduced (increased friction). At 150%, amplitude is maximum (may result in vibrations of endeffector). The default value is 100%. Program execution DitherAct can be called before, or after SoftAct. Calling DitherAct after SoftAct is faster but it has other limitations. Dither is usually not required for axis 1 of IRB 7600. Highest effect of friction reduction is on axes 2 and 3. Dither parameters are self-adjusting. Full dither performance is achieved after three or four executions of SoftAct in process position. Limitations Calling DitherAct after SoftAct may cause unwanted movement of the robot. The only way to eliminate this behavior is to call DitherAct before SoftAct. If there still is movement, SoftAct ramp time should be increased. The transition time is the ramp time, which varies between robots, multiplied with the ramp factor of the SoftAct-instruction. Dithering is not available for axis 6. Dither is always deactivated when there is a power failure. The instruction is only to be used for IRB 7600. WARNING When calling DitherAct before SoftAct the robot must be in a fine point. Also, leaving the fine point is not permitted until the transition time of the ramp is over. This might damage the gear boxes. Syntax
DitherAct [ '\' MechUnit ':=' < variable (VAR) of mecunit > ] [Axis ':=' ] < expression (IN) of num > [ '\' Level ':=' < expression (IN) of num > ] ';'

Related information
For information about Activating Soft Servo Behavior with the soft servo engaged Disable of dither See SoftAct - Activating the soft servo on page 490 Technical reference manual - RAPID overview DitherDeact - Disables dither for soft servo on page 94

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1.39 DitherDeact - Disables dither for soft servo

1.39 DitherDeact - Disables dither for soft servo

Usage DitherDeact is used to disable the dither functionality for soft servo of IRB 7600. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples A basic example of the instruction DitherDeact is illustrated below. Example 1
DitherDeact;

Deactivates dither on all axis. Program execution DitherDeact can be used at any time. If in soft servo, dither stops immediately on all axes. If not in soft servo, dither will not be active when next SoftAct is executed. The dither is automatically disabled Syntax
DitherDeact';'

at a cold start-up when a new program is loaded when starting program execution from the beginning.

Related information
For information about Activating dither See DitherAct - Enables dither for soft servo on page 92

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1.40 DropWObj - Drop work object on conveyor

1.40 DropWObj - Drop work object on conveyor

Usage DropWObj (Drop Work Object) is used to disconnect from the current object and the program is ready for the next object on the conveyor. Basic examples A basic example of the instruction DropWObj is illustrated below. Example 1
MoveL *, MoveL *, DropWObj MoveL *, v1000, z10, tool, \WObj:=wobj_on_cnv1; v1000, fine, tool, \WObj:=wobj0; wobj_on_cnv1; v1000, z10, tool, \WObj:=wobj0;

Arguments
DropWObj WObj

WObj Work Object Data type: wobjdata The moving work object (coordinate system) to which the robot position in the instruction is related. The mechanical unit conveyor is to be specified by the ufmec in the work object. Program execution Dropping the work object means that the encoder unit no longer tracks the object. The object is removed from the object queue and cannot be recovered. Limitations If the instruction is issued while the robot is actively using the conveyor coordinated work object, then the motion stops. The instruction may be issued only after a fixed work object has been used in the preceding motion instructions with either a fine point or several (>1) corner zones. Syntax
DropWObj [ WObj ':='] < persistent (PERS) of wobjdata>';'

Related information
For information about Wait for work objects Conveyor tracking See WaitWObj - Wait for work object on conveyor on page 731 Application manual - Conveyor tracking

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1.41 EOffsOff - Deactivates an offset for external axes

1.41 EOffsOff - Deactivates an offset for external axes

Usage EOffsOff (External Offset Off) is used to deactivate an offset for external axes. The offset for external axes is activated by the instruction EOffsSet or EOffsOn and applies to all movements until some other offset for external axes is activated or until the offset for external axes is deactivated. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction EOffsOff are illustrated below. Example 1
EOffsOff;

Deactivation of the offset for external axes. Example 2

MoveL p10, v500, z10, tool1; EOffsOn \ExeP:=p10, p11; MoveL p20, v500, z10, tool1; MoveL p30, v500, z10, tool1; EOffsOff; MoveL p40, v500, z10, tool1;

An offset is defined as the difference between the position of each axis at p10 and p11. This displacement affects the movement to p20 and p30, but not to p40. Program execution Active offsets for external axes are reset. Syntax
EOffsOff ';'

Related information
For information about See

Definition of offset using two positions EOffsOn - Activates an offset for external axes on page 97 Definition of offset using known values EOffsSet - Activates an offset for external axes using known values on page 99 Deactivation of the robots program dis- PDispOff - Deactivates program displacement on placement page 331

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1.42 EOffsOn - Activates an offset for external axes

1.42 EOffsOn - Activates an offset for external axes

Usage EOffsOn (External Offset On) is used to define and activate an offset for external axes using two positions. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction EOffsOn are illustrated below. See also More examples on page 98. Example 1
MoveL p10, v500, z10, tool1; EOffsOn \ExeP:=p10, p20;

Activation of an offset for external axes. This is calculated for each axis based on the difference between positions p10 and p20. Example 2
MoveL p10, v500, fine \Inpos := inpos50, tool1; EOffsOn *;

Activation of an offset for external axes. Since a stop point that is accurately defined has been used in the previous instruction, the argument \ExeP does not have to be used. The displacement is calculated on the basis of the difference between the actual position of each axis and the programmed point (*) stored in the instruction. Arguments
EOffsOn [\ExeP] ProgPoint

[ \ExeP ] Executed Point Data type: robtarget The new position, used for calculation of the offset. If this argument is omitted, the current position of the axes at the time of the program execution is used. ProgPoint Programmed Point Data type: robtarget The original position of the axes at the time of programming. Program execution The offset is calculated as the difference between \ExeP and ProgPoint for each separate external axis. If \ExeP has not been specified, the current position of the axes at the time of the program execution is used instead. Since it is the actual position of the axes that is used, the axes should not move when EOffsOn is executed. Continues on next page
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1.42 EOffsOn - Activates an offset for external axes Continued This offset is then used to displace the position of external axes in subsequent positioning instructions and remains active until some other offset is activated (the instruction EOffsSet or EOffsOn) or until the offset for external axes is deactivated (the instruction EOffsOff). Only one offset for each individual external axis can be activated at the same time. Several EOffsOn, on the other hand, can be programmed one after the other and, if they are, the different offsets will be added. The external axes offset is automatically reset: More examples More examples of how to use the instruction EOffsOn are illustrated below. Example 1
SearchL sen1, psearch, p10, v100, tool1; PDispOn \ExeP:=psearch, *, tool1; EOffsOn \ExeP:=psearch, *;

At a cold start-up. When a new program is loaded. When starting program execution from the beginning.

A search is carried out in which the searched position of both the robot and the external axes is stored in the position psearch. Any movement carried out after this starts from this position using a program displacement of both the robot and the external axes. This is calculated based on the difference between the searched position and the programmed point (*) stored in the instruction. Syntax
EOffsOn [ '\' ExeP ':=' < expression (IN) of robtarget> ','] [ ProgPoint ':=' ] < expression (IN) of robtarget> ';'

Related information
For information about Deactivation of offset for external axes Definition of offset using known values See EOffsOff - Deactivates an offset for external axes on page 96 EOffsSet - Activates an offset for external axes using known values on page 99

Displacement of the robots movements PDispOn - Activates program displacement on page 332 Coordinate systems Technical reference manual - RAPID overview

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1.43 EOffsSet - Activates an offset for external axes using known values

1.43 EOffsSet - Activates an offset for external axes using known values
Usage EOffsSet (External Offset Set) is used to define and activate an offset for external axes using known values. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples A basic example of the instruction EOffsSet is illustrated below. Example 1
VAR extjoint eax_a_p100 := [100, 0, 0, 0, 0, 0]; ... EOffsSet eax_a_p100;

Activation of an offset eax_a_p100 for external axes, meaning (provided that the logical external axis "a" is linear) that: The ExtOffs coordinate system is displaced 100 mm for the logical axis "a" (see figure below). As long as this offset is active, all positions will be displaced 100 mm in the direction of the x-axis.

The figure shows displacement of an external axis.

xx0500002162

Arguments
EOffsSet EAxOffs

EAxOffs External Axes Offset Data type: extjoint The offset for external axes is defined as data of the type extjoint, expressed in: mm for linear axes degrees for rotating axes Continues on next page
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1.43 EOffsSet - Activates an offset for external axes using known values Continued Program execution The offset for external axes is activated when the EOffsSet instruction is executed and remains active until some other offset is activated (the instruction EOffsSet or EOffsOn) or until the offset for external axes is deactivated (the instruction EOffsOff). Only one offset for external axes can be activated at the same time. Offsets cannot be added to one another using EOffsSet. The external axes offset is automatically reset: Syntax
EOffsSet [ EAxOffs ':=' ] < expression (IN) of extjoint> ';'

At a cold start-up. When a new program is loaded. When starting program executing from the beginning.

Related information
For information about Activate an offset for external axes Deactivation of offset for external axes See EOffsOn - Activates an offset for external axes on page 97 EOffsOff - Deactivates an offset for external axes on page 96

Displacement of the robots movements PDispOn - Activates program displacement on page 332 Definition of data of the type extjoint Coordinate systems extjoint - Position of external joints on page 1178 Technical reference manual - RAPID overview

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1.44 EraseModule - Erase a module

1.44 EraseModule - Erase a module

Usage EraseModule is used to remove a module from the program memory during execution. There are no restrictions on how the module was loaded. It could have been loaded manually, from the configuration, or with a combination of the instructions Load, StartLoad, and WaitLoad. The module cannot be defined as Shared in the configuration. Basic examples A basic example of the instruction EraseModule is illustrated below. Example 1
EraseModule "PART_A";

Erase the program module PART_A from the program memory. Arguments
EraseModule ModuleName

ModuleName Data type: string The name of the module that should be removed. Please note that this is the name of the module, not the name of the file. Program execution The program execution waits for the program module to finish the removal process before the execution proceeds with the next instruction. When the program module is removed the rest of the program modules will be linked. Limitations It is not allowed to remove a program module that is executing. TRAP routines, system I/O events, and other program tasks cannot execute during the removal process. Avoid ongoing robot movements during the removal. Program stop during execution of EraseModule instruction results in guard stop with motors off and error message "20025 Stop order timeout" on the FlexPendant. Error handling If the file in the EraseModule instruction cannot be removed because it was not found, the system variable ERRNO is set to ERR_MODULE. This error can then be handled in the error handler. Syntax
EraseModule [ModuleName':=']<expression (IN) of string>';'

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1.44 EraseModule - Erase a module Continued Related information
For information about Unload a program module See UnLoad - UnLoad a program module during execution on page 686

Load a program module in parallel with StartLoad - Load a program module during execuanother program execution tion on page 509 WaitLoad - Connect the loaded module to the task on page 713 Accept unresolved reference Technical reference manual - System parameters, section Controller

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1.45 ErrLog - Write an error message

1.45 ErrLog - Write an error message

Usage ErrLog is used to display an error message on the FlexPendant and write it in the event log. Error number and five error arguments must be stated. The message is stored in the process domain in the robot log. ErrLog can also be used to display warnings and information messages. Basic examples Basic examples of the instruction ErrLog are illustrated below. Example 1 In case you do not want to make your own .xml file, you can use ErrorId 4800 like in the example below:
VAR errstr my_title := "myerror"; VAR errstr str1 := "errortext1"; VAR errstr str2 := "errortext2"; VAR errstr str3 := "errortext3"; VAR errstr str4 := "errortext4"; ErrLog 4800, my_title, str1,str2,str3,str4;

On the FlexPendant the message will look like this: Event Message: 4800 myerror errortext1 errortext2 errortext3 errortext4 Example 2 An ErrorId must be declared in an .xml file. The number must be between 5000 - 9999. The error message is written in the .xml file and the arguments to the message is sent in by the ErrLog instruction. The ErrorId in the .xml file is the same stated in the ErrLog instruction. NOTE: If using an ErrorId between 5000-9999 you have to install your own xml file. Example of message in .xml file:
<Message number="5210" eDefine="ERR_INPAR_RDONLY"> <Title>Parameter error</Title> <Description>Task:<arg format="%s" ordinal="1" /> <p />Symbol <arg format="%s" ordinal="2" />is read-only <p />Context:<arg format="%s" ordinal="3" /><p /> </Description> </Message>

Example of instruction:
MODULE MyModule PROC main() VAR num errorid := 5210;

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1.45 ErrLog - Write an error message Continued
VAR errstr arg := "P1"; ErrLog errorid, ERRSTR_TASK, arg, ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED; ErrLog errorid \W, ERRSTR_TASK, arg, ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED; ENDPROC ENDMODULE

On the FlexPendant the message will look like this: Event Message: 5210 Parameter error Task: T_ROB1 Symbol P1 is read-only. Context: MyModule/main/ErrLog The first ErrLog instruction generates an error message. The message is stored in the robot log in the process domain. It is also shown on the FlexPendant display. The second instruction is a warning. A message is stored in the robot log only. The program will in both cases continue its execution when the instruction is done. Arguments
ErrLog ErrorID [\W] | [\I] Argument1 Argument2 Argument3 Argument4 Argument5

ErrorId Data type: num The number of a specific error that is to be monitored. The error number must be in interval 4800-4814 if using the preinstalled xml file, and between 5000 - 9999 if using an own xml file. [ \W ] Warning Data type: switch Gives a warning that is stored in the robot event log only (not shown directly on the FlexPendant display). [ \I ] Information Data type: switch Gives an information message that is stored in the event log only (not shown directly on the FlexPendant display). If none of the arguments \W or \I are specified then the instruction will generate an error message directly on the flexpendant and also store it in the event log. Argument1 Data type: errstr First argument in the error message. Any string or predefined data of type errstr can be used. Continues on next page
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1.45 ErrLog - Write an error message Continued Argument2 Data type: errstr Second argument in the error message. Any string or predefined data of type errstr can be used. Argument3 Data type: errstr Third argument in the error message. Any string or predefined data of type errstr can be used Argument4 Data type: errstr Fourth argument in the error message. Any string or predefined data of type errstr can be used. Argument5 Data type: errstr Fifth argument in the error message. Any string or predefined data of type errstr can be used. Program execution An error message (max 5 lines) is displayed on the FlexPendant and written in the event log. In the case of argument \W or argument \I a warning or an information message is written in the event log. ErrLog generates program errors between 4800-4814 if using the xml file that are installed by the system, and between 5000-9999 if installing an own xml file. The error generated depends on the ErrorID indicated. The message is stored in the process domain in the event log. How to install an own xml file is described in the Additional options manual, see Related information below. Limitations Total string length (Argument1-Argument5) is limited to 195 characters. Syntax
ErrLog [ErrorId ':=' ] < expression (IN) of num> ',' [ '\'W ] | [' \' I ] ',' [Argument1 ':=' ] < expression (IN) of errstr> [Argument2 ':=' ] < expression (IN) of errstr> [Argument3 ':=' ] < expression (IN) of errstr> [Argument4 ':=' ] < expression (IN) of errstr> [Argument5 ':=' ] < expression (IN) of errstr>

',' ',' ',' ',' ';'

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1.45 ErrLog - Write an error message Continued Related information
For information about Predefined data of type errstr Display message on the FlexPendant See errstr - Error string on page 1174 TPWrite - Writes on the FlexPendant on page 594 UIMsgBox - User Message Dialog Box type basic on page 674 Operating manual - IRC5 with FlexPendant

Event log

Event log messages, explanation of xml- Application manual - Additional options, section file Event log messages How to install XML files when using addi- Application manual - Additional options tional options

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1.46 ErrRaise - Writes a warning and calls an error handler

1.46 ErrRaise - Writes a warning and calls an error handler

Usage ErrRaise is used to create an error in the program and then call the error handler of the routine. A warning is written in the event log. ErrRaise can also be used in the error handler to propagate the current error to the error handler of the calling routine. Error name, error number, and five error arguments must be stated. The message is stored in the process domain in the robot log. Basic examples Basic examples of the instruction ErrRaise is illustrated below. Example 1 In case you do not want to make your own .xml file, you can use ErrorId 4800 like in the example below:
MODULE MyModule VAR errnum ERR_BATT:=-1; PROC main() VAR num errorid := 4800; VAR errstr my_title := "Backup battery status"; VAR errstr str1 := "Bacup battery is fully charged"; BookErrNo ERR_BATT; ErrRaise "ERR_BATT", errorid, my_title, ERRSTR_TASK, str1, ERRSTR_CONTEXT,ERRSTR_EMPTY; ERROR IF ERRNO = ERR_BATT THEN TRYNEXT; ENDIF ENDPROC ENDMODULE

On the FlexPendant the message will look like this (warning and/or an error): Event Message: 4800 Backup battery status Task: main Backup battery is fully charged Context: MyModule/main/ErrRaise An error number must be booked with the instruction BookErrNo. Corresponding string is stated as the first argument, ErrorName, in the ErrRaise. ErrRaise creates an error and then calls the error handler. If the error is taken care of, a warning is generated in the event log, in the process domain. Otherwise a fatal error is generated and the program stops. ErrRaise can also be used in an error handler in a subroutine. In this case the execution continues in the error handler of the calling routine.

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1.46 ErrRaise - Writes a warning and calls an error handler Continued Example 2 An ErrorId must be declared in an .xml file. The number must be between 5000 - 9999. The error message is written in the .xml file and the arguments to the message are sent in by the ErrRaise instruction. The ErrorId in the .xml file is the same stated in the ErrRaise instruction. NOTE: If using an ErrorId between 5000-9999 you have to install your own xml file. Example of message in .xml file:
<Message number="7055" eDefine="SYS_ERR_ARL_INPAR_RDONLY"> <Title>Parameter error</Title> <Description>Task:<arg format="%s" ordinal="1" /> <p />Symbol <arg format="%s" ordinal="2" />is read-only <p />Context:<arg format="%s" ordinal="3" /><p /></Description> </Message>

Example of instruction:
MODULE MyModule VAR errnum ERR_BATT:=-1; PROC main() VAR num errorid := 7055; BookErrNo ERR_BATT; ErrRaise "ERR_BATT", errorid, ERRSTR_TASK, ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED, ERRSTR_UNUSED; ERROR IF ERRNO = ERR_BATT THEN TRYNEXT; ENDIF ENDPROC ENDMODULE

On the FlexPendant the message will look like this (warning and/or an error): Event Message: 7055 Backup battery status Task: main Backup battery is fully charged Context: MyModule/main/ErrRaise An error number must be booked with the instruction BookErrNo. Corresponding string is stated as the first argument, ErrorName, in the ErrRaise. ErrRaise creates an error and then calls the error handler. If the error is taken care of, a warning is generated in the event log, in the process domain. Otherwise a fatal error is generated and the program stops. ErrRaise can also be used in an error handler in a subroutine. In this case the execution continues in the error handler of the calling routine. Arguments
ErrRaise ErrorName ErrorId Argument1 Argument2 Argument3 Argument4 Argument5

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1.46 ErrRaise - Writes a warning and calls an error handler Continued ErrorName Data type: string An error number must be booked using the instruction BookErrNo. Corresponding variable is stated as ErrorName. ErrorId Data type: num The number of a specific error that is to be monitored. The error number must be in interval 4800-4814 if using the preinstalled xml file, and between 5000 - 9999 if using an own xml file. Argument1 Data type: errstr First argument in the error message. Any string or predefined data of type errstr can be used. Argument2 Data type: errstr Second argument in the error message. Any string or predefined data of type errstr can be used. Argument3 Data type: errstr Third argument in the error message. Any string or predefined data of type errstr can be used Argument4 Data type: errstr Fourth argument in the error message. Any string or predefined data of type errstr can be used. Argument5 Data type: errstr Fifth argument in the error message. Any string or predefined data of type errstr can be used. Program execution ErrRaise generates program warningss between 4800-4814 if using the xml file that are installed by the system, and between 5000-9999 if installing an own xml file. The error generated depends on the ErrorID indicated. A warning is written in the robot message log in the domain process. When the ErrRaise is executed the behavior depends on where it is executed: When executing instruction in the routine body, a warning is generated, and the execution continues in the error handler. When executing instruction in an error handler, the old warning is skipped, a new one is generated, and the control is raised to calling instruction.

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1.46 ErrRaise - Writes a warning and calls an error handler Continued Limitations Total string length (Argument1-Argument5) is limited to 195 characters. More examples More examples of how to use the instruction ErrRaise are illustrated below. Example 1
VAR errnum ERR_BATT:=-1; VAR errnum ERR_NEW_ERR:=-1; PROC main() testerrraise; ENDPROC PROC testerrraise() BookErrNo ERR_BATT; BookErrNo ERR_NEW_ERR; ErrRaise "ERR_BATT",7055,ERRSTR_TASK,ERRSTR_CONTEXT, ERRSTR_UNUSED,ERRSTR_UNUSED,ERRSTR_UNUSED; ERROR IF ERRNO = ERR_BATT THEN ErrRaise "ERR_NEW_ERR",7156,ERRSTR_TASK,ERRSTR_CONTEXT, ERRSTR_UNUSED,ERRSTR_UNUSED, ERRSTR_UNUSED; ENDIF ENDPROC

Generate new warning 7156 from error handler. Raise control to calling routine and stop execution. Syntax
ErrRaise [ErrorName ':=' [ErrorId ':=' ] [Argument1 ':=' [Argument2 ':=' [Argument3 ':=' [Argument4 ':=' [Argument5 ':=' ] < ] ] ] ] ] < expression (IN) of string> expression (IN) of num> ',' < expression (IN) of errstr> < expression (IN) of errstr> < expression (IN) of errstr> < expression (IN) of errstr> < expression (IN) of errstr> ',' ',' ',' ',' ',' ';'

Related information
For information about Predefined data of type errstr Booking error numbers Error handling See errstr - Error string on page 1174 BookErrNo - Book a RAPID system error number on page 36 Technical reference manual - RAPID overview

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1.47 ErrWrite - Write an error message

1.47 ErrWrite - Write an error message

Usage ErrWrite (Error Write) is used to display an error message on the FlexPendant and write it in the event log. It can also be used to display warnings and information messages. Basic examples Basic examples of the instruction ErrWrite are illustrated below. Example 1
ErrWrite "PLC error", "Fatal error in PLC" \RL2:="Call service"; Stop;

A message is stored in the robot log. The message is also shown on the FlexPendant display. Example 2
ErrWrite \W, "Search error", "No hit for the first search"; RAISE try_search_again;

A message is stored in the robot log only. Program execution then continues. Arguments
ErrWrite [ \W ] | [\I] Header Reason [ \RL2] [ \RL3] [ \RL4]

[ \W ] Warning Data type: switch Gives a warning that is stored in the robot error message log only (not shown directly on the FlexPendant display). [ \I ] Information Data type: switch Gives an information message that is stored in the event log only (not shown directly on the FlexPendant display). If none of the arguments \W or \I are specified then the instruction will generate an error message directly on the flexpendant and also store it in the event log. Header Data type: string Error message heading (max. 46 characters). Reason Data type: string Reason for error. [ \RL2] Reason Line 2 Continues on next page
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1.47 ErrWrite - Write an error message Continued Data type: string Reason for error. [ \RL3] Reason Line 3 Data type: string Reason for error. [ \RL4] Reason Line 4 Data type: string Reason for error. Program execution An error message (max. 5 lines) is displayed on the FlexPendant and written in the robot message log. In the case of argument \W or argument \I a warning or an information message is written in the event log. ErrWrite generates the program error no. 80001 for an error, no. 80002 for a warning (\W) and no. 80003 for an information message (\I). Limitations Total string length (Header+Reason+\RL2+\RL3+\RL4) is limited to 195 characters. Syntax
ErrWrite [ '\'W ] [ Header [ Reason [ \RL2 [ \RL3 [ \RL4 | [ '\' I ] ',' ':=' ] < expression (IN) of string>',' ':=' ] < expression (IN) of string> ':=' < expression (IN) of string> ] ':=' < expression (IN) of string> ] ':=' < expression (IN) of string> ] ';'

Related information
For information about Predefined data of type errstr Display message on the FlexPendant See errstr - Error string on page 1174 TPWrite - Writes on the FlexPendant on page 594 UIMsgBox - User Message Dialog Box type basic on page 674 Operating manual - IRC5 with FlexPendant ErrLog - Write an error message on page 103

Event log Write error message - Err Log

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1.48 EXIT - Terminates program execution

1.48 EXIT - Terminates program execution

Usage EXIT is used to terminate program execution. Program restart will then be blocked, that is the program can only be restarted from the first instruction of the main routine. The EXIT instruction should be used when fatal errors occur or when program execution is to be stopped permanently. The Stop instruction is used to temporarily stop program execution. After execution of the instruction EXIT the program pointer is gone. To continue program execution, the program pointer must be set. Basic examples A basic example of the instruction EXIT is illustrated below. Example 1
ErrWrite "Fatal error","Illegal state"; EXIT;

Program execution stops and cannot be restarted from that position in the program. Syntax
EXIT ';'

Related information
For information about Stopping program execution temporarily See Stop - Stops program execution on page 537

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1.49 ExitCycle - Break current cycle and start next

1.49 ExitCycle - Break current cycle and start next

Usage ExitCycle is used to break the current cycle and move the program pointer (PP) back to the first instruction in the main routine. If the program is executed in continuous mode, it will start to execute the next cycle. If the execution is in cycle mode, the execution will stop at the first instruction in the main routine. Basic examples Basic examples of the instruction ExitCycle are illustrated below. Example 1
VAR num cyclecount:=0; VAR intnum error_intno; PROC main() IF cyclecount = 0 THEN CONNECT error_intno WITH error_trap; ISignalDI di_error,1,error_intno; ENDIF cyclecount:=cyclecount+1; ! start to do something intelligent ... ENDPROC TRAP error_trap TPWrite "ERROR, I will start on the next item"; ExitCycle; ENDTRAP

This will start the next cycle if the signal di_error is set. Program execution Execution of ExitCycle in a program task controlling mechanical units results in the following in the actual task: On-going robot movements stops. All robot paths that are not performed at all path levels (both normal and StorePath level) are cleared. All instructions that are started but not finished at all execution levels (both normal and TRAP level) are interrupted. The program pointer is moved to the first instruction in the main routine. The program execution continues to execute the next cycle.

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1.49 ExitCycle - Break current cycle and start next Continued Execution of ExitCycle in some other program task, not controlling mechanical units, results in the following in the actual task: All instructions that are started but not finished on all execution levels (both normal and TRAP level) are interrupted. The program pointer is moved to the first instruction in the main routine. The program execution continues to execute the next cycle.

All other modal things in the program and system are not affected by ExitCycle such as: The actual value of variables or persistents. Any motion settings such as StorePath-RestoPath sequence, world zones, etc. Open files, directories, etc. Defined interrupts, etc.

When using ExitCycle in routine calls and the entry routine is defined with Move PP to Routine ... or Call Routine ..., ExitCycle breaks the current cycle and moves the program pointer back to the first instruction in the entry routine (instead of the main routine as specified above). Syntax
ExitCycle';'

Related information
For information about Stopping after a fatal error Terminating program execution Stopping for program actions Finishing execution of a routine See EXIT - Terminates program execution on page 113 EXIT - Terminates program execution on page 113 Stop - Stops program execution on page 537 RETURN - Finishes execution of a routine on page 381

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1.50 FOR - Repeats a given number of times

1.50 FOR - Repeats a given number of times

Usage FOR is used when one or several instructions are to be repeated a number of times. Basic examples A basic example of the instruction FOR is illustrated below. See also More examples on page 116. Example 1
FOR i FROM 1 TO 10 DO routine1; ENDFOR

Repeats the routine1 procedure 10 times. Arguments

FOR Loop counter FROM Start value TO End value [STEP Step value] DO ... ENDFOR

Loop counter Identifier The name of the data that will contain the value of the current loop counter. The data is declared automatically. If the loop counter name is the same as any data that already exists in the actual scope, the existing data will be hidden in the FOR loop and not affected in any way. Start value Data type: Num The desired start value of the loop counter. (usually integer values) End value Data type: Num The desired end value of the loop counter. (usually integer values) Step value Data type: Num The value by which the loop counter is to be incremented (or decremented) each loop. (usually integer values) If this value is not specified, the step value will automatically be set to 1 (or -1 if the start value is greater than the end value). More examples More examples of how to use the instruction FOR are illustrated below. Example 1
FOR i FROM 10 TO 2 STEP -2 DO a{i} := a{i-1}; ENDFOR

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1.50 FOR - Repeats a given number of times Continued The values in an array are adjusted upwards so that a{10}:=a{9}, a{8}:=a{7} etc. Program execution 1 The expressions for the start, end, and step values are evaluated. 2 The loop counter is assigned the start value. 3 The value of the loop counter is checked to see whether its value lies between the start and end value, or whether it is equal to the start or end value. If the value of the loop counter is outside of this range, the FOR loop stops and program execution continues with the instruction following ENDFOR. 4 The instructions in the FOR loop are executed. 5 The loop counter is incremented (or decremented) in accordance with the step value. 6 The FOR loop is repeated, starting from point 3. Limitations The loop counter (of data type num) can only be accessed from within the FOR loop and consequently hides other data and routines that have the same name. It can only be read (not updated) by the instructions in the FOR loop. Decimal values for start, end, or stop values, in combination with exact termination conditions for the FOR loop, cannot be used (undefined whether or not the last loop is running). Remarks If the number of repetitions is to be repeated as long as a given expression is evaluated to a TRUE value, the WHILE instructions should be used instead. Syntax
(EBNF) FOR <loop variable> FROM <expression> TO <expression> [ STEP <expression> ] DO <instruction list> ENDFOR <loop variable> ::= <identifier>

Related information
For information about Expressions Repeats as long as... Identifiers See Technical reference manual - RAPID overview WHILE - Repeats as long as ... on page 735 Technical reference manual - RAPID overview

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1.51 GetDataVal - Get the value of a data object

1.51 GetDataVal - Get the value of a data object

Usage GetDataVal (Get Data Value) makes it possible to get a value from a data object that is specified with a string variable. Basic examples Basic examples of the instruction GetDataVal are illustrated below. Example 1
VAR num value; ... GetDataVal "reg"+ValToStr(ReadNum(mycom)),value;

This will get the value of a register, with a number which is received from the serial channel mycom. The value will be stored in the variable value. Example 2
VAR datapos block; VAR string name; VAR num valuevar; ... SetDataSearch "num" \Object:="my.*" \InMod:="mymod"; WHILE GetNextSym(name,block) DO GetDataVal name\Block:=block,valuevar; TPWrite name+" "\Num:=valuevar; ENDWHILE

This session will print out all num variables that begin with my in the module mymod with its value to the FlexPendant. Example 3
VAR num NumArrConst_copy{2}; ... GetDataVal "NumArrConst", NumArrConst_copy; TPWrite "Pos1 = " \Num:=NumArrConst_copy{1}; TPWrite "Pos2 = " \Num:=NumArrConst_copy{2};

This session will print out the num variables in the array NumArrConst. Arguments
GetDataVal Object [\Block]|[\TaskRef]|[\TaskName]Value

Object Data type: string The name of the data object. [ \Block ] Data type: datapos The enclosed block to the data object. This can only be fetched with the GetNextSym function.

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1.51 GetDataVal - Get the value of a data object Continued If this argument is omitted, the value of the visible data object in the current program execution scope will be fetched. [\TaskRef] Task Reference Data type: taskid The program task identity in which to search for the data object specified. When using this argument, you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error. For all program tasks in the system the predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name in which to search for the data object specified. When using this argument, you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error. Value Data type: anytype Variable for storage of the get value. The data type must be the same as the data type for the data object to find. The get value can be fetched from a constant, variable, or persistent but must be stored in a variable. Error handling The system variable ERRNO is set to ERR_SYM_ACCESS if: the data object is non-existent the data object is routine data or routine parameter and is not located in the current active routine searching in other tasks for other declarations then PERS or TASKPERS

When using the arguments TaskRef or TaskName you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS. Searching for a PERS declared as LOCAL in other tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS. The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in argument Value have different dimensions. The error can be handled in the error handler of the routine. Limitations For a semivalue data type, it is not possible to search for the associated value data type. E.g. if searching for dionum, no search hit for signals signaldi will be obtained and if searching for num, no search hit for signals signalgi or signalai will be obtained.

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1.51 GetDataVal - Get the value of a data object Continued It is not possible to get the value of a variable declared as LOCAL in a built in RAPID module. Syntax
GetDataVal [ Object := ] < expression (IN) of string > [\Block :=<variable (VAR) of datapos>] |[ \TaskRef := <variable (VAR) of taskid>] |[ \TaskName := <expression (IN) of string>] ,] [ Value := ] <variable (VAR) of anytype>];

Related information
For information about Define a symbol set in a search session Get next matching symbol Set the value of a data object See SetDataSearch - Define the symbol set in a search sequence on page 450 GetNextSym - Get next matching symbol on page 907 SetDataVal - Set the value of a data object on page 454

Set the value of many data objects SetAllDataVal - Set a value to all data objects in a defined set on page 446 The related data type datapos datapos - Enclosing block for a data object on page 1161

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1.52 GetSysData - Get system data

1.52 GetSysData - Get system data

Usage GetSysData fetches the value and the optional symbol name for the current system data of specified data type. With this instruction it is possible to fetch data and the name of the current active Tool, Work Object, PayLoad or Total Load for the robot in actual or connected motion task, or any named motion task. Basic examples Basic examples of the instruction GetSysData are illustrated below. Example 1
PERS tooldata curtoolvalue := [TRUE, [[0, 0, 0], [1, 0, 0, 0]], [2, [0, 0, 2], [1, 0, 0, 0], 0, 0, 0]]; VAR string curtoolname; GetSysData curtoolvalue;

Copy current active tool data value to the persistent variable curtoolvalue. Example 2
GetSysData curtoolvalue \ObjectName := curtoolname;

Also copy current active tool name to the variable curtoolname. Example 3
PERS loaddata curload; PERS loaddata piece:=[2.8,[-38.2,-10.1,-73.6],[1,0,0,0],0,0,0]; PERS loaddata tool2piece:=[13.1,[104.5,13.5,115.9],[1,0,0,0],0,0,0.143]; PERS tooldata tool2 := [TRUE, [[138.695,150.023,98.9783], [0.709396,-0.704707,-0.00856676,0.00851007]], [10,[105.2,-3.8,118.7], [1,0,0,0],0,0,0.123]]; VAR string name; .. IF GetModalPayloadMode() = 1 THEN GripLoad piece; MoveL p3, v1000, fine, tool2; .. .. ! Get current payload GetSysData curload \ObjectName := name; ELSE MoveL p30, v1000, fine, tool2\TLoad:=tool2piece; .. .. ! Get current total load GetSysData curload \ObjectName := name; ENDIF

If ModalPayLoadMode is 1, copy current active payload and name to the variable name. If ModalPayLoadMode is 0, copy current total load and name to the variable name. Continues on next page
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1.52 GetSysData - Get system data Continued Arguments
GetSysData [\TaskRef]|[\TaskName] DestObject[\ObjectName ]

[\TaskRef] Task Reference Data type: taskid The program task identity from which the data of the current active system data should be read. For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name from which the current active system data should be read. If none of the arguments \TaskRef or \TaskName are specified then the current task is used. DestObject Data type: anytype Persistent variable for storage of current active system data value. The data type of this argument also specifies the type of system data (Tool, Work Object, or PayLoad/Total Load) to fetch. If using TLoad optional argument on movement instructions, the Total Load is fetched instead of the PayLoad, if a loaddata datatype is used.
Data type tooldata wobjdata loaddata Type of system data Tool Work Object Payload/Total Load

Array or record component can not be used. [\ObjectName] Data type:string Option argument (variable or persistent) to also fetch the current active system data name. Program execution When running the instruction GetSysData the current data value is stored in the specified persistent variable in argument DestObject. If argument \ObjectName is used, the name of the current data is stored in the specified variable or persistent in argument ObjectName. Current system data for Tool, Work Object or Total load is activated by execution of any move instruction. Payload is activated by execution of the instruction GripLoad.

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1.52 GetSysData - Get system data Continued Error handling If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO is set to ERR_NOT_MOVETASK. This error can be handled in the error handler. But no error will be generated if the arguments \TaskRef or \TaskName specify the non-motion task that executes this function GetSysData (reference to my own non-motion task). The current system data will then be fetched from the connected motion task. Syntax
GetSysData [\ TaskRef := <variable (VAR) of taskid>] |[\ TaskName := <expression (IN) of string>] [ DestObject :=] < persistent(PERS) of anytype> [\ObjectName := < variable or persistent (INOUT) of string> ] ;

Related information
For information about Definition of tools Definition of work objects Definition of payload Set system data See tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 loaddata - Load data on page 1192 SetSysData - Set system data on page 462

System parameter ModalPayLoadMode Technical reference manual - System parameters for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode) Example of how to use TLoad, Total Load. MoveL - Moves the robot linearly on page 275

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1.53 GetTrapData - Get interrupt data for current TRAP

1.53 GetTrapData - Get interrupt data for current TRAP

Usage GetTrapData is used in a trap routine to obtain all information about the interrupt that caused the trap routine to be executed. To be used in trap routines generated by instruction IError, before use of the instruction ReadErrData. Basic examples Basic examples of the instruction GetTrapData are illustrated below. See also More examples on page 124. Example 1
VAR trapdata err_data; GetTrapData err_data;

Store interrupt information in the non-value variable err_data. Arguments

GetTrapData TrapEvent

TrapEvent Data type: trapdata Variable for storage of the information about what caused the trap to be executed. Limitation This instruction can only be used in a TRAP routine. More examples More examples of the instruction GetTrapData are illustrated below. Example 1
VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; VAR trapdata err_data; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ENDTRAP

When an error is trapped to the trap routine trap_err, the error domain, the error number, and the error type are saved into appropriate non-value variables of the type trapdata. Syntax
GetTrapData [TrapEvent :=] <variable (VAR) of trapdata>;

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1.53 GetTrapData - Get interrupt data for current TRAP Continued Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information on interrupt manage- Technical reference manual - RAPID overview ment Interrupt data for current TRAP Orders an interrupt on errors Gets information about an error trapdata - Interrupt data for current TRAP on page 1277 IError - Orders an interrupt on errors on page 135 ReadErrData - Gets information about an error on page 364

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1.54 GOTO - Goes to a new instruction

1.54 GOTO - Goes to a new instruction

Usage GOTOis used to transfer program execution to another line (a label) within the same routine. Basic examples Basic examples of the instruction GOTO are illustrated below. Example 1
GOTO next; ... next:

Program execution continues with the instruction following next. Example 2

reg1 := 1; next: ... reg1 := reg1 + 1; IF reg1<=5 GOTO next;

The execution will be transferred to next four times (for reg1= 2, 3, 4, 5). Example 3
IF reg1>100 THEN GOTO highvalue ELSE GOTO lowvalue ENDIF lowvalue: ... GOTO ready; highvalue: ... ready:

If reg1 is greater than 100, the execution will be transferred to the label highvalue, otherwise the execution will be transferred to the label lowvalue. Arguments
GOTO Label

Label Identifier The label from where program execution is to continue. Limitations It is only possible to transfer program execution to a label within the same routine.

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1.54 GOTO - Goes to a new instruction Continued It is only possible to transfer program execution to a label within an IF or TEST instruction if the GOTO instruction is also located within the same branch of that instruction. It is only possible to transfer program execution to a label within a FOR or WHILE instruction if the GOTO instruction is also located within that instruction. Syntax
(EBNF) GOTO <identifier>;

Related information
For information about Label Other instructions that change the program flow See Label - Line name on page 214 Technical reference manual - RAPID overview

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1.55 GripLoad - Defines the payload for a robot

1.55 GripLoad - Defines the payload for a robot

Usage GripLoad is used to define the payload which the robot holds in its gripper. Description GripLoad specifies which load the robot is carrying. Specified load is used to set up a dynamic model of the robot so that the robot movements can be controlled in the best possible way. The payload is connected/disconnected using the instruction GripLoad, which adds or subtracts the weight of the payload to the weight of the gripper. WARNING It is important to always define the actual tool load and, when used, the payload of the robot (for example a gripped part). Incorrect definitions of load data can result in overloading of the robot mechanical structure. When incorrect load data is specified, it can often lead to the following consequences: Basic examples Basic examples of the instruction GripLoad are illustrated below. Example 1
Set gripper; WaitTime 0.3; GripLoad piece1;

The robot will not be used to its maximum capacity Impaired path accuracy including a risk of overshooting Risk of overloading the mechanical structure

Connection of the payload, piece1, specified at the same time as the robot grips the load. Example 2
Reset gripper; WaitTime 0.3; GripLoad load0;

Disconnection of a payload, specified at the same time as the robot releases a payload. Arguments
GripLoad Load

Load Data type: loaddata The load data that describes the current payload.

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1.55 GripLoad - Defines the payload for a robot Continued It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the GripLoad instruction is not considered, and only the loaddata in the current tooldata is used. Program execution The specified load affects the performance of the robot. The default load (load0), 0 kg, is automatically set At a cold start. When a new program is loaded. When starting program execution from the beginning.

The payload is updated for the mechanical unit that is controlled from current program task. If GripLoad is used from a non-motion task, the payload is updated for the mechanical unit controlled by the connected motion task. Syntax
GripLoad [ Load ':=' ] < persistent (PERS) of loaddata > ';'

Related information
For information about Load identification of tool load, payload or arm load Define payload for mechanical units Definition of load data See Operating manual - IRC5 with FlexPendant, section Programming and testing - Service routines MechUnitLoad - Defines a payload for a mechanical unit on page 229 loaddata - Load data on page 1192

System input signal SimMode for running Technical reference manual - System parametthe robot in simulated mode without payload. ers (Topic I/O, Type System Input, Action values, SimMode)

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1.56 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403

1.56 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403

Usage HollowWristReset (Reset hollow wrist) resets the position of the wrist joints on hollow wrist manipulators, such as IRB5402 and IRB5403. The instruction makes it possible to avoid rewinding the wrist joints 4 and 5 after they have been wound up one or more revolutions. After executing a HollowWristReset instruction, the wrist joints may continue to wind up in the same direction. Description HollowWristReset makes it easier to make application programs. You do not have to ensure that the wrist position is within 2 revolutions at the time of programming, and it may save cycle time because the robot does not have to spend time rewinding the wrist. However, there is a limitation of 144 revolutions for winding up joints 4 and 5 before the wrist position is reset by HollowWristReset. The robot programmer must be aware of this limitation and take it into consideration when planning the robot programs. To ensure that the 144 revolution limit is not exceeded after running a wrist-winding program several times, you should always let the robot come to a complete stop and reset the absolute position in every program (or cycle/routine/module etc. as necessary). Please note that all axes must remain stopped during the execution of the HollowWristReset instruction. As long as these limitations are taken into consideration, joints 4 and 5 can wind indefinitely and independently of joint 6 during program execution. Please use HollowWristReset instead of IndReset to reset the hollow wrist as this instruction preserves the joint limits for joint 6 in order to prevent too much twisting of the paint tubes/cables. Basic examples Basic examples of the instruction HollowWristReset are illustrated below. Example 1
MoveL p10,v800,fine,paintgun1\WObj:=workobject1; HollowWristReset;

All active axes are stopped by a stop point and the wrist is reset. Limitations All active axes must be stopped while the HollowWristReset instruction is executed. The wrist joints must be reset before any of them reach the 144 revolution limit (i.e. 51840degrees/904rad). Whenever a program stop, emergency stop, power failure stop, etc. occurs, the controller retains the path context in order to be able to return to the path and let the robot continue program execution from the point on the path at which it was stopped. In manual mode, if the manipulator has been moved out of the path between a stop and a restart, the operator is informed by the following message Continues on next page
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1.56 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403 Continued on the FlexPendant: Not on path! Robot has been moved after program stop. Should the robot return to the path on Start? Yes/No/Cancel. This provides an opportunity of returning to the path before restart. In automatic mode, the robot automatically returns to the path. HollowWristReset removes the path context. This means that it is not possible to return to the path in case of a program restart if the HollowWristReset instruction has been executed in the meantime. If this instruction is executed manually (Debug + Call Routine... in the Program Editor) it should only be executed at a time when returning to the path is not required. That is, after a program is completely finished, or an instruction is completely finished in step-by-step execution and the manipulator is not moved out of the path by jogging, etc. Syntax
HollowWristReset ;

Related information
For information about Related system parameters Return to path See Technical reference manual - System parameters Technical reference manual - RAPID overview

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1.57 IDelete - Cancels an interrupt

1.57 IDelete - Cancels an interrupt

Usage IDelete (Interrupt Delete) is used to cancel (delete) an interrupt subscription. If the interrupt is to be only temporarily disabled, the instruction ISleep or IDisable should be used. Basic examples Basic examples of the instruction IDelete are illustrated below. Example 1
IDelete feeder_low;

The interrupt feeder_low is cancelled. Arguments

IDelete Interrupt

Interrupt Data type: intnum The interrupt identity. Program execution The definition of the interrupt is completely erased. To define it again it must first be re-connected to the trap routine. It is recommended to preceed IDelete with a stop point. Otherwise the interrupt will be deactivated before the end point of the movement path is reached. Interrupts do not have to be erased; this is done automatically when Syntax
IDelete [ Interrupt := ] < variable (VAR) of intnum > ;

a new program is loaded the program is restarted from the beginning the program pointer is moved to the start of a routine

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information about interrupt manage- Technical reference manual - RAPID overview ment Temporarily disabling an interrupt Temporarily disabling all interrupts ISleep - Deactivates an interrupt on page 205 IDisable - Disables interrupts on page 133

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1.58 IDisable - Disables interrupts

1.58 IDisable - Disables interrupts

Usage IDisable(Interrupt Disable) is used to disable all interrupts temporarily. It may, for example, be used in a particularly sensitive part of the program where no interrupts may be permitted to take place in case they disturb normal program execution. Basic examples Basic examples of the instruction IDisable are illustrated below. Example 1
IDisable; FOR i FROM 1 TO 100 DO character[i]:=ReadBin(sensor); ENDFOR IEnable;

No interrupts are permitted as long as the serial channel is reading. Program execution Interrupts that occur during the time in which an IDisable instruction is in effect are placed in a queue. When interrupts are permitted once more, then the interrupt(s) immediately begin generating, executed in first in - first out order in the queue. IEnable is active by default. IEnable is automatically set Syntax
IDisable;

at a cold start-up when starting program execution from the beginning of main after executing one cycle (passing main) or executing ExitCycle

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information about interrupt manage- Technical reference manual - RAPID overview ment Permitting interrupts IEnable - Enables interrupts on page 134

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1.59 IEnable - Enables interrupts

1.59 IEnable - Enables interrupts

Usage IEnable(Interrupt Enable) is used to enable interrupts during program execution. Basic examples Basic examples of the instruction IEnable are illustrated below. Example 1
IDisable; FOR i FROM 1 TO 100 DO character[i]:=ReadBin(sensor); ENDFOR IEnable;

No interrupts are permitted as long as the serial channel is reading. When it has finished reading interrupts are once more permitted. Program execution Interrupts which occur during the time in which an IDisable instruction is in effect are placed in a queue. When interrupts are permitted once more (IEnable), the interrupt(s) then immediately begin generating, executed in first in - first out order in the queue. Program execution then continues in the ordinary program and interrupts which occur after this are dealt with as soon as they occur. Interrupts are always permitted when a program is started from the beginning. Interrupts disabled by the ISleep instruction are not affected by the IEnable instruction. Syntax
IEnable;

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information about interrupt manage- Technical reference manual - RAPID overview ment Permitting no interrupts IDisable - Disables interrupts on page 133

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1.60 IError - Orders an interrupt on errors

1.60 IError - Orders an interrupt on errors

Usage IError (Interrupt Errors) is used to order and enable an interrupt when an error occurs. Error, warning, or state change can be logged with IError. Basic examples Basic examples of the instruction IError are illustrated below. See also More examples on page 136. Example 1
VAR intnum err_int; ... PROC main() CONNECT err_int WITH err_trap; IError COMMON_ERR, TYPE_ALL, err_int;

Orders an interrupt in RAPID and execution of the TRAP routine err_trap each time an error, warning, or state change is generated in the system. Arguments
IError ErrorDomain [\ErrorId] ErrorType Interrupt

ErrorDomain Data type: errdomain The error domain that is to be monitored. Refer to predefined data of type errdomain. To specify any domain use COMMON_ERR. [ \ErrorId ] Data type: num Optionally, the number of a specific error that is to be monitored. The error number must be specified without the first digit (error domain) of the complete error number. E.g. 10008 Program restarted, must be specified as 0008 or only 8. ErrorType Data type: errtype The type of event such as error, warning, or state change that is to be monitored. Refer to predefined data of type errtype. To specify any type use TYPE_ALL. Interrupt Data type: intnum The interrupt identity. This should have been previously connected to a trap routine by means of the instruction CONNECT.

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1.60 IError - Orders an interrupt on errors Continued Program execution The corresponding trap routine is automatically called when an error occurs in the specified domain of the specified type and optionally with the specified error number. When this has been executed, program execution continues from where the interrupt occurred. More examples More examples of the instruction IError are illustrated below.
VAR intnum err_interrupt; VAR trapdata err_data; VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; PROC main() CONNECT err_interrupt WITH trap_err; IError COMMON_ERR, TYPE_ERR, err_interrupt; ... IDelete err_interrupt; ... ENDPROC TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ! Set domain no 1 ... 11 SetGO go_err1, err_domain; ! Set error no 1 ...9999 SetGO go_err2, err_number; ENDTRAP

When an error occurs (only error, not warning or state change) the error number is retrieved in the trap routine, and its value is used to set 2 groups of digital output signals. Limitation It is not possible to order an interrupt on internal errors. In a task of type NORMAL the event will be thrown away during program stop so not all events can be fetched in a NORMAL task. To fetch all events the task must be of static or semi-static type. The same variable for interrupt identity cannot be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum err_interrupt; PROC main ( ) CONNECT err_interrupt WITH err_trap; IError COMMON_ERR, TYPE_ERR, err_interupt; WHILE TRUE DO : : ENDWHILE

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1.60 IError - Orders an interrupt on errors Continued
ENDPROC

Interrupts are activated at the beginning of the program. These instructions in the beginning are then kept outside the main flow of the program.
VAR intnum err_interrupt; PROC main ( ) CONNECT err_interrupt WITH err_trap; IError COMMON_ERR, TYPE_ERR, err_interupt; : : IDelete err_interrupt; ENDPROC

The interrupt is deleted at the end of the program and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
IError [ErrorDomain :=] <expression (IN) of errdomain> [\ErrorId:= <expression (IN) of num>\\ , [ErrorType :=] <expression (IN) of errtype> , [Interrupt :=] <variable (VAR) of intnum>;

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information on interrupt management Technical reference manual - RAPID overview Error domains, predefined constants Error types, predefined constants Get interrupt data for current TRAP Gets information about an error errdomain - Error domain on page 1166 errtype - Error type on page 1175 GetTrapData - Get interrupt data for current TRAP on page 124 ReadErrData - Gets information about an error on page 364

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1.61 IF - If a condition is met, then ...; otherwise ...

1.61 IF - If a condition is met, then ...; otherwise ...

Usage IF is used when different instructions are to be executed depending on whether a condition is met or not. Basic examples Basic examples of the instruction IF are illustrated below. See also More examples on page 138. Example 1
IF reg1 > 5 THEN Set do1; Set do2; ENDIF

The do1 and do2 signals are set only if reg1 is greater than 5. Example 2
IF reg1 > 5 THEN Set do1; Set do2; ELSE Reset do1; Reset do2; ENDIF

The do1 and do2 signals are set or reset depending on whether reg1 is greater than 5 or not. Arguments
IF Condition THEN ... {ELSEIF Condition THEN ...} [ELSE ...] ENDIF

Condition Data type: bool The condition that must be satisfied for the instructions between THEN and ELSE/ELSEIF to be executed. More examples More examples of how to use the instruction IF are illustrated below. Example 1
IF counter > 100 THEN counter := 100; ELSEIF counter < 0 THEN counter := 0; ELSE counter := counter + 1;

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1.61 IF - If a condition is met, then ...; otherwise ... Continued
ENDIF

Counter is incremented by 1. However, if the value of counter is outside the limit 0-100, counter is assigned the corresponding limit value. Program execution The conditions are tested in sequential order, until one of them is satisfied. Program execution continues with the instructions associated with that condition. If none of the conditions are satisfied, program execution continues with the instructions following ELSE. If more than one condition is met, only the instructions associated with the first of those conditions are executed. Syntax
(EBNF) IF <conditional expression> THEN <instruction list> {ELSEIF <conditional expression> THEN <instruction list> | <EIT>} [ELSE <instruction list>] ENDIF

Related information
For information about Conditions (logical expressions) See Technical reference manual - RAPID overview, section Basic characteristics - Expressions

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1.62 Incr - Increments by 1

1.62 Incr - Increments by 1

Usage Incr is used to add 1 to a numeric variable or persistent. Basic examples Basic examples of the instruction Incr are illustrated below. See also More examples on page 140. Example 1
Incr reg1;

1 is added to reg1, i.e. reg1:=reg1+1. Arguments

Incr Name | Dname

Name Data type: num The name of the variable or persistent to be changed. Dname Data type: dnum The name of the variable or persistent to be changed. More examples More examples of the instruction Incr are illustrated below. Example 1
VAR num no_of_parts:=0; ... WHILE stop_production=0 DO produce_part; Incr no_of_parts; TPWrite "No of produced parts= "\Num:=no_of_parts; ENDWHILE

The number of parts produced is updated each cycle on the FlexPendant. Production continues to run as long as the input signal stop_production is not set. Example 2
VAR dnum no_of_parts:=0; ... WHILE stop_production=0 DO produce_part; Incr no_of_parts; TPWrite "No of produced parts= "\Dnum:=no_of_parts; ENDWHILE

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1.62 Incr - Increments by 1 Continued The number of parts produced is updated each cycle on the FlexPendant. Production continues to run as long as the input signal stop_production is not set. Syntax
Incr [ Name := ] < var or pers (INOUT) of num > | [ Dname := ] < var or pers (INOUT) of dnum > ;

Related information
For information about Decrementing a variable by 1 Adding any value to a variable See Decr - Decrements by 1 on page 90 Add - Adds a numeric value on page 23

Changing data using an arbitrary ex- ":=" - Assigns a value on page 28 pression, e.g. multiplication

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1.63 IndAMove - Independent absolute position movement

1.63 IndAMove - Independent absolute position movement

Usage IndAMove(Independent Absolute Movement) is used to change an axis to independent mode and move the axis to a specific position. An independent axis is an axis moving independently of other axes in the robot system. As program execution immediately continues, it is possible to execute other instructions (including positioning instructions) during the time the independent axis is moving. If the axis is to be moved within a revolution, the instruction IndRMove should be used instead. If the move is to occur a short distance from the current position, the instruction IndDMove must be used. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction IndAMove are illustrated below. See also More examples on page 144. Example 1
IndAMove Station_A,2\ToAbsPos:=p4,20;

Axis 2 of Station_A is moved to the position p4 at the speed 20 degrees/s. Arguments

IndAMove MecUnit Axis [\ToAbsPos] | [\ToAbsNum] Speed [\Ramp]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6) [\ToAbsPos] To Absolute Position Data type: robtarget Axis position specified as a robtarget. Only the component for this specific Axis is used. The value is used as an absolute position value in degrees (mm for linear axes). The axis position will be affected if the axis is displaced using the instruction EOffsSet or EOffsOn. For robot axes the argument \ToAbsNum is to be used instead. [\ToAbsNum] To Absolute Numeric value Continues on next page
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1.63 IndAMove - Independent absolute position movement Continued Data type: num Axis position defined in degrees (mm for linear axis). Using this argument, the position will NOT be affected by any displacement, e.g. EOffsSet or PDispOn. Same function as \ToAbsPos but the position is defined as a numeric value to make it easy to manually change the position. Speed Data type: num Axis speed in degrees/s (mm/s for linear axis). [\Ramp] Data type: num Decrease acceleration and deceleration from maximum performance (1-100%,100%=maximumperformance). Program execution When IndAMove is executed the specified axis moves with the programmed speed to the specified axis position. If \Ramp is programmed there will be a reduction of acceleration/deceleration. To change the axis back to normal mode the IndReset instruction is used. In connection with this the logical position of the axis can be changed so that a number of revolutions are erased from the position, for example, to avoid rotating back for the next movement. The speed can be altered by executing another IndAMove instruction (or another IndXMove instruction). If a speed in the opposite direction is selected the axis stops and then accelerates to the new speed and direction. For stepwise execution of the instruction the axis is set in independent mode only. The axis begins its movement when the next instruction is executed and continues as long as program execution takes place. For more information see RAPID reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution - Independent axes. When the program pointer is moved to the start of the program or to a new routine all axes are automatically set to normal, without changing the measurement system (equivalent to executing the instruction IndReset\Old). Note An IndAMove instruction after an IndCMove operation can result in the axis spinning back to the movement performed in the IndCMove instruction. To prevent this, use an IndReset instruction before the IndAMove, or use an IndRMove instruction.

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1.63 IndAMove - Independent absolute position movement Continued Limitations Axes in independent mode cannot be jogged. If an attempt is made to execute the axis manually, the axis will not move and an error message will be displayed. Execute an IndReset instruction or move the program pointer to main in order to leave independent mode. If a power fail occurs when an axis is in independent mode the program cannot be restarted. An error message is displayed and the program must be started from the beginning. The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution - Independent axes). More examples More examples of the instruction IndAMove are illustrated below. Example 1
ActUnit Station_A; weld_stationA; IndAMove Station_A,1\ToAbsNum:=90,20\Ramp:=50; ActUnit Station_B; weld_stationB_1; WaitUntil IndInpos(Station_A,1 ) = TRUE; WaitTime 0.2; DeactUnit Station_A; weld_stationB_2;

Station_A is activated and the welding is started in station A. Station_A (axis 1) is then moved to the 90 degrees position while the robot is welding in station B. The speed of the axis is 20 degrees/s. The speed is changed with acceleration/deceleration reduced to 50% of max performance. When station A reaches this position it is deactivated, and reloading can take place in the station at the same time as the robot continues to weld in station B. Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can then be handled in the error handler. Syntax
IndAMove [ MecUnit:= ] < variable (VAR) of mecunit> , [ Axis:= ] < expression (IN) of num> [ \ToAbsPos:= < expression (IN) of robtarget> ] | [ \ ToAbsNum:= < expression (IN) of num> ] , [ Speed := ] < expression (IN) of num> [ \ Ramp:= < expression (IN) of num > ] ;

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1.63 IndAMove - Independent absolute position movement Continued Related information
For information about Independent axes in general Independent Axis Change back to normal mode Reset the measurement system Other independent axis movement See Technical reference manual - RAPID overview Application manual - Motion functions and events IndReset - Independent reset on page 153 IndReset - Independent reset on page 153 IndRMove - Independent relative position movement on page 158 IndDMove - Independent delta position movement on page 150 IndCMove - Independent continuous movement on page 146

Check the speed status for independent axes IndSpeed - Independent speed status on page 928 Check the position status for independent axes Defining independent joints IndInpos - Independent axis in position status on page 926 Technical reference manual - System parameters

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1.64 IndCMove - Independent continuous movement

1.64 IndCMove - Independent continuous movement

Usage IndCMove (Independent Continuous Movement) is used to change an axis to independent mode and start the axis moving continuously at a specific speed. An independent axis is an axis moving independently of other axes in the robot system. As program execution continues immediately it is possible to execute other instructions (including positioning instructions) during the time the independent axis is moving. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction IndCMove are illustrated below. See also More examples on page 147. Example 1
IndCMove Station_A,2,-30.5;

Axis 2 of Station_A starts to move in a negative direction at a speed of 30.5 degrees/s. Arguments
IndCMove MecUnit Axis Speed [\Ramp]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). Speed Data type: num Axis speed in degrees/s (mm/s for linear axis). The direction of movement is specified with the sign of the speed argument. [\Ramp] Data type: num Decrease acceleration and deceleration from maximum performance (1-100%,100%=maximumperformance). Program execution When IndCMove is executed the specified axis starts to move with the programmed speed. The direction of movement is specified as the sign of the speed argument. If \Ramp is programmed there will be a reduction of acceleration/deceleration. Continues on next page
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1.64 IndCMove - Independent continuous movement Continued To change the axis back to normal mode the IndReset instruction is used. The logical position of the axis can be changed in connection with this - a number of full revolutions can be erased, for example, to avoid rotating back for the next movement. The speed can be changed by executing a further IndCMove instruction. If a speed in the opposite direction is ordered the axis stops and then accelerates to the new speed and direction. To stop the axis, speed argument 0 can be used. It will then still be in independent mode. During stepwise execution of the instruction the axis is set in independent mode only. The axis starts its movement when the next instruction is executed and continues as long as program execution continues. For more information see RAPID reference manual - RAPID overview, section Motion and I/O principles Positioning during program execution - Independent axes. When the program pointer is moved to the beginning of the program or to a new routine, all axes are set automatically to normal mode without changing the measurement system (equivalent to executing the instruction IndReset\Old). Limitations The resolution of the axis position worsens the further it is moved from its logical zero position (usually the middle of the working area). To achieve high resolution again the logical working area can be set to zero with the instruction IndReset. For more information see RAPID reference manual - RAPID overview, section Motion and I/O Principles - Positioning during program execution - Independent axes. Axes in independent mode cannot be jogged. If an attempt is made to execute the axis manually, the axis will not move, and an error message will be displayed. Execute an IndReset instruction or move the program pointer to main in order to leave independent mode. If a power fail occurs when the axis is in independent mode the program cannot be restarted. An error message is displayed, and the program must be started from the beginning. The instruction is not advisable for coupled robot wrist axes (see RAPID Reference Manual- RAPID overview, section Motion and I/O principles - Positioning during program execution- Independent Axes). More examples More examples of the instruction IndCMove are illustrated below.
IndCMove Station_A,2,20; WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE; WaitTime 0.2; MoveL p10, v1000, fine, tool1; IndCMove Station_A,2,-10\Ramp:=50; MoveL p20, v1000, z50, tool1; IndRMove Station_A,2 \ToRelPos:=p1 \Short,10; MoveL p30, v1000, fine, tool1; WaitUntil IndInpos(Station_A,2 ) = TRUE; WaitTime 0.2;

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1.64 IndCMove - Independent continuous movement Continued
IndReset Station_A,2 \RefPos:=p40\Short; MoveL p40, v1000, fine, tool1;

Axis 2 of Station_A starts to move in a positive direction at a speed of 20 degrees/s. When this axis has reached the selected speed the robot axes start to move. When the robot reaches position p10 the external axis changes direction and rotates at a speed of 10 degrees/s. The change of speed is performed with acceleration/deceleration reduced to 50% of maximum performance. At the same time, the robot executes towards p20. Axis 2 of Station_A is then stopped as quickly as possible in position p1 within the current revolution. When axis 2 has reached this position, and the robot has stopped in position p30, axis 2 returns to normal mode again. The measurement system offset for this axis is changes a whole number of axis revolutions so that the actual position is as close as possible to p40. When the robot is then moved to position p40, axis 2 of Station_A will be moved by the instruction MoveL p40 via the shortest route to position p40 (max 180 degrees). Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can then be handled in the error handler. Syntax
IndCMove [ MecUnit:= ] < variable (VAR) of mecunit> , [ Axis:= ] < expression (IN) of num> , [ Speed := ] < expression (IN) of num> [ \ Ramp:= < expression (IN) of num > ] ;

Related information
For information about Independent axes in general Independent Axis Change back to normal mode Reset the measurement system Other independent axis movement See Technical reference manual - RAPID overview Application manual - Motion functions and events IndReset - Independent reset on page 153 IndReset - Independent reset on page 153 IndAMove - Independent absolute position movement on page 142 IndRMove - Independent relative position movement on page 158 IndDMove - Independent delta position movement on page 150

Check the speed status for independent IndSpeed - Independent speed status on page 928 axes Check the position status for independ- IndInpos - Independent axis in position status on ent axes page 926

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1.64 IndCMove - Independent continuous movement Continued
For information about Defining independent joints See Technical reference manual - System parameters

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1.65 IndDMove - Independent delta position movement

1.65 IndDMove - Independent delta position movement

Usage IndDMove(Independent Delta Movement) is used to change an axis to independent mode and move the axis to a specific distance. An independent axis is an axis moving independently of other axes in the robot system. As program execution continues immediately it is possible to execute other instructions (including positioning instructions) during the time the independent axis is moving. If the axis is to be moved to a specific position, the instruction IndAMove or IndRMove must be used instead. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction IndDMove are illustrated below. See also More examples on page 151. Example 1
IndDMove Station_A,2,-30,20;

Axis 2 of Station_A is moved 30 degrees in a negative direction at a speed of 20 degrees/s. Arguments

IndDMove MecUnit Axis Delta Speed [\Ramp]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). Delta Data type: num The distance which the current axis is to be moved, expressed in degrees (mm for linear axes). The sign specifies the direction of movement. Speed Data type: num Axis speed in degrees/s (mm/s for linear axis). [ \Ramp ] Data type: num

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1.65 IndDMove - Independent delta position movement Continued Decrease acceleration and deceleration from maximum performance (1-100%,100%=maximumperformance). Program execution When IndDMove is executed the specified axis moves with the programmed speed to the specified distance. The direction of movement is specified as the sign of the Delta argument. If \Ramp is programmed there will be a reduction of acceleration/deceleration. If the axis is moving the new position is calculated from the momentary position of the axis when the instruction IndDMove is executed. If an IndDMove instruction with distance 0 is executed and the axis is already moving position, the axis will stop and then move back to the position which the axis had when the instruction was executed. To change the axis back to normal mode the IndReset instruction is used. The logical position of the axis can be changed in connection with this - a number of full revolutions can be erased from the position, for example, to avoid rotating back for the next movement. The speed can be changed by running a further IndDMove instruction (or another IndXMove instruction). If a speed in the opposite direction is selected the axis stops and then accelerates to the new speed and direction. During stepwise execution of the instruction the axis is set in independent mode only. The axis starts its movement when the next instruction is executed and continues as long as program execution continues. For more information see RAPID reference manual - RAPID overview, section Motion and I/O principles Positioning during program execution - Independent axes. When the program pointer is moved to the beginning of the program, or to a new routine, all axes are automatically set to normal mode without changing the measurement system (equivalent to running the instruction IndReset \Old). Limitations Axes in independent mode cannot be jogged. If an attempt is made to execute the axis manually the axis will not move, and an error message will be displayed. Execute an IndReset instruction or move the program pointer to main in order to leave independent mode. If a loss of power fail occurs when the axis is in independent mode the program cannot be restarted. An error message is displayed, and the program must be started from the beginning. The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution - Independent axes. More examples More examples of the instruction IndDMove are illustrated below. Example 1
IndAMove ROB_1,6\ToAbsNum:=90,20; WaitUntil IndInpos(ROB_1,6) = TRUE;

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1.65 IndDMove - Independent delta position movement Continued
WaitTime 0.2; IndDMove Station_A,2,-30,20; WaitUntil IndInpos(ROB_1,6) = TRUE; WaitTime 0.2; IndDMove ROB_1,6,400,20;

Axis 6 of the robot is moved to the following positions: Error handling If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT. This error can then be handled in the error handler. Syntax
IndDMove [ MecUnit:= ] < variable (VAR) of mecunit> , [ Axis:= ] < expression (IN) of num> , [ Delta:= ] < expression (IN) of num>, [ Speed := ] < expression (IN) of num> [ \ Ramp:= < expression (IN) of num > ] ;

90 degrees 60 degrees 460 degrees (1 revolution + 100 degrees)

Related information
For information about Independent axes in general Independent Axis Change back to normal mode Reset the measurement system Other independent axis movement See Technical reference manual - RAPID overview Application manual - Motion functions and events IndReset - Independent reset on page 153 IndReset - Independent reset on page 153 IndAMove - Independent absolute position movement on page 142 IndRMove - Independent relative position movement on page 158 IndCMove - Independent continuous movement on page 146

Check the speed status for independent IndSpeed - Independent speed status on page 928 axes Check the position status for independ- IndInpos - Independent axis in position status on ent axes page 926 Defining independent joints Technical reference manual - System parameters

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1.66 IndReset - Independent reset

1.66 IndReset - Independent reset

Usage IndReset (Independent Reset) is used to change an independent axis back to normal mode. At the same time, the measurement system for rotational axes can be moved a number of axis revolutions. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction IndReset are illustrated below. See also More examples on page 156.
IndCMove Station_A,2,5; MoveL *,v1000,fine,tool1; IndCMove Station_A,2,0; WaitUntil IndSpeed(Station_A,2\ZeroSpeed); WaitTime 0.2 IndReset Station_A,2;

Axis 2 of Station_A is first moved in independent mode and then changed back to normal mode. The axis will keep its position. Note The current independent axis and the normal axes should not move when the instruction IndReset is executed. That is why previous position is a stop point, and an IndCMove instruction is executed at zero speed. Furthermore, a pause of 0.2 seconds is used to ensure that the correct status has been achieved. Arguments
IndReset MecUnit Axis [\RefPos] | [\RefNum] [\Short] | [\Fwd] |[\Bwd] | \Old]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). [ \RefPos ] Reference Position Data type: robtarget Reference axis position specified as a robtarget. Only the component for this specific Axis is used. The position must be inside the normal working range. For robot axes, the argument \RefNum is to be used instead. Continues on next page
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1 Instructions
1.66 IndReset - Independent reset Continued The argument is only to be defined together with the argument \Short, \Fwd or \Bwd. It is not allowed together with the argument \Old. [ \RefNum ] Reference Numeric value Data type: num Reference axis position defined in degrees (mm for linear axis). The position must be inside the normal working range. The argument is only to be defined together with the argument \Short, \Fwd or \Bwd. It is not allowed together with the argument \Old. Same function as \RefPos but the position is defined as a numeric value to make it easy to change the position manually. [ \Short ] Data type: switch The measurement system will change a whole number of revolutions on the axis side so that the axis will be as close as possible to the specified \RefPos or \RefNum position. If a positioning instruction with the same position is executed after IndReset the axis will travel the shortest route, less than 180 degrees, in order to reach the position. [ \Fwd ] Forward Data type: switch The measurement system will change a whole number of revolutions on the axis side so that the reference position will be on the positive side of the specified \RefPos or \RefNum position. If a positioning instruction with the same position is executed after IndReset, the axis will turn in a positive direction less than 360 degrees in order to reach the position. [ \Bwd ] Backward Data type: switch The measurement system will change a whole number of revolutions on the axis side so that the reference position will be on the negative side of the specified \RefPos or \RefNum position. If a positioning instruction with the same position is executed after IndReset, the axis will turn in a negative direction less than 360 degrees in order to reach the position. [ \Old ] Data type: switch Keeps the old position.

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1.66 IndReset - Independent reset Continued

Note Resolution is decreased in positions far away from zero. If no argument \Short, \Fwd, \Bwd or \Old is specified - \Old is used as default value. Program execution When IndReset is executed it changes the independent axis back to normal mode. At the same time the measurement system for the axis can be moved by a whole number of axis revolutions. The instruction may also be used in normal mode in order to change the measurement system. Note The position is used only to adjust the measurement system - the axis will not move to the position. Limitations The instruction may only be executed when all active axes running in normal mode are standing still. All active axes in every mechanical unit connected to the same motion planner need to stand still. The independent mode axis which is going to be changed to normal mode must also be stationary. For axes in normal mode this is achieved by executing a move instruction with the argument fine. The independent axis is stopped by an IndCMove with Speed:=0 (followed by a wait period of 0.2 seconds), IndRMove, IndAMove, or IndDMove instruction. The resolution of positions is decreased when moving away from logical position 0. An axis which progressively rotates further and further from the position 0 should thus be set to zero using the instruction IndReset with an argument other than \Old. The measurement system cannot be changed for linear axes. To ensure a proper start after IndReset of an axis with a relative measured measurement system (synchronization switches) an extra time delay of 0.12 seconds must be added after the IndReset instruction. Only robot axis 6 can be used as independent axis. The IndReset instruction can also be used for axis 4 on IRB 1600, 2600 and 4600 models (not for ID version). If IndReset is used on robot axis 4 then axis 6 must not be in the independent mode. If this instruction is preceded by a move instruction, that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. IndReset cannot be executed in a RAPID routine connected to any of following special system events: PowerOn, Stop, QStop, Restart or Step. IndReset only switches the independent state for an axis. It cannot be used to stop an independent movement. To stop an independent movement it has to reach a stop condition or the user has to for example move PP to main. Continues on next page
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1.66 IndReset - Independent reset Continued More examples More examples of the instruction IndReset are illustrated below. Example 1
IndAMove Station_A,1\ToAbsNum:=750,50; WaitUntil IndInpos(Station_A,1); WaitTime 0.2; IndReset Station_A,1 \RefNum:=0 \Short; IndAMove Station_A,1\ToAbsNum:=750,50; WaitUntil IndInpos(Station_A,1); WaitTime 0.2; IndReset Station_A,1 \RefNum:=300 \Short;

Axis 1 in Station_A is first moved independently to the 750 degrees position (2 revolutions and 30 degrees). At the same time as it changes to normal mode the logical position is set to 30 degrees. Axis 1 in Station_A is subsequently moved to the 750 degrees position (2 revolutions and 30 degrees). At the same time as it changes to normal mode the logical position is set to 390degrees (1 revolution and 30 degrees). Error handling If the axis is moving the system variable ERRNO is set to ERR_AXIS_MOVING. If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can then be handled in the error handler. Syntax
IndReset [ MecUnit:= ] < variable (VAR) of mecunit> , [ Axis:= ] < expression (IN) of num> [ \ RefPos:= < expression (IN) of robtarget> ] | [ \ RefNum:= < expression (IN) of num> ] [ \ Short ] | [ \ Fwd ] | [ \ Bwd ] | [ \ Old ];

Related information
For information about Independent axes in general Independent Axis Change an axis to independent mode See Technical reference manual - RAPID overview Application manual - Motion functions and events IndAMove - Independent absolute position movement on page 142 IndCMove - Independent continuous movement on page 146 IndDMove - Independent delta position movement on page 150 IndRMove - Independent relative position movement on page 158

Check the speed status for independent IndSpeed - Independent speed status on page 928 axes Check the position status for independ- IndInpos - Independent axis in position status on ent axes page 926

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1.66 IndReset - Independent reset Continued
For information about Defining independent joints See Technical reference manual - System parameters

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1.67 IndRMove - Independent relative position movement

1.67 IndRMove - Independent relative position movement

Usage IndRMove (Independent Relative Movement) is used to change a rotational axis to independent mode and move the axis to a specific position within one revolution. An independent axis is an axis moving independently of other axes in the robot system. As program execution continues immediately it is possible to execute other instructions (including positioning instructions) during the time the independent axis is moving. If the axis is to be moved to an absolute position (several revolutions) or if the axis is linear, the instruction IndAMove is used instead. If the movement is to take place a certain distance from the current position the instruction IndDMove must be used. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction IndRMove are illustrated below. See also More examples on page 160. Example 1
IndRMove Station_A,2\ToRelPos:=p5 \Short,20;

Axis 2 of Station_A is moved the shortest route to position p5 within one revolution (maximum rotation 180 degrees) at a speed of 20 degrees/s. Arguments
IndRMove MecUnit Axis [\ToRelPos] | [\ToRelNum] [\Short] | [\Fwd] | [\Bwd] Speed [\Ramp]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). [ \ToRelPos ] To Relative Position Data type: robtarget Axis position specified as a robtarget. Only the component for this specific Axis is used. The value is used as a position value in degrees within one axis revolution. This means that the axis moves less than one revolution. The axis position will be affected if the axis is displaced using the instruction EOffsSet or EOffsOn. Continues on next page
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1.67 IndRMove - Independent relative position movement Continued For robot axes the argument \ToRelNum is to be used instead. [ \ToRelNum ] To Relative Numeric value Data type: num Axis position defined in degrees. Using this argument the position will NOT be affected by any displacement, e.g. EOffsSet or PDispOn. Same function as \ToRelPos but the position is defined as a numeric value to make it easy to change the position manually. [ \Short ] Data type: switch The axis is moved the shortest route to the new position. This means that the maximum rotation will be 180 degrees in any direction. The direction of movement therefore depends on the current location of the axis. [ \Fwd ] Forward Data type: switch The axis is moved in a positive direction to the new position. This means that the maximum rotation will be 360 degrees and always in a positive direction (increased position value). [ \Bwd ] Backward Data type: switch The axis is moved in a negative direction to the new position. This means that the maximum rotation will be 360 degrees and always in a negative direction (decreased position value). If \Short, \Fwd or \Bwd argument is omitted, \Short is used as default value. Speed Data type: num Axis speed in degrees/s. [ \Ramp ] Data type: num Decrease acceleration and deceleration from maximum performance (1-100%,100%=maximumperformance). Program execution When IndRMove is executed the specified axis moves with the programmed speed to the specified axis position, but only a maximum of one revolution. If \Ramp is programmed there will be a reduction of acceleration/deceleration. To change the axis back to normal mode the IndReset instruction is used. The logical position of the axis can be changed in connection with this - a number of Continues on next page
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1 Instructions
1.67 IndRMove - Independent relative position movement Continued full revolutions can be erased from the position, for example, to avoid rotating back for the next movement. The speed can be changed by running a further IndRMove instruction (or another IndXMove instruction). If a speed in the opposite direction is selected the axis stops and then accelerates to the new speed and direction. During stepwise execution of the instruction the axis is set in independent mode only. The axis starts its movement when the next instruction is executed and continues as long as program execution continues. For more information see RAPID reference manual - RAPID overview, section Motion and I/O principles Positioning during program execution- Independent axes. When the program pointer is moved to the beginning of the program or to a new routine, all axes are automatically set to normal mode without changing the measurement system (equivalent to running the instruction IndReset \Old). Limitations Axes in independent mode cannot be jogged. If an attempt is made to execute the axis manually the axis will not move, and an error message will be displayed. Execute an IndReset instruction or move the program pointer to main in order to leave independent mode. If a power fail occurs when the axis is in independent mode the program cannot be restarted. An error message is displayed, and the program must be started from the beginning. The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual- RAPID overview, section Motion and I/O principles - Positioning during program execution- Independent axes). More examples More examples of the instruction IndRMove are illustrated below. Example 1
IndRMove Station_A,1\ToRelPos:=p5 \Fwd,20\Ramp:=50;

Axis 1 of Station_A starts to move in a positive direction to the position p5 within one revolution (maximum rotation 360 degrees) at a speed of 20 degrees/s. The speed is changed with acceleration/deceleration reduced to 50% of maximum performance.
IndAMove Station_A,1\ToAbsNum:=90,20; WaitUntil IndInpos(Station_A,1 ) = TRUE; IndRMove Station_A,1\ToRelNum:=80 \Fwd,20; WaitTime 0.2; WaitUntil IndInpos(Station_A,1 ) = TRUE; WaitTime 0.2; IndRMove Station_A,1\ToRelNum:=50 \Bwd,20; WaitUntil IndInpos(Station_A,1 ) = TRUE; WaitTime 0.2; IndRMove Station_A,1\ToRelNum:=150 \Short,20; WaitUntil IndInpos(Station_A,1 ) = TRUE; WaitTime 0.2;

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1.67 IndRMove - Independent relative position movement Continued
IndAMove Station_A,1\ToAbsNum:=10,20;

Axis 1 of Station_A is moved to the following positions: Error handling If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can then be handled in the error handler. Syntax
IndRMove [ MecUnit:= ] < variable (VAR) of mecunit> , [ Axis:= ] < expression (IN) of num> [ \ToRelPos:= < expression (IN) of robtargets> ] | [ \ToRelNum:= < expression (IN) of num> ] [ \Short ] | [ \ Fwd ] | [ \ Bwd ] , [ Speed := ] < expression (IN) of num> [ \Ramp:= < expression (IN) of num > ] ;

90 degrees 440 degrees (1 revolution + 80 degrees) 410 degrees (1 revolution + 50 degrees) 510 degrees (1 revolution + 150 degrees) 10 degrees

Related information
For information about Independent axes in general Independent Axis Change back to normal mode Reset the measurement system Other independent axis movement See Technical reference manual - RAPID overview Application manual - Motion functions and events IndReset - Independent reset on page 153 IndReset - Independent reset on page 153 IndAMove - Independent absolute position movement on page 142 IndDMove - Independent delta position movement on page 150 IndCMove - Independent continuous movement on page 146

Check the speed status for independent IndSpeed - Independent speed status on axes page 928 Check the position status for independent IndInpos - Independent axis in position status axes on page 926 Defining independent joints Technical reference manual - System parameters

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1.68 InvertDO - Inverts the value of a digital output signal

1.68 InvertDO - Inverts the value of a digital output signal

Usage InvertDO (Invert Digital Output) inverts the value of a digital output signal (0 -> 1 and 1 -> 0). Basic examples Basic examples of the instruction InvertDO are illustrated below. Example 1
InvertDO do15;

The current value of the signal do15 is inverted. Arguments

InvertDO Signal

Signal Data type: signaldo The name of the signal to be inverted. Program execution The current value of the signal is inverted (see figure below). The figure below shows inversion of digital output signal.

xx0500002164

Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
InvertDO [ Signal := ] < variable (VAR) of signaldo > ;

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1 Instructions
1.68 InvertDO - Inverts the value of a digital output signal Continued Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.69 IOBusStart - Start of I/O bus

1.69 IOBusStart - Start of I/O bus

Usage IOBusStart is used to start a certain I/O bus. Basic examples Basic example of the instruction IOBusStart is illustrated below. Example 1
IOBusStart "IBS";

The instruction start the I/O bus with the name IBS. Arguments
IOBusStart BusName

BusName Data type: string The name of I/O bus to start. Program execution Start the I/O bus with the name specified in the parameter BusName. Error handling The system variable ERRNO will be set to ERR_NAME_INVALID if the I/O bus name does not exist.That error can be handled in an ERROR handler. Syntax
IOBusStart [ BusName := ] < expression (IN) of string>;

Related information
For information about How to get I/O bus state Configuration of I/O See IOBusState - Get current state of I/O bus on page 165 Technical reference manual - System parameters

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1.70 IOBusState - Get current state of I/O bus

1.70 IOBusState - Get current state of I/O bus

Usage IOBusState is used to read the state of a certain I/O bus. Its physical state and logical state define the status for an I/O bus. Basic examples Basic examples of the instruction IOBusState are illustrated below. Example 1
VAR busstate bstate; IOBusState "IBS", bstate \Phys; TEST bstate CASE IOBUS_PHYS_STATE_RUNNING: ! Possible to access the signals on the IBS bus DEFAULT: ! Actions for not up and running IBS bus ENDTEST

The instruction returns the physical I/O bus state of IBS in the bstate variable of type busstate. Example 2
VAR busstate bstate; IOBusState "IBS", bstate \Logic; TEST bstate CASE IOBUS_LOG_STATE_STARTED: ! The IBS bus is started DEFAULT: ! Actions for stopped IBS bus ENDTEST

The instruction returns the logical I/O bus state of IBS in the bstate variable of type busstate. Arguments
IOBusState BusName State [\Phys] | [\Logic]

BusName Data type: string The name of I/O bus to get state about. State Data type: busstate The variable in which the I/O bus state is returned. See predefined data of type busstate below at Program execution. [\Phys] Physical Continues on next page
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1.70 IOBusState - Get current state of I/O bus Continued Data type: switch If using this parameter the physical state of the I/O bus is read. [\Logic] Logical Data type: switch If using this parameter the logical state of the I/O bus is read. Program execution Returning in parameter State the state of the I/O bus is specified in parameter BusName. The I/O bus logical states describe the state a user can order the bus into. The state of the I/O bus is defined in the table below when using optional argument \Logic.
Return value 10 11 Symbolic constant IOBUS_LOG_STATE_STOPPED IOBUS_LOG_STATE_STARTED Comment Bus is stopped due to error 2) Bus is started 1)

The I/O bus physical state describes the state that the fieldbus driver can order the bus into. The state of the I/O bus is defined in the table below when using optional argument \Phys.
Return value 20 21 22 23 24 Symbolic constant IOBUS_PHYS_STATE_HALTED Comment Bus is halted 3)

IOBUS_PHYS_STATE_RUNNING Bus is up and running 1) IOBUS_PHYS_STATE_ERROR Bus is not working 2)

IOBUS_PHYS_STATE_STARTUP Bus is in start up mode, is not communicating with any units. IOBUS_PHYS_STATE_INIT Bus is only created 3)

Note For RobotWare 5.08 and earlier versions it is not possible to use the instruction IOBusState with optional argument \Phys or \Logic. From RobotWare 5.09 it is recommended to use the optional arguments \Phys or \Logic. The state of the I/O bus is defined in the table below when not using any of the optional arguments \Phys or \Logic.
Return value 0 1 2 3 4 Symbolic constant BUSSTATE_HALTED BUSSTATE_RUN BUSSTATE_ERROR BUSSTATE_STARTUP BUSSTATE_INIT Comment Bus is halted3) Bus is up and running 1) Bus is not working 2) Bus is in start up mode, is not communicating with any units. Bus is only created 3)

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1.70 IOBusState - Get current state of I/O bus Continued
1) If the I/O bus is up and running the state returned in argument State in instruction

IOBusState can be either IOBUS_LOG_STATE_STARTED, IOBUS_PHYS_STATE_RUNNING, or BUSSTATE_RUN depending on if optional parameters are used or not in IOBusState.
2) If

the I/O bus is stopped due to some error the state returned in argument State can be either IOBUS_LOG_STATE_STOPPED, IOBUS_PHYS_STATE_ERROR, or BUSSTATE_ERROR depending on if optional parameters are used or not in IOBusState.
3) Not

possible to get this state in the RAPID program with current version of Robotware - OS. Error handling The system variable ERRNO will be set to ERR_NAME_INVALID if the I/O bus name does not exist.That error can be handled in an ERROR handler Syntax
IOBusState [ BusName := ] < expression (IN) of string> , [ State := ] < variable (VAR) of busstate> [ \ Phys] | [ \ Logic];

Related information
For information about Definition of I/O bus state Start of I/O bus See busstate - State of I/O bus on page 1148 IOBusStart - Start of I/O bus on page 164

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.71 IODisable - Disable I/O unit

1.71 IODisable - Disable I/O unit

Usage IODisable is used to deactivate an I/O unit during program execution. I/O units are automatically activated after start-up if they are defined in the system parameters. When required for some reason, I/O units can be deactivated or activated during program execution. Note It is not possible to deactivate an I/O unit with Trustlevel set to Required. Basic examples Basic examples of the instruction IODisable are illustrated below. See also More examples on page 169. Example 1
CONST string cell1:="cell1"; IODisable cell1, 5;

Deactivate an I/O unit with name cell1. Wait max. 5 s. Arguments

IODisable UnitName MaxTime

UnitName Data type: string A name of an I/O unit (the unit name must be present in the system parameters). MaxTime Data type: num The maximum period of waiting time permitted expressed in seconds. If this time runs out before the I/O unit has finished the deactivation steps the error handler will be called, if there is one, with the error code ERR_IODISABLE. If there is no error handler the program execution will be stopped. However, the I/O unit deactivationprocess will always continue regardless of the MaxTime or error. To deactivate an I/O unit takes about 0-5 s. Program execution The specified I/O unit starts the deactivation steps. The instruction is ready when the deactivation steps are finished. If the MaxTime runs out before the I/O unit has finished the deactivation steps, a recoverable error will be generated. After deactivation of an I/O unit, any setting of outputs in this unit will result in an error.

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1.71 IODisable - Disable I/O unit Continued Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to:
ERR_IODISABLE ERR_TRUSTLEVEL ERR_NAME_INVALID if the waiting time expires before the I/O unit is deactivated if the trustlevel on the I/O unit is set to 0, then the I/O unit cant be deactivated. if the I/O unit name does not exist

More examples More examples of the instruction IODisable are illustrated below. Example 1
PROC go_home() VAR num recover_flag :=0; ... ! Start to disable I/O unit cell1 recover_flag := 1; IODisable "cell1", 0; ! Move to home position MoveJ home, v1000,fine,tool1; ! Wait until deactivation of I/O unit cell1 is ready recover_flag := 2; IODisable "cell1", 5; ... ERROR IF ERRNO = ERR_IODISABLE THEN IF recover_flag = 1 THEN TRYNEXT; ELSEIF recover_flag = 2 THEN RETRY; ENDIF ELSEIF ERRNO <> ERR_EXCRTYMAX THEN RAISE; ELSE ErrWrite "IODisable error", "Not possible to disable I/O unit cell1"; Stop; ENDIF ENDPROC

To save cycle time the I/O unit cell1 is deactivated during robot movement to the home position. With the robot at the home position a test is done to establish whether or not the I/O unit cell1 is fully deactivated. After the max. number of retries (5 with a waiting time of 5s), the robot execution will stop with an error message. The same principle can be used with IOEnable (this will save more cycle time compared with IODisable). Syntax
IODisable [ UnitName := ] < expression (IN) of string> ,

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1.71 IODisable - Disable I/O unit Continued
[ MaxTime := ] < expression (IN) of num> ;

Related information
For information about Enabling an I/O unit Input/Output instructions Input/Output functionality in general Configuration of I/O See IOEnable - Enable I/O unit on page 171 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - System parameters

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1.72 IOEnable - Enable I/O unit

1.72 IOEnable - Enable I/O unit

Usage IOEnable is used to activate an I/O unit during program execution. I/O units are automatically activated after start-up if they are defined in the system parameters. When required for some reason I/O units can be deactivated or activated during program execution. The controller action when activating an I/O unit depends on the set unit Trustlevel. See System Parameters Unit Trustlevel. Basic examples Basic examples of the instruction IOEnable are illustrated below. See also More examples on page 172. Example 1
CONST string cell1:="cell1"; IOEnable cell1, 5;

Enable I/O unit with name cell1. Wait max. 5 s. Arguments

IOEnable UnitName MaxTime

UnitName Data type: string A name of an I/O unit (the I/O unit name must be present in the system parameters). MaxTime Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the I/O unit has finished the activation steps the error handler will be called, if there is one, with the error code ERR_IOENABLE. If there is no error handler the execution will be stopped. The I/O unit activation process will however always continue regardless of MaxTime or error. To activate an I/O unit takes about 2-5 s. Program execution The specified I/O unit starts the activation steps. The instruction is ready when the activation steps are finished. If the MaxTime runs out before the I/O unit has finished the activation steps a recoverable error will be generated. After a sequence of IODisable - IOEnable, all outputs for the current I/O unit will be set to the old values (before IODisable). Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to:
ERR_IOENABLE if the time out time runs out before the I/O unit is activated.

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1.72 IOEnable - Enable I/O unit Continued
ERR_NAME_INVALID ERR_BUSSTATE if the I/O unit name does not exist if an IOEnable is done, and the I/O bus is in error state or enter error state before the I/O unit is activated.

More examples IOEnable can also be used to check whether some I/O unit is disconnected for some reason. More examples of how to use the instruction IOEnable are illustrated below. Example 1
VAR num max_retry:=0; ... IOEnable "cell1", 0; SetDO cell1_sig3, 1; ... ERROR IF ERRNO = ERR_IOENABLE THEN WaitTime 1; RETRY; ELSEIF ERRNO <> Err_EXCRTYMAX THEN RAISE; ELSE ErrWrite "IOEnable error", "Not possible to enable I/O unit cell"; Stop; ENDIF ENDIF

Before using signals on the I/O unit cell1, a test is done by trying to activate the I/O unit with timeout after 0 sec. If the test fails a jump is made to the error handler. In the error handler the program execution waits for 1 sec. and a new retry is made. After 5 retry attempts the error ERR_IOENABLE is propagated to the caller of this routine. Syntax
IOEnable [ UnitName := ] < expression (IN) of string> , [ MaxTime := ] < expression (IN) of num > ;

Related information
For information about Disabling an I/O unit Input/Output instructions See IODisable - Disable I/O unit on page 168 Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.73 IPers - Interrupt at value change of a persistent variable

1.73 IPers - Interrupt at value change of a persistent variable

Usage IPers (Interrupt Persistent) is used to order and enable interrupts to be generated when the value of a persistent variable is changed. Basic examples Basic examples of the instruction IPers are illustrated below. Example 1
VAR intnum pers1int; PERS num counter := 0; PROC main() CONNECT pers1int WITH iroutine1; IPers counter, pers1int; ... Idelete pers1int; ENDPROC TRAP iroutine1 TPWrite "Current value of counter = " \Num:=counter; ENDTRAP

Orders an interrupt which is to occur each time the persistent variable counter is changed. A call is then made to the iroutine1 trap routine. Arguments
IPers Name Interrupt

Name Data type: anytype The persistent variable that is to generate interrupts. All type of data could be used such as atomic, record, record component, array, or array element. Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT. Program execution When the persistent variable changes value a call is made to the corresponding trap routine. When this routine has been executed program execution continues from where the interrupt occurred. If the persistent variable changes value during a program stop no interrupt will occur when the program starts again.

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1.73 IPers - Interrupt at value change of a persistent variable Continued Limitations The same variable for interrupt identity cannot be used more than once without first deleting it. See Instructions - ISignalDI. If subscribed on data such as record component or array element specified in parameter Name, the interrupt will occur every time any part of the data is changed. When executing the trap routine and reading the value of the persistent, there is no guarantee that the value read is the one that triggered the interrupt. Syntax
IPers [ Name := ] < persistent (PERS) of anytype > , [ Interrupt := ] < variable (VAR) of intnum > ;

Related information
For information about See

Summary of interrupts and interrupt manage- Technical reference manual - RAPID overment view Interrupt from an input signal Interrupt identity ISignalDI - Orders interrupts from a digital input signal on page 193 intnum - Interrupt identity on page 1185

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1.74 IRMQMessage - Orders RMQ interrupts for a data type

1.74 IRMQMessage - Orders RMQ interrupts for a data type

Usage IRMQMessage (Interrupt RAPID Message Queue Message) is used to order and enable interrupts for a specific data type when using RMQ functionality. Basic examples Basic examples of the instruction IRMQMessage are illustrated below. See also IRMQMessage - Orders RMQ interrupts for a data type on page 175. Example 1
VAR intnum rmqint; VAR string dummy; ... PROC main() CONNECT rmqint WITH iroutine1; IRMQMessage dummy, rmqint;

Orders an interrupt which is to occur each time a new rmqmessage containing the data type string is received. A call is then made to the iroutine1TRAP routine. Arguments
IRMQMessage InterruptDataType Interrupt

InterruptDataType Data type: anytype A reference to a variable, persistent or constant of a data type that will generate an interrupt when a rmqmessage with the specified data type is received. Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a TRAP routine by means of the instruction CONNECT. Program execution When the RMQ message with the specified data type is received, a call is made to the corresponding TRAP routine. When this has been executed, program execution continues from where the interrupt occurred. All messages containing data of the same data type regardless of number of dimensions will be handled by the same interrupt. If using different dimensions, use RMQGetMsgHeader to adapt for this. Any message containing data of a data type that no interrupt is connected to will genererate a warning. The RMQSendWait instruction has the highest priority if a message is received and it fits the description for both the expected answer and a message connected to a TRAP routine with instruction IRMQMessage. Not all data types can be used in argument InterruptDataType (see limitations).

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1.74 IRMQMessage - Orders RMQ interrupts for a data type Continued The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. More examples More examples of how to use the instruction IRMQMessage are illustrated below. Example 1
MODULE ReceiverMod VAR intnum intno1; VAR rmqheader rmqheader1; VAR rmqslot rmqslot1; VAR rmqmessage rmqmessage1; PROC main() VAR string interrupt_on_str := stEmpty; CONNECT intno1 WITH RecMsgs; ! Set up interrupts for data type string IRMQMessage interrupt_on_str, intno1; ! Perform cycle WHILE TRUE DO ... ENDWHILE ENDPROC TRAP RecMsgs VAR string receivestr; VAR string client_name; VAR num userdef; ! Get the message from the RMQ RMQGetMessage rmqmessage1; ! Get information about the message RMQGetMsgHeader rmqmessage1 \Header:=rmqheader1 \SenderId:=rmqslot1 \UserDef:=userdef; IF rmqheader1.datatype = "string" AND rmqheader1.ndim = 0 THEN ! Get the data received in rmqmessage1 RMQGetMsgData rmqmessage1, receivestr; client_name := RMQGetSlotName(rmqslot1); TPWrite "Rec string: " + receivestr; TPWrite "User Def: " + ValToStr(userdef); TPWrite "From: " + client_name; ELSE TPWrite "Faulty data received!"

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1.74 IRMQMessage - Orders RMQ interrupts for a data type Continued
ENDIF ENDTRAP ENDMODULE

The example show how to set up interrupts for a specific data type. When a message is received, the TRAPRecMsgs is executed and the received data in the message is printed to the FlexPendant. If the data type received or the dimension of the data is different from the expected, this is printed to the FlexPendant. Limitations It is not allowed to execute IRMQMessage in synchronous mode. That will cause a fatal runtime error. It is not possible to setup interrupts, send or receive data instances of data types that are of non-value, semi-value types or data type motsetdata. The same variable for interrupt identity can not be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum rmqint; PROC main () VAR mytype dummy; CONNECT rmq1int WITH iroutine1; IRMQMessage dummy, rmqint; WHILE TRUE DO ... ENDWHILE ENDPROC

All activation of interrupts is done at the beginning of the program. These beginning instructions are then kept outside the main flow of the program.
VAR intnum rmqint; PROC main ( ) VAR mytype dummy; CONNECT rmqint WITH iroutine1; IRMQMessage dummy, rmqint; ... IDelete rmqint; ENDPROC

The interrupt is deleted at the end of the program, and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
IRMQMessage [ InterruptDataType := ] < reference (REF) of anytype > [ Interrupt := ] < variable (VAR) of intnum >;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control

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1.74 IRMQMessage - Orders RMQ interrupts for a data type Continued
For information about Send data to the queue of a RAPID task or Robot Application Builder client. See RMQFindSlot - Find a slot identity from the slot name on page 387

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client. Extract the header data from a rmqmessage. RMQGetMsgHeader - Get header information from an RMQ message on page 395 Send data to the queue of a RAPID task or Robot Application Builder client. Extract the data from a rmqmessage. RMQSendMessage - Send an RMQ data message on page 401 RMQGetMsgData - Get the data part from an RMQ message on page 392

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity. client on page 1020

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1.75 ISignalAI - Interrupts from analog input signal

1.75 ISignalAI - Interrupts from analog input signal

Usage ISignalAI (Interrupt Signal Analog Input) is used to order and enable interrupts from an analog input signal. Basic examples Basic examples of the instruction ISignalAI are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;

Orders an interrupt which is to occur the first time the logical value of the analog input signal ai1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap routine. Example 2
ISignalAI ai1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;

Orders an interrupt which is to occur each time the logical value of the analog input signal ai1 is between 0.5 and 1.5, and the absolute signal difference compared to the stored reference value is bigger than 0.1. Example 3
ISignalAI ai1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;

Orders an interrupt which is to occur each time the logical value of the analog input signal ai1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the stored reference value is bigger than 0.1. Arguments
ISignalAI [\Single] | [\SingleSafe] Signal Condition HighValue LowValue DeltaValue[\DPos] | [\DNeg] Interrupt

[\Single] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set, the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied. [\SingleSafe] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Continues on next page
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1.75 ISignalAI - Interrupts from analog input signal Continued Signal Data type: signalai The name of the signal that is to generate interrupts. Condition Data type: aiotrigg Specifies how HighValue and LowValue define the condition to be satisfied:
Value 1 2 3 4 5 6 7 Symbolic constant AIO_ABOVE_HIGH AIO_BELOW_HIGH AIO_ABOVE_LOW AIO_BELOW_LOW AIO_BETWEEN AIO_OUTSIDE AIO_ALWAYS Comment Signal will generate interrupts if above specified high value Signal will generate interrupts if below specified high value Signal will generate interrupts if above specified low value Signal will generate interrupts if below specified low value Signal will generate interrupts if between specified low and high values Signal will generate interrupts if below specified low value or above specified high value Signal will always generate interrupts

HighValue Data type: num High logical value to define the condition. LowValue Data type: num Low logical value to define the condition. DeltaValue Data type: num Defines the minimum logical signal difference before generation of a new interrupt. The current signal value compared to the stored reference value must be greater than the specified DeltaValue before generation of a new interrupt. [\DPos] Data type: switch Specifies that only positive logical signal differences will give new interrupts. [\DNeg] Data type: switch Specifies that only negative logical signal differences will give new interrupts. If none of \DPos and \DNeg argument is used, both positive and negative differences will generate new interrupts. Interrupt Data type: intnum The interrupt identity. This interrupt should have previously been connected to a trap routine by means of the instruction CONNECT. Continues on next page
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1.75 ISignalAI - Interrupts from analog input signal Continued Program execution When the signal fulfils the specified conditions (both Condition and DeltaValue) a call is made to the corresponding trap routine. When this has been executed, program execution continues from where the interrupt occurred. Conditions for interrupt generation Before the interrupt subscription is ordered, each time the signal is sampled, the value of the signal is read, saved, and later used as a reference value for the DeltaValue condition. At the interrupt subscription time if specified DeltaValue = 0 and after the interrupt subscription time, the signal is sampled. The signal value is then compared to HighValue and LowValue according to Condition and with consideration to DeltaValue to decide if an interrupt should be generated or not. If the new read value satisfies the specified HighValue and LowValueCondition, but its difference compared to the last stored reference value is less or equal to the DeltaValue argument, no interrupt occurs. If the signal difference is not in the specified direction no interrupts will occur (argument\DPos or \DNeg). The stored reference value for the DeltaValue condition is updated with a newly read value for later use at any sample if the following conditions are satisfied: Argument Condition with specified HighValue and LowValue (within limits) Argument DeltaValue (sufficient signal change in any direction independently of specified switch \DPos or \DNeg)

The reference value is only updated at the sample time, not at the interrupt subscription time. An interrupt is also generated at the sample for update of the reference value if the direction of the signal difference is in accordance with the specified argument (any direction, \DPos0, or \DNeg). When the \Single switch is used only one interrupt at the most will be generated. If the switch \Single (cyclic interrupt) is not used a new test of the specified conditions (both Condition and DeltaValue) is made at every sample of the signal value. A comparison is made between the current signal value and the last stored reference value to decide if an interrupt should be generated or not.

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1.75 ISignalAI - Interrupts from analog input signal Continued Condition for interrupt generation at interrupt subscription time

xx0500002165

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1.75 ISignalAI - Interrupts from analog input signal Continued Condition for interrupt generation at each sample after interrupt subscription

xx0500002166

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1.75 ISignalAI - Interrupts from analog input signal Continued Example 1 of interrupt generation

xx0500002167

Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give the following results:
ISignalAI ai1, AIO_BETWEEN, 6.1, 2.2, 1.0, sig1int;

Sample 1 will generate an interrupt because the signal value is between HighValue and LowValue and the signal difference compared to Sample 0 is more than DeltaValue. Sample 2 will generate an interrupt because the signal value is between HighValue and LowValue and the signal difference compared to Sample 1 is more than DeltaValue. Samples 3, 4, 5 will not generate any interrupt because the signal difference is less than DeltaValue. Sample 6 will generate an interrupt. Samples 7 to 10 will not generate any interrupt because the signal is above HighValue. Sample 11 will not generate any interrupt because the signal difference compared to Sample 6 is equal to DeltaValue. Sample 12 will not generate any interrupt because the signal difference compared to Sample 6 is less than DeltaValue.

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1.75 ISignalAI - Interrupts from analog input signal Continued Example 2 of interrupt generation

xx0500002168

Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give the following results:
ISignalAI ai1, AIO_BETWEEN, 6.1, 2.2, 1.0 \DPos, sig1int;

A new reference value is stored at sample 1 and 2 because the signal is within limits and the absolute signal difference between the current value and the last stored reference value is greater than 1.0. No interrupt will be generated because the signal changes are in the negative direction. Sample 6 will generate an interrupt because the signal value is between HighValue and LowValue, and the signal difference in the positive direction compared to sample 2 is more than DeltaValue.

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1.75 ISignalAI - Interrupts from analog input signal Continued Example 3 of interrupt generation

xx0500002169

Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give the following results:
ISignalAI \Single, ai1, AIO_OUTSIDE, 6.1, 2.2, 1.0 \DPos, sig1int;

A new reference value is stored at sample 7 because the signal is within limits and the absolute signal difference between the current value and the last stored reference value is greater than 1.0 sample 8 will generate an interrupt because the signal value is above HighValue, and the signal difference in the positive direction compared to sample 7 is more than DeltaValue.

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1.75 ISignalAI - Interrupts from analog input signal Continued Example 4 of interrupt generation

xx0500002170

Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give the following results:
ISignalAI ai1, AIO_ALWAYS, 6.1, 2.2, 1.0 \DPos, sig1int;

A new reference value is stored at sample 1 and 2 because the signal is within limits and the absolute signal difference between the current value and the last stored reference value is greater than 1.0 Sample 6 will generate an interrupt because the signal difference in the positive direction compared to sample 2 is more than DeltaValue. Sample 7 and 8 will generate an interrupt because the signal difference in the positive direction compared to previous sample is more than DeltaValue. A new reference value is stored at sample 11 and 12 because the signal is within limits, and the absolute signal difference between the current value and the last stored reference value is greater than 1.0 Error handling If there is a subscription of interrupt on an analog input signal, an interrupt will be given for every change in the analog value that satisfies the condition specified when ordering the interrupt subscription. If the analog value is noisy many interrupts can be generated even if only one or two bits in the analog value are changed. To avoid generating interrupts for small changes of the analog input value, set the DeltaValue to a level greater than 0. Then no interrupts will be generated until a change of the analog value is greater than the specified DeltaValue. Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. Continues on next page
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1.75 ISignalAI - Interrupts from analog input signal Continued ERR_AO_LIM if the programmed HighValue or LowValue argument for the specified analog input signal Signal is outside limits.

Limitations The HighValue and LowValue arguments should be in the range: logical maximum value, logical minimum value defined for the signal. HighValue must be above LowValue. DeltaValue must be 0 or positive. The limitations for the interrupt identity are the same as for ISignalDI. Syntax
ISignalAI [ '\' Single ] | [ '\' SingleSafe ] ',' [ Signal ':=' ] <variable (VAR) of signalai> ',' [ Condition ':=' ] <expression (IN) of aiotrigg> ',' [ HighValue ':=' ] <expression (IN) of num> ',' [ LowValue ':=' ] <expression (IN) of num> ',' [ DeltaValue ':=' ] <expression (IN) of num> [['\'DPos] | [ '\' DNeg] ','] [ Interrupt ':=' ] <variable (VAR) of intnum> ';'

Related information
For information about See

Summary of interrupts and interrupt man- Technical reference manual - RAPID overview agement Definition of constants Interrupt from analog output signal Interrupt from digital input signal Interrupt from digital output signal Interrupt identity Related system parameters (filter) aiotrigg - Analog I/O trigger condition on page 1143 ISignalAO - Interrupts from analog output signal on page 189 ISignalDI - Orders interrupts from a digital input signal on page 193 ISignalDO - Interrupts from a digital output signal on page 196 intnum - Interrupt identity on page 1185 Technical reference manual - System parameters

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1.76 ISignalAO - Interrupts from analog output signal

1.76 ISignalAO - Interrupts from analog output signal

Usage ISignalAO (Interrupt Signal Analog Output) is used to order and enable interrupts from an analog output signal. Basic examples Basic examples of the instruction ISignalAO are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalAO \Single, ao1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;

Orders an interrupt which is to occur the first time the logical value of the analog output signal ao1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap routine. Example 2
ISignalAO ao1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;

Orders an interrupt which is to occur each time the logical value of the analog output signal ao1 is between 0.5 and 1.5, and the absolute signal difference compared to the previous stored reference value is bigger than 0.1. Example 3
ISignalAO ao1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;

Orders an interrupt which is to occur each time the logical value of the analog output signal ao1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the previous stored reference value is bigger than 0.1. Arguments
ISignalAO [\Single] | [\SingleSafe] Signal Condition HighValue LowValue DeltaValue[\DPos] | [\DNeg] Interrupt

[\Single] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set the interrupt occurs once at the most. If the Single and SingleSafe argument is omitted an interrupt will occur each time its condition is satisfied. [\SingleSafe] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Continues on next page
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1.76 ISignalAO - Interrupts from analog output signal Continued Signal Data type: signalao The name of the signal that is to generate interrupts. Condition Data type: aiotrigg Specifies how HighValue and LowValue define the condition to be satisfied:
Value 1 2 3 4 5 6 7 Symbolic constant AIO_ABOVE_HIGH AIO_BELOW_HIGH AIO_ABOVE_LOW AIO_BELOW_LOW AIO_BETWEEN AIO_OUTSIDE AIO_ALWAYS Comment Signal will generate interrupts if above specified high value Signal will generate interrupts if below specified high value Signal will generate interrupts if above specified low value Signal will generate interrupts if below specified low value Signal will generate interrupts if between specified low and high values Signal will generate interrupts if below specified low value or above specified high value Signal will always generate interrupts

HighValue Data type: num High logical value to define the condition. LowValue Data type: num Low logical value to define the condition. DeltaValue Data type: num Defines the minimum logical signal difference before generation of a new interrupt. The current signal value compared to the previous stored reference value must be greater than the specified DeltaValue before generation of a new interrupt. [\DPos] Data type: switch Specifies that only positive logical signal differences will give new interrupts. [\DNeg] Data type: switch Specifies that only negative logical signal differences will give new interrupts. If neither of the \DPos and \DNeg arguments are used, both positive and negative differences will generate new interrupts. Interrupt Data type: intnum The interrupt identity. This interrupt should have previously been connected to a trap routine by means of the instruction CONNECT. Continues on next page
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1.76 ISignalAO - Interrupts from analog output signal Continued Program execution See instruction ISignalAI for information about: Program execution Condition for interrupt generation More examples

Same principles are valid for ISignalAO as for ISignalAI. Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_AO_LIM if the programmed HighValue or LowValue argument for the specified analog output signal Signal is outside limits. Limitations The HighValue and LowValue arguments should be in the range: logical maximum value, logical minimum value, defined for the signal. HighValue must be above LowValue. DeltaValue must be 0 or positive. The limitations for the interrupt identity are the same as for ISignalDO. Syntax
ISignalAO [ \ Single ] | [ \ SingleSafe ] , [ Signal:= ]<variable (VAR) of signalao>, [ Condition:= ]<expression (IN) of aiotrigg>, [ HighValue:= ]<expression (IN) of num>, [ LowValue:= ]<expression (IN) of num>, [ DeltaValue:= ]<expression (IN) of num> [[\DPos] | [ \DNeg] ,] [ Interrupt:= ]<variable (VAR) of intnum>;

Related information
For information about See

Summary of interrupts and interrupt manage- Technical reference manual - RAPID overment view Definition of constants Interrupt from analog input signal Interrupt from digital input signal aiotrigg - Analog I/O trigger condition on page 1143 ISignalAI - Interrupts from analog input signal on page 179 ISignalDI - Orders interrupts from a digital input signal on page 193

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1.76 ISignalAO - Interrupts from analog output signal Continued
For information about Interrupt from digital output signal Interrupt identity Related system parameters (filter) See ISignalDO - Interrupts from a digital output signal on page 196 intnum - Interrupt identity on page 1185 Technical reference manual - System parameters

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1.77 ISignalDI - Orders interrupts from a digital input signal

1.77 ISignalDI - Orders interrupts from a digital input signal

Usage ISignalDI (Interrupt Signal Digital In) is used to order and enable interrupts from a digital input signal. Basic examples Basic examples of the instruction ISignalDI are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalDI di1,1,sig1int;

Orders an interrupt which is to occur each time the digital input signal di1 is set to 1. A call is then made to the iroutine1 trap routine. Example 2
ISignalDI di1,0,sig1int;

Orders an interrupt which is to occur each time the digital input signal di1 is set to 0. Example 3
ISignalDI \Single, di1,1,sig1int;

Orders an interrupt which is to occur only the first time the digital input signal di1 is set to 1. Arguments
ISignalDI [ \Single] | [ \SingleSafe] Signal TriggValue Interrupt

[ \Single ] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set, the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied. [ \SingleSafe ] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Signal Data type: signaldi Continues on next page
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1.77 ISignalDI - Orders interrupts from a digital input signal Continued The name of the signal that is to generate interrupts. TriggValue Data type: dionum The value to which the signal must change for an interrupt to occur. The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal is edge-triggered upon changeover to 0 or 1. TriggValue 2 or symbolic value edge can be used for generation of interrupts on both positive flank (0 -> 1) and negative flank (1 -> 0). Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT. Program execution When the signal assumes the specified value a call is made to the corresponding trap routine. When this has been executed, program execution continues from where the interrupt occurred. If the signal changes to the specified value before the interrupt is ordered no interrupt occurs. Interrupts from a digital input signal at signal level 1 is illustrated in the figure below.

xx0500002189

Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. Limitations The same variable for interrupt identity cannot be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum sig1int;

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1.77 ISignalDI - Orders interrupts from a digital input signal Continued
PROC main () CONNECT sig1int WITH iroutine1; ISignalDI di1, 1, sig1int; WHILE TRUE DO ... ENDWHILE ENDPROC

All activation of interrupts is done at the beginning of the program. These beginning instructions are then kept outside the main flow of the program.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalDI di1, 1, sig1int; ... IDelete sig1int; ENDPROC

The interrupt is deleted at the end of the program and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
ISignalDI [ \ Single ] | [ \ SingleSafe ] , [ Signal := ] < variable (VAR) of signaldi > , [ TriggValue := ] < expression (IN) of dionum > , [ Interrupt := ] < variable (VAR) of intnum > ;

Related information
For information about See

Summary of interrupts and interrupt Technical reference manual - RAPID overview management Interrupt from an output signal Interrupt identity ISignalDO - Interrupts from a digital output signal on page 196 intnum - Interrupt identity on page 1185

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1.78 ISignalDO - Interrupts from a digital output signal

1.78 ISignalDO - Interrupts from a digital output signal

Usage ISignalDO (Interrupt Signal Digital Out) is used to order and enable interrupts from a digital output signal. Basic examples Basic examples of the instruction ISignalDO are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalDO do1,1,sig1int;

Orders an interrupt which is to occur each time the digital output signal do1 is set to 1. A call is then made to the iroutine1 trap routine. Example 2
ISignalDO do1,0,sig1int;

Orders an interrupt which is to occur each time the digital output signal do1 is set to 0. Example 3
ISignalDO\Single, do1,1,sig1int;

Orders an interrupt which is to occur only the first time the digital output signal do1 is set to 1. Arguments
ISignalDO [ \Single ] | [ \SingleSafe ] Signal TriggValue Interrupt

[ \Single ] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set, the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied. [ \SingleSafe ] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Signal Data type: signaldo Continues on next page
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1.78 ISignalDO - Interrupts from a digital output signal Continued The name of the signal that is to generate interrupts. TriggValue Data type: dionum The value to which the signal must change for an interrupt to occur. The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal is edge-triggered upon changeover to 0 or 1. TriggValue 2 or symbolic value edge can be used for generation of interrupts on both positive flank (0 -> 1) and negative flank (1 -> 0). Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT. Program execution When the signal assumes the specified value 0 or 1, a call is made to the corresponding trap routine. When this has been executed program execution continues from where the interrupt occurred. If the signal changes to the specified value before the interrupt is ordered no interrupt occurs. Interrupts from a digital output signal at signal level 1 is illustrated in the figure below.

xx0500002190

Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. Limitations The same variable for interrupt identity cannot be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum sig1int;

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1.78 ISignalDO - Interrupts from a digital output signal Continued
PROC main () CONNECT sig1int WITH iroutine1; ISignalDO do1, 1, sig1int; WHILE TRUE DO ... ENDWHILE ENDPROC

All activation of interrupts is done at the beginning of the program. These beginning instructions are then kept outside the main flow of the program.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalDO do1, 1, sig1int; ... IDelete sig1int; ENDPROC

The interrupt is deleted at the end of the program and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
ISignalDO [ \ Single ] | [ \ SingleSafe ] , [ Signal := ] < variable (VAR) of signaldo > , [ TriggValue := ] < expression (IN) of dionum > , [ Interrupt := ] < variable (VAR) of intnum > ;

Related information
For information about See

Summary of interrupts and interrupt manage- Technical reference manual - RAPID overview ment Interrupt from an input signal Interrupt identity ISignalDI - Orders interrupts from a digital input signal on page 193 intnum - Interrupt identity on page 1185

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1.79 ISignalGI - Orders interrupts from a group of digital input signals

1.79 ISignalGI - Orders interrupts from a group of digital input signals

Usage ISignalGI (Interrupt Signal Group Digital In) is used to order and enable interrupts from a group of digital input signals. Basic examples Basic examples of the instruction ISignalGI are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalGI gi1,sig1int;

Orders an interrupt when a digital input group signal changes value. Arguments
ISignalGI [ \Single ] | [ \SingleSafe ] Signal Interrupt

[ \Single ] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set, the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied. [ \SingleSafe ] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Signal Data type: signalgi The name of the group input signal that generates interrupts. Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT.

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1.79 ISignalGI - Orders interrupts from a group of digital input signals Continued Program execution When the group signal changes value a call is made to the corresponding trap routine. When this has been executed program execution continues from where the interrupt occurred. If the signal changes before the interrupt is ordered no interrupt occurs. When a digital group input signal is set to a value, this can generate several interrupts. The reason for this is that changes of the individual bits included in the group signal is not detected at the same time of the robot system. To avoid multiple interrupts for one group signal change, a filter time can be defined for the signal. Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. Limitations Maximum number of signals that can be used for a group is 32. Numeric value condition can not be used in the instruction to specify that an interrupt should occur on changes to that specific value. This must be handled in the user program by reading the group signal value at execution of the TRAP. The interrupts are generated as bit interrupts, e.g. interrupts on single digital input signal change within the group. If the bits in the group signal change value with a delay between settings, several interrupts will be generated. Knowledege about how the I/O board works is necessary to get right functionality when using ISignalGI. If several interrupts are generated at group input settings, use instead ISignalDI on a strobe signal that are set when all bits in the group signal have been set. The same variable for interrupt identity cannot be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalGI gi1, sig1int; WHILE TRUE DO ... ENDWHILE ENDPROC

All activation of interrupts is done at the beginning of the program. These beginning instructions are then kept outside the main flow of the program.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalGI gi1, sig1int; ...

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1.79 ISignalGI - Orders interrupts from a group of digital input signals Continued
IDelete sig1int; ENDPROC

The interrupt is deleted at the end of the program and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
ISignalGI [ \ Single ] | [ \ SingleSafe ] , [ Signal := ] < variable (VAR) of signalgi > , [ Interrupt:= ] < variable (VAR) of intnum > ;

Related information
For information about See

Summary of interrupts and interrupt Technical reference manual - RAPID overview management Interrupt from an input signal ISignalDI - Orders interrupts from a digital input signal on page 193

Interrupt from group output signals ISignalGO - Orders interrupts from a group of digital output signals on page 202 Interrupt identity Filter time intnum - Interrupt identity on page 1185 Technical reference manual - System parameters

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1.80 ISignalGO - Orders interrupts from a group of digital output signals

1.80 ISignalGO - Orders interrupts from a group of digital output signals

Usage ISignalGO (Interrupt Signal Group Digital Out) is used to order and enable interrupts from a group of digital output signals. Basic examples Basic examples of the instruction ISignalGO are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalGO go1,sig1int;

Orders an interrupt when a digital output group signal change value. Arguments
ISignalGO [ \Single ] | [ \SingleSafe ] Signal Interrupt

[ \Single ] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument \Single is set, the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied. [ \SingleSafe ] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. Signal Data type: signalgo The name of the group output signal that generates interrupts. Interrupt Data type: intnum The interrupt identity. This should have previously been connected to a trap routine by means of the instruction CONNECT.

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1.80 ISignalGO - Orders interrupts from a group of digital output signals Continued Program execution When the group signal changes value a call is made to the corresponding trap routine. When this has been executed program execution continues from where the interrupt occurred. If the signal changes before the interrupt is ordered no interrupt occurs. Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. Limitations Maximum number of signals that can be used for a group is 32. Numeric value condition can not be used in the instruction to specify that an interrupt should occur on changes to that specific value. This must be handled in the user program by reading the group signal value at execution of the TRAP. The same variable for interrupt identity cannot be used more than once without first deleting it. Interrupts should therefore be handled as shown in one of the alternatives below.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalGO go1, sig1int; WHILE TRUE DO ... ENDWHILE ENDPROC

All activation of interrupts is done at the beginning of the program. These beginning instructions are then kept outside the main flow of the program.
VAR intnum sig1int; PROC main () CONNECT sig1int WITH iroutine1; ISignalGO go1, sig1int; ... IDelete sig1int; ENDPROC

The interrupt is deleted at the end of the program and is then reactivated. It should be noted, in this case, that the interrupt is inactive for a short period. Syntax
ISignalGO [ \ Single ] | [ \ SingleSafe ] , [ Signal := ] < variable (VAR) of signalgo > , [ Interrupt:= ] < variable (VAR) of intnum > ;

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1 Instructions
1.80 ISignalGO - Orders interrupts from a group of digital output signals Continued Related information
For information about See

Summary of interrupts and interrupt manage- Technical reference manual - RAPID overview ment Interrupt from an output signal Interrupt from group input signals Interrupt identity ISignalDO - Interrupts from a digital output signal on page 196 ISignalGI - Orders interrupts from a group of digital input signals on page 199 intnum - Interrupt identity on page 1185

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1.81 ISleep - Deactivates an interrupt

1.81 ISleep - Deactivates an interrupt

Usage ISleep(Interrupt Sleep) is used to deactivate an individual interrupt temporarily. During the deactivation time any generated interrupts of the specified type are discarded without any trap execution. Basic examples Basic examples of the instruction are illustrated below. See also More examples on page 205. Example 1
ISleep sig1int;

The interrupt sig1int is deactivated. Arguments

ISleep Interrupt

Interrupt Data type: intnum The variable (interrupt identity) of the interrupt. Program execution Any generated interrupts of the specified type are discarded without any trap execution until the interrupt has been re-activated by means of the instruction IWatch. Interrupts which are generated while ISleep is in effect are ignored. More examples More examples of the instruction ISleep are illustrated below. Example 1
VAR intnum timeint; PROC main() CONNECT timeint WITH check_serialch; ITimer 60, timeint; ... ISleep timeint; WriteBin ch1, buffer, 30; IWatch timeint; ... TRAP check_serialch WriteBin ch1, buffer, 1; IF ReadBin(ch1\Time:=5) < 0 THEN TPWrite "The serial communication is broken"; EXIT; ENDIF ENDTRAP

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1.81 ISleep - Deactivates an interrupt Continued Communication across the ch1 serial channel is monitored by means of interrupts which are generated every 60 seconds. The trap routine checks whether the communication is working. When, however, communication is in progress these interrupts are not permitted. Error handling Interrupts which have neither been ordered nor enabled are not permitted. If the interrupt number is unknown the system variable ERRNO will be set to ERR_UNKINO (see errnum - Error number on page 1168). If trying to deactivate a safe interrupt temporarily with ISleep, the system variable ERRNO is set to ERR_INOISSAFE. These errors can be handled in an error handler. Syntax
ISleep [ Interrupt := ] < variable (VAR) of intnum > ;

Related information
For information about Summary of interrupts Enabling an interrupt Disabling all interrupts Cancelling an interrupt See Technical reference manual - RAPID overview IWatch - Activates an interrupt on page 212 IDisable - Disables interrupts on page 133 IDelete - Cancels an interrupt on page 132

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1.82 ITimer - Orders a timed interrupt

1.82 ITimer - Orders a timed interrupt

Usage ITimer (Interrupt Timer) is used to order and enable a timed interrupt. This instruction can be used, for example, to check the status of peripheral equipment once every minute. Basic examples Basic examples of the instruction ITimer are illustrated below. See also More examples on page 208. Example 1
VAR intnum timeint; PROC main() CONNECT timeint WITH iroutine1; ITimer 60, timeint;

Orders an interrupt that is to occur cyclically every 60 seconds. A call is then made to the trap routine iroutine1. Example 2
ITimer \Single, 60, timeint;

Orders an interrupt that is to occur once, after 60 seconds. Arguments

ITimer [ \Single ] | [ \SingleSafe ] Time Interrupt

[ \Single ] Data type: switch Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set, the interrupt occurs only once. If the Single and SingleSafe arguments is omitted, an interrupt will occur each time at the specified time. [ \SingleSafe ] Data type: switch Specifies that the interrupt is single and safe. For definition of single, see description of Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. Time Data type: num The amount of time that must lapse before the interrupt occurs. The value is specified in seconds. If Single or SingleSafe is set this time may not be less than 0.01 seconds. The corresponding time for cyclical interrupts is 0.1 seconds. Continues on next page
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1.82 ITimer - Orders a timed interrupt Continued Interrupt Data type: intnum The variable (interrupt identity) of the interrupt. This should have previously been connected to a trap routine by means of the instruction CONNECT. Program execution The corresponding trap routine is automatically called at a given time following the interrupt order. When this has been executed program execution continues from where the interrupt occurred. If the interrupt occurs cyclically a new computation of time is started from when the interrupt occurs. More examples More examples of the instruction ITimer are illustrated below. Example 1
VAR intnum timeint; PROC main() CONNECT timeint WITH check_serialch; ITimer 60, timeint; ... TRAP check_serialch WriteBin ch1, buffer, 1; IF ReadBin(ch1\Time:=5) < 0 THEN TPWrite "The serial communication is broken"; EXIT; ENDIF ENDTRAP

Communication across the ch1 serial channel is monitored by means of interrupts which are generated every 60 seconds. The trap routine checks whether the communication is working. If it is not program execution is terminated and an error message appears. Limitations The same variable for interrupt identity cannot be used more than once without being first deleted. See Instructions - ISignalDI. Syntax
ITimer [ \ Single ] | [ \ SingleSafe ] , [ Time := ] < expression (IN) of num >, [ Interrupt := ] < variable (VAR) of intnum > ;

Related information
For information about See

Summary of interrupts and interrupt manage- Technical reference manual - RAPID overview ment

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1.83 IVarValue - orders a variable value interrupt

1.83 IVarValue - orders a variable value interrupt

Usage IVarValue (Interrupt Variable Value) is used to order and enable an interrupt when the value of a variable accessed via the serial sensor interface has been changed. This instruction can be used, for example, to get seam volume or gap values from a seam tracker. Basic examples Basic examples of the instruction IVarValue are illustrated below. Example 1
LOCAL PERS num adptVlt{25}:=[1,1.2,1.4,1.6,1.8,2,2.16667,2.33333,2.5,...]; LOCAL PERS num adptWfd{25}:=[2,2.2,2.4,2.6,2.8,3,3.16667,3.33333,3.5,...]; LOCAL PERS num adptSpd{25}:=10,12,14,16,18,20,21.6667,23.3333,25[,...]; LOCAL CONST num GAP_VARIABLE_NO:=11; PERS num gap_value; VAR intnum IntAdap; PROC main() ! Setup the interrupt. The trap routine AdapTrp will be called ! when the gap variable with number GAP_VARIABLE_NO in the !sensor interface has been changed. The new value will be ! available in the PERS gp_value variable. ! Connect to the sensor device "sen1:" (defined in sio.cfg). SenDevice "sen1:"; CONNECT IntAdap WITH AdapTrp; IVarValue "sen1:", GAP_VARIABLE_NO, gap_value, IntAdap; ! Start welding ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track; ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track; ENDPROC TRAP AdapTrap VAR num ArrInd; !Scale the raw gap value received ArrInd:=ArrIndx(gap_value); ! Update active welddata PERS variable adaptWd with new data ! from the arrays of predefined parameter arrays. The scaled gap ! value is used as index in the voltage, wirefeed and ! speed arrays. adaptWd.weld_voltage:=adptVlt{ArrInd};

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1.83 IVarValue - orders a variable value interrupt Continued
adaptWd.weld_wirefeed:=adptWfd{ArrInd}; adaptWd.weld_speed:=adptSpd{ArrInd}; !Request a refresh of AW parameters using the new data i adaptWd ArcRefresh; ENDTRAP

Arguments
IVarValue device VarNo Value Interrupt [ \Unit ] [ \DeadBand ]

device Data type: string The I/O device name configured in sio.cfg for the sensor used. VarNo Data type: num The number of the variable to be supervised. Value Data type: num A PERS variable which will hold the new value of VarNo. Interrupt Data type: intnum The variable (interrupt identity) of the interrupt. This should have previously been connected to a trap routine by means of the instruction CONNECT. [ \Unit ] Data type: num Scale factor with which the sensor value for VarNo is multiplied before check and before it is saved in Value. [ \DeadBand ] Data type: num If the value for Varno, returned by the sensor, is within +/- DeadBand no interrupt is generated. Program execution The corresponding trap routine is automatically called at a given time following the interrupt order. When this has been executed program execution continues from where the interrupt occurred.

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1.83 IVarValue - orders a variable value interrupt Continued Limitations The same variable for interrupt identity cannot be used more than five times without first being deleted. CAUTION Too high interrupt frequency will stall the whole RAPID execution. Syntax
IVarValue [ device := ] < expression (IN) of string>, [ VarNo := ] < expression (IN) of num >, [ Value := ] < persistent (PERS) of num >, [ Interrupt := ] < variable (VAR) of intnum > , [ \ Unit := ] < expression (IN) of num >, [ \ DeadBand := ] < expression (IN) of num > ;

Related information
For information about Connect to a sensor device Summary of interrupts and interrupt management Optical Tracking Optical Tracking Art See SenDevice - connect to a sensor device on page 442 Technical reference manual - RAPID overview Application manual - Continuous Application Platform Application manual - Arc and Arc Sensor

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1.84 IWatch - Activates an interrupt

1.84 IWatch - Activates an interrupt

Usage IWatch(Interrupt Watch) is used to activate an interrupt which was previously ordered but was deactivated with ISleep. Basic examples Basic examples of the instruction IWatch are illustrated below. See also More examples on page 212. Example 1
IWatch sig1int;

The interrupt sig1int that was previously deactivated is activated. Arguments

IWatch Interrupt

Interrupt Data type: intnum Variable (interrupt identity) of the interrupt. Program execution Re-activates interrupts of the specified type once again. However, interrupts generated during the time the ISleep instruction was in effect are ignored. More examples More examples of the instruction IWatch are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalDI di1,1,sig1int; ... ISleep sig1int; weldpart1; IWatch sig1int;

During execution of the weldpart1 routine no interrupts are permitted from the signal di1. Error handling Interrupts which have not been ordered are not permitted. If the interrupt number is unknown the system variable ERRNO is set to ERR_UNKINO (see errnum - Error number on page 1168). The error can be handled in the error handler. Syntax
IWatch [ Interrupt := ] < variable (VAR) of intnum > ;

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1.84 IWatch - Activates an interrupt Continued Related information
For information about Summary of interrupts Deactivating an interrupt See Technical reference manual - RAPID overview ISleep - Deactivates an interrupt on page 205

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1.85 Label - Line name

1.85 Label - Line name

Usage Label is used to name a line in the program. Using the GOTO instruction this name can then be used to move program execution within the same routine. Basic examples Basic examples of the instruction Label are illustrated below. Example 1
GOTO next; ... next:

Program execution continues with the instruction following next. Arguments

Label:

Label Identifier The name you wish to give the line. Program execution Nothing happens when you execute this instruction. Limitations The label must not be the same as any other label within the same routine. any data name within the same routine.

A label hides global data and routines with the same name within the routine it is located in. Syntax
(EBNF) <identifier>:

Related information
For information about Identifiers Moving program execution to a label See Technical reference manual - RAPID overview GOTO - Goes to a new instruction on page 126

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1.86 Load - Load a program module during execution

1.86 Load - Load a program module during execution

Usage Load is used to load a program module into the program memory during execution. The loaded program module will be added to the already existing modules in the program memory. A program or system module can be loaded in static (default) or dynamic mode. Both static and dynamic loaded modules can be unloaded by the instruction UnLoad. Static mode The following table describes how different operations affect static loaded program or system modules.
Type of module Program Module System Module Set PP to main from FlexPend- Open new RAPID program ant Not affected Not affected Unloaded Not affected

Dynamic mode The following table describes how different operations affect dynamic loaded program or system modules.
Type of module Program Module System Module Set PP to main from FlexPend- Open new RAPID program ant Unloaded Unloaded Unloaded Unloaded

Basic examples Basic examples of the instruction Load are illustrated below. See also More examples on page 216. Example 1
Load \Dynamic, diskhome \File:="PART_A.MOD";

Loads the program module PART_A.MOD from the diskhome into the program memory. diskhome is a predefined string constant "HOME:". Load the program module in the dynamic mode. Example 2
Load \Dynamic, diskhome \File:="PART_A.MOD"; Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;

Loads the program module PART_A.MOD into the program memory, then PART_B.MOD is loaded. If PART_A.MOD contains references to PART_B.MOD, \CheckRef can be used to check for unresolved references only when the last module is loaded. IF \CheckRef is used on PART_A.MOD, a link error would occur and the module would not be loaded. Arguments
Load [\Dynamic] FilePath [\File] [\CheckRef]

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1 Instructions
1.86 Load - Load a program module during execution Continued [\Dynamic] Data type: switch The switch enables load of a module in dynamic mode. Otherwise the load is in static mode. FilePath Data type: string The file path and the file name to the file that will be loaded into the program memory. The file name shall be excluded when the argument \File is used. [\File] Data type: string When the file name is excluded in the argument FilePath then it must be defined with this argument. [\CheckRef] Data type: switch Check after loading of the module for unsolved references in the program task. If not used no check for unsolved references are done. Program execution Program execution waits for the program module to finish loading before proceeding with the next instruction. Unresolved references will always be accepted for the loading operation, if parameter \CheckRef is not used, but it will be a run time error on execution of an unresolved reference. After the program module is loaded it will be linked and initialized. The initialization of the loaded module sets all variables at module level to their unit values. If any error from the loading operation, including unresolved references if use of switch \CheckRef, the loaded module will not be available any more in the program memory. To obtain a good program structure that is easy to understand and maintain, all loading and unloading of program modules should be done from the main module which is always present in the program memory during execution. For loading of program that contains a main procedure to a main program (with another main procedure), see example in More examples on page 216 below. More examples More examples of how to use the instruction Load are illustrated below. More general examples
Load \Dynamic, "HOME:/DOORDIR/DOOR1.MOD";

Loads the program module DOOR1.MOD from HOME: at the directory DOORDIR into the program memory. The program module is loaded in the dynamic mode.
Load "HOME:" \File:="DOORDIR/DOOR1.MOD";

Same as above but another syntax, and the module is loaded in the static mode.
Load\Dynamic, "HOME:/DOORDIR/DOOR1.MOD";

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1.86 Load - Load a program module during execution Continued
%"routine_x"%; UnLoad "HOME:/DOORDIR/DOOR1.MOD";

Procedure routine_x, will be binded during execution (late binding). Loaded program contains a main procedure

Load_MoreExa

The above example shows how you can load a program which includes a main procedure. This program can have been developed and tested separately and later loaded with Load or StartLoad... WaitLoad into the system using some type of main program framework. In this example car.prg, which loads other programs door.prg or window.prg. In the program car.prg you load door.prg or window.prg located at "HOME:". Because the main procedures in door.prg and window.prg after the loading are considered LOCAL in the module by the system, the procedure calls are made in the following way: %"door:main"% or %"window: main"%. This syntax is used when you want to get access to LOCAL procedures in other modules in this example procedure main in module door or module window. Unloading the modules with \Save argument will again make the main procedures global in the saved program. If you, when the module car or window are loaded in the system, set program pointer to main from any part of the program, the program pointer will always be set to the global main procedure in the main program, car.prg in this example. Limitations Avoid ongoing robot movements during the loading. Error handling If the file specified in the Load instruction cannot be found the system variable ERRNO is set to ERR_FILNOTFND at execution.

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1.86 Load - Load a program module during execution Continued If some other type of problems to read the file to load the system variable ERRNO will be set to ERR_IOERROR. If the module cannot be loaded because the program memory is full the system variable ERRNO is set to ERR_PRGMEMFULL. If the module is already loaded into the program memory the system variable ERRNO is set to ERR_LOADED. If the loaded module contains syntax errors the system variable ERRNO is set to ERR_SYNTAX. If the loaded module result in fatal link errors the system variable ERRNO is set to ERR_LINKREF. If Load is used with the switch \CheckRef to check for any reference error and the program memory contains unresolved references the system variable ERRNO is set to ERR_LINKREF. These errors can then be handled in the ERROR handler. If some of these error occurs the actual module will be unloaded and will not be available in the ERROR handler. Syntax
Load [\Dynamic,] [FilePath:=]<expression (IN) of string> [\File:= <expression (IN) of string>] [\CheckRef];

Related information
For information about Unload a program module See UnLoad - UnLoad a program module during execution on page 686

Load a program module in parallel with anoth- StartLoad - Load a program module during er program execution execution on page 509 WaitLoad - Connect the loaded module to the task on page 713 Check program references CheckProgRef - Check program references on page 43

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1.87 LoadId - Load identification of tool or payload

1.87 LoadId - Load identification of tool or payload

Usage LoadId (Load Identification) can be used for load identification of tool (also gripper tool if roomfix TCP) or payload (activates with instruction GripLoad) by executing a user defined RAPID program. Note An easier way to identify the tool load or payload is to use the interactive dialogue RAPID program LoadIdentify. This program can be started from the menu ProgramEditor/Debug/Call Routine.../LoadIdentify. Basic examples Basic examples of the instruction LoadId are illustrated below. See also More examples on page 222. Example 1
VAR bool invalid_pos := TRUE; VAR jointtarget joints; VAR bool valid_joints{12}; CONST speeddata low_ori_speed := [20, 5, 20, 5]; VAR bool slow_test_flag := TRUE; PERS tooldata grip3 := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]]; ! Check if valid robot type IF ParIdRobValid(TOOL_LOAD_ID) <> ROB_LOAD_VAL THEN EXIT; ENDIF ! Check if valid robot position WHILE invalid_pos = TRUE DO joints := CJointT(); IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE THEN ! Valid position invalid_pos := FALSE; ELSE ! Invalid position ! Adjust the position by program movements (horizontal tilt house) MoveAbsJ joints, low_ori_speed, fine, tool0; ENDIF ENDWHILE ! Do slow test for check of free working area IF slow_test_flag = TRUE THEN LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3 \SlowTest; ENDIF ! Do measurement and update all load data in grip3 LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3;

Load identification of tool grip3. Continues on next page

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1.87 LoadId - Load identification of tool or payload Continued Condition The following conditions should be fulfilled before load measurements with LoadId: Make sure that all loads are correctly mounted on the robot Check whether valid robot type with ParIdRobValid Check whether valid position with ParIdPosValid: Axes 3, 5, and 6 not close to their corresponding working range Tilthousing almost horizontal, i.e. that axis 4 is in zero position

The following data should be defined in system parameters and in arguments to LoadId before running LoadId The table below illustrates the load identification of tool.
Load identification modes / Defined data before LoadId Upper arm load (Systemparameter) Mass in tool Defined Moving TCP Moving TCP Mass Mass UnKnown known Defined Defined Roomfix TCP Roomfix TCP Mass Known Mass Unknown Defined

The table below illustrates the load identification of payload.

Load identification modes / Defined data before LoadId Upper arm load (System parameters) Load data in tool Mass in payload Tool frame in tool User frame in work object Object frame in work object Defined Defined Defined Defined Defined Defined Defined Defined Moving TCP Moving TCP Mass Mass UnKnown known Defined Defined Defined Defined Roomfix TCP Mass Known Roomfix TCP Mass Unknown Defined Defined

Operating mode and speed override: Slow test in manual mode reduced speed Load measurements in automatic mode (or manual mode full speed) with speed override 100%

Arguments
LoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj] [\ConfAngle] [\SlowTest] [\Accuracy]

ParIdType Data type: paridnum Type of load identification as defined in the table below.
Value 1 2 Symbolic constant TOOL_LOAD_ID PAY_LOAD_ID Comment Identify tool load Identify payload (Ref. instruction GripLoad)

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1.87 LoadId - Load identification of tool or payload Continued LoadIdType Data type: loadidnum Type of load identification as defined in the table below.
Value 1 2 Symbolic constant MASS_KNOWN MASS_WITH_AX3 Comment Known mass in tool or payload respectively. (Mass in specified Tool or PayLoad must be specified) Unknown mass in tool or payload respectively. Identificationof mass in tool or payload will be done with movements of axis 3

Tool Data type: tooldata Persistent variable for the tool to be identified. If argument \PayLoad is specified, the persistent variable for the tool in use. For load identification of tool, the following arguments \PayLoad and \WObj should not be specified. [ \ PayLoad ] Data type: loaddata Persistent variable for the payload to be identified. This option argument must always be specified for load identification of payload. [ \ WObj ] Data type: wobjdata Persistent variable for the work object in use. This option argument must always be specified for load identification of payload with roomfix TCP. [ \ ConfAngle ] Data type: num Option argument for specification of a specific configuration angle degrees to be used for the parameter identification.

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Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or - 90 degrees. Continues on next page
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1.87 LoadId - Load identification of tool or payload Continued [ \ SlowTest ] Data type: switch Option argument to specify whether only slow test for checking of free working area should be done. See table below:
LoadId ... \SlowTest LoadId ... Run only slow test Run only measurement and update tool or payload

[ \ Accuracy ] Data type: num Variable for output of calculated measurement accuracy in % for the whole load identification calculation (100% means maximum accuracy). Program execution The robot will carry out a large number of relative small transport and measurement movements on axes 5 and 6. For identification of mass, movements will also be made with axis 3. After all measurements, movements, and load calculations the load data is returned in argument Tool or PayLoad. The following load data is calculated: More examples More examples of the instruction LoadId are illustrated below. Example 1
PERS tooldata grip3 := [ FALSE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]], [6, [10, 10, 100], [0.5, 0.5, 0.5, 0.5], 1.2, 2.7, 0.5]]; PERS loaddata piece5 := [ 5, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]; PERS wobjdata wobj2 := [ TRUE, TRUE, "", [ [34, 0, -45], [0.5, -0.5, 0.5 ,-0.5] ], [ [0.56, 10, 68], [0.5, 0.5, 0.5 ,0.5] ] ]; VAR num load_accuracy; ! Do measurement and update all payload data except mass in piece5 LoadId PAY_LOAD_ID, MASS_KNOWN, grip3 \PayLoad:=piece5 \WObj:=wobj2 \Accuracy:=load_accuracy; TPWrite " Load accuracy for piece5 (%) = " \Num:=load_accuracy;

Mass in kg (if mass is unknown otherwise not affected) Center of gravity x, y, z, and axes of moment Inertia ix, iy, iz in kgm

Load identification of payload piece5 with known mass in installation with roomfix TCP. Limitations Usually load identification of tool or payload for the robot is done with the service routine LoadIdentify. It is also possible to do this identification with this RAPID instruction LoadId. Before loading or executing the program with LoadId following modules must be loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";

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1.87 LoadId - Load identification of tool or payload Continued
Load \Dynamic, "RELEASE:/system/mockit1.sys";

It is not possible to restart the load identification movements after any type of stop such as program stop, emergency stop, or power failure. The load identification movements must then be started from the beginning. Error handling At any error during execution of the RAPID NOSTEPIN routine LoadId, the system variable ERRNO is set to ERR_PID_MOVESTOP, ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the program pointer is raised to the user call of LoadId. Syntax
LoadId [ ParIdType ':=' ] <expression (IN) of paridnum> ', [ LoadIdType ':=' ] <expression (IN) of loadidnum> ',' [ Tool ':=' ] <persistent (PERS) of tooldata> [ '\' PayLoad ':=' <persistent (PERS) of loaddata> ] [ '\' WObj ':=' <persistent (PERS) of wobjdata> ] [ '\' ConfAngle ':=' <expression (IN) of num> ] [ '\' SlowTest ] [ '\' Accuracy ':=' <variable (VAR) of num> ] ';'

Related information
For information about Predefined program Load Identify Type of parameter identification Result of ParIdRobValid Type of load identification Valid robot type Valid robot position See Operating manual - IRC5 with FlexPendant paridnum - Type of parameter identification on page 1216 paridvalidnum - Result of ParIdRobValid on page1218 loadidnum - Type of load identification on page 1198 ParIdRobValid - Valid robot type for parameter identification on page 972 ParIdPosValid - Valid robot position for parameter identification on page 969

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1.88 MakeDir - Create a new directory

1.88 MakeDir - Create a new directory

Usage MakeDiris used to create a new directory. The user must have write and execute permission for the parent directory under which the new directory is created. Basic examples Basic examples of the instruction MakeDir are illustrated below. Example 1
MakeDir "HOME:/newdir";

This example creates a new directory, called newdir, under HOME: Arguments
MakeDir Path

Path Data type:string The name of the new directory specified with full or relative path. Error handling If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
MakeDir [ Path:= ] < expression (IN) of string>;

Related information
For information about Remove a directory Rename a file Remove a file Copy a file Check file type Check file size Check file system size File and serial channel handling See RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73 IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893 FSSize - Retrieve the size of a file system on page 899 Application manual - Robot communication and I/O control

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1.89 ManLoadIdProc - Load identification of IRBP manipulators

1.89 ManLoadIdProc - Load identification of IRBP manipulators

Usage ManLoadIdProc (Manipulator Load Identification Procedure) is used for load identification of payload for external manipulators by executing a user defined RAPID program. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Note An easier way to identify the payload is to use the interactive dialogue RAPID program ManLoadIdentify.This program can be started from the menu ProgramEditor/Debug/Call Routine.../ManLoadIdentify. Basic examples Basic examples of the instruction ManLoadIdProc are illustrated below.
PERS loaddata myload := [6,[0,0,0],[1,0,0,0],0,0,0]; VAR bool defined; ActUnit STN1; ManLoadIdProc \ParIdType := IRBP_L \MechUnit := STN1 \PayLoad := myload \ConfigAngle := 60 \AlreadyActive \DefinedFlag := defined; DeactUnit STN1;

Load identification of payload myload mounted on the mechanical unit STN1. The external manipulator is of type IRBP-L. The configuration angle is set to 60 degrees. The manipulator is activated before the load identification and deactivated after. After the identification myload has been updated and defined it is set to TRUE. Arguments
ManLoadIdProc [\ParIdType] [\MechUnit] | [\MechUnitName] [\AxisNumber] [\PayLoad] [\ConfigAngle] [\DeactAll] | [\AlreadyActive] [DefinedFlag] [DoExit]

[ \ ParIdType ] Data type: paridnum Type of parameter identification. Predefined constants are found under the datatype paridnum. [ \ MechUnit ] Data type: mecunit Mechanical unit used for the load identification. Can not be used together with argument \MechUnitName.

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1.89 ManLoadIdProc - Load identification of IRBP manipulators Continued [ \ MechUnitName ] Data type: string Mechanical unit used for the load identification given as a string. Can not be used together with argument \MechUnit. [ \ AxisNumber ] Data type: num Axis number within the mechanical unit, which holds the load to be identified. [ \ PayLoad ] Data type: loaddata Variable for the payload to be identified. The component mass must be specified. This variable will be updated after the identification is done. [ \ ConfigAngle ] Data type: num Specification of a specific configuration angle degrees to be used for the parameter identification.

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Min. + or - 30 degrees. Optimum + or - 90 degrees. [ \ DeactAll ] Data type: switch If this switch is used all mechanical units in the system will be deactivated before identification is done. The mechanical unit to identify will then be activated. It cannot be used together with argument \AlreadyActive. [ \ AlreadyActive ] Data type: switch This switch is used if the mechanical unit to identify is active. It cannot be used together with argument \DeactAll. [ \ DefinedFlag ] Data type: bool

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1.89 ManLoadIdProc - Load identification of IRBP manipulators Continued This argument will be set to TRUE if the identification has been made, FALSE otherwise. [ \ DoExit] Data type: bool If set to TRUE the load identification will end up with an EXIT command to force the user to set PP to main before continuing the execution. If not present or set to FALSE no EXIT will be done. Note that ManLoadIdProc always clears the current path. Program execution All arguments are optional. If an argument is not given the user will be asked for the value from the FlexPendant (except for \DoExit). The user will always be asked to give the mass and if the manipulator is of type IRBP R, z in mm. The mechanical unit will carry out a large number of relative small transport and measurement movements. After all measurements, movements, and load calculations the load data is returned in argument Payload if used. The following load data is calculated.
Manipulator type/ Calculated load data IRBP-K IRBP-L IRBP-C IRBP_T IRBP-R IRBP-A IRBP-B IRBP-D

Parameter PayLoad cog.x cog.y cog.x cog.y cog.x cog.y cog.x cog.y cog.z cog.x, cog.y, cog.z in loaddata in mm Parameter PayLoad - ix, iy, iz in load- iz data in kgm2 iz ix iy iz ix iy iz

The calculated data will be displayed on the FlexPendant. Limitations Usually load identification of load for the external manipulator is done with the service routine ManLoadIdentify. It is also possible to do this identification with this RAPID instruction ManLoadIdProc. Any path in progress will be cleared before the load identification. The program pointer will be lost after the load identification if argument \DoExit:=TRUE is used. It is not possible to restart the load identification movements after any type of stop, such as program stop, emergency stop, or power failure. The load identification movements must be again restarted from the beginning. Error handling At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the system variable ERRNO is set to ERR_PID_MOVESTOP, ERR_PID_RAISE_PP, or ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoadIdProc.

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1.89 ManLoadIdProc - Load identification of IRBP manipulators Continued Syntax
ManLoadIdProc [ '\'ParIdType ':=' <expression (IN) of paridnum>] [ '\'MechUnit ':=' <variable (VAR) of mecunit> ] | ['\' MechUnitName ':=' <expression (IN) of string>] [ '\' AxisNumber ':=' <expression (IN) of num> ] [ '\' PayLoad ':=' <var or pers (INOUT) of loaddata> [ '\' ConfigAngle ':=' <expression (IN) of num>] [ '\' DeactAll] | [ '\' AlreadyActive] [ '\' DefinedFlag ':=' <variable (VAR) of bool> ] [ '\' DoExit ':=' <expression (IN) of bool> ] ';'

Related information
For information about Type of parameter identification Mechanical unit PayLoad See paridnum - Type of parameter identification on page 1216 mecunit - Mechanical unit on page 1200 loaddata - Load data on page 1192

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1.90 MechUnitLoad - Defines a payload for a mechanical unit

1.90 MechUnitLoad - Defines a payload for a mechanical unit

Usage MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for the robot is defined with instruction GripLoad.) This instruction should be used for all mechanical units with dynamic model (ABB positioners, IRBP) in servo to achieve the best motion performance. The MechUnitLoad instruction should always be executed after execution of the instruction ActUnit. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Description MechUnitLoad specifies which loads the mechanical unit are carrying. Specified loads are used to set up a dynamic model of the mechanical unit so that the movements of the mechanical unit can be controlled in the best possible way. The payload is connected/disconnected using the instruction MechUnitLoad, which adds or subtracts the weight of the payload to the weight of the mechanical unit. WARNING It is important to always define the actual payload of the mechanical unit (that is, fixture and work piece). Incorrect definitions of load data can result in overloading of the mechanical structure. When incorrect load data is specified, it can often lead to the following consequences: Basic examples Basic examples of the instruction MechUnitLoad are illustrated below. Illustration The following figure shows axis 1 on a mechanical unit named STN1 of type IRBP L. The mechanical unit will not be used to its maximum capacity Impaired path accuracy including a risk of overshooting Risk of overloading the mechanical structure

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1.90 MechUnitLoad - Defines a payload for a mechanical unit Continued Example 1
ActUnit SNT1; MechUnitLoad STN1, 1, load0;

Activate mechanical unit STN1 and define the payload load0 corresponding to no load (at all) mounted on axis 1. Example 2
ActUnit STN1; MechUnitLoad STN1, 1, fixture1;

Activate mechanical unit STN1 and define the payload fixture1 corresponding to the fixture mounted on axis 1. Example 3
ActUnit STN1; MechUnitLoad STN1, 1, workpiece1;

Activate mechanical unit STN1 and define the payload workpiece1 corresponding to fixture and work piece mounted on axis 1. Arguments
MechUnitLoad MechUnit AxisNo Load

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. AxisNo Axis Number Data type: num The axis number within the mechanical unit that holds the load. Axis numbering starts from 1. Load Data type: loaddata The load data that describes the current payload to be defined, that is, the fixture or the fixture together with work piece depending on if the work piece is mounted on the mechanical unit or not. Program execution After execution of MechUnitLoad, when the robot and additional axes have come to a standstill, the specified load is defined for the specified mechanical unit and axis. This means that the payload is controlled and monitored by the control system. The default payload at cold start for a certain mechanical unit type, is the predefined maximal payload for this mechanical unit type. When another payload is used the actual payload for the mechanical unit and axis should be redefined with this instruction. This should always be done after activation of the mechanical unit.

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1.90 MechUnitLoad - Defines a payload for a mechanical unit Continued The defined payload will survive a power failure restart. The defined payload will also survive a restart of the program after manual activation of other mechanical units from the jogging window. The following graphic shows a payload mounted on the end-effector of a mechanical unit (end-effector coordinate system for the mechanical unit).

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A B C D

End-effector Fixture and work piece Center of gravity for the payload (fixture + work piece) Mechanical unit

More examples More examples of how to use the instruction MechUnitLoad are illustrated below. Illustration The following figure shows a mechanical unit named INTERCH of type IRBP K with three axes (1, 2, and 3).

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Example 1
MoveL homeside1, v1000, fine, gun1; ... ActUnit INTERCH;

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1.90 MechUnitLoad - Defines a payload for a mechanical unit Continued Example 2
MechUnitLoad INTERCH, 2, workpiece1;

Defines payload workpiece1 on the mechanical unit INTERCH axis 2. Example 3

MechUnitLoad INTERCH, 3, workpiece2;

Defines payload workpiece2 on the mechanical unit INTERCH axis 3. Example 4

MoveL homeside2, v1000, fine, gun1;

The axes of the mechanical unit INTERCH move to the switch position homeside2 with mounted payload on both axes 2 and 3. Example 5
ActUnit STN1; MechUnitLoad STN1, 1, workpiece1;

The mechanical unit STN1 is activated. Defines payload workpiece1 on the mechanical unit STN1 axis 1. Limitations If this instruction is preceded by a move instruction, that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. MechUnitLoad cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart or Step. Syntax
MechUnitLoad [MechUnit ':=' ] <variable (VAR) of mecunit> ',' [AxisNo ':=' ] <expression (IN) of num> ',' [Load ':=' ] <persistent (PERS) of loaddata> ';'

Related information
For information about Identification of payload for external mechanical units Definition of mechanical unit data Definition of load data Define payload for the robot See Product manual - IRBP /D2009 mecunit - Mechanical unit on page 1200 loaddata - Load data on page 1192 GripLoad - Defines the payload for a robot on page 128

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1.91 MotionSup - Deactivates/Activates motion supervision

1.91 MotionSup - Deactivates/Activates motion supervision

Usage MotionSup (Motion Supervision) is used to deactivate or activate the motion supervision function for robot movements during program execution. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Description Motion supervision is the name of a collection of functions for high sensitivity, model-based supervision of the robot. Currently it contains functionality for load supervision, jam supervision, and collision detection. Because the supervision is designed to be very sensitive it may trip if there are large process forces acting on the robot. If the load is not correctly defined use the load identification function to specify it. If large external process forces are present in most parts of the application, such as during deburring, then use the system parameters to raise the supervision level of the motion supervision until it no longer triggers. If, however, the external forces are only temporary, such as during the closing of a large spotweld gun, then the MotionSup instruction should be used to raise the supervision level (or turn the function off) for those parts of the application where the disturbance acts. Basic examples Basic examples of the instruction MotionSup are illustrated below. Example 1
! If the motion supervision is active in the system parameters, ! then it is active by default during program execution ... ! If the motion supervision is deactivated through the system ! parameters, ! then it cannot be activated through the MotionSup instruction ... ! Deactivate motion supervision during program execution MotionSup \Off; ... ! Activate motion supervision again during program execution MotionSup \On; ... ! Tune the supervision level to 200% (makes the function less ! sensitive) of the level in ! the system parameters MotionSup \On \TuneValue:= 200; ...

Arguments
MotionSup[\On] | [\Off] [\TuneValue]

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1.91 MotionSup - Deactivates/Activates motion supervision Continued [ \On ] Data type: switch Activate the motion supervision function during program execution (if it has already been activated in system parameters). [ \Off ] Data type: switch Deactivate the motion supervision function during program execution. One of the arguments \On or \Off must be specified. [ \TuneValue ] Data type: num Tuning the motion supervision sensitivity level in percent (1 - 300%) of system parameter level. A higher level gives more robust sensitivity. This argument can only be combined with argument \On. Program execution If the function motion supervision is active both in the system parameters and in the RAPID program and the motion supervision is triggered because of a collision etc., then the robot will stop as quickly as possible the robot will back up to remove any residual forces the program execution will stop with an error message

If motion supervision is active in system parameters it is then active by default during program execution (TuneValue 100%). These values are set automatically Limitations Motion supervision is never active for external axes or when one or more joints are run in independent joint mode. When using the robot in the soft servo mode it may be necessary to turn the motion supervision off to avoid accidental tripping. Syntax
MotionSup [ \ On] | [ \ Off ] [\ Tunevalue:=< expression (IN) of num> ] ;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about General description of the function Tuning using system parameters Motion settings data See Technical reference manual - RAPID overview Technical reference manual - System parameters motsetdata - Motion settings data on page 1202

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1.92 MoveAbsJ - Moves the robot to an absolute joint position

1.92 MoveAbsJ - Moves the robot to an absolute joint position

Usage MoveAbsJ (Move Absolute Joint) is used to move the robot and external axes to an absolute position defined in axes positions. Examples of use: the end point is a singular point for ambiguous positions on the IRB 6400C, e.g. for movements with the tool over the robot

The final position of the robot during a movement with MoveAbsJ is neither affected by the given tool and work object nor by active program displacement. However, the robot uses this data to calculate the load, TCP velocity, and the corner path. The same tools can be used in adjacent movement instructions. The robot and external axes move to the destination position along a non-linear path. All axes reach the destination position at the same time. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveAbsJ are illustrated below. See also More examples on page 238. Example 1
MoveAbsJ p50, v1000, z50, tool2;

The robot with the tool tool2 is moved along a non-linear path to the absolute axis position, p50, with velocity data v1000 and zone data z50. Example 2
MoveAbsJ *, v1000\T:=5, fine, grip3;

The robot with the tool grip3 is moved along a non-linear path to a stop point which is stored as an absolute axis position in the instruction (marked with an *). The entire movement takes 5 seconds. Arguments
MoveAbsJ [\Conc] ToJointPos [\ID] [\NoEOffs] Speed [\V] | [\T] Zone [\Z] [\Inpos] Tool [\WObj] [\TLoad]

[\Conc] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument is usually not used but is used to shorten the cycle time when, for example, communicating with external equipment if synchronization is not required. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath movement instructions with the argument \Conc are not permitted. Continues on next page
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1.92 MoveAbsJ - Moves the robot to an absolute joint position Continued If this argument is omitted and the ToJointPos is not a stop point, the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove System. ToJointPos To Joint Position Data type: jointtarget The destination absolute joint position of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. [ \NoEOffs ] No External Offsets Data type: switch If the argument \NoEOffs is set then the movement with MoveAbsJ is not affected by active offsets for external axes. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and external axes. [ \V ] Velocity Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Continues on next page
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1.92 MoveAbsJ - Moves the robot to an absolute joint position Continued Zone data for the movement. Zone data describes the size of the generated corner path. [ \Z ] Zone Data type: num This argument is used to specify the position accuracy of the robot TCP directly in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone that is specified in the zone data. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use during the movement. The position of the TCP and the load on the tool are defined in the tool data. The TCP position is used to calculate the velocity and the corner path for the movement. [ \WObj ] Work Object Data type: wobjdata The work object used during the movement. This argument can be omitted if the tool is held by the robot. However, if the robot holds the work object, i.e. the tool is stationary, or with coordinated external axes, then the argument must be specified. In the case of a stationary tool or coordinated external axes, the data used by the system to calculate the velocity and the corner path for the movement is defined in the work object. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad.

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1.92 MoveAbsJ - Moves the robot to an absolute joint position Continued The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution A movement with MoveAbsJ is not affected by active program displacement and if executed with switch \NoEOffs there will be no offset for external axes. Without switch \NoEOffs the external axes in the destination target are affected by active offset for external axes. The tool is moved to the destination absolute joint position with interpolation of the axis angles. This means that each axis is moved with constant axis velocity and that all axes reach the destination joint position at the same time, which results in a non-linear path. Generally speaking, the TCP is moved at approximate programmed velocity. The tool is reoriented and the external axes are moved at the same time as the TCP moves. If the programmed velocity for reorientation or for the external axes cannot be attained, the velocity of the TCP will be reduced. A corner path is usually generated when movement is transferred to the next section of the path. If a stop point is specified in the zone data program execution only continues when the robot and external axes have reached the appropriate joint position. More examples More examples of how to use the instruction MoveAbsJ are illustrated below. Example 1
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;

The tool, grip3, is moved along a non-linear path to an absolute joint position stored in the instruction. The movement is carried out with data set to v2000 and z40. The velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively. Example 2
MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;

The tool, grip3, is moved along a non-linear path to an absolute joint position p5. The robot considers it to be in the point when 50% of the position condition and 50% of the speed condition for a stop point fine are satisfied. It waits at most for

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1.92 MoveAbsJ - Moves the robot to an absolute joint position Continued 2 seconds for the conditions to be satisfied. See predefined data inpos50 of data type stoppointdata. Example 3
MoveAbsJ \Conc, *, v2000, z40, grip3;

The tool, grip3, is moved along a non-linear path to an absolute joint position stored in the instruction. Subsequent logical instructions are executed while the robot moves. Example 4
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;

Same movement as above but the movement is not affected by active offsets for external axes. Example 5
GripLoad obj_mass; MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;

The robot moves the work object obj in relation to the fixed tool grip3 along a non-linear path to an absolute axis position start. Limitations In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding problems with singular points or ambiguous areas, it is essential that the subsequent instructions fulfil certain requirements as follows (see figure below). The figure shows limitation for backward execution with MoveAbsJ.

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Syntax
MoveAbsJ [ \ Conc , ] [ ToJointPos := ] < expression (IN) of jointtarget > [ \ ID := < expression (IN) of identno >] [ \ NoEoffs ] ,

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1.92 MoveAbsJ - Moves the robot to an absolute joint position Continued
[ Speed := ] < expression (IN) of speeddata > [ \ V := < expression (IN) of num > ] | [ \ T := < expression (IN) of num > ] , [Zone := ] < expression (IN) of zonedata> [\ Z := ] < expression (IN) of num > [ \ Inpos := < expression (IN) of stoppointdata > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Definition of jointtarget Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Motion in general Concurrent program execution Example of how to use TLoad, Total Load. Defining the payload for a robot See Technical reference manual - RAPID overview jointtarget - Joint position data on page 1189 loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification service Operating manual - IRC5 with FlexPendant routine System input signal SimMode for run- Technical reference manual - System parameters ning the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoadMode Technical reference manual - System parameters for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1 Instructions
1.93 MoveC - Moves the robot circularly

1.93 MoveC - Moves the robot circularly

Usage MoveC is used to move the tool center point (TCP) circularly to a given destination. During the movement the orientation normally remains unchanged relative to the circle. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveC are illustrated below. See also More examples on page 245. Example 1
MoveC p1, p2, v500, z30, tool2;

The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and zone data z30. The circle is defined from the start position, the circle point p1, and the destination point p2. Example 2
MoveC *, *, v500 \T:=5, fine, grip3;

The TCP of the tool, grip3, is moved circularly to a fine point stored in the instruction (marked by the second *). The circle point is also stored in the instruction (marked by the first *). The complete movement takes 5 seconds. Example 3
MoveL p1, v500, fine, tool1; MoveC p2, p3, v500, z20, tool1; MoveC p4, p1, v500, fine, tool1;

The figure shows how a complete circle is performed by two MoveC instructions.

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Arguments
MoveC [\Conc] CirPoint ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos] Tool [\WObj] [\Corr] [\TLoad]

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1.93 MoveC - Moves the robot circularly Continued [ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument is usually not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove System. CirPoint Data type:robtarget The circle point of the robot. The circle point is a position on the circle between the start point and the destination point. To obtain the best accuracy it should be placed about halfway between the start and destination points. If it is placed too close to the start or destination point, the robot may give a warning. The circle point is defined as a named position or stored directly in the instruction (marked with an * in the instruction). The position of the external axes are not used. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool reorientation, and external axes. [ \V ] Velocity Continues on next page
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1.93 MoveC - Moves the robot circularly Continued Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot and external axes move. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Z ] Zone Data type: num This argument is used to specify the position accuracy of the robot TCP directly in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone specified in the zone data. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (object coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if it is then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used this argument must be specified in order for a circle relative to the work object to be executed. [ \Corr ] Correction Continues on next page
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1.93 MoveC - Moves the robot circularly Continued Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution The robot and external units are moved to the destination point as follows: The TCP of the tool is moved circularly at a constant programmed velocity. The tool is reoriented at a constant velocity from the orientation at the start position to the orientation at the destination point. The reorientation is performed relative to the circular path. Thus, if the orientation relative to the path is the same at the start and the destination points, the relative orientation remains unchanged during the movement (see figure below).

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1.93 MoveC - Moves the robot circularly Continued The figure shows tool orientation during circular movement.

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The orientation in the circle point is not reached. It is only used to distinguish between two possible directions of reorientation. The accuracy of the reorientation along the path depends only on the orientation at the start and destination points. Different modes for tool orientation during circle path are described in instruction CirPathMode. Uncoordinated external axes are executed at constant velocity in order for them to arrive at the destination point at the same time as the robot axes. The position in the circle position is not used. If it is not possible to attain the programmed velocity for the reorientation or for the external axes, the velocity of the TCP will be reduced. A corner path is usually generated when movement is transferred to the next section of a path. If a stop point is specified in the zone data, program execution only continues when the robot and external axes have reached the appropriate position. More examples More examples of how to use the instruction MoveC are illustrated below. Example 1
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;

The TCP of the tool, grip3, is moved circularly to a position stored in the instruction. The movement is carried out with data set to v500 and z40; the velocity and zone size of the TCP are 550 mm/s and 45 mm respectively. Example 2
MoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;

The TCP of the tool, grip3, is moved circularly to a stop point p6. The robot considers it to be in the point when 50% of the position condition and 50% of the speed condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See predefined data inpos50 of data type stoppointdata. Example 3
MoveC \Conc, *, *, v500, z40, grip3;

The TCP of the tool, grip3, is moved circularly to a position stored in the instruction. The circle point is also stored in the instruction. Subsequent logical instructions are executed while the robot moves. Continues on next page
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1.93 MoveC - Moves the robot circularly Continued Example 4
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;

The TCP of the tool, grip3, is moved circularly to a position, p15 via the circle point cir1. These positions are specified in the object coordinate system for fixture. Limitations There are some limitations in how the CirPoint and the ToPoint can be placed, as shown in the figure below.

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Minimum distance between start and ToPoint is 0.1 mm Minimum distance between start and CirPoint is 0.1 mm Minimum angle between CirPoint and ToPoint from the start point is 1 degree

The accuracy can be poor near the limits, e.g. if the start point and the ToPoint on the circle are close to each other then the fault caused by the leaning of the circle can be much greater than the accuracy with which the points have been programmed. Make sure that the robot can reach the circle point during program execution and divide the circle segment if necessary. A change of execution mode from forward to backward or vice versa while the robot is stopped on a circular path is not permitted and will result in an error message. WARNING The instruction MoveC (or any other instruction including circular movement) should never be started from the beginning with TCP between the circle point and the end point. Otherwise the robot will not take the programmed path (positioning around the circular path in another direction compared with that which is programmed). To minimize the risk set the system parameter Restrict placing of circlepoints to TRUE (type Motion Planner, topic Motion). The parameter adds a supervision that the circle path not turns around more than 240 degrees and that the circle point is placed in the middle part of the circle path. Continues on next page
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1.93 MoveC - Moves the robot circularly Continued Syntax
MoveC [ \ Conc , ] [ CirPoint := ] < expression (IN) of robtarget> , [ ToPoint := ] < expression (IN) of robtarget> , [ \ ID := < expression (IN) of identno>], [ Speed := ] < expression (IN) of speeddata> [ \ V := < expression (IN) of num> ] | [ \ T := < expression (IN) of num> ] , [Zone := ] < expression (IN) of zonedata> [ \ Z := < expression (IN) of num> ] [ \ Inpos := < expression (IN) of stoppointdata> ] , [ Tool := ] < persistent (PERS) of tooldata> [ \ WObj := < persistent (PERS) of wobjdata> ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Writes to a corrections entry Tool reorientation during circle path Motion in general Coordinate systems Concurrent program execution System parameters Example of how to use TLoad, Total Load. See Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 CorrWrite - Writes to a correction generator on page 84 CirPathMode - Tool reorientation during circle path on page 44 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - System parameters MoveL - Moves the robot linearly on page 275

Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128 LoadIdentify, load identification Operating manual - IRC5 with FlexPendant service routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode)

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1.93 MoveC - Moves the robot circularly Continued
For information about See

System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.94 MoveCDO - Moves the robot circularly and sets digital output in the corner

1.94 MoveCDO - Moves the robot circularly and sets digital output in the corner
Usage MoveCDO (Move Circular Digital Output) is used to move the tool center point (TCP) circularly to a given destination. The specified digital output is set/reset in the middle of the corner path at the destination point. During the movement the orientation normally remains unchanged relative to the circle. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveCDO are illustrated below. Example 1
MoveCDO p1, p2, v500, z30, tool2, do1,1;

The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and zone data z30. The circle is defined from the start position, the circle point p1, and the destination point p2. Output do1 is set in the middle of the corner path at p2. Arguments
MoveCDO CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value [\TLoad]

CirPoint Data type:robtarget The circle point of the robot. The circle point is a position on the circle between the start point and the destination point. To obtain the best accuracy it should be placed about halfway between the start and destination points. If it is placed too close to the start or destination point the robot may give a warning. The circle point is defined as a named position or stored directly in the instruction (marked with an * in the instruction). The position of the external axes are not used. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata Continues on next page
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1.94 MoveCDO - Moves the robot circularly and sets digital output in the corner Continued The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool reorientation, and external axes. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot and external axes move. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (object coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified in order for a circle relative to the work object to be executed. Signal Data type: signaldo The name of the digital output signal to be changed. Value Data type: dionum The desired value of signal (0 or 1). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead.

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1.94 MoveCDO - Moves the robot circularly and sets digital output in the corner Continued To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveC for more information about circular movement. The digital output signal is set/reset in the middle of the corner path for flying points, as shown in figure below. The figure shows set/reset of digital output signal in the corner path with MoveCDO.

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For stop points we recommend the use of normal programming sequence with MoveC + SetDO. But when using stop point in instruction MoveCDO the digital output signal is set/reset when the robot reaches the stop point. The specified I/O signal is set/reset in execution mode continuously and stepwise forward, but not in stepwise backward. Limitations General limitations according to instruction MoveC. Syntax
MoveCDO [ CirPoint := ] < expression (IN) of robtarget > ,

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1.94 MoveCDO - Moves the robot circularly and sets digital output in the corner Continued
[ [ [ [ [ [ [ [ [ [ ToPoint := ] < expression (IN) of robtarget > , \ ID := < expression (IN) of identno >], Speed := ] < expression (IN) of speeddata > \ T := < expression (IN) of num > ] , Zone := ] < expression (IN) of zonedata > , Tool := ] < persistent (PERS) of tooldata > \ WObj := < persistent (PERS) of wobjdata > ] , Signal := ] < variable (VAR) of signaldo > ] , Value := ] < expression (IN) of dionum > ] \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Move the robot circularly Definition of load Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems Movements with I/O settings See Technical reference manual - RAPID overview MoveC - Moves the robot circularly on page 241 loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure

1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure
Usage MoveCSync (Move Circular Synchronously) is used to move the tool center point (TCP) circularly to a given destination. The specified RAPID procedure is ordered to execute at the middle of the corner path in the destination point. During the movement the orientation normally remains unchanged relative to the circle. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveCSync are illustrated below. Example 1
MoveCSync p1, p2, v500, z30, tool2, "proc1";

The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and zone data z30. The circle is defined from the start position, the circle point p1, and the destination point p2. Procedure proc1 is executed in the middle of the corner path at p2. Example 2
MoveCSync p1, p2, v500, z30, tool2, "MyModule:proc1";

The same as in example 1 above, but here the locally declared procedure proc1 in module MyModule will be called in the middle of the corner path. Arguments
MoveCSync CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName [\TLoad]

CirPoint Data type:robtarget The circle point of the robot. The circle point is a position on the circle between the start point and the destination point. To obtain the best accuracy it should be placed about halfway between the start and destination points. If it is placed too close to the start or destination point the robot may give a warning. The circle point is defined as a named position or stored directly in the instruction (marked with an * in the instruction). The position of the external axes are not used. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. Continues on next page
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1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure Continued The specified id number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool reorientation and external axes. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot and external axes move. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (object coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used, this argument must be specified. ProcName Procedure Name Data type: string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point. The procedure will execute on TRAP level (see Program execution below). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered.

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1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure Continued If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveC for more information about circular movements. The specified RAPID procedure is ordered to execute when the TCP reaches the middle of the corner path in the destination point of the MoveCSync instruction, as shown in the figure below. The figure shows that the order to execute the user defined RAPID procedure is done at the middle of the corner path.

xx0500002216

For stop points we recommend the use of normal programming sequence with MoveC + and other RAPID instructions in sequence. The table describes execution of the specified RAPID procedure in different execution modes:
Execution mode Continuously or Cycle Execution of RAPID procedure According to this description

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1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure Continued
Execution mode Forward step Backward step Execution of RAPID procedure In the stop point Not at all

MoveCSync is an encapsulation of the instructions TriggInt and TriggC. The procedure call is executed on TRAP level. If the middle of the corner path in the destination point is reached during the deceleration after a program stop, the procedure will not be called (program execution is stopped). The procedure call will be executed at next program start. Limitation General limitations according to instruction MoveC. When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms until the specified RAPID routine is executed depending on what type of movement is being performed at the time. Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error. This error tells the user that the mode switch can result in missed execution of the RAPID procedure in the queue for execution on the path. Instruction MoveCSync cannot be used on TRAP level. The specified RAPID procedure cannot be tested with stepwise execution. Syntax
MoveCSync [ CirPoint := ] < expression (IN) of robtarget > , [ ToPoint := ] < expression (IN) of robtarget > , [\ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [ Zone := ] < expression (IN) of zonedata > , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] , [ ProcName := ] < expression (IN) of string > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Moves the robot circularly Definition of load Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general See Technical reference manual - RAPID overview MoveC - Moves the robot circularly on page 241 loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview

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1.95 MoveCSync - Moves the robot circularly and executes a RAPID procedure Continued
For information about Coordinate systems Defines a position related interrupt See Technical reference manual - RAPID overview TriggInt - Defines a position related interrupt on page 615

Circular robot movement with events TriggC - Circular robot movement with events on page 596 Example of how to use TLoad, Total Load. Defining the payload for a robot MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification service Operating manual - IRC5 with FlexPendant routine System input signal SimMode for run- Technical reference manual - System parameters ning the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoadMode Technical reference manual - System parameters for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.96 MoveExtJ - Move one or several mechanical units without TCP

1.96 MoveExtJ - Move one or several mechanical units without TCP

Usage MoveExtJ (Move External Joints) is used to move linear or rotating external axes. The external axes can belong to one or several mechanical units without TCP. This instruction can only be used with an actual program task defined as a Motion Task and if the task controls one or several mechanical units without TCP. Basic examples Basic examples of the instruction MoveExtJ are illustrated below. See also More examples on page 260. Example 1
MoveExtJ jpos10, vrot10, z50;

Move rotational external axes to joint position jpos10 with speed 10 degrees/s with zone data z50. Example 2
MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;

Move external axes to joint position jpos20 in 5. The program execution goes forward at once but the external axes stops in the position jpos20 until the convergence criteria in inpos20 are fulfilled. Arguments
MoveExtJ [\Conc] ToJointPos [\ID] [\UseEOffs] Speed [\T] Zone [\Inpos]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the external axis is moving. The argument is usually not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToJointPos is not a stop point then the subsequent instruction is executed some time before the external axes has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove System. ToJointPos To Joint Position Continues on next page
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1.96 MoveExtJ - Move one or several mechanical units without TCP Continued Data type:jointtarget The destination absolute joint position of the external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization ID Data type: identno This argument must be used in a MultiMove System, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. [ \UseEOffs ] Use External Offset Data type: switch The offset for external axes, setup by instruction EOffsSet, is activated for MoveExtJ instruction when the argument UseEOffs is used. See instruction EOffsSet for more information about external offset. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the linear or rotating external axis. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the external axes move. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data defines stop point or fly-by point. If it is a fly-by point then the zone size describes the deceleration and acceleration for the linear or rotational external axes. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the external axis in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Program execution The linear or rotating external axes are moved to the programmed point with the programmed velocity.

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1.96 MoveExtJ - Move one or several mechanical units without TCP Continued More examples
CONST jointtarget j1 := [[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]]; CONST jointtarget j2 := [[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]]; CONST jointtarget j3 := [[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]]; CONST jointtarget j4 := [[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]]; CONST speeddata rot_ax_speed := [0, 0, 0, 45]; MoveExtJ MoveExtJ MoveExtJ MoveExtJ j1, j2, j3, j4, rot_ax_speed, rot_ax_speed, rot_ax_speed, rot_ax_speed, fine; z20; z20; fine;

In this example the rotating single axis is moved to joint position 0, 30, 60, and 90 degrees with the speed of 45 degrees/s. Syntax
MoveExtJ [ \ Conc , ] [ ToJointPos := ] < expression (IN) of jointtarget > [\ ID := < expression (IN) of identno >], [ \ UseEOffs , ] [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [Zone := ] < expression (IN) of zonedata > [ \ Inpos := < expression (IN) of stoppointdata >];

Related information
For information about Other positioning instructions Definition of jointtarget Definition of velocity Definition of zone data Motion in general Concurrent program execution See Technical reference manual - RAPID overview jointtarget - Joint position data on page 1189 speeddata - Speed data on page 1248 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

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1.97 MoveJ - Moves the robot by joint movement

1.97 MoveJ - Moves the robot by joint movement

Usage MoveJ is used to move the robot quickly from one point to another when that movement does not have to be in a straight line. The robot and external axes move to the destination position along a non-linear path. All axes reach the destination position at the same time. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveJ are illustrated below. See also More examples on page 264. Example 1
MoveJ p1, vmax, z30, tool2;

The tool center point (TCP) of the tool, tool2, is moved along a non-linear path to the position, p1, with speed data vmax and zone data z30. Example 2
MoveJ *, vmax \T:=5, fine, grip3;

The TCP of the tool, grip3, is moved along a non-linear path to a stop point stored in the instruction (marked with an *). The entire movement takes 5 seconds. Arguments
MoveJ [\Conc] ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos] Tool [\WObj] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument is usually not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point, the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove system.

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1.97 MoveJ - Moves the robot by joint movement Continued ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID] Synchronization id Data type: identno This argument must be used in a MultiMove system, if coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and external axes. [ \V ] Velocity Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Z ] Zone Data type: num This argument is used to specify the position accuracy of the robot TCP directly in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone specified in the zone data. [ \Inpos ] In position Data type: stoppointdata

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1.97 MoveJ - Moves the robot by joint movement Continued This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1.

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1.97 MoveJ - Moves the robot by joint movement Continued Program execution The tool center point is moved to the destination point with interpolation of the axis angles. This means that each axis is moved with constant axis velocity and that all axes reach the destination point at the same time, which results in a non-linear path. Generally speaking, the TCP is moved at the approximate programmed velocity (regardless of whether or not the external axes are coordinated). The tool is reoriented and the external axes are moved at the same time that the TCP moves. If the programmed velocity for reorientation or for the external axes cannot be attained then the velocity of the TCP will be reduced. A corner path is usually generated when movement is transferred to the next section of the path. If a stop point is specified in the zone data the program execution only continues when the robot and external axes have reached the appropriate position. More examples More examples of how to use the instruction MoveJ are illustrated below. Example 1
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;

The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the instruction. The movement is carried out with data set to v2000 and z40; the velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively. Example 2
MoveJ p5, v2000, fine \Inpos := inpos50, grip3;

The TCP of the tool, grip3, is moved in a non-linear path to a stop point p5. The robot considers it to be in the point when 50% of the position condition and 50% of the speed condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See predefined data inpos50 of data type stoppointdata. Example 3
MoveJ \Conc, *, v2000, z40, grip3;

The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the instruction. Subsequent logical instructions are executed while the robot moves. Example 4
MoveJ start, v2000, z40, grip3 \WObj:=fixture;

The TCP of the tool, grip3, is moved along a non-linear path to a position, start. This position is specified in the object coordinate system for fixture. Syntax
MoveJ [ \ Conc , ] [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata >

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1.97 MoveJ - Moves the robot by joint movement Continued
[ \ V := < expression (IN) of num > ] | [ \ := < expression (IN) of num > ] , [Zone := ] < expression (IN) of zonedata > [ \ Z := < expression (IN) of num > ] [ \ Inpos := < expression (IN) of stoppointdata > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems Concurrent program execution See Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.98 MoveJDO - Moves the robot by joint movement and sets digital output in the corner

1.98 MoveJDO - Moves the robot by joint movement and sets digital output in the corner
Usage MoveJDO (Move Joint Digital Output) is used to move the robot quickly from one point to another when that movement does not have to be in a straight line. The specified digital output signal is set/reset at the middle of the corner path. The robot and external axes move to the destination position along a non-linear path. All axes reach the destination position at the same time. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveJDO are illustrated below. Example 1
MoveJDO p1, vmax, z30, tool2, do1, 1;

The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the position, p1, with speed data vmax and zone data z30. Output do1 is set in the middle of the corner path at p1. Arguments
MoveJDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value [\TLoad]

ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and external axes. [ \T ] Time Data type: num

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1.98 MoveJDO - Moves the robot by joint movement and sets digital output in the corner Continued This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified. Signal Data type: signaldo The name of the digital output signal to be changed. Value Data type: dionum The desired value of signal (0 or 1). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital Continues on next page
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1.98 MoveJDO - Moves the robot by joint movement and sets digital output in the corner Continued input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveJ for more information about joint movement. The digital output signal is set/reset in the middle of the corner path for flying points, as shown in figure below. The figure shows set/reset of digital output signal in the corner path with MoveJDO.

xx0500002196

For stop points we recommend the use of normal programming sequence with MoveJ + SetDO. But when using stop point in instruction MoveJDO, the digital output signal is set/reset when the robot reaches the stop point. The specified I/O signal is set/reset in execution mode continuously and stepwise forward, but not in stepwise backward. Syntax
MoveJDO [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [ Zone := ] < expression (IN) of zonedata > , [ Tool := ] < persistent (PERS) of tooldata> [ \ WObj := < persistent (PERS) of wobjdata > ] , [ Signal := ] < variable (VAR) of signaldo>] , [ Value := ] < expression (IN) of dionum > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions See Technical reference manual - RAPID overview

Moves the robot by joint movement MoveJ - Moves the robot by joint movement on page 261

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1.98 MoveJDO - Moves the robot by joint movement and sets digital output in the corner Continued
For information about Definition of load Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems Movements with I/O settings See loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure

1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
Usage MoveJSync (Move Joint Synchronously) is used to move the robot quickly from one point to another when that movement does not have to be in a straight line. The specified RAPID procedure is ordered to execute at the middle of the corner path in the destination point. The robot and external axes move to the destination position along a non-linear path. All axes reach the destination position at the same time. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveJSync are illustrated below. Example 1
MoveJSync p1, vmax, z30, tool2, "proc1";

The tool center point (TCP) of the tool, tool2, is moved along a non-linear path to the position, p1, with speed data vmax and zone data z30. Procedure proc1 is executed in the middle of the corner path at p1. Example 2
MoveJSync p1, vmax, z30, tool2, "MyModule:proc1";

The same as in example 1 above, but here the locally declared procedure proc1 in module MyModule will be called in the middle of the corner path. Arguments
MoveJSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName [\TLoad]

ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and external axes. Continues on next page
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1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure Continued [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination point. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified. ProcName Procedure Name Data type: string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point. The procedure call is a late binding call, and therefore inherits its properties. The procedure will execute on TRAP level (see Program execution below). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy Continues on next page
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1 Instructions
1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure Continued the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveJ for more information about joint movements. The specified RAPID procedure is ordered to execute when the TCP reaches the middle of the corner path in the destination point of the MoveJSync instruction, as shown in the figure below.

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For stop points we recommend the use of normal programming sequence with MoveJ + other RAPID instructions in sequence. The table describes execution of the specified RAPID procedure in different execution modes:
Execution mode Continuously or Cycle Forward step Backward step Execution of RAPID procedure According to this description In the stop point Not at all

MoveJSync is an encapsulation of the instructions TriggInt and TriggJ. The procedure call is executed on TRAP level. If the middle of the corner path in the destination point is reached during the deceleration after a program stop, the procedure will not be called (program execution is stopped). The procedure call will be executed at next program start.

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1 Instructions
1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure Continued Limitation When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms until the specified RAPID routine is executed, depending on what type of movement is being performed at the time. Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error. This error tells the user that the mode switch can result in missed execution of the RAPID procedure in the queue for execution on the path. Instruction MoveJSync cannot be used on TRAP level. The specified RAPID procedure cannot be tested with stepwise execution. Syntax
MoveJSync [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >] , [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num >] , [ Zone := ] < expression (IN) of zonedata >, [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] , [ ProcName := ] < expression (IN) of string > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions See Technical reference manual - RAPID overview

Moves the robot by joint movement MoveJ - Moves the robot by joint movement on page 261 Definition of load Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Defines a position related interrupt TriggInt - Defines a position related interrupt on page 615 Axis-wise robot movements with events TriggJ - Axis-wise robot movements with events on page 624

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine

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1 Instructions
1.99 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure Continued
For information about See

System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1 Instructions
1.100 MoveL - Moves the robot linearly

1.100 MoveL - Moves the robot linearly

Usage MoveL is used to move the tool center point (TCP) linearly to a given destination. When the TCP is to remain stationary then this instruction can also be used to reorientate the tool. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in Motion tasks. Basic examples Basic examples of the instruction MoveL are illustrated below. See also More examples on page 278. Example 1
MoveL p1, v1000, z30, tool2;

The TCP of the tool, tool2, is moved linearly to the position p1, with speed data v1000and zone data z30. Example 2
MoveL *, v1000\T:=5, fine, grip3;

The TCP of the tool, grip3, is moved linearly to a stop point stored in the instruction (marked with an *). The complete movement takes 5 seconds. Arguments
MoveL [\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone [\Z] [\Inpos] Tool [\WObj] [\Corr] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument is usually not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove System. ToPoint Data type:robtarget Continues on next page
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1 Instructions
1.100 MoveL - Moves the robot linearly Continued The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified id number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity for the tool center point, the tool reorientation, and external axes. [ \V ] Velocity Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Z ] Zone Data type: num This argument is used to specify the position accuracy of the robot TCP directly in the instruction. The length of the corner path is given in mm, which is substituted for the corresponding zone specified in the zone data. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Continues on next page
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1 Instructions
1.100 MoveL - Moves the robot linearly Continued Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary tool or coordinated external axes are used then this argument must be specified in order to perform a linear movement relative to the work object. [ \Corr ] Correction Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Continues on next page
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1 Instructions
1.100 MoveL - Moves the robot linearly Continued Program execution The robot and external units are moved to the destination position as follows: The TCP of the tool is moved linearly at constant programmed velocity. The tool is reoriented at equal intervals along the path. Uncoordinated external axes are executed at a constant velocity in order for them to arrive at the destination point at the same time as the robot axes.

If it is not possible to attain the programmed velocity for the reorientation or for the external axes then the velocity of the TCP will be reduced. A corner path is usually generated when movement is transferred to the next section of a path. If a stop point is specified in the zone data then program execution only continues when the robot and external axes have reached the appropriate position. More examples More examples of how to use the instruction MoveL are illustrated below. Example 1
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;

The TCP of the tool, grip3, is moved linearly to a position stored in the instruction. The movement is carried out with data set to v2000 and z40. The velocity and zone size of the TCP are 2200 mm/s and 45 mm respectively. Example 2
MoveL p5, v2000, fine \Inpos := inpos50, grip3;

The TCP of the tool, grip3, is moved linearly to a stop point p5. The robot considers it to be in the point when 50% of the position condition and 50% of the speed condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See predefined data inpos50 of data type stoppointdata. Example 3
MoveL \Conc, *, v2000, z40, grip3;

The TCP of the tool, grip3, is moved linearly to a position stored in the instruction. Subsequent logical instructions are executed while the robot moves. Example 4
MoveL start, v2000, z40, grip3 \WObj:=fixture;

The TCP of the tool, grip3, is moved linearly to a position, start. This position is specified in the object coordinate system for fixture. Example with TLoad
MoveL p1, v1000, fine, tool2; ! Pick up the payload Set gripperdo; MoveL p2, v1000, z30, tool2 \TLoad:=tool2piece; MoveL p3, v1000, fine, tool2 \TLoad:=tool2piece; ! Release the payload Reset gripperdo; MoveL p4, v1000, fine, tool2;

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1 Instructions
1.100 MoveL - Moves the robot linearly Continued The TCP of the tool, tool2, is moved linearly to position p1 where a payload is picked up. From that position the TCP is moved to position p2 and p3 using the total load tool2piece. The loaddata in the current tooldata is not considered. The payload is released, and when moving to position p4 the load of the tool is considered again. Syntax
MoveL [ \ Conc , ] [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >] , [ Speed := ] < expression (IN) of speeddata > [ \ V := < expression (IN) of num > ] | [ \ T := < expression (IN) of num > ] , [Zone := ] < expression (IN) of zonedata > [ \ Z :=< expression (IN) of num > ] [ \ Inpos := < expression (IN) of stoppointdata > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Writes to a corrections entry Motion in general Coordinate systems Concurrent program execution Defining the payload for a robot See Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 CorrWrite - Writes to a correction generator on page 84 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification service Operating manual - IRC5 with FlexPendant routine System input signal SimMode for run- Technical reference manual - System parameters ning the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode)

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1 Instructions
1.100 MoveL - Moves the robot linearly Continued
For information about See

System parameter ModalPayLoadTechnical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1 Instructions
1.101 MoveLDO - Moves the robot linearly and sets digital output in the corner

1.101 MoveLDO - Moves the robot linearly and sets digital output in the corner
Usage MoveLDO (Move Linearly Digital Output) is used to move the tool center point (TCP) linearly to a given destination. The specified digital output signal is set/reset at the middle of the corner path. When the TCP is to remain stationary then this instruction can also be used to reorient the tool. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveLDO are illustrated below. Example 1
MoveLDO p1, v1000, z30, tool2, do1,1;

The TCP of the tool, tool2, is moved linearly to the position p1 with speed data v1000 and zone data z30. Output do1 is set in the middle of the corner path at p1. Arguments
MoveLDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value [\TLoad]

ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity for the tool center point, the tool reorientation, and external axes. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Continues on next page
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1 Instructions
1.101 MoveLDO - Moves the robot linearly and sets digital output in the corner Continued Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified. Signal Data type: signaldo The name of the digital output signal to be changed. Value Data type: dionum The desired value of signal (0 or 1). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital

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1 Instructions
1.101 MoveLDO - Moves the robot linearly and sets digital output in the corner Continued input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveL for more information about linear movements. The digital output signal is set/reset in the middle of the corner path for flying points, as shown in the figure below. The figure shows set/reset of digital output signal in the corner path with MoveLDO.

xx0500002193

For stop points we recommend the use of normal programming sequence with MoveL + SetDO. But when using stop point in instruction MoveLDO, the digital output signal is set/reset when the robot reaches the stop point. The specified I/O signal is set/reset in execution mode continuously and stepwise forward, but not in stepwise backward. Syntax
MoveLDO [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [ Zone := ] < expression (IN) of zonedata > , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := ] < persistent (PERS) of wobjdata > , [ Signal := ] < variable (VAR) of signaldo >] , [ Value := ] < expression (IN) of dionum > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Moves the robot linearly Definition of load See Technical reference manual - RAPID overview MoveL - Moves the robot linearly on page 275 loaddata - Load data on page 1192

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1 Instructions
1.101 MoveLDO - Moves the robot linearly and sets digital output in the corner Continued
For information about Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems Movements with I/O settings See speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1 Instructions
1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure

1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure
Usage MoveLSync (Move Linearly Synchronously) is used to move the tool center point (TCP) linearly to a given destination. The specified RAPID procedure is ordered to execute at the middle of the corner path in the destination point. When the TCP is to remain stationary then this instruction can also be used to reorient the tool. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction MoveLSync are illustrated below. Example 1
MoveLSync p1, v1000, z30, tool2, "proc1";

The TCP of the tool, tool2, is moved linearly to the position p1 with speed data v1000 and zone data z30. Procedure proc1 is executed in the middle of the corner path at p1. Example 2
MoveLSync p1, v1000, z30, tool2, "proc1";

The same as in example 1 above, but here the locally declared procedure proc1 in module MyModule will be called in the middle of the corner path. Arguments
MoveLSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName [\TLoad]

ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity for the tool center point, the tool reorientation, and external axes.

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1 Instructions
1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure Continued [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified. ProcName Procedure Name Data type: string Name of the RAPID procedure to be executed at the middle of the corner path in the destination point. The procedure call is a late binding call, and therefore inherits its properties. The procedure will execute on TRAP level (see Program execution below). [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy Continues on next page
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1 Instructions
1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure Continued the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveL for more information about linear movements. The specified RAPID procedure is ordered to execute when the TCP reaches the middle of the corner path in the destination point of the MoveLSync instruction, as shown in the figure below. The figure shows that the order to execute the user defined RAPID procedure is done in the middle of the corner path.

xx0500002194

For stop points we recommend the use of normal programming sequence with MoveL + other RAPID instructions in sequence. The table describes execution of the specified RAPID procedure in different execution modes:
Execution mode: Continuously or Cycle Forward step Backward step Execution of RAPID procedure: According to this description In the stop point Not at all

MoveLSync is an encapsulation of the instructions TriggInt and TriggL. The procedure call is executed on TRAP level. If the middle of the corner path in the destination point is reached during the deceleration after a program stop, the procedure will not be called (program execution is stopped). The procedure call will be executed at next program start.

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1 Instructions
1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure Continued Limitation When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms until the specified RAPID routine is executed, depending on what type of movement is being performed at the time. Switching execution mode after program stop from continuously or cycle to stepwise forward or backward results in an error. This error tells the user that the mode switch can result in missed execution of the RAPID procedure in the queue for execution on the path. Instruction MoveLSync cannot be used on TRAP level. The specified RAPID procedure cannot be tested with stepwise execution. Syntax
MoveLSync [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [ Zone := ] < expression (IN) of zonedata > , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] , [ ProcName := ] < expression (IN) of string > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Other positioning instructions Moves the robot linearly Definition of load Definition of velocity Definition of tools Definition of work objects Definition of zone data Motion in general Coordinate systems Defines a position related interrupt Linear robot movements with events Example of how to use TLoad, Total Load. Defining the payload for a robot See Technical reference manual - RAPID overview MoveL - Moves the robot linearly on page 275 loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview Technical reference manual - RAPID overview TriggInt - Defines a position related interrupt on page 615 TriggL - Linear robot movements with events on page 631 MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification service Operating manual - IRC5 with FlexPendant routine

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1 Instructions
1.102 MoveLSync - Moves the robot linearly and executes a RAPID procedure Continued
For information about See

System input signal SimMode for run- Technical reference manual - System parameters ning the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoadMode Technical reference manual - System parameters for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.103 MToolRotCalib - Calibration of rotation for moving tool

1.103 MToolRotCalib - Calibration of rotation for moving tool

Usage MToolRotCalib (Moving Tool Rotation Calibration) is used to calibrate the rotation of a moving tool. The position of the robot and its movements are always related to its tool coordinate system, i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool coordinate system as correctly as possible. The calibration can also be done with a manual method using the FlexPendant (described in Operating manual - IRC5 with FlexPendant, section Programming and testing). Description To define the tool orientation, you need a world fixed tip within the robots working space. Before using the instruction MToolRotCalib some preconditions must be fulfilled: The tool that is to be calibrated must be mounted on the robot and defined with correct component robhold(TRUE). If using the robot with absolute accuracy then the load and center of gravity for the tool should already be defined. LoadIdentify can be used for the load definition. The TCP value of the tool must already be defined. The calibration can be done with the instruction MToolTCPCalib. tool0, wobj0, and PDispOff must be activated before jogging the robot. Jog the TCP of the actual tool as close as possible to the world fixed tip (origin of the tool coordinate system) and define a jointtarget for the reference point RefTip. Jog the robot without changing the tool orientation so the world fixed tip is pointing at some point on the positive z-axis of the tool coordinate system, and define a jointtarget for point ZPos. Optionally jog the robot without changing the tool orientation so the world fixed tip is pointing at some point on the positive x-axis of the tool coordinate system, and define a jointtarget for point XPos.

As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be used.

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1.103 MToolRotCalib - Calibration of rotation for moving tool Continued See the figure below for a definition of jointtarget for RefTip, ZPos, and optional XPos.

xx0500002192

Note It is not recommended to modify the positions RefTip, ZPos, and XPos in the instruction MToolRotCalib. Basic examples Basic examples of the instruction MToolRotCalib are illustrated below. Example 1
! Created with the world fixed tip pointing at origin, positive ! z-axis, and positive x-axis of the wanted tool coordinate ! system. CONST jointtarget pos_tip := [...]; CONST jointtarget pos_z := [...]; CONST jointtarget pos_x := [...]; PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]]; ! Instructions for creating or ModPos of pos_tip, pos_z, and pos_x MoveAbsJ pos_tip, v10, fine, tool0; MoveAbsJ pos_z, v10, fine, tool0; MoveAbsJ pos_x, v10, fine, tool0; ! Only tool calibration in the z direction MToolRotCalib pos_tip, pos_z, tool1;

The tool orientation (tframe.rot) in the z direction of tool1 is calculated. The x and y directions of the tool orientation are calculated to coincide with the wrist coordinate system. Example 2
! Calibration with complete tool orientation MToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;

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1.103 MToolRotCalib - Calibration of rotation for moving tool Continued The complete tool orientation (tframe.rot) of tool1 is calculated. Arguments
MToolRotCalib RefTip ZPos [\XPos]Tool

RefTip Data type: jointtarget The point where the TCP of the tool is pointing at the world fixed tip. ZPos Data type: jointtarget The elongator point that defines the positive z direction. [\XPos] Data type: jointtarget The elongator point that defines the x positive direction. If this point is omitted then the x and y directions of the tool will coincide with the corresponding axes in the wrist coordinate system. Tool Data type: tooldata The persistent variable of the tool that is to be calibrated. Program execution The system calculates and updates the tool orientation (tfame.rot) in the specified tooldata. The calculation is based on the specified 2 or 3 jointtarget. The remaining data in tooldata such as TCP (tframe.trans) is not changed. Syntax
MToolRotCalib [ RefTip := ] < expression (IN) of jointtarget > , [ ZPos := ] < expression (IN) of jointtarget > [ \XPos := < expression (IN) of jointtarget > ] , [ Tool := ] < persistent (PERS) of tooldata > ;

Related information
For information about Calibration of TCP for a moving tool Calibration of TCP for a stationary tool Calibration of TCP and rotation for a stationary tool See MToolTCPCalib - Calibration of TCP for moving tool on page 293 SToolTCPCalib - Calibration of TCP for stationary tool on page 534 SToolRotCalib - Calibration of TCP and rotation for stationary tool on page 531

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1 Instructions
1.104 MToolTCPCalib - Calibration of TCP for moving tool

1.104 MToolTCPCalib - Calibration of TCP for moving tool

Usage MToolTCPCalib (Moving Tool TCP Calibration) is used to calibrate Tool Center Point - TCP for a moving tool. The position of the robot and its movements are always related to its tool coordinate system, i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool coordinate system as correctly as possible. The calibration can also be done with a manual method using the FlexPendant (described in Operating manual - IRC5 with FlexPendant, section Programming and testing). Description To define the TCP of a tool you need a world fixed tip within the robots working space. Before using the instruction MToolTCPCalib some preconditions must be fulfilled: The tool that is to be calibrated must be mounted on the robot and defined with correct component robhold (TRUE). If using the robot with absolute accuracy then the load and center of gravity for the tool should already be defined. LoadIdentify can be used for the load definition. tool0, wobj0, and PDispOff must be activated before jogging the robot. Jog the TCP of the actual tool as close as possible to the world fixed tip and define a jointtarget for the first point p1. Define the further three positions (p2, p3, and p4) all with different orientations.

Definition of 4 jointtargets p1....p4, see figure below.

xx0500002191

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1.104 MToolTCPCalib - Calibration of TCP for moving tool Continued

Note It is not recommended to modify the positions Pos1 to Pos4 in the instruction MToolTCPCalib. The reorientation between the 4 positions should be as big as possible, putting the robot in different configurations.Its also good practice to check the quality of the TCP after a calibration. Which can be performed by reorientation of the tool to check if the TCP is standing still. Basic examples Basic examples of the instruction MToolTCPCalib are illustrated below. Example 1
! Created with actual TCP pointing at the world fixed tip CONST jointtarget p1 := [...]; CONST jointtarget p2 := [...]; CONST jointtarget p3 := [...]; CONST jointtarget p4 := [...]; PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]]; VAR num max_err; VAR num mean_err; ... ! Instructions for createing or ModPos of p1 - p4 MoveAbsJ p1, v10, fine, tool0; MoveAbsJ p2, v10, fine, tool0; MoveAbsJ p3, v10, fine, tool0; MoveAbsJ p4, v10, fine, tool0; ... MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;

The TCP value (tframe.trans) of tool1 will be calibrated and updated. max_err and mean_err will hold the max. error in mm from the calculated TCP and the mean error in mm from the calculated TCP, respectively. Arguments
MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr

Pos1 Data type: jointtarget The first approach point. Pos2 Data type: jointtarget The second approach point. Pos3 Data type: jointtarget The third approach point. Continues on next page
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1.104 MToolTCPCalib - Calibration of TCP for moving tool Continued Pos4 Data type: jointtarget The fourth approach point. Tool Data type: tooldata The persistent variable of the tool that is to be calibrated. MaxErr Data type: num The maximum error in mm for one approach point. MeanErr Data type: num The average distance that the approach points are from the calculated TCP, i.e. how accurately the robot was positioned relative to the tip. Program execution The system calculates and updates the TCP value in the wrist coordinate system (tfame.trans) in the specified tooldata. The calculation is based on the specified 4 jointtarget. The remaining data in tooldata, such as tool orientation (tframe.rot), is not changed. Syntax
MToolTCPCalib [ Pos1 := ] < expression (IN) of jointtarget > , [ Pos2 := ] < expression (IN) of jointtarget > , [ Pos3 := ] < expression (IN) of jointtarget > , [ Pos4 := ] < expression (IN) of jointtarget > , [ Tool := ] < persistent (PERS) of tooldata > , [ MaxErr := ] < variable (VAR) of num > , [ MeanErr := ] < variable (VAR) of num > ;

Related information
For information about See

Calibration of rotation for a moving tool MToolRotCalib - Calibration of rotation for moving tool on page 290 Calibration of TCP for a stationary tool Calibration of TCP and rotation for a stationary tool SToolTCPCalib - Calibration of TCP for stationary tool on page 534 SToolRotCalib - Calibration of TCP and rotation for stationary tool on page 531

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1.105 Open - Opens a file or serial channel

1.105 Open - Opens a file or serial channel

Usage Open is used to open a file or serial channel for reading or writing. Basic examples Basic examples of the instruction Open are illustrated below. See also More examples on page 298. Example 1
VAR iodev logfile; ... Open "HOME:" \File:= "LOGFILE1.DOC", logfile \Write;

The file LOGFILE1.DOC in unit HOME: is opened for writing. The reference name logfile is used later in the program when writing to the file. Example 2
VAR iodev logfile; ... Open "LOGFILE1.DOC", logfile \Write;

Same result as example 1.The default directory is HOME:. Arguments

Open Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]

Object Data type: string The I/O object (I/O device) that is to be opened, e.g. "HOME:", "TEMP:", "com1:" or "pc:"(option). The table describes different I/O devices on the robot controller.
I/O device name "HOME:" or diskhome1 "TEMP:" or disktemp1 "RemovableDisk1:" or usbdisk11 "RemovableDisk2:" or usbdisk21 "RemovableDisk3:" or usbdisk31 "RemovableDisk4:" or usbdisk41 "RemovableDisk5:" or usbdisk51 "RemovableDisk6:" or usbdisk61 "RemovableDisk7:" or usbdisk71 "RemovableDisk8:" or usbdisk81 "RemovableDisk9:" or usbdisk91 "RemovableDisk10:" or usbdisk101 Full file path Type of I/O device

"/hd0a/xxxx/HOME/"2 Flashdisk or Hard Drive "/hd0a/temp/" "/bd0/" "/bd1/" "/bd2/" "/bd3/" "/bd4/" "/bd5/" "/bd6/" "/bd7/" "/bd8/" "/bd9/" Flashdisk or Hard Drive e.g. USB memory stick3

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1.105 Open - Opens a file or serial channel Continued
I/O device name "com1:"4 "com2:"4 "com3:"4 "pc:"5 Full file path Type of I/O device Serial channel

"/c:/temp/"6

Mounted disk

1. RAPID string defining device name 2. "xxxx" means the system name defined when booting the system 3. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on another. 4. User defined serial channel name defined in system parameters 5. Application protocol, server path defined in system parameters 6. Application protocol, server path defined in system parameters The following table describes different I/O devices on the virtual controller.
I/O device name "HOME:" or diskhome1 "TEMP:" or disktemp "RemovableDisk1:" or usbdisk1 "RemovableDisk2:" or usbdisk2 "RemovableDisk3:" or usbdisk3 "RemovableDisk4:" or usbdisk4 Full file path "/xxxx/HOME/"2 "/c:/temp/yyyy/"3 Hard Drive "/xxxx/HOME/ RemovableDisk1/" "/xxxx/HOME/ RemovableDisk2/" "/xxxx/HOME/ RemovableDisk3/" "/xxxx/HOME/ RemovableDisk4/" e.g. USB memory stick4 Type of I/O device

1. RAPID string defining the device name 2. "xxxx" means the path to the system directory defined when creating the system 3. "yyyy" means a directory named as System ID 4. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on another. [\File] Data type: string The name of the file to be opened, e.g. "LOGFILE1.DOC" or "LOGDIR/LOGFILE1.DOC" The complete path can also be specified in the argument Object, "HOME:/LOGDIR/LOGFILE.DOC". IODevice Data type: iodev A reference to the file or serial channel to open. This reference is then used for reading from and writing to the file or serial channel.

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1.105 Open - Opens a file or serial channel Continued [\Read] Data type: switch Opens a file or serial channel for reading. When reading from a file the reading is started from the beginning of the file. [\Write] Data type: switch Opens a file or serial channel for writing. If the selected file already exists then its contents are deleted. Anything subsequently written is written at the start of the file. [\Append] Data type: switch Opens a file or serial channel for writing. If the selected file already exists then anything subsequently written is written at the end of the file. Open a file or serial channel with \Append and without the \Bin arguments. The instruction opens a character-based file or serial channel for writing. Open a file or serial channel with \Append and \Bin arguments. The instruction opens a binary file or serial channel for both reading and writing. The arguments \Read, \Write, \Append are mutually exclusive. If none of these are specified then the instruction acts in the same way as the \Write argument for character-based files or a serial channel (instruction without \Bin argument) and in the same way as the \Append argument for binary files or a serial channel (instruction with \Bin argument). [\Bin] Data type: switch The file or serial channel is opened in a binary mode. If none of the arguments \Read, \Write or \Append are specified then the instruction opens a binary file or serial channel for both reading and writing, with the file pointer at the end of the file. The Rewind instruction can be used to set the file pointer to the beginning of the file if desirable. The set of instructions to access a binary file or serial channel is different from the set of instructions to access a character-based file. More examples More examples of how to use the instruction Open are illustrated below. Example 1
VAR iodev printer; ... Open "com2:", printer \Bin; WriteStrBin printer, "This is a message to the printer\0D"; Close printer;

The serial channel com2: is opened for binary reading and writing. The reference name printer is used later when writing to and closing the serial channel. Continues on next page
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1.105 Open - Opens a file or serial channel Continued Example 2
VAR VAR VAR VAR VAR iodev io_device; rawbytes raw_data_out; rawbytes raw_data_in; num float := 0.2; string answer;

ClearRawBytes raw_data_out; PackDNHeader "10", "20 1D 24 01 30 64", raw_data_out; PackRawBytes float, raw_data_out, (RawBytesLen(raw_data_out)+1) \Float4; Open "/FCI1:/dsqc328_1", io_device \Bin; WriteRawBytes io_device, raw_data_out; ReadRawBytes io_device, raw_data_in \Time:=1; Close io_device; UnpackRawBytes raw_data_in, 1, answer \ASCII:=10;

In this example raw_data_out is cleared and then packed with DeviceNet header and a float with value 0.2. A device, "/FCI1/:dsqc328_1", is opened and the current valid data in raw_data_out is written to the device. Then the program waits for at most 1 second to read from the device, which is stored in the raw_data_in. After having closed the device /FCI1/:dsqc328_1, then the read data is unpacked as a string of 10characters and stored in answer. Program execution The specified file or serial channel is opened so that it is possible to read from or write to it. It is possible to open the same physical file several times at the same time but each invocation of the Open instruction will return a different reference to the file (data type iodev). E.g. it is possible to have one write pointer and one different read pointer to the same file at the same time. The iodev variable used when opening a file or serial channel must be free from use. If it has been used previously to open a file then this file must be closed prior to issuing a new Open instruction with the same iodev variable. At Program Stop and moved PP to Main, any open file or serial channel in the program task will be closed and the I/O descriptor in the variable of type iodev will be reset. An exception to the rule is variables that are installed shared in the system of type global VAR or LOCAL VAR. Such file or serial channel belonging to the whole system will still be open. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Error handling If a file cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN. This error can then be handled in the error handler. Continues on next page
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1.105 Open - Opens a file or serial channel Continued Syntax
Open [Object :=] <expression (IN) of string> [\File:= <expression (IN) of string>] , [IODevice :=] <variable (VAR) of iodev> [\Read] | [\Write] | [\Append] [\Bin] ;

Related information
For information about See

Writing to, reading from and closing files Technical reference manual - RAPID overview or serial channels Fieldbus Command Inteface File and serial channel handling Application manual - Robot communication and I/O control Application manual - Robot communication and I/O control

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1.106 OpenDir - Open a directory

1.106 OpenDir - Open a directory

Usage OpenDir is used to open a directory for further investigation. Basic examples Basic examples of the instruction OpenDir are illustrated below. Example 1
PROC lsdir(string dirname) VAR dir directory; VAR string filename; OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO TPWrite filename; ENDWHILE CloseDir directory; ENDPROC

This example prints out the names of all files or subdirectories under the specified directory. Arguments
OpenDir Dev Path

Dev Data type: dir A variable with reference to the directory, fetched by OpenDir. This variable is then used for reading from the directory. Path Data type: string Path to the directory. Limitations Open directories should always be closed by the user after reading (instruction CloseDir). Error handling If the path points to a non-existing directory or if there are too many directories open at the same time then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
OpenDir [ Dev:= ] < variable (VAR) of dir>, [ Path:= ] < expression (IN) of string>;

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1.106 OpenDir - Open a directory Continued Related information
For information about Directory Make a directory Remove a directory Read a directory Close a directory Remove a file Rename a file File and serial channel handling See dir - File directory structure on page 1163 MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 ReadDir - Read next entry in a directory on page 1001 CloseDir - Close a directory on page 64 RemoveFile - Delete a file on page 372 RenameFile - Rename a file on page 373 Application manual - Robot communication and I/O control

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1.107 PackDNHeader - Pack DeviceNet Header into rawbytes data

1.107 PackDNHeader - Pack DeviceNet Header into rawbytes data

Usage PackDNHeader is used to pack the header of a DeviceNet explicit message into a container of type rawbytes. The data part of the DeviceNet message can afterwards be set with the instruction PackRawBytes. Basic examples Basic examples of the instruction PackDNHeader are illustrated below. Example 1
VAR rawbytes raw_data; PackDNHeader "0E", "6,20 01 24 01 30 06,9,4", raw_data;

Pack the header for DeviceNet explicit message with service code "0E" and path string "6,2001 24 01 30 06,9,4" into raw_data corresponding to get the serial number from some I/O unit. This message is ready to send without filling the message with additional data. Example 2
VAR rawbytes raw_data; PackDNHeader "10", "20 1D 24 01 30 64", raw_data;

Pack the header for DeviceNet explicit message with service code "10" and path string "201D 24 01 30 64" into raw_data corresponding to set the filter time for the rising edge on insignal 1 for some I/O unit. This message must be increased with data for the filter time. This can be done with instruction PackRawBytes starting at index RawBytesLen(raw_data)+1 (done after PackDNHeader). Arguments
PackDNHeader Service Path RawData

Service Data type: string The service to be done such as get or set attribute. To be specified with a hexadecimal code in a string e.g. "IF".
String length Format Range 2 characters 0 - 9, a -f, A - F "00" - "FF

The values for the Service is found in the EDS file. For a more detailed description see the Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0. Path Data type: string Continues on next page
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1.107 PackDNHeader - Pack DeviceNet Header into rawbytes data Continued The values for the Path is found in the EDS file. For a more detailed description see the Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0. Support for both long string format (e.g. "6,20 1D 24 01 30 64,8,1") and short string format (e.g. "20 1D 24 01 30 64"). RawData Data type: rawbytes Variable container to be packed with message header data starting at index 1 in RawData. Program execution During program execution the DeviceNet message RawData container is: first completely cleared and then the header part is packed with data

Format DeviceNet Header The instruction PackDNHeader will create a DeviceNet message header with following format:
RawData HeaderFormat Format Service Size of Path Path No of bytes Note 1 1 1 x Internal IRC5 code for DeviceNet Hex code for service In bytes ASCII chars

The data part of the DeviceNet message can afterwards be set with the instruction PackRawBytes starting at index fetched with (RawBytesLen(my_rawdata)+1). Syntax
PackDNHeader [Service := ] < expression (IN) of string> , [Path := ] < expression (IN) of string> , [RawData := ] < variable (VAR) of rawbytes> ;

Related information
For information about rawbytes data Get the length of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997

Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes data on page 57 Copy the contents of rawbytes data CopyRawBytes - Copy the contents of rawbytes data on page 75 Pack data to rawbytes data PackRawBytes - Pack data into rawbytes data on page 306

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1.107 PackDNHeader - Pack DeviceNet Header into rawbytes data Continued
For information about Write rawbytes data Read rawbytes data Unpack data from rawbytes data Bit/Byte Functions String functions File and serial channel handling See WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1.108 PackRawBytes - Pack data into rawbytes data

1.108 PackRawBytes - Pack data into rawbytes data

Usage PackRawBytes is used to pack the contents of variables of type num, dnum, byte, or string into a container of type rawbytes. Basic examples Basic examples of the instruction PackRawBytes are illustrated below.
VAR rawbytes raw_data; VAR num integer := 8; VAR dnum bigInt := 4294967295; VAR num float := 13.4; VAR byte data1 := 122; VAR byte byte1; VAR string string1:="abcdefg"; PackDNHeader "10", "20 1D 24 01 30 64", raw_data;

Pack the header for DeviceNet into raw_data. Then pack requested field bus data in raw_data with PackRawBytes. The example below shows how different data can be added. Example 1
PackRawBytes integer, raw_data, (RawBytesLen(raw_data)+1) \IntX := DINT;

The contents of the next 4 bytes after the header in raw_data will be 8 decimal. Example 2
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX := UDINT;

The contents of the next 4 bytes after the header in raw_data will be 4294967295 decimal. Example 3
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX := LINT;

The contents of the next 8 bytes after the header in raw_data will be 4294967295 decimal. Example 4
PackRawBytes float, raw_data, RawBytesLen(raw_data)+1) \Float4;

The contents of the next 4 bytes in raw_data will be 13.4 decimal. Example 5
PackRawBytes data1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;

The contents of the next byte in raw_data will be 122, the ASCII code for "z". Example 6
PackRawBytes string1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;

The contents of next 7 bytes in raw_data will be "abcdefg", coded in ASCII. Example 7
byte1 := StrToByte("1F" \Hex);

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1.108 PackRawBytes - Pack data into rawbytes data Continued
PackRawBytes byte1, raw_data, (RawBytesLen(raw_data)+1) \Hex1;

The contents of the next byte in raw_data will be "1F", hexadecimal. Arguments
PackRawBytes Value RawData [ \Network ] StartIndex [\Hex1]|[\IntX ] | [ \Float4 ] | [ \ASCII ]

Value Data type: anytype Data to be packed into RawData. Allowed data types are: num, dnum, byte, or string. Array can not be used. RawData Data type: rawbytes Variable container to be packed with data. [ \Network ] Data type: switch Indicates that integer and float shall be packed in big-endian (network order) representation in RawData. ProfiBus and InterBus use big-endian. Without this switch, integer and float will be packed in little-endian (not network order) representation in RawData. DeviceNet uses little-endian. Only relevant together with option parameter \IntX - UINT, UDINT, INT, DINT and \Float4. StartIndex Data type: num StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be placed in RawData. [ \Hex1 ] Data type: switch The Value to be packed has byte format and shall be converted to hexadecimal format and stored in 1 byte in RawData. [ \IntX ] Data type: inttypes The Value to be packed has num or dnum format. It is an integer and shall be stored in RawData according to this specified constant of data type inttypes. See Predefined data on page 308. [ \Float4 ] Data type: switch The Value to be packed has num format and shall be stored as float, 4 bytes, in RawData. [ \ASCII ] Data type: switch Continues on next page
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1.108 PackRawBytes - Pack data into rawbytes data Continued The Value to be packed has byte or string format. If the Value to be packed has byte format then it will be stored in RawData as 1 byte interpreting Value as ASCII code for a character. If the Value to be packed has string format (1-80 characters) then it will be stored in RawData as ASCII characters with the same number of characters as contained in Value. String data is not NULL terminated by the system in data of type rawbytes. It is up to the programmer to add string header if necessary (required for DeviceNet). One of the arguments \Hex1, \IntX, \Float4, or \ASCII must be programmed. The following combinations are allowed:
Data type of Value: num *) dnum **) num string byte Allowed option parameters: \IntX \IntX \Float4 \ASCII (1-80 characters) \Hex1 \ASCIIob

*) Must be an integer within the value range of selected symbolic constant USINT, UINT, UDINT, SINT, INT or DINT. **) Must be an integer within the value range of selected symbolic constant USINT, UINT, UDINT, ULINT, SINT, INT, DINT or LINT. Program execution During program execution the data is packed from the variable of type anytype into a container of type rawbytes. The current length of valid bytes in the RawData variable is set to: (StartIndex + packed_number_of_bytes - 1) The current length of valid bytes in the RawData variable is not changed if the complete pack operation is done inside the old current length of valid bytes in the RawData variable.

Predefined data The following symbolic constants of the data type inttypes are predefined and can be used to specify the integer in parameter \IntX.
Symbolic constant USINT UINT UDINT Constant value 1 2 4 8 -1 -2 Integer format Unsigned 1 byte integer Unsigned 2 byte integer Unsigned 4 byte integer Unsigned 8 byte integer Signed 1 byte integer Signed 2 byte integer Integer value range 0 ... 255 0 ... 65 535 0 ... 8 388 608 *) 0 ... 4 294 967 295 ****) 0 ... 4 503 599 627 370 496**) - 128... 127 - 32 768 ... 32 767

ULINT SINT INT

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1.108 PackRawBytes - Pack data into rawbytes data Continued
Symbolic constant DINT Constant value -4 Integer format Signed 4 byte integer Integer value range - 8 388 607 ... 8 388 608 *) -2 147 483 648 ... 2 147 483 647 ***) - 4 503 599 627 370 496... 4 503 599 627 370 496 **)

LINT

-8

Signed 8 byte integer

*) RAPID limitation for storage of integer in data type num. **) RAPID limitation for storage of integer in data type dnum. ***) Range when using a dnum variable and inttype DINT. ****) Range when using a dnum variable and inttype UDINT. Syntax
PackRawBytes [Value := ] < expression (IN) of anytype> , [RawData := ] < variable (VAR) of rawbytes> [ \ Network ] , [StartIndex := ] < expression (IN) of num> [ \ Hex1 ] | [ \ IntX := < expression (IN) of inttypes>] |[ \ Float4 ] | [ \ ASCII] ;

Related information
For information about rawbytes data Get the length of rawbytes data Clear the contents of rawbytes data Copy the contents of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997 ClearRawBytes - Clear the contents of rawbytes data on page 57 CopyRawBytes - Copy the contents of rawbytes data on page 75

Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 Write rawbytes data Read rawbytes data Unpack data from rawbytes data Bit/Byte Functions String functions File and serial channel handling WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1.109 PathAccLim - Reduce TCP acceleration along the path

1.109 PathAccLim - Reduce TCP acceleration along the path

Usage PathAccLim (Path Acceleration Limitation) is used to set or reset limitations on TCP acceleration and/or TCP deceleration along the movement path. The limitation will be performed along the movement path, i.e. the acceleration in the path frame. It is the tangential acceleration/deceleration in the path direction that will be limited. The instruction does not limit the total acceleration of the equipment, i.e. the acceleration in world frame, so it can not be directly used to protect the equipment from large accelerations. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks.

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Basic examples Basic examples of the instruction PathAccLim are illustrated below. See also More examples on page 312. Example 1
PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4;

TCP acceleration and TCP deceleration are limited to 4 m/s2. Example 2

PathAccLim FALSE, FALSE;

The TCP acceleration and deceleration is reset to maximum (default).

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1 Instructions
1.109 PathAccLim - Reduce TCP acceleration along the path Continued Arguments
PathAccLim AccLim [\AccMax] DecelLim [\DecelMax]

AccLim Data type: bool TRUE if there is to be a limitation of the acceleration, FALSE otherwise. [ \AccMax ] Data type: num The absolute value of the acceleration limitation in m/s2. Only to be used when AccLim is TRUE. DecelLim Data type: bool TRUE if there is to be a limitation of the deceleration, FALSE otherwise. [ \DecelMax ] Data type: num The absolute value of the deceleration limitation in m/s2. Only to be used when DecelLim is TRUE. Program execution The acceleration/deceleration limitations applies for the next executed robot segment and is valid until a new PathAccLim instruction is executed. The maximum acceleration/deceleration (PathAccLim FALSE, FALSE) are automatically set at a cold start-up when a new program is loaded when starting program execution from the beginning.

If there is a combination of instructions AccSet and PathAccLim the system reduces the acceleration/deceleration in the following order: according AccSet according PathAccLim

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1.109 PathAccLim - Reduce TCP acceleration along the path Continued More examples More examples of how to use the instruction PathAccLim are illustrated below.

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Example 1
MoveL p1, v1000, fine, tool0; PathAccLim TRUE\AccMax := 4, FALSE; MoveL p2, v1000, z30, tool0; MoveL p3, v1000, fine, tool0; PathAccLim FALSE, FALSE;

TCP acceleration is limited to 4 m/s2 between p1 and p3. Example 2

MoveL p1, v1000, fine, tool0; MoveL p2, v1000, z30, tool0; PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4; MoveL p3, v1000, fine, tool0; PathAccLim FALSE, FALSE;

TCP acceleration is limited to 3 m/s2 between p2 and p3. TCP deceleration is limited to 4 m/s2 between p2 and p3. Error handling If the parameters \AccMax or \DecelMax is set to a value too low, the system variable ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler. Limitations The minimum acceleration/deceleration allowed is 0.1 m/s2. The recommenadation is to have the acceleration and deceleration limit symmetrical, i.e. to have the same value on AccMax and DecelMax. Syntax
PathAccLim [ AccLim := ] < expression (IN) of bool > [\AccMax := <expression (IN) of num >], [DecelLim := ] < expression (IN) of bool> [\DecelMax := <expression (IN) of num >];

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1.109 PathAccLim - Reduce TCP acceleration along the path Continued Related information
For information about Positioning instructions Motion settings data Reduction of acceleration See Technical reference manual - RAPID overview, section RAPID summary - Motion motsetdata - Motion settings data on page 1202 AccSet - Reduces the acceleration on page 17

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1.110 PathRecMoveBwd - Move path recorder backwards

1.110 PathRecMoveBwd - Move path recorder backwards

Usage PathRecMoveBwd is used to move the robot backwards along a recorded path. Basic examples Basic examples of the instruction PathRecMoveBwd are illustrated below. See also More examples on page 315. Example 1
VAR pathrecid fixture_id; PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;

The robot is moved backwards to the position in the program where the instruction PathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Z direction and the speed is set to 500 mm/s. Arguments
PathRecMoveBwd [\ID] [\ToolOffs] [\Speed]

[\ID] Identifier Data type: pathrecid Variable that specifies the ID position to move backward to. Data type pathrecid is a non-value type, only used as an identifier for naming the recording position. If no ID position is specified then the backward movement is in a single system done to the closest recorded ID position. But in a MultiMove Synchronized Mode, the backward movements is done to the closest of the following positions: [\ToolOffs] Tool Offset Data type: pos Provides clearance offset for TCP during motion. A cartesian offset coordinate is applied to the TCP coordinates. Positive Z offset value indicates clearance. This is useful when the robot runs a process adding material. If running synchronized motion then all or none of the mechanical units needs to use the argument. If no offset is desired for some of the mechanical units then a zero offset can be applied. Even non TCP mechanical units need to use the argument if a TCP robot in a different task is used. [\Speed] Data type: speeddata Speed replaces the speed original used during forward motion. Speeddata defines the velocity for the tool center point, the tool reorientation, and the external axis. If present, this speed will be used throughout the backward movement. If omitted, the backward motion will execute with the speed in the original motion instructions. Continues on next page
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Back to the position where the synchronized movement started Back to the closest recorded ID position

1 Instructions
1.110 PathRecMoveBwd - Move path recorder backwards Continued Program execution The path recorder is activated with the PathRecStart instruction. After the recorder has been started then all move instructions will be recorded and the robot can be moved backwards along its recorded path at any point by executing PathRecMoveBwd. Synchronized motion Running the path recorder in synchronization motion adds a few considerations. All tasks involved in the synchronization recorded motion must order PathRecMoveBwd before any of the robots start to move. All synchronization handling is recorded and executed in reverse. For example, if PathRecMoveBwd is ordered from within a synchronization block to an independent position then the path recorder will automatically change state to independent at the SyncMoveOn instruction. SyncMoveOn is considered as a breakpoint without path identifier. That is, if the path recorder has been started by means of PathRecStart and PathRecMoveBwd without the optional argument \ID is executed within a synchronized motion block, then the robot will move backwards to the position the robot was at when SyncMoveOn was executed. Since the backward movement stops before SyncMoveOn, the state will be changed to independent. WaitSyncTask is considered as a breakpoint without path identifier. That is, if the path recorder has been started by the means of PathRecStart and PathRecMoveBwd is executed then the robot will move back no longer than to the position the robot was at when WaitSyncTask was executed.

More examples More examples of how to use the instruction PathRecMoveBwd are illustrated below. Example 1 - Independent motion
VAR pathrecid safe_id; CONST robtarget p0 := [...]; ... CONST robtarget p4 := [...]; VAR num choice; MoveJ p0, vmax, z50, tool1; PathRecStart safe_id; MoveJ p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; MoveL p3, vmax, z50, tool1; MoveL p4, vmax, z50, tool1; ERROR:

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1.110 PathRecMoveBwd - Move path recorder backwards Continued
TPReadFK choice,"Go to safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes"; IF choice=5 THEN IF PathRecValidBwd(\ID:=safe_id) THEN StorePath; PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10]; Stop; !Fix problem PathRecMoveFwd; RestoPath; StartMove; RETRY; ENDIF ENDIF

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This example shows how the path recorder can be utilized to extract the robot from narrow spaces upon error without programming a designated path. A part is being manufactured. At the approach point, p0, the path recorder is started and given the path recorder identifier safe_id. Assume that when the robot moves from p3 to p4 that a recoverable error arises. At that point the path is stored by executing StorePath. By storing the path the error handler can start a new movement and later on restart the original movement. When the path has Continues on next page
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1.110 PathRecMoveBwd - Move path recorder backwards Continued been stored the path recorder is used to move the robot out to the safe position, p0, by executing PathRecMoveBwd. Note that a tool offset is applied to provide clearance from, for example, a newly added weld. When the robot has been moved out the operator can do what is necessary to fix the error (for example clean the torch of welding). Then the robot is moved back to the error location by the means of PathRecMoveFwd. At the error location the path level is switched back to base level by RestoPath and a retry attempt is made. Example 2 - Synchronized motion T_ROB1
VAR pathrecid HomeROB1; CONST robtarget pR1_10:=[...]; ... CONST robtarget pR1_60:=[...]; PathRecStart HomeROB1; MoveJ pR1_10, v1000, z50, tGun; MoveJ pR1_20, v1000, z50, tGun; MoveJ pR1_30, v1000, z50, tGun; SyncMoveOn sync1, tasklist; MoveL pR1_40 \ID:=1, v1000, z50, tGun\wobj:=pos1; MoveL pR1_50 \ID:=2, v1000, z50, tGun\wobj:=pos1; MoveL pR1_60 \ID:=3, v1000, z50, tGun\wobj:=pos1; SyncMoveOff sync2; ERROR StorePath \KeepSync; TEST ERRNO CASE ERR_PATH_STOP: PathRecMoveBwd \ID:= HomeROB1\ToolOffs:=[0,0,10]; ENDTEST !Perform service action PathRecMoveFwd \ToolOffs:=[0,0,10]; RestoPath; StartMove;

T_ROB2
VAR pathrecid HomeROB2; CONST robtarget pR2_10:=[...]; ... CONST robtarget pR2_50:=[...]; PathRecStart HomeROB2; MoveJ pR2_10, v1000, z50, tGun; MoveJ pR2_20, v1000, z50, tGun; SyncMoveOn sync1, tasklist; MoveL pR2_30 \ID:=1, v1000, z50, tGun\wobj:=pos1; MoveL pR2_40 \ID:=2, v1000, z50, tGun\wobj:=pos1; MoveL pR2_50 \ID:=3, v1000, z50, tGun\wobj:=pos1; SyncMoveOff sync2;

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1.110 PathRecMoveBwd - Move path recorder backwards Continued

ERROR StorePath \KeepSync; TEST ERRNO CASE ERR_PATH_STOP: PathRecMoveBwd \ToolOffs:=[0,0,10]; ENDTEST !Perform service action PathRecMoveFwd \ToolOffs:=[0,0,10]; RestoPath; StartMove;

T_ROB3
VAR pathrecid HomePOS1; CONST jointtarget jP1_10:=[...]; ... CONST jointtarget jP1_40:=[...]; PathRecStart HomePOS1; MoveExtJ jP1_10, v1000, z50; SyncMoveOn sync1, tasklist; MoveExtJ jP1_20 \ID:=1, v1000, z50; MoveExtJ jP1_30 \ID:=2, v1000, z50; MoveExtJ jP1_40 \ID:=3, v1000, z50; SyncMoveOff sync2; ERROR StorePath \KeepSync; TEST ERRNO CASE ERR_PATH_STOP: PathRecMoveBwd \ToolOffs:=[0,0,0]; DEFAULT: PathRecMoveBwd \ID:=HomePOS1\ToolOffs:=[0,0,0]; ENDTEST !Perform service action PathRecMoveFwd \ToolOffs:=[0,0,0]; RestoPath; StartMove;

A system is consisting of three manipulators that all run in separate tasks. Assume that T_ROB1 experiences an error ERR_PATH_STOP within the synchronized block, sync1. Upon error it is desired to move back to the home position marked with the path recorder identifier HomeROB1 to perform service of the robots external equipment. This is done by using PathRecMoveBwd and suppling the pathrecid identifier. Since the error occurred during synchronized motion it is necessary that the second TCP robotT_ROB2 and the external axis T_POS1 also orders PathRecMoveBwd. These manipulators do not have to move back further than before the synchronized motion started. By not suppling PathRecMoveBwd at ERR_PATH_STOP with a path recorder identifier the path recorder ability to stop after SyncMoveOn is utilized.

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1 Instructions
1.110 PathRecMoveBwd - Move path recorder backwards Continued Note that the external axis that does not have a TCP still adds a zero tool offset to enable the possibility for the TCP robots to do so. The DEFAULT behavior in the ERROR handler in this example is that all manipulators first do the synchronized movements backwards and then the independent movements backwards to the start point of the recorded path. This is obtained by specifying \ID in PathRecMoveBwd for all manipulators. Limitations Movements using the path recorder cannot be performed on base level, i.e. StorePath has to be executed prior to PathRecMoveBwd. It is never possible to move backwards through a SynchMoveOff statement. It is never possible to move backwards through a WaitSyncTask statement. SyncMoveOn must be preceded by at least one independent movement if it is desired to move back to the position where the synchronized movement started. If it is not desired to return to the point where PathRecMoveBwd was executed (by executing PathRecMoveFwd) then the PathRecorder has to be stopped by the means of PathRecStop. PathRecStop\Clear also clears the recorded path. PathRecMoveBwd cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart,Reset or Step. Syntax
PathRecMoveBwd [ \ ID := < variable (VAR) of pathrecid > ] [ \ ToolOffs:= <expression (IN) of pos> ] [ \ Speed:= <expression (IN) of speeddata> ];

Related information
For information about Path Recorder Identifier Start - stop the path recorder See pathrecid - Path recorder identifier on page 1220 PathRecStart - Start the path recorder on page 323 PathRecStop - Stop the path recorder on page 326 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveFwd - Move path recorder forward on page 320 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Check for valid recorded path

Move path recorder forward Store - restore paths

Other positioning instructions Error Recovery

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1.111 PathRecMoveFwd - Move path recorder forward

1.111 PathRecMoveFwd - Move path recorder forward

Usage PathRecMoveFwd is used to move the robot back to the position where PathRecMoveBwd was executed. It is also possible to move the robot partly forward by supplying an identifier that has been passed during the backward movement. Basic examples Basic examples of how to use the instruction PathRecMoveFwd are illustrated below. See also More examples on page 321. Example 1
PathRecMoveFwd;

The robot is moved back to the position where the path recorder started the backward movement. Arguments
PathRecMoveFwd [\ID] [\ToolOffs] [\Speed]

[\ID] Identifier Data type: pathrecid Variable that specifies the ID position to move forward to. Data type pathrecid is a non-value type only used as an identifier for naming the recording position. If no ID position is specified then the forward movement will always be done to interrupt position on the original path. [\ToolOffs] Tool Offset Data type: pos Provides clearance offset for TCP during motion. A cartesian coordinate is applied to the TCP coordinates. This is useful when the robot runs a process adding material. [\Speed] Data type: speeddata Speed overrides the original speed used during forward motion. Speeddata defines the velocity for the tool center point, the tool reorientation, and the external axis. If present, this speed will be used throughout the forward movement. If omitted, the forward motion will execute with the speed in the original motion instructions.

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1.111 PathRecMoveFwd - Move path recorder forward Continued Program execution The path recorder is activated with the PathRecStart instruction. After the recorder has been started the robot can be moved backwards along its executed path by executing PathRecMoveBwd. The robot can thereafter be ordered back to the position where the backward execution started by calling PathRecMoveFwd. It is also possible to move the robot partly forward by supplying an identifier that has been passed during the backward movement. More examples More examples of how to use the instruction PathRecMoveFwd are illustrated below.
VAR pathrecid start_id; VAR pathrecid mid_id; CONST robtarget p1 := [...]; CONST robtarget p2 := [...]; CONST robtarget p3 := [...]; PathRecStart start_id; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; PathRecStart mid_id; MoveL p3, vmax, z50, tool1; StorePath; PathRecMoveBwd \ID:=start_id; PathRecMoveFwd \ID:=mid_id; PathRecMoveFwd; RestoPath;

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The example above will start the path recorder and the starting point will be tagged with the path identifier start_id. Thereafter the robot will move forward with traditional move instructions and then move back to the path recorder identifier start_id using the recorded path. Finally it will move forward again in two steps by the means of PathRecMoveFwd. Limitations Movements using the path recorder have to be performed on trap-level, i.e. StorePath must execute prior to PathRecMoveFwd.

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1.111 PathRecMoveFwd - Move path recorder forward Continued To be able to execute PathRecMoveFwd a PathRecMoveBwd must have been executed before. If it is not desired to return to the point where PathRecMoveBwd was executed (by executing PathRecMoveFwd) then the PathRecorder has to be stopped by the means of PathRecStop. PathRecStop\Clear also clears recorded path. PathRecMoveFwd cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart, Reset or Step. Syntax
PathRecMoveFwd ( [ \ ID := < variable (VAR) of pathid > ] [ \ ToolOffs := <expression (IN) of pos> ] [ \ Speed := <expression (IN) of speeddata> ];

Related information
For information about Path Recorder Identifiers Start - stop the path recorder Check for valid recorded path See pathrecid - Path recorder identifier on page 1220 PathRecStart - Start the path recorder on page 323 PathRecStop - Stop the path recorder on page 326 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveBwd - Move path recorder backwards on page 314 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Move path recorder backward Store - restore paths

Other positioning instructions Error Recovery

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1.112 PathRecStart - Start the path recorder

1.112 PathRecStart - Start the path recorder

Usage PathRecStart is used to start recording the robots path. The path recorder will store path information during execution of the RAPID program. Basic examples Basic examples of the instruction PathRecStart are illustrated below. Example 1
VAR pathrecid fixture_id; PathRecStart fixture_id;

The path recorder is started and the starting point (the instructions position in the RAPID program) is tagged with the identifier fixture_id. Arguments
PathRecStart ID

ID Identifier Data type:pathrecid Variable that specifies the name of the recording start position. Data type pathrecid is a non-value type only used as an identifier for naming the recording position. Program execution When the path recorder is ordered to start the robot path will be recorded internally in the robot controller. The recorded sequence of program positions can be traversed backwards by means of PathRecMoveBwd causing the robot to move backwards along its executed path. More examples More examples of how to use the instruction PathRecStart are illustrated below. Example 1
VAR pathrecid origin_id; VAR pathrecid corner_id; VAR num choice; MoveJ p1, vmax, z50, tool1; PathRecStart origin_id; MoveJ p2, vmax, z50, tool1; PathRecStart corner_id; MoveL p3, vmax, z50, tool1; MoveAbsJ jt4, vmax, fine, tool1; ERROR TPReadFK choice,"Extract to:",stEmpty,stEmpty,stEmpty,"Origin","Corner";

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1.112 PathRecStart - Start the path recorder Continued
IF choice=4 OR choice=5 THEN StorePath; IF choice=4 THEN PathRecMoveBwd \ID:=origin_id; ELSE PathRecMoveBwd \ID:=corner_id; ENDIF Stop; !Fix problem PathRecMoveFwd; RestoPath; StartMove; RETRY; ENDIF

In the example above the path recorder is used for moving the robot to a service position if an error during normal execution occurs. The robot is executing along a path. After the position p1 the path recorder is started. After the point p2 another path identifier is inserted. Assume that a recoverable error occurs while moving from position p3 to position jt4. The error handler will now be invoked, and the user can choose between extracting the robot to position Origin (point p1) or Corner (point p2). Then the path level is switched with StorePath to be able to restart at the error location later on. When the robot has backed out from the error location its up to the user solving the error (usually fixing the robots surrounding equipment). Then the robot is ordered back to the error location. The path level is switched back to normal, and a retry attempt is made. Limitations The path recorder can only be started and will only record the path in the base path level, i.e. movements at StorePath level are not recorded. Syntax
PathRecStart [ ID :=] < variable (VAR) of pathrecid> ;

Related information
For information about Path Recorder Identifiers Stop the path recorder Check for valid recorded path See pathrecid - Path recorder identifier on page 1220 PathRecStop - Stop the path recorder on page 326 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveBwd - Move path recorder backwards on page 314 PathRecMoveFwd - Move path recorder forward on page 320

Play the path recorder backward Play the path recorder forward

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1.112 PathRecStart - Start the path recorder Continued
For information about Motion in general See Technical reference manual - RAPID overview

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1.113 PathRecStop - Stop the path recorder

1.113 PathRecStop - Stop the path recorder

Usage PathRecStop is used to stop recording the robots path. Basic examples Basic examples of the instruction PathRecStop are illustrated below. See also More examples below. Example 1
PathRecStop \Clear;

The path recorder is stopped and the buffer of stored path information is cleared. Arguments
PathRecStop [\Clear]

[\Clear] Data type: switch Clear the recorded path. Program execution When the path recorder is ordered to stop the recording of the path will stop. The optional argument \Clear will clear the buffer of stored path information preventing the recorded path to be executed by mistake. After the recorder has been stopped with PathRecStop, earlier recorded paths cannot be used for back-up movements (PathRecMoveBwd). However, it is possible to use earlier recorded paths if PathRecStart is ordered again from the same position that the path recorder was stopped in. See the example below. More examples More examples of how to use the instruction PathRecStop are illustrated below.
LOCAL VAR pathrecid id1; LOCAL VAR pathrecid id2; LOCAL CONST robtarget p0:= [...]; ...... LOCAL CONST robtarget p6 := [...]; PROC example1() MoveL p0, vmax, z50, tool1; PathRecStart id1; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; PathRecStop; MoveL p3, vmax, z50, tool1; MoveL p4, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; PathRecStart id2; MoveL p5, vmax, z50, tool1; MoveL p6, vmax, z50, tool1;

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1.113 PathRecStop - Stop the path recorder Continued
StorePath; PathRecMoveBwd \ID:=id1; PathRecMoveFwd; RestoPath; StartMove; MoveL p7, vmax, z50, tool1; ENDPROC PROC example2() MoveL p0, vmax, z50, tool1; PathRecStart id1; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; PathRecStop; MoveL p3, vmax, z50, tool1; MoveL p4, vmax, z50, tool1; PathRecStart id2; MoveL p2, vmax, z50, tool1; MoveL p5, vmax, z50, tool1; MoveL p6, vmax, z50, tool1; StorePath; PathRecMoveBwd \ID:=id1; PathRecMoveFwd; RestoPath; StartMove; MoveL p7, vmax, z50, tool1; ENDPROC

PathRecStop_

The above examples describe recording of the robot path when the recording is stopped in the middle of the sequence. In example1 the PathRecMoveBwd \ID:=id1; order is valid and the robot will execute the following path: p6 -> p5 -> p2 -> p1 -> p0 The reason that the order is valid is due to the recorder being stopped and started in the exact same robot position. If this behavior isnt desirable the stop order should include the optional argument \Clear. In that way the recorded path will be cleared and it will never be possible to back-up to previous path recorder identifiers. The only difference in example2 is where the recorder was started the second time. In this case PathRecMoveBwd \ID:=id1 will cause an error. This is because no recorded path exists between p4, p3 and p2. However, it is possible to execute PathRecMoveBwd \ID:=id2. Continues on next page
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1.113 PathRecStop - Stop the path recorder Continued Syntax
PathRecStop [ \switch Clear ] ;

Related information
For information about Path Recorder Identifiers Start the path recorder Check for valid recorded path See pathrecid - Path recorder identifier on page 1220 PathRecStart - Start the path recorder on page 323 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveBwd - Move path recorder backwards on page 314 PathRecMoveFwd - Move path recorder forward on page 320 Technical reference manual - RAPID overview

Play the recorder backward Play the recorder forwards Motion in general

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1.114 PathResol - Override path resolution

1.114 PathResol - Override path resolution

Usage PathResol (Path Resolution) is used to override the configured geometric path sample time defined in the system parameters for the mechanical units that are controlled from current program task. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any motion tasks. Description The path resolution affects the accuracy of the interpolated path and the program cycle time. The path accuracy is improved and the cycle time is often reduced when the parameter PathSampleTime is decreased. A value for parameter PathSampleTime, which is too low, may cause CPU load problems in some demanding applications. However, use of the standard configured path resolution (PathSampleTime 100%) will avoid CPU load problems and provide sufficient path accuracy in most situations. Example of PathResol usage: Dynamically critical movements (max payload, high speed, combined joint motions close to the border of the work area) may cause CPU load problems. Increase the parameter PathSampleTime. Low performance external axes may cause CPU load problems during coordination. Increase the parameter PathSampleTime. Arc-welding with high frequency weaving may require high resolution of the interpolated path. Decrease the parameter PathSampleTime. Small circles or combined small movements with direction changes can decrease the path performance quality and increase the cycle time. Decrease the parameter PathSampleTime. Gluing with large reorientations and small corner zones can cause speed variations. Decrease the parameter PathSampleTime. Basic examples Basic examples of the instruction PathResol are illustrated below.
MoveJ p1,v1000,fine,tool1; PathResol 150;

With the robot at a stop point the path sample time is increased to 150 % of the configured. Arguments
PathResol PathSampleTime

PathSampleTime Data type: num Override as a percent of the configured path sample time. 100% corresponds to the configured path sample time. Within the range 25-400%. Continues on next page
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1.114 PathResol - Override path resolution Continued A lower value of the parameter PathSampleTime improves the path resolution (path accuracy). Program execution The path resolutions of all subsequent positioning instructions are affected until a new PathResol instruction is executed. This will affect the path resolution during all program execution of movements (default path level and path level after StorePath) and also during jogging. In a MultiMove system at synchronized coordinated mode the following points are valid: All mechanical units involved in synchronized coordinated mode will run with the current path resolution for actual (used) motion planner. New path resolution order against actual motion planner affects the synchronized coordinated movement and future independent movement in that motion planner. New path resolution order against another motion planner only affects future independent movement in that motion planner.

About connection between program task and motion planner see Application manual - MultiMove. The default value for override of path sample time is 100%. This value is automatically set at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

The current override of path sample time can be read from the variable C_MOTSET (data type motsetdata) in the component pathresol. Limitation If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. PathResol cannot be executed in a RAPID routine connected to any of following special system events: PowerOn, Stop, QStop,Restart, or Step. Syntax
PathResol [PathSampleTime := ] < expression (IN) of num> ;

Related information
For information about Positioning instructions Motion settings Configuration of path resolution Motion settings data See Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - System parameters motsetdata - Motion settings data on page 1202

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1.115 PDispOff - Deactivates program displacement

1.115 PDispOff - Deactivates program displacement

Usage PDispOff (Program Displacement Off) is used to deactivate a program displacement. Program displacement is activated by the instruction PDispSet or PDispOn and applies to all movements until some other program displacement is activated or until program displacement is deactivated. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction PDispOff are illustrated below. Example 1
PDispOff;

Deactivation of a program displacement. Example 2

MoveL p10, v500, z10, tool1; PDispOn \ExeP:=p10, p11, tool1; MoveL p20, v500, z10, tool1; MoveL p30, v500, z10, tool1; PDispOff; MoveL p40, v500, z10, tool1;

A program displacement is defined as the difference between the positions p10 and p11. This displacement affects the movement to p20 and p30 but not to p40. Program execution Active program displacement is reset. This means that the program displacement coordinate system is the same as the object coordinate system, and thus all programmed positions will be related to the latter. Syntax
PDispOff ;

Related information
For information about See

Definition of program displacement using PDispOn - Activates program displacement on two positions page 332 Definition of program displacement using PDispSet - Activates program displacement usknown frame ing known frame on page 336

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1.116 PDispOn - Activates program displacement

1.116 PDispOn - Activates program displacement

Usage PDispOn (Program Displacement On) is used to define and activate a program displacement using two robot positions. Program displacement is used, for example, after a search has been carried out or when similar motion patterns are repeated at several different places in the program. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction PDispOn are illustrated below. See also More examples on page 334. Example 1
MoveL p10, v500, z10, tool1; PDispOn \ExeP:=p10, p20, tool1;

Activation of a program displacement (parallel displacement). This is calculated based on the difference between positions p10 and p20. Example 2
MoveL p10, v500, fine \Inpos := inpos50, tool1; PDispOn *, tool1;

Activation of a program displacement (parallel displacement). Since a stop point that is accurately defined has been used in the previous instruction the argument \ExeP does not have to be used. The displacement is calculated on the basis of the difference between the robots actual position and the programmed point (*) stored in the instruction. Example 3
PDispOn \Rot \ExeP:=p10, p20, tool1;

Activation of a program displacement including a rotation. This is calculated based on the difference between positions p10 and p20. Arguments
PDispOn [\Rot] [\ExeP] ProgPoint Tool [\WObj]

[ \Rot ] Rotation Data type: switch The difference in the tool orientation is taken into consideration and this involves a rotation of the program. [ \ExeP ] Executed Point Data type: robtarget

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1.116 PDispOn - Activates program displacement Continued The new robot position used for calculation of the displacement. If this argument is omitted then the robots current position at the time of the program execution is used. ProgPoint Programmed Point Data type: robtarget The robots original position at the time of programming. Tool Data type: tooldata The tool used during programming, i.e. the TCP to which the ProgPoint position is related. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the ProgPoint position is related. This argument can be omitted and if so then the position is related to the world coordinate system. However, if a stationary TCP or coordinated external axes are used then this argument must be specified. The arguments Tool and \WObj are used both to calculate the ProgPoint during programming and to calculate the current position during program execution if no \ExeP argument is programmed. Program execution Program displacement means that the ProgDisp coordinate system is translated in relation to the object coordinate system. Since all positions are related to the ProgDisp coordinate system, all programmed positions will also be displaced. See figure below, which shows parallel displacement of a programmed position using program displacement.

xx0500002186

Program displacement is activated when the instruction PDispOn is executed and remains active until some other program displacement is activated (the instruction Continues on next page
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1.116 PDispOn - Activates program displacement Continued PDispSet or PDispOn) or until program displacement is deactivated (the instruction PDispOff). Only one program displacement can be active at the same time. Several PDispOn instructions, on the other hand, can be programmed one after the other and in this case the different program displacements will be added. Program displacement is calculated as the difference between ExeP and ProgPoint. If ExeP has not been specified then the current position of the robot at the time of the program execution is used instead. Since it is the actual position of the robot that is used, the robot should not move when PDispOn is executed. If the argument \Rot is used then the rotation is also calculated based on the tool orientation at the two positions. The displacement will be calculated in such a way that the new position (ExeP) will have the same position and orientation in relation to the displaced coordinate system, ProgDisp, as the old position (ProgPoint) had in relation to the original object coordinate system. See the figure below, which shows translation and rotation of a programmed position.

xx0500002187

The program displacement is automatically reset More examples More examples of how to use the instruction PDispOn are illustrated below. Example 1
PROC draw_square() PDispOn *, tool1; MoveL *, v500, z10, MoveL *, v500, z10, MoveL *, v500, z10, MoveL *, v500, z10, PDispOff; ENDPROC ... MoveL p10, v500, fine

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

tool1; tool1; tool1; tool1;

\Inpos := inpos50, tool1;

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1.116 PDispOn - Activates program displacement Continued
draw_square; MoveL p20, v500, fine \Inpos := inpos50, tool1; draw_square; MoveL p30, v500, fine \Inpos := inpos50, tool1; draw_square;

The routine draw_square is used to execute the same motion pattern at three different positions based on the positions p10, p20, and p30. See the figure below, which shows that when using program displacement the motion patterns can be reused.

xx0500002185

Example 2
SearchL sen1, psearch, p10, v100, tool1\WObj:=fixture1; PDispOn \ExeP:=psearch, *, tool1 \WObj:=fixture1;

A search is carried out in which the robots searched position is stored in the position psearch. Any movement carried out after this starts from this position using a program displacement (parallel displacement). The latter is calculated based on the difference between the searched position and the programmed point (*) stored in the instruction. All positions are based on the fixture1 object coordinate system. Syntax
PDispOn [ [ \ Rot ] [\ ExeP := < expression (IN) of robtarget>],] [ ProgPoint := ] < expression (IN) of robtarget> , [ Tool := ] < persistent (PERS) of tooldata> [ \WObj := < persistent (PERS) of wobjdata> ] ;

Related information
For information about Deactivation of program displacement See PDispOff - Deactivates program displacement on page 331

Definition of program displacement using PDispSet - Activates program displacement usknown frame ing known frame on page 336 Coordinate systems Definition of tools Definition of work objects Technical reference manual - System parameters tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290

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1.117 PDispSet - Activates program displacement using known frame

1.117 PDispSet - Activates program displacement using known frame

Usage PDispSet (Program Displacement Set) is used to define and activate a program displacement using known frame. Program displacement is used, for example, when similar motion patterns are repeated at several different places in the program. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction PDispSet are illustrated below. Example 1
VAR pose xp100 := [ [100, 0, 0], [1, 0, 0, 0] ]; ... PDispSet xp100;

Activation of the xp100 program displacement meaning that: The ProgDisp coordinate system is displaced 100 mm from the object coordinate system in the direction of the positive x-axis (see figure below). As long as this program displacement is active all positions will be displaced 100 mm in the direction of the x-axis.

The figure shows a 100 mm program displacement along the x-axis.

xx0500002199

Arguments
PDispSet DispFrame

DispFrame Displacement Frame Datatype: pose The program displacement is defined as data of the type pose.

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1.117 PDispSet - Activates program displacement using known frame Continued Program execution Program displacement involves translating and/or rotating the ProgDisp coordinate system relative to the object coordinate system. Since all positions are related to the ProgDisp coordinate system, all programmed positions will also be displaced. See the figure below, which shows translation and rotation of a programmed position.

xx0500002204

Program displacement is activated when the instruction PDispSet is executed and remains active until some other program displacement is activated (the instruction PDispSet or PDispOn) or until program displacement is deactivated (the instruction PDispOff). Only one program displacement can be active at the same time. Program displacements cannot be added to one another using PDispSet. The program displacement is automatically reset Syntax
PDispSet [ DispFrame := ] < expression (IN) of pose> ;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about Deactivation of program displacement See PDispOff - Deactivates program displacement on page 331

Definition of program displacement using PDispOn - Activates program displacement on two positions page 332 Definition of data of the type pose Coordinate systems pose - Coordinate transformations on page 1224 Technical reference manual - RAPID overview

Examples of how program displacement PDispOn - Activates program displacement on can be used page 332

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1.118 ProcCall - Calls a new procedure

1.118 ProcCall - Calls a new procedure

Usage A procedure call is used to transfer program execution to another procedure. When the procedure has been fully executed the program execution continues with the instruction following the procedure call. It is usually possible to send a number of arguments to the new procedure. These control the behavior of the procedure and make it possible for the same procedure to be used for different things. Basic examples Basic examples of the instruction ProcCall are illustrated below. Example 1
weldpipe1;

Calls the weldpipe1 procedure. Example 2

errormessage; Set do1; ... PROC errormessage() TPWrite "ERROR"; ENDPROC

The errormessage procedure is called. When this procedure is ready the program execution returns to the instruction following the procedure call, Set do1. Arguments
Procedure { Argument }

Procedure Identifier The name of the procedure to be called. Argument Data type: In accordance with the procedure declaration. The procedure arguments (in accordance with the parameters of the procedure). Basic examples Basic examples of the instruction ProcCall are illustrated below. Example 1
weldpipe2 10, lowspeed;

Calls the weldpipe2 procedure including two arguments. Example 2

weldpipe3 10 \speed:=20;

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1.118 ProcCall - Calls a new procedure Continued Limitations The procedures arguments must agree with its parameters: All mandatory arguments must be included. They must be placed in the same order. They must be of the same data type. They must be of the correct type with respect to the access-mode (input, variable, or persistent).

A routine can call a routine which, in turn, calls another routine, etc. A routine can also call itself, i.e. a recursive call. The number of routine levels permitted depends on the number of parameters. More than 10 levels are usually permitted. Syntax
(EBNF) <procedure> [ <argument list> ] ; <procedure> ::= <identifier>

Related information
For information about Arguments, parameters See Technical reference manual - RAPID overview

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1.119 ProcerrRecovery - Generate and recover from process-move error

1.119 ProcerrRecovery - Generate and recover from process-move error

Usage ProcerrRecovery can be used to generate process error during robot movement and get the possibility to handle the error and restart the process and the movement from an ERROR handler. Basic examples Basic examples of the instruction ProcerrRecovery are illustrated below. See also More examples on page 341. The examples below are not realistic but are shown for pedagogic reasons. Example 1
MoveL p1, v50, z30, tool2; ProcerrRecovery \SyncOrgMoveInst; MoveL p2, v50, z30, tool2; ERROR IF ERRNO = ERR_PATH_STOP THEN StartMove; RETRY; ENDIF

The robot movement stops on its way to p1 and the program execution transfers to the ERROR handler in the routine that created the actual path on which the error occurred, in this case the path to MoveL p1. The movement is restarted with StartMove and the execution is continued with RETRY. Example 2
MoveL p1, v50, fine, tool2; ProcerrRecovery \SyncLastMoveInst; MoveL p2, v50, z30, tool2; ERROR IF ERRNO = ERR_PATH_STOP THEN StartMove; RETRY; ENDIF

The robot movement stops at once on its way to p2. The program execution transfers to the ERROR handler in the routine where the program is currently executing or is going to execute a move instruction when the error occurred, in this case MoveL p2. The movement is restarted with StartMove and the execution is continued with RETRY. Arguments
ProcerrRecovery[\SyncOrgMoveInst] | [\SyncLastMoveInst] [\ProcSignal]

[\SyncOrgMoveInst] Data type: switch

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1.119 ProcerrRecovery - Generate and recover from process-move error Continued The error can be handled in the routine that created the actual path on which the error occurred. [\SyncLastMoveInst] Data type: switch The error can be handled in the routine where the program is currently executing a move instruction when the error occurred. If the program is currently not executing a move instruction when the error occurred then the transfer of the execution to the ERROR handler will be delayed until the program executes the next move instruction. This means that the transfer to the ERROR handler will be delayed if the robot is in a stop point or between the prefetch point and the middle of the corner path. The error can be handled in that routine. [\ProcSignal] Data type: signaldo Optional parameter that let the user turn on/off the use of the instruction. If this parameter is used and the signal value is 0, an recoverable error will be thrown, and no process error will be generated. Program execution Execution of ProcerrRecovery in continuous mode results in the following: At once the robot is stopped on its path. The variable ERRNO is set to ERR_PATH_STOP. The execution is transferred to some ERROR handler according the rules for asynchronously raised errors.

This instruction does nothing in any step mode. For description of asynchronously raised errors that are generated with ProcerrRecovery see RAPID kernel reference/Error recovery/Asynchronously raised errors. ProcerrRecovery can also be used in MultiMove system to transfer the execution to the ERROR handler in several program tasks if running in synchronized mode. More examples More examples of how to use the instruction ProcerrRecovery are illustrated below. Example with ProcerrRecovery\SyncOrgMoveInst
MODULE user_module VAR intnum proc_sup_int; PROC main() ... MoveL p1, v1000, fine, tool1; do_process; ... ENDPROC

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1.119 ProcerrRecovery - Generate and recover from process-move error Continued
PROC do_process() my_proc_on; MoveL p2, v200, z10, tool1; MoveL p3, v200, fine, tool1; my_proc_off; ERROR IF ERRNO = ERR_PATH_STOP THEN my_proc_on; StartMove; RETRY; ENDIF ENDPROC TRAP iprocfail my_proc_off; ProcerrRecovery \SyncOrgMoveInst; ENDTRAP PROC my_proc_on() SetDO do_myproc, 1; CONNECT proc_sup_int WITH iprocfail; ISignalDI di_proc_sup, 1, proc_sup_int; ENDPROC PROC my_proc_off() SetDO do_myproc, 0; IDelete proc_sup_int; ENDPROC ENDMODULE

Asynchronously raised errors generated by ProcerrRecovery with switch \SyncOrgMoveInst can, in this example, be treated in the routine do_process because the path on which the error occurred is always created in the routine do_process. A process flow is started by setting the signal do_myproc to 1. The signal di_proc_sup supervise the process, and an asynchronous error is raised if di_proc_sup becomes 1. In this simple example the error is resolved by setting do_myproc to 1 again before resuming the movement. Example with ProcerrRecovery\SyncLastMoveInst
MODULE user_module PROC main() ... MoveL p1, v1000, fine, tool1; do_process; ... ENDPROC PROC do_process() proc_on; proc_move p2, v200, z10, tool1; proc_move p3, v200, fine, tool1;

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1.119 ProcerrRecovery - Generate and recover from process-move error Continued
proc_off; ERROR IF ERRNO = ERR_PATH_STOP THEN StorePath; p4 := CRobT(\Tool:=tool1); ! Move to service station and fix the problem MoveL p4, v200, fine, tool1; RestoPath; proc_on; StartMoveRetry; ENDIF ENDPROC ENDMODULE MODULE proc_module (SYSMODULE, NOSTEPIN) VAR intnum proc_sup_int; VAR num try_no := 0; TRAP iprocfail proc_off; ProcerrRecovery \SyncLastMoveInst; ENDTRAP PROC proc_on() SetDO do_proc, 1; CONNECT proc_sup_int WITH iprocfail; ISignalDI di_proc_sup, 1, proc_sup_int; ENDPROC PROC proc_off() SetDO do_proc, 0; IDelete proc_sup_int; ENDPROC PROC proc_move (robtarget ToPoint, speeddata Speed, zonedata Zone, PERS tooldata Tool) MoveL ToPoint, Speed, Zone, Tool; ERROR IF ERRNO = ERR_PATH_STOP THEN try_no := try_no + 1; IF try_no < 4 THEN proc_on; StartMoveRetry; ELSE RaiseToUser \Continue; ENDIF ENDPROC ENDMODULE

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1.119 ProcerrRecovery - Generate and recover from process-move error Continued because all move instructions are always created in the routine proc_move. When program pointer is in routine do_process the transfer to ERROR handler will be delayed until running the next MoveL in routine proc_move. Note that the movements are always stopped at once. A process flow is started by setting the signal do_myproc to 1. The signal di_proc_sup supervise the process, and an asynchronous error is raised if di_proc_sup becomes 1. In this simple example the error is resolved by setting do_myproc to 1 again before resuming the movement. When using predefined NOSTEPIN routine we recommend using the option switch parameter \SyncLastMoveInst because then the predefined routine can make the decision to handle some error situation within the routine while others must be handled by the end user. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_PROCSIGNAL_OFF if the optional parameter \ProcSignal is used and if the signal is off when the instruction is executed. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Limitations Error recovery from asynchronously raised process errors can only be done if the motion task with the process move instruction is executing on base level when the process error occurs. So error recovery can not be done if the program task with the process instruction executes in: any event routine any routine handler (ERROR, BACKWARD or UNDO) user execution level (service routine)

See RAPID reference manual - RAPID kernel, Error recovery, Asynchronously raised errors. If no error handler with a StartMove + RETRY or a StartMoveRetry is used, the program execcution will hang. The only way to reset this is to do a PP to main. Syntax
ProcerrRecovery [ \ SyncOrgMoveInst ] | [ \ SyncLastMoveInst ] [ \ ProcSignal := ] < variable (VAR) of signaldo > ;

Related information
For information about Error handlers Asynchronously raised errors See Technical reference manual - RAPID overview RAPID reference manual - RAPID kernel - Error recover

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1.119 ProcerrRecovery - Generate and recover from process-move error Continued
For information about Propagates an error to user level See RaiseToUser - Propagates an error to user level on page 352

Resume movement and program execu- StartMoveRetry - Restarts robot movement and tion execution on page 516

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1.120 PulseDO - Generates a pulse on a digital output signal

1.120 PulseDO - Generates a pulse on a digital output signal

Usage PulseDO is used to generate a pulse on a digital output signal. Basic examples Basic examples of the instruction PulseDO are illustrated below. Example 1
PulseDO do15;

A pulse with a pulse length of 0.2 s is generated on the output signal do15. Example 2
PulseDO \PLength:=1.0, ignition;

A pulse of length 1.0 s is generated on the signal ignition. Example 3

! Program task MAIN PulseDO \High, do3; ! At almost the same time in program task BCK1 PulseDO \High, do3;

Positive pulse (value 1) is generated on the signal do3 from two program tasks at almost the same time. It will result in one positive pulse with a pulse length longer than the default 0.2 s or two positive pulses after each other with a pulse length of 0.2 s. Arguments
PulseDO [ \High ] [ \PLength ] Signal

[ \High ] High level Data type: switch Specifies that the signal value should always be set to high (value 1) when the instruction is executed independently of its current state. [ \PLength ] Pulse Length Data type: num The length of the pulse in seconds (0.001 - 2000 s). If the argument is omitted a 0.2 second pulse is generated. Signal Data type: signaldo The name of the signal on which a pulse is to be generated.

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1.120 PulseDO - Generates a pulse on a digital output signal Continued Program execution The next instruction after PulseDO is executed directly after the pulse starts. The pulse can then be set/reset without affecting the rest of the program execution. The figure below shows examples of generation of pulses on a digital output signal.

xx0500002217

The next instruction is executed directly after the pulse starts. The pulse can then be set/reset without affecting the rest of the program execution. Limitations The length of the pulse has a resolution off 0.001 seconds. Programmed values that differ from this are rounded off.

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1.120 PulseDO - Generates a pulse on a digital output signal Continued Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
PulseDO [ \High] [ \PLength := < expression (IN) of num >] , [ Signal := ] < variable (VAR) of signaldo > ;

Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.121 RAISE - Calls an error handler

1.121 RAISE - Calls an error handler

Usage RAISEis used to create an error in the program and then to call the error handler of the routine. RAISE can also be used in the error handler to propagate the current error to the error handler of the calling routine. This instruction can, for example, be used to jump back to a higher level in the structure of the program, e.g. to the error handler in the main routine if an error occurs at a lower level. Basic examples Basic examples of the instruction RAISE are illustrated below. See also More examples on page 350. Example 1
MODULE MainModule . VAR errnum ERR_MY_ERR := -1; PROC main() BookErrNo ERR_MY_ERR; IF di1 = 0 THEN RAISE ERR_MY_ERR; ENDIF ERROR IF ERRNO = ERR_MY_ERR THEN TPWrite "di1 equals 0"; ENDIF ENDPROC ENDMODULE

For this implementation di1 equals 0 is regarded as an error. RAISE will force the execution to the error handler. In this example the user has created his own error number to handle the specific error. BookErrNo belongs to the base functionality Advanced RAPID. Arguments
RAISE [ Error no. ]

Error no. Data type: errnum Error number: Any number between 1 and 90 which the error handler can use to locate the error that has occurred (the ERRNO system variable).

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1.121 RAISE - Calls an error handler Continued It is also possible to book an error number outside the range 1-90 with the instruction BookErrNo. The error number must be specified outside the error handler in a RAISE instruction in order to be able to transfer execution to the error handler of that routine. If the instruction is present in a routines error handler then the error is propagated to the error handler of the calling routine. In this case the error number does not have to be specified. More examples More examples of the instruction RAISE are illustrated below. Example 1
MODULE MainModule VAR num value1 := 10; VAR num value2 := 0; PROC main() routine1; ERROR IF ERRNO = ERR_DIVZERO THEN value2 := 1; RETRY; ENDIF ENDPROC PROC routine1() value1 := 5/value2;!This will lead to an error when value2 is equal to 0. ERROR RAISE; ENDPROC ENDMODULE

In this example the division with zero will result in an error. In the ERROR-handler RAISE will propagate the error to the ERROR-handler in the calling routine "main". The same error number remains active. RETRY will re-run the whole routine "routine1". Program execution Program execution continues in the routines error handler. After the error handler has been executed the program execution can continue with: the routine that called the routine in question (RETURN). the error handler of the routine that called the routine in question (RAISE).

A RAISE instruction in a routines error handler also has another feature. It can be used for long jump (see Error Recovery With Long Jump). With a long jump it is

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1.121 RAISE - Calls an error handler Continued possible to propagate an error from an error handler from a deep nested call chain to a higher level in one step. If the RAISE instruction is present in a trap routine, the error is dealt with by the systems error handler. Error handling If the error number is out of range then the system variable ERRNO is set to ERR_ILLRAISE (see "Data types - errnum"). This error can be handled in the error handler. Syntax
(EBNF) RAISE [<error number>] ; <error number> ::= <expression>

Related information
For information about Error handling Error recovery with long jump Booking error numbers See Technical reference manual - System parameters Technical reference manual - System parameters BookErrNo - Book a RAPID system error number on page 36

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1.122 RaiseToUser - Propagates an error to user level

1.122 RaiseToUser - Propagates an error to user level

Usage RaiseToUseris used in an error handler in nostepin routines to propagate the current error or any other defined error to the error handler at user level. User level is in this case the first routine in a call chain above a nostepin routine. Basic examples Basic examples of the instruction RaiseToUser are illustrated below. Example 1
MODULE MyModule VAR errnum ERR_MYDIVZERO:= -1; PROC main() BookErrNo ERR_MYDIVZERO; ... routine1; ... ERROR IF ERRNO = ERR_MYDIVZERO THEN TRYNEXT; ELSE RETRY; ENDIF ENDPROC ENDMODULE MODULE MySysModule (SYSMODULE, NOSTEPIN, VIEWONLY) PROC routine1() ... routine2; ... UNDO ! Free allocated resources ENDPROC PROC routine2() VAR num n:=0; ... reg1:=reg2/n; ... ERROR IF ERRNO = ERR_DIVZERO THEN RaiseToUser \Continue \ErrorNumber:=ERR_MYDIVZERO; ELSE RaiseToUser \BreakOff; ENDIF ENDPROC ENDMODULE

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1.122 RaiseToUser - Propagates an error to user level Continued The division by zero in routine2 will propagate up to the error handler in main routine with the errno set to ERR_MYDIVZERO. The TRYNEXT instruction in main error handler will then cause the program execution to continue with the instruction after the division by zero in routine2. The \Continue switch controls this behavior. If any other errors occur in routine2 then the \BreakOff switch forces the execution to continue from the error handler in the main routine. In this case the undo handler in routine1 will be executed while raising it to user level. The RETRY instruction in the error handler in the main routine will execute routine1 from the beginning once again. The undo handler in routine1 will also be executed in the \Continue case if a following RAISE or RETURN is done on the user level. Arguments
RaiseToUser[ \Continue] | [ \BreakOff][ \ErrorNumber]

[\Continue] Data type: switch Continue the execution in the routine that caused the error. [\BreakOff] Data type:switch Break off the call chain and continue the execution at the user level. Any undo handler in the call chain will be executed apart from the undo handler in the routine that raised the error. One of the arguments \Continue or \BreakOff must be programmed to avoid an execution error. [\ErrorNumber] Data type: errnum Any number between 1 and 90 that the error handler can use to locate the error that has occurred (the ERRNO system variable). It is also possible to book an error number outside the range 1-90 with the instruction BookErrNo. If the argument \ErrorNumber is not specified then the original error number propagates to the error handler in the routine at user level. Program execution RaiseToUser can only be used in an error handler in a nostepin routine. Program execution continues in the error handler of the routine at user level. The error number remains active if the optional parameter \ErrorNumber is not present. The systems error handler deals with the error if there is no error handler on user level. The systems error handler is called if none of the argument \Continue or \BreakOff is specified. There are two different behaviors after the error handler has been executed. The program execution continues in the routine with RaiseToUser if the \Continue

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1 Instructions
1.122 RaiseToUser - Propagates an error to user level Continued switch is on. The program execution continues at the user level if the \BreakOff switch is on. Program execution can continue with: Error handling If the error number is out of range then the system variable ERRNO is set to ERR_ILLRAISE (see "Data types - errnum"). The systems error handler deals with this error. Syntax
RaiseToUser [ \Continue ] | [ \BreakOff ] [ \ErrorNumber := ] < expression (IN) of errnum>;

the instruction that caused the error (RETRY) the following instruction (TRYNEXT) the error handler of the routine that called the routine at user level (RAISE) the routine that called the routine at user level (RETURN)

Related information
For information about Error handling Undo handling Booking error numbers See Technical reference manual - RAPID overview Technical reference manual - RAPID overview BookErrNo - Book a RAPID system error number on page 36

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1.123 ReadAnyBin - Read data from a binary serial channel or file

1.123 ReadAnyBin - Read data from a binary serial channel or file

Usage ReadAnyBin (Read Any Binary) is used to read any type of data from a binary serial channel or file. Basic examples Basic examples of the instruction ReadAnyBin are illustrated below. See also More examples on page 356. Example 1
VAR iodev channel2; VAR robtarget next_target; ... Open "com2:", channel2 \Bin; ReadAnyBin channel2, next_target;

The next robot target to be executed, next_target, is read from the channel referred to by channel2. Arguments
ReadAnyBin IODevice Data [\Time]

IODevice Data type: iodev The name (reference) of the binary serial channel or file to be read. Data Data type: ANYTYPE The VAR or PERS to which the read data will be stored. [\Time] Data type: num The max. time for the reading operation (timeout) in seconds. If this argument is not specified then the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the read operation is finished then the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler then the execution will be stopped. The timeout function is also in use during program stop and will be noticed by the RAPID program at program start. Program execution As many bytes as are required for the specified data are read from the specified binary serial channel or file. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset.

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1 Instructions
1.123 ReadAnyBin - Read data from a binary serial channel or file Continued More examples More examples of the instruction ReadAnyBin are illustrated below. Example 1
CONST num NEW_ROBT:=12; CONST num NEW_WOBJ:=20; VAR iodev channel; VAR num input; VAR robtarget cur_robt; VAR wobjdata cur_wobj; Open "com2:", channel\Bin; ! Wait for the opcode character input := ReadBin (channel \Time:= 0.1); TEST input CASE NEW_ROBT: ReadAnyBin channel, cur_robt; CASE NEW_WOBJ: ReadAnyBin channel, cur_wobj; ENDTEST Close channel;

As a first step the opcode of the message is read from the serial channel. According to this opcode a robtarget or a wobjdata is read from the serial channel. Error handling If an error occurs during reading then the system variable ERRNO is set to ERR_FILEACC. If timeout before the read operation is finished then the system variable ERRNO is set to ERR_DEV_MAXTIME. If there is a checksum error in the data read then the system variable ERRNO is set to ERR_RANYBIN_CHK. If the end of the file is detected before all the bytes are read then the system variable ERRNO is set to ERR_RANYBIN_EOF. These errors can then be dealt with by the error handler. Limitations This instruction can only be used for serial channels or files that have been opened for binary reading. The data to be read by this instruction ReadAnyBin must be a value data type such as num, bool, or string. Record, record component, array, or array element of these value data types can also be used. Entire data or partial data with semi-value or non-value data types cannot be used.

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1.123 ReadAnyBin - Read data from a binary serial channel or file Continued

Note The VAR or PERS variable, for storage of the read data, can be updated in several steps. Therefore, always wait until the whole data structure is updated before using read data from a TRAP or another program task. Because WriteAnyBin-ReadAnyBin are designed to only handle internal binary controller data with serial channel or files between or within IRC5 control systems, no data protocol is released and the data cannot be interpreted on any PC. Control software development can break the compatibility so it is not possible to use WriteAnyBin-ReadAnyBin between different software versions of RobotWare. If a WriteAnyBin to file is done with RobotWare version 5.07, the file cannot be read by instruction ReadAnyBin with RobotWare version 5.08. And the opposite case, if a WriteAnyBin to file is done with RobotWare version 5.08, the file cannot be read by instruction ReadAnyBin with RobotWare version 5.07. Version 0 for IRC5 controller software equal or less than RW5.07 Version 1 for IRC5 controller software equal or greater than RW5.08 Always compatible within all revisions of any software versions. Syntax
ReadAnyBin [IODevice:=] <variable (VAR) of iodev>, [Data:=] <var or pers (INOUT) of ANYTYPE> [\Time:= <expression (IN) of num>];

Related information
For information about See

Opening, etc. of serial channels or files Technical reference manual - RAPID overview Write data to a binary serial channel or WriteAnyBin - Writes data to a binary serial chanfile nel or file on page 742 File and serial channel handling Application manual - Robot communication and I/O control

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1.124 ReadBlock - read a block of data from device

1.124 ReadBlock - read a block of data from device

Usage ReadBlock is used to read a block of data from a device connected to the serial sensor interface. The data is stored in a file. The sensor interface communicates with two sensors over serial channels using the RTP1 transport protocol. This is an example of a sensor channel configuration. COM_PHY_CHANNEL: Basic examples Basic examples of the instruction ReadBlock are illustrated below. Example 1
CONST string SensorPar := "flp1:senpar.cfg"; CONST num ParBlock:= 1; ! Connect to the sensor device "sen1:" (defined in sio.cfg). SenDevice "sen1:"; ! Read sensor parameters from sensor datablock 1 ! and store on flp1:senpar.cfg ReadBlock "sen1:", ParBlock, SensorPar;

Name COM1: Connector COM1 Baudrate 19200 Name sen1: Type RTP1 PhyChannel COM1

COM_TRP:

Arguments
ReadBlock device BlockNo FileName [ \TaskName ]

device Data type: string The I/O device name configured in sio.cfg for the sensor used. BlockNo Data type: num The argument BlockNo is used to select the data block in the sensor to be read. FileName Data type: string The argument FileName is used to define a file to which data is written from the data block in the sensor selected by the BlockNo argument. Continues on next page
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1.124 ReadBlock - read a block of data from device Continued [ \TaskName ] Data type: string The argument TaskName makes it possible to access devices in other RAPID tasks. Fault management
Error constant (ERRNO value) SEN_NO_MEAS SEN_NOREADY SEN_GENERRO SEN_BUSY SEN_UNKNOWN SEN_EXALARM SEN_CAALARM SEN_TEMP SEN_VALUE SEN_CAMCHECK SEN_TIMEOUT Description Measurement failure Sensor unable to handle command General sensor error Sensor busy Unknown sensor External sensor error Internal sensor error Sensor temperature error Illegal communication value Sensor check failure Communication error

Syntax
ReadBlock [ device := ] < expression(IN) of string>, [ BlockNo := ] < expression (IN) of num > , [ FileName := ] < expression (IN) of string > , [ \ TaskName := < expression (IN) of string > ] ;

Related information
For information about Connect to a sensor device Write a sensor variable Read a sensor variable Write a sensor data block See SenDevice - connect to a sensor device on page 442 WriteVar - write variable on page 757 ReadVar - Read variable from a device on page 1015 WriteBlock - write block of data to device on page 747

Configuration of sensor com- Technical reference manual - System parameters munication

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1 Instructions
1.125 ReadCfgData - Reads attribute of a system parameter

1.125 ReadCfgData - Reads attribute of a system parameter

Usage ReadCfgData is used to read one attribute of a system parameter (configuration data). Besides to reading named parameters it is also possible to search for unnamed parameters. Basic examples Basic examples of the instruction ReadCfgData are illustrated below. Both of these examples show how to read named parameters. Example 1
VAR num offset1; ... ReadCfgData "/MOC/MOTOR_CALIB/rob1_1","cal_offset",offset1;

Reads the value of the calibration offset for axis 1 for rob_1 into the num variable offset1. Example 2
VAR string io_unit; ... ReadCfgData "/EIO/EIO_SIGNAL/process_error","Unit",io_unit;

Reads the name of the I/O unit where the signal process_error is defined into the string variable io_unit. Arguments
ReadCfgData InstancePath Attribute CfgData [\ListNo]

InstancePath Data type: string Specifies a path to the parameter to be accessed. For named parameters the format of this string is /DOMAIN/TYPE/ParameterName. For unnamed parameters the format of this string is /DOMAIN/TYPE/Attribute/AttributeValue. Attribute Data type: string The name of the attribute of the parameter to be read. CfgData Data type: any type The variable where the attribute value will be stored. Depending on the attribute type the valid types are bool, num, or string. [\ListNo] Data type: num

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1.125 ReadCfgData - Reads attribute of a system parameter Continued Variable holding the instance number of the Attribute + AttributeValue to be found. First occurrence of the Attribute + AttributeValue has an instance number 0. If more instances are searched for then the returned value in \ListNo will be incremented with 1. Otherwise, if there are no more instances then the returned value will be -1. The predefined constant END_OF_LIST can be used to check if more instances are to be search for. Program execution The value of the attribute specified by the Attribute argument is stored in the variable specified by the CfgData argument. If using format /DOMAIN/TYPE/ParameterName in InstancePath, only named parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME. For unnamed parameters use the optional parameter \ListNo to selects from which instance to read the attribute value. It is updated after each successful read to the next available instance. More examples More examples of the instruction ReadCfgdata are illustrated below. Both these examples show how to read unnamed parameters. Example 1
VAR num list_index; VAR string read_str; ... list_index:=0; ReadCfgData "/EIO/EIO_CROSS/Act1/do_13", "Res", read_str, \ListNo:=list_index; IF read_str <> "" THEN TPWrite "Resultant signal for signal do_13 is: " + read_str; ENDIF

Reads the resultant signal for the unnamed digital actor signal di_13 and places the name in the string variable read_str. In this example domain EIO has the following cfg code: EIO_CROSS: -Res "di_1" -Act1 "do_2" -Res "di_2" -Act1 "do_2" -Res "di_13" -Act1 "do_13" Example 2
VAR num list_index; VAR string read_str; ... list_index:=0; WHILE list_index <> END_OF_LIST DO ReadCfgData "/EIO/EIO_SIGNAL/Unit/USERIO", "Name", read_str, \ListNo:=list_index;

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1.125 ReadCfgData - Reads attribute of a system parameter Continued
IF read_str <> "" THEN TPWrite "Signal: " + read_str; ENDIF ENDWHILE

Read the names of all signals defined for the I/O unit USERIO. In this example domain EIO has the following cfg code:
EIO_SIGNAL: -Name "USERDO1" -SignalType "DO" -Unit "USERIO" -UnitMap "0" -Name "USERDO2" -SignalType "DO" -Unit "USERIO" -UnitMap "1" -Name "USERDO3" -SignalType "DO" -Unit "USERIO" -UnitMap "2"

Error handling If it is not possible to find the data specified with InstancePath + Attribute in the configuration database then the system variable ERRNO is set to ERR_CFG_NOTFND. If the data type for parameter CfgData is not equal to the real data type for the found data specified withInstancePath + Attribute in the configuration database then the system variable ERRNO is set to ERR_CFG_ILLTYPE. If trying to read internal data then the system variable ERRNO is set to ERR_CFG_INTERNAL. If variable in argument \ListNo has a value outside range of available instances (0 ... n) when executing the instruction then ERRNO is set to ERR_CFG_OUTOFBOUNDS. These errors can then be handled in the error handler. Limitations The conversion from system parameter units (m, radian, second, etc.) to RAPID program units (mm, degree, second, etc.) for CfgData of data type num must be done by the user in the RAPID program. If using format /DOMAIN/TYPE/ParameterName in InstancePath then only named parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME. RAPID strings are limited to 80 characters. In some cases this can be in theory too small for the definition InstancePath, Attribute or CfgData. Predefined data The predefined constant END_OF_LIST with value -1 can be used to stop reading when no more instances can be found. Syntax
ReadCfgData [ InstancePath ':=' ] < expression (IN) of string > ',' [ Attribute ':=' ] < expression (IN) of string > ',' [ CfgData ':=' ] < variable (VAR) of anytype > [ '\' ListNo ':=' < variable (VAR) of num >] ';'

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1 Instructions
1.125 ReadCfgData - Reads attribute of a system parameter Continued Related information
For information about Definition of string See string - Strings on page 1258

Write attribute of a system parameter WriteCfgData - Writes attribute of a system parameter on page 749 Get robot name in current task Configuration RobName - Get the TCP robot name on page 1022 Technical reference manual - System parameters

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1.126 ReadErrData - Gets information about an error

1.126 ReadErrData - Gets information about an error

Usage ReadErrData is to be used in a trap routine, to get information (domain, type, number and intermixed strings %s etc.) about an error, a state change, or a warning that caused the trap routine to be executed. Basic examples Basic examples of the instruction ReadErrData are illustrated below. See also More examples on page 365 Example 1
VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; VAR trapdata err_data; VAR string string1; VAR string string2; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type \Str1:=string1 \Str2:=string2; ENDTRAP

When an error is trapped to the trap routine trap_err the error domain, the error number, the error type, and the two first intermixed strings in the error message are saved into appropriate variables. Arguments
ReadErrData TrapEvent ErrorDomain ErrorId ErrorType [\Str1][\Str2] [\Str3] [\Str4] [\Str5]

TrapEvent Data type: trapdata Variable containing the information about what caused the trap to be executed. ErrorDomain Data type: errdomain Variable to store the error domain to which the error, state change, or warning that occurred belongs. Ref. to predefined data of type errdomain. ErrorId Data type: num Variable to store the number of the error that occurred. The error number is returned without the first digit (error domain) and without the initial zeros of the complete error number. E.g. 10008 Program restarted is returned as 8.

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1.126 ReadErrData - Gets information about an error Continued ErrorType Data type: errtype Variable to store the type of event such as error, state change, or warning that occurred. Ref. to predefined data of type errtype. [ \Str1 ] ... [ \Str5 ] Data type: string Update the specified string variable with argument that is intermixed in the error message. There could be up to five arguments in a message of type %s, %f, %d or %ld, which always will be converted to a string at execution of this instruction. Str1 will hold the first argument, Str2 will hold the second argument, and so on. Information about how many arguments there are in a message is found in Operating manual - Trouble shooting. The intermixed arguments is marked as arg in that document. Program execution The ErrorDomain, ErrorId, ErrorType and Str1 ... Str5 variables are updated according to the contents of TrapEvent. If different events are connected to the same trap routine then the program must make sure that the event is related to error monitoring. This can be done by testing that INTNO matches the interrupt number used in the instruction IError; More examples More examples of the instruction ReadErrData are illustrated below. Example 1
VAR intnum err_interrupt; VAR trapdata err_data; VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; ... PROC main() CONNECT err_interrupt WITH trap_err; IError COMMON_ERR, TYPE_ERR, err_interupt; ... IDelete err_interrupt; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ! Set domain no 1 ... 11 SetGO go_err1, err_domain; ! Set error no 1 ...9999 SetGO go_err2, err_number; ENDTRAP

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1 Instructions
1.126 ReadErrData - Gets information about an error Continued When an error occurs (only errors, not warning or state change) the error number is retrieved in the trap routine and its value is used to set 2 groups of digital output signals. Limitation It is not possible obtain information about internal errors. Syntax
ReadErrData [TrapEvent :=] <variable (VAR) of trapdata>, [ErrorDomain :=] <variable (VAR) of errdomain>, [ErrorId:=] <variable (VAR) of num>, [ErrorType :=] <variable (VAR) of errtype> [\Str1 :=<variable (VAR) of string>] [\Str2 :=<variable (VAR) of string>] [\Str3 :=<variable (VAR) of string>] [\Str4 :=<variable (VAR) of string>] [\Str5 :=<variable (VAR) of string>];

Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview

More information on interrupt manage- Technical reference manual - RAPID overview ment Error domains, predefined constants errdomain - Error domain on page 1166 Error types, predefined constants Orders an interrupt on errors Get interrupt data for current TRAP errtype - Error type on page 1175 IError - Orders an interrupt on errors on page 135 GetTrapData - Get interrupt data for current TRAP on page 124

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1 Instructions
1.127 ReadRawBytes - Read rawbytes data

1.127 ReadRawBytes - Read rawbytes data

Usage ReadRawBytes is used to read data of type rawbytes from a device opened with Open\Bin. Basic examples Basic examples of the instruction ReadRawBytes are illustrated below. Example 1
VAR VAR VAR VAR VAR iodev io_device; rawbytes raw_data_out; rawbytes raw_data_in; num float := 0.2; string answer;

ClearRawBytes raw_data_out; PackDNHeader "10", "20 1D 24 01 30 64", raw_data_out; PackRawBytes float, raw_data_out, (RawBytesLen(raw_data_out)+1) \Float4; Open "/FC1:/dsqc328_1", io_device \Bin; WriteRawBytes io_device, raw_data_out; ReadRawBytes io_device, raw_data_in \Time:=1; Close io_device; UnpackRawBytes raw_data_in, 1, answer \ASCII:=10;

In this example raw_data_out is cleared and then packed with DeviceNet header and a float with value 0.2. A device, "/FC1:/dsqc328_1", is opened and the current valid data in raw_data_out is written to the device. Then the program waits for at most 1 second to read from the device, which is stored in the raw_data_in. After having closed the device "/FC1:/dsqc328_1", the read data is unpacked as a string of characters and stored in answer. Arguments
ReadRawBytes IODevice RawData [\Time]

IODevice Data type: iodev IODevice is the identifier of the device from which data shall be read. RawData Data type: rawbytes RawData is the data container that stores read data from IODevice starting at index 1. [\Time] Data type: num Continues on next page
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1.127 ReadRawBytes - Read rawbytes data Continued The max. time for the reading operation (timeout) in seconds (resolution 0,001s). If this argument is not specified then the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the reading operation is finished then the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler then the execution will be stopped. The timeout function is also in use during program stop and will be noticed by the RAPID program at program start. Program execution During program execution the data is read from the device indicated by IODevice. If using WriteRawBytes for field bus commands such as DeviceNet then the field bus always sends an answer. The answer must be handled in RAPID with the ReadRawBytes instruction. The current length of valid bytes in the RawData variable is set to the read number of bytes. The data starts at index 1 in RawData. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Error handling If an error occurs during reading then the system variable ERRNO is set to ERR_FILEACC. If time out before the read operation is finished then nothing in the variable RawData is affected, and the system variable ERRNO is set to ERR_DEV_MAXTIME. These errors can then be dealt with by the error handler. Syntax
ReadRawBytes [IODevice := ] < variable (VAR) of iodev> , [RawData := ] < variable (VAR) of rawbytes> , [ \ Time := < expression (IN) of num>] ;

Related information
For information about rawbytes data Get the length of rawbytes data Clear the contents of rawbytes data Copy the contents of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997 ClearRawBytes - Clear the contents of rawbytes data on page 57 CopyRawBytes - Copy the contents of rawbytes data on page 75

Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 Pack data into rawbytes data PackRawBytes - Pack data into rawbytes data on page 306

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1 Instructions
1.127 ReadRawBytes - Read rawbytes data Continued
For information about Write rawbytes data Unpack data from rawbytes data File and serial channel handling See WriteRawBytes - Write rawbytes data on page 753 UnpackRawBytes - Unpack data from rawbytes data on page 689 Application manual - Robot communication and I/O control

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1.128 RemoveDir - Delete a directory

1.128 RemoveDir - Delete a directory

Usage RemoveDir is used to remove a directory. The user must have write and execute permission for the directory and the directory must be empty. Basic examples Basic examples of the instruction RemoveDir are illustrated below. Example 1
RemoveDir "HOME:/mydir";

In this example the mydir directory under HOME: is deleted. Arguments

RemoveDir Path

Path Data type: string The name of the directory to be removed, specified with full or relative path. Error handling If the directory does not exist, or the directory is not empty, or the user does not have write and execute permission to the library then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
RemoveDir [ Path:= ] < expression (IN) of string>;

Related information
For information about Directory Open a directory Read a directory Close a directory Make a directory Rename a file Remove a file Copy a file Check file type Check file size See dir - File directory structure on page 1163 OpenDir - Open a directory on page 301 ReadDir - Read next entry in a directory on page 1001 CloseDir - Close a directory on page 64 MakeDir - Create a new directory on page 224 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73 IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893

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1 Instructions
1.128 RemoveDir - Delete a directory Continued
For information about Check file system size File and serial channel handling See FSSize - Retrieve the size of a file system on page 899 Application manual - Robot communication and I/O control

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1.129 RemoveFile - Delete a file

1.129 RemoveFile - Delete a file

Usage RemoveFile is used to remove a file. The user must have write and execute permission for the directory where the file resides and the user must have write permission for the file itself. Basic examples Basic examples of the instruction RemoveFile are illustrated below. Example 1
RemoveFile "HOME:/mydir/myfile.log";

In this example the file myfile.log in directory mydir on disk HOME: is deleted. Arguments
RemoveFile Path

Path Data type: string The name of the file to be deleted, specified with full or relative path. Error handling If the file does not exist then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
RemoveFile [ Path:= ] < expression (IN) of string>;

Related information
For information about Make a directory Remove a directory Rename a file Copy a file Check file type Check file size Check file system size File and serial channel handling See MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 CopyFile - Copy a file on page 73 IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893 FSSize - Retrieve the size of a file system on page 899 Application manual - Robot communication and I/O control

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1 Instructions
1.130 RenameFile - Rename a file

1.130 RenameFile - Rename a file

Usage RenameFile is used to give a new name to an existing file. It can also be used to move a file from one place to another in the directory structure. Basic examples Basic examples of the instruction RenameFile are illustrated below. Example 1
RenameFile "HOME:/myfile", "HOME:/yourfile;

The file myfile is given the name yourfile.

RenameFile "HOME:/myfile", "HOME:/mydir/yourfile";

The file myfile is given the name yourfile and is moved to the directory mydir. Arguments
RenameFile OldPath NewPath

OldPath Data type:string The complete path of the file to be renamed. NewPath Data type:string The complete path of the renamed file. Program execution The file specified in OldPath will be given the name specified in NewPath. If the path in NewPath is different from the path in OldPath then the file will also be moved to the new location. Error Handling If the file specified in NewPath already exists then the system variable ERRNO is set to ERR_FILEEXIST. This error can then be handled in the error handler. Syntax
RenameFile [ OldPath := ] < expression (IN) of string > , [ NewPath := ] < expression (IN) of string >;

Related information
For information about Make a directory Remove a directory Remove a file Copy a file See MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73

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1.130 RenameFile - Rename a file Continued
For information about Check file type Check file size Check file system size File and serial channel handling See IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893 FSSize - Retrieve the size of a file system on page 899 Application manual - Robot communication and I/O control

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1 Instructions
1.131 Reset - Resets a digital output signal

1.131 Reset - Resets a digital output signal

Usage Reset is used to reset the value of a digital output signal to zero. Basic examples Basic examples of the instruction Reset are illustrated below. Example 1
Reset do15;

The signal do15 is set to 0. Example 2

Reset weld;

The signal weld is set to 0. Arguments

Reset Signal

Signal Data type: signaldo The name of the signal to be reset to zero. Program execution The true value depends on the configuration of the signal. If the signal is inverted in the system parameters then this instruction causes the physical channel to be set to 1. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
Reset [ Signal := ] < variable (VAR) of signaldo > ;

Related information
For information about Setting a digital output signal Input/Output instructions Input/Output functionality in general Configuration of I/O See Set - Sets a digital output signal on page 444 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - System parameters

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1.132 ResetPPMoved - Reset state for the program pointer moved in manual mode

1.132 ResetPPMoved - Reset state for the program pointer moved in manual mode
Usage ResetPPMoved reset state for the program pointer moved in manual mode. PPMovedInManMode returns TRUE if the user has moved the program pointer while the controller is in manual mode - that is, the operator key is at Man Reduced Speed or Man Full Speed. The program pointer moved state is reset when the key is switched from Auto to Man, or when using the instruction ResetPPMoved. Basic examples Basic example of the instruction ResetPPMoved is illustrated below. Example 1
IF PPMovedInManMode() THEN WarnUserOfPPMovement; ! DO THIS ONLY ONCE ResetPPMoved; DoJob; ELSE DoJob; ENDIF

Program execution Resets state for the program pointer moved in manual mode for current program task. Syntax
ResetPPMoved;

Related information
For information about Test whether program pointer has been moved in manual mode See PPMovedInManMode - Test whether the program pointer is moved in manual mode on page 993

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1.133 ResetRetryCount - Reset the number of retries

1.133 ResetRetryCount - Reset the number of retries

Usage ResetRetryCount is used to reset the number of retries that has been done from an error handler. The maximum number of retries that can be done is defined in the configuration. Basic examples Basic examples of the instruction ResetRetryCount are illustrated below. Example 1
VAR num myretries := 0; ... ERROR IF myretries > 2 THEN ResetRetryCount; myretries := 0; TRYNEXT; ENDIF myretries:= myretries + 1; RETRY; ...

This program will retry the faulty instruction 3 times and then try the next instruction. The internal system retry counter is reset before trying the next instruction (even if this is done by the system at TRYNEXT). Program execution For every RETRY made from an error handler an internal system counter will check that the maximum number of retries, specified in the configuration, isnt exceeded. Executing the instruction ResetRetryCount will reset the counter and make it possible to redo a maximum number of retries again. Syntax
ResetRetryCount ;

Related information
For information about Error handlers Resume execution after an error See Technical reference manual - RAPID overview RETRY - Resume execution after an error on page 380

Configure maximum number of re- Technical reference manual - System parameters tries Number of remaining retries RemainingRetries - Remaining retries left to do on page 1019

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1.134 RestoPath - Restores the path after an interrupt

1.134 RestoPath - Restores the path after an interrupt

Usage RestoPath is used to restore a path that was stored at a previous stage using the instruction StorePath. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction RestoPath are illustrated below. See also More examples below. Example 1
RestoPath;

Restores the path that was stored earlier using StorePath. Program execution The current movement path of the robot and the external axes are deleted and the path stored earlier using StorePath is restored. Note that nothing moves until the instruction StartMove is executed or a return is made using RETRY from an error handler. More examples More examples of how to use the instruction RestoPath are illustrated below. Example 1
ArcL p100, v100, seam1, weld5 \Weave:=weave1, z10, gun1; ... ERROR IF ERRNO=AW_WELD_ERR THEN gun_cleaning; StartMoveRetry; ENDIF ... PROC gun_cleaning() VAR robtarget p1; StorePath; p1 := CRobT(); MoveL pclean, v100, fine, gun1; ... MoveL p1, v100, fine, gun1; RestoPath; ENDPROC

In the event of a welding error the program execution continues in the error handler of the routine which in turn calls gun_cleaning. The movement path being executed at the time is then stored and the robot moves to the position pclean where the error is rectified. When this has been done, the robot returns to the position where the error occurred, p1, and stores the original movement once Continues on next page
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1.134 RestoPath - Restores the path after an interrupt Continued again. The weld then automatically restarts, meaning that the robot is first reversed along the path before welding starts and ordinary program execution can continue. Limitations Only the movement path data is stored with the instruction StorePath. If the user wants to order movements on the new path level then the actual stop position must be stored directly after StorePath and before RestoPath make a movement to the stored stop position on the path. If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after power failure will not be possible. RestoPath cannot be executed in a RAPID routine connected to any of following special system events: PowerOn, Stop, QStop, Restart or Step. Syntax
RestoPath;

Related information
For information about Storing paths More examples See StorePath - Stores the path when an interrupt occurs on page 548 StorePath - Stores the path when an interrupt occurs on page 548 PathRecStart - Start the path recorder on page 323 SyncMoveSuspend - Set independent-semicoordinated movements on page 569

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1.135 RETRY - Resume execution after an error

1.135 RETRY - Resume execution after an error

Usage The RETRY instruction is used to resume program execution after an error starting with (re-executing) the instruction that caused the error. Basic examples Basic examples of the instruction RETRY are illustrated below. Example 1
reg2 := reg3/reg4; ... ERROR IF ERRNO = ERR_DIVZERO THEN reg4 :=1; RETRY; ENDIF

An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero) then a jump is made to the error handler, which initializes reg4. The RETRY instruction is then used to jump from the error handler and another attempt is made to complete the division. Program execution Program execution continues with (re-executes) the instruction that caused the error. Error handling If the maximum number of retries (4 retries) is exceeded then the program execution stops with an error message. The maximum number of retries can be configured in System Parameters (type System Misc). Limitations The instruction can only exist in a routines error handler. If the error was created using a RAISE instruction then program execution cannot be restarted with a RETRY instruction. Then the instruction TRYNEXT should be used. Syntax
RETRY ;

Related information
For information about Error handlers Configure maximum number of retries Continue with the next instruction See Technical reference manual - RAPID overview Technical reference manual - System parameters TRYNEXT - Jumps over an instruction which has caused an error on page 666

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1.136 RETURN - Finishes execution of a routine

1.136 RETURN - Finishes execution of a routine

Usage RETURN is used to finish the execution of a routine. If the routine is a function then the function value is also returned. Basic examples Basic examples of the instruction RETURN are illustrated below. Example 1
errormessage; Set do1; ... PROC errormessage() IF di1=1 THEN RETURN; ENDIF TPWrite "Error"; ENDPROC

The errormessage procedure is called. If the procedure arrives at the RETURN instruction then program execution returns to the instruction following the procedure call, Set do 1. Example 2
FUNC num abs_value(num value) IF value<0 THEN RETURN -value; ELSE RETURN value; ENDIF ENDFUNC

The function returns the absolute value of a number. Arguments

RETURN [ Return value ]

Return value Data type: According to the function declaration. The return value of a function. The return value must be specified in a RETURN instruction present in a function. If the instruction is present in a procedure or trap routine then a return value shall not be specified.

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1.136 RETURN - Finishes execution of a routine Continued Program execution The result of the RETURN instruction may vary depending on the type of routine it is used in: Main routine: If a program has run mode single cycle then the program stops. Otherwise, program execution continues with the first instruction of the main routine. Procedure: Program execution continues with the instruction following the procedure call. Function: Returns the value of the function. Trap routine: Program execution continues from where the interrupt occurred. Error handler in a procedure: Program execution continues with the routine that called the routine with the error handler (with the instruction following the procedure call). Error handler in a function: The function value is returned.

Syntax

(EBNF) RETURN [ <expression> ];

Related information
For information about Functions and Procedures Trap routines Error handlers See Technical reference manual - RAPID overview Technical reference manual - RAPID overview Technical reference manual - RAPID overview

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1.137 Rewind - Rewind file position

1.137 Rewind - Rewind file position

Usage Rewind sets the file position to the beginning of the file. Basic examples Basic examples of the instruction Rewind are illustrated below. See also More examples on page 383. Example 1
Rewind iodev1;

The file referred to by iodev1 will have the file position set to the beginning of the file. Arguments
Rewind IODevice

IODevice Data type: iodev Name (reference) of the file to be rewound. Program execution The specified file is rewound to the beginning. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. More examples More examples of the instruction Rewind are illustrated below. Example 1
! IO device and numeric variable for use together with a binary ! file VAR iodev dev; VAR num bindata; ! Open the binary file with \Write switch to erase old contents Open "HOME:"\File := "bin_file",dev \Write; Close dev; ! Open the binary file with \Bin switch for binary read and write ! acess Open "HOME:"\File := "bin_file",dev \Bin; WriteStrBin dev,"Hello world"; ! Rewind the file pointer to the beginning of the binary file ! Read contents of the file and write the binary result on TP ! (gives 72 101 108 108 111 32 119 111 114 108 100 ) Rewind dev; bindata := ReadBin(dev);

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1.137 Rewind - Rewind file position Continued
WHILE bindata <> EOF_BIN DO TPWrite " " \Num:=bindata; bindata := ReadBin(dev); ENDWHILE ! Close the binary file Close dev;

The instruction Rewind is used to rewind a binary file to the beginning so that the contents of the file can be read back with ReadBin Limitations For theVirtual Controller there is a limitation, if the used file has been opened with a \Bin or \Bin \Append switch, a Rewind before any type of aWrite instruction will be ineffective. The writing will be done at the end of the file. Error handling If an error occurs during the rewind then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
Rewind [IODevice :=] <variable (VAR) of iodev>;

Related information
For information about Opening, etc. of files File and serial channel handling See Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1.138 RMQEmptyQueue - Empty RAPID Message Queue

1.138 RMQEmptyQueue - Empty RAPID Message Queue

Usage RMQEmptyQueue empties the RAPID Message Queue (RMQ) in the task that is executing the instruction. Basic examples A basic example of the instruction RMQEmptyQueue is illustrated below. Example
RMQEmptyQueue;

The RMQEmptyQueue instruction removes all messages from RMQ in the executing task. Program execution The RAPID Message Queue owned by the executing task is emptied. The instruction can be used on all execution levels. Limitations RMQEmptyQueue only empties the RAPID Message Queue in the task that is executing the instruction. All other RAPID Message Queues are left as is. Syntax
RMQEmptyQueue ';'

Related information
For information about Description of the RAPID Message Queue functionality rmqmessage data type Send data to the queue of a RAPID task or Robot Application Builder client See Application manual - Robot communication and I/O control, section RAPID Message Queue. rmqmessage - RAPID Message Queue message on page 1235. RMQSendMessage - Send an RMQ data message on page 401.

Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405. an answer from the client Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387. ent Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395. Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392. IRMQMessage - Orders RMQ interrupts for a data type on page 175.

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1.138 RMQEmptyQueue - Empty RAPID Message Queue Continued
For information about See

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020. Receive message from RMQ RMQReadWait - Returns message from RMQ on page 398.

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue page 389.

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1.139 RMQFindSlot - Find a slot identity from the slot name

1.139 RMQFindSlot - Find a slot identity from the slot name

Usage RMQFindSlot (RAPID Message Queue Find Slot) is used to find the slot identity to an RMQ configured for a RAPID task, or the slot identity to a Robot Application Builder client. Basic examples Basic examples of the instruction RMQFindSlot name are illustrated below. Example 1
VAR rmqslot myrmqslot; RMQFindSlot myrmqslot, "RMQ_T_ROB2";

Get the identity number for the RMQ"RMQ_T_ROB2" configured for the RAPID task "T_ROB2". Arguments
RMQFindSlot Slot Name

Slot Data type: rmqslot The variable in which the numeric identifier is returned. Name Data type: string The name of the client to find the identity number for. The name must be right regarding small and big letters. If the RAPID task is named T_ROB1, and using the name RMQ_t_rob1 for the RMQ, this will end up in a error (see error handling chapter below.) Program execution The RMQFindSlot instruction is used to find the slot identity for a named RMQ or Robot Application Builder client. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_NAME The given slot name is not valid or not found.

Syntax
RMQFindSlot [ Slot := ] < variable (VAR) of rmqslot > , [ Name := ] < expression (IN) of string >;

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1 Instructions
1.139 RMQFindSlot - Find a slot identity from the slot name Continued Related information
For information about Description of the RAPID Message Queue functionality Send data to the queue of a RAPID task or Robot Application Builder client See Application manual - Robot communication and I/O control, section RAPID Message Queue. RMQSendMessage - Send an RMQ data message on page 401

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client Extract the header data from a rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Order and enable interrupts for a specific data type Extract the data from a rmqmessage IRMQMessage - Orders RMQ interrupts for a data type on page 175 RMQGetMsgData - Get the data part from an RMQ message on page 392

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Slot rmqslot - Identity number of an RMQ client on page 1237

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1.140 RMQGetMessage - Get an RMQ message

1.140 RMQGetMessage - Get an RMQ message

Usage RMQGetMessage (RAPID Message Queue Get Message) is used to fetch the first RMQ message from the queue for the actual program task. Basic examples Basic examples of the instruction RMQGetMessage are illustrated below. See also More examples on page 389. Example 1
TRAP msghandler VAR rmqmessage myrmqmsg; RMQGetMessage myrmqmsg; ... ENDTRAP

In the TRAP routine msghandler the rmqmessage is fetched from the RMQ and copied to the variable myrmqmsg. Arguments
RMQGetMessage Message

Message Data type: rmqmessage Variable for storage of the RMQ message. The maximum size of the data that can be received in a rmqmessage is about 3000 bytes. Program execution The instruction RMQGetMessage is used to get the first message from the queue of the task executing the instruction.If there is a message, it will be copied to the Message variable, and then removed from the queue to make room for new messages. The instruction is only supported on the TRAP level. More examples More examples of how to use the instruction RMQGetMessage are illustrated below. Example 1
RECORD mydatatype int x; int y; ENDRECORD VAR intnum msgreceive; VAR mydatatype mydata; PROC main() ! Setup interrupt CONNECT msgreceive WITH msghandler;

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1.140 RMQGetMessage - Get an RMQ message Continued
! Order cyclic interrupt to occur for data type mydatatype IRMQMessage mydata, msgreceive; WHILE TRUE DO ! Performing cycle ... ENDWHILE ENDPROC TRAP msghandler VAR rmqmessage message; VAR rmqheader header; ! Get the RMQ message RMQGetMessage message; ! Copy RMQ header information RMQGetMsgHeader message \Header:=header; IF header.datatype = "mydatatype" AND header.ndim = 0 THEN ! Copy the data from the message RMQGetMsgData message, mydata; ELSE TPWrite "Received a type not handled or with wrong dimension"; ENDIF ENDTRAP

When a new message is received, the TRAP routine msghandler is executed and the new message is copied to the variable message (instruction RMQGetMessage). Then the RMQ header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data type and has the right dimension, the data is copied to the variable mydata (instruction RMQGetMsgData). Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_NOMSG No message for the moment in the queue. If executing RMQGetMessage twice in a TRAP routine, this can happen. The error can also be generated if there is a power failure between the TRAP being ordered and the instruction RMQGetMessage being executed.The messages in the RMQ will be lost at power fail. This error will be thrown if the message is invalid. This may for instance happen if a PC application sends a corrupt message.

ERR_RMQ_INVMSG

Limitations RMQGetMessage is not supported on the user execution level (i.e. in service routines) or normal execution level. The maximum size of the data that can be received in a rmqmessage is about 3000 bytes. A recommendation is to reuse a variable of the data type rmqmessage as much as possible to save RAPID memory. Continues on next page
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1.140 RMQGetMessage - Get an RMQ message Continued Syntax
RMQGetMessage [ Message := ] < variable (VAR) of rmqmessage >;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Send data to the queue of a RAPID task or Robot Application Builder client RMQSendMessage - Send an RMQ data message on page 401

Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392 IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Message rmqmessage - RAPID Message Queue message on page 1235

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1.141 RMQGetMsgData - Get the data part from an RMQ message

1.141 RMQGetMsgData - Get the data part from an RMQ message

Usage RMQGetMsgData (RAPID Message Queue Get Message Data) is used to get the actual data within the RMQ message. Basic examples Basic examples of the instruction RMQGetMsgData are illustrated below. See also RMQGetMsgData - Get the data part from an RMQ message on page 392. Example 1
VAR rmqmessage myrmqmsg; VAR num data; ... RMQGetMsgData myrmqmsg, data; ! Handle data

Data of the data type num is fetched from the variable myrmqmsg and stored in the variable data. Arguments
RMQGetMsgData Message Data

Message Data type: rmqmessage Varible containing the received RMQ message. Data Data type: anytype Variable of the expected data type, used for storage of the received data. Program execution The instruction RMQGetMsgData is used to get the actual data within the RMQ message, convert it from ASCII character format to binary data, compile the data to see if it is possible to store it in the variable specified in the instruction, and then copy it to the variable. More examples More examples of how to use the instruction RMQGetMsgData are illustrated below. Example 1
RECORD mydatatype int x; int y; ENDRECORD VAR intnum msgreceive; VAR mydatatype mydata;

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1.141 RMQGetMsgData - Get the data part from an RMQ message Continued
PROC main() ! Setup interrupt CONNECT msgreceive WITH msghandler; ! Order cyclic interrupt to occur for data type mydatatype IRMQMessage mydata, msgreceive; WHILE TRUE DO ! Performing cycle ... ENDWHILE ENDPROC TRAP msghandler VAR rmqmessage message; VAR rmqheader header; ! Get the RMQ message RMQGetMessage message; ! Copy RMQ header information RMQGetMsgHeader message \Header:=header; IF header.datatype = "mydatatype" AND header.ndim = 0 THEN ! Copy the data from the message RMQGetMsgData message, mydata; ELSE TPWrite "Received a type not handled or with wrong dimension"; ENDIF ENDTRAP

When a new message is received, the TRAP routine msghandler is executed and the new message is copied to the variable message (instruction RMQGetMessage). Then the RMQ header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data type and has the right dimension, the data is copied to the variable mydata (instruction RMQGetMsgData). Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_VALUE ERR_RMQ_DIM The received message and the data type used in argument Data does not have the same data type. The data types are equal, but the dimensions differ between the data in the message and the variable used in argument Data. The size of the received data is bigger than the maximum configured size for the RMQ for the receiving task. This error will be thrown if the message is invalid. This may for instance happen if a PC application sends a corrupt message.

ERR_RMQ_MSGSIZE ERR_RMQ_INVMSG

Syntax
RMQGetMsgData [ Message := ] < variable (VAR) of rmqmessage > ,

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1.141 RMQGetMsgData - Get the data part from an RMQ message Continued
[ Data := ] < reference (VAR) of anytype >;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Send data to the queue of a RAPID task or Robot Application Builder client RMQSendMessage - Send an RMQ data message on page 401

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Order and enable interrupts for a specific data type IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Message rmqmessage - RAPID Message Queue message on page 1235

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1.142 RMQGetMsgHeader - Get header information from an RMQ message

1.142 RMQGetMsgHeader - Get header information from an RMQ message

Usage RMQGetMsgHeader (RAPID Message Queue Get Message Header) get the header information within the received RMQ message and store it in variables of type rmqheader, rmqslot or num. Basic examples Basic examples of the instruction RMQGetMsgHeader are illustrated below. See also More examples on page 396. Example 1
VAR rmqmessage myrmqmsg; VAR rmqheader myrmqheader; ... RMQGetMsgHeader myrmqmsg, \Header:=myrmqheader;

In this example the variable myrmqheader is filled with data copied from the rmqheader part of the variable myrmqmsg. Example 2
VAR rmqmessage rmqmessage1; VAR rmqheader rmqheader1; VAR rmqslot rmqslot1; VAR num userdef := 0; ... RRMQGetMsgHeader rmqmessage1 \Header:=rmqheader1 \SenderId:=rmqslot1 \UserDef:=userdef;

In this example the variables rmqheader1, rmqslot1 and userdef are filled with data copied from the variable rmqmessage1. Arguments
RMQGetMsgHeader Message [\Header] [\SenderId] [\UserDef]

Message Data type: rmqmessage Variable containing the received RMQ message from which the information about the message should be copied. [\Header] Data type: rmqheader Variable for storage of the RMQ header information that is copied from the variable specified as the parameter Message. [\SenderId] Data type: rmqslot Variable for storage of the sender identity information that is copied from the variable specified as the parameter Message.

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1.142 RMQGetMsgHeader - Get header information from an RMQ message Continued [\UserDef] User Defined data Data type: num Variable for storage of user-defined data that is copied from the variable specified as the parameter Message. To get any valid data in this variable, the sender needs to specify that this should be included when sending an RMQ message. If it is not used, the value will be set to -1. Program execution The instruction RMQGetMsgHeader gets the header information within the received RMQ message and copies it to to variables of type rmqheader, rmqslot or num depending on what arguments are used. More examples More examples of how to use the instruction RMQGetMsgHeader are illustrated below. Example 1
RECORD mydatatype int x; int y; ENDRECORD VAR intnum msgreceive; VAR mydatatype mydata; PROC main() ! Setup interrupt CONNECT msgreceive WITH msghandler; ! Order cyclic interrupt to occur for data type mydatatype IRMQMessage mydata, msgreceive; WHILE TRUE DO ! Performing cycle ... ENDWHILE ENDPROC TRAP msghandler VAR rmqmessage message; VAR rmqheader header; ! Get the RMQ message RMQGetMessage message; ! Copy RMQ header information RMQGetMsgHeader message \Header:=header; IF header.datatype = "mydatatype" AND header.ndim = 0 THEN ! Copy the data from the message RMQGetMsgData message, mydata;

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1.142 RMQGetMsgHeader - Get header information from an RMQ message Continued
ELSE TPWrite "Received a type not handled or with wrong dimension"; ENDIF ENDTRAP

When a new message is received, the TRAP routine msghandler is executed and the new message is copied to the variable message (instruction RMQGetMessage). Then the RMQ header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data type and has the right dimension, the data is copied to the variable mydata (instruction RMQGetMsgData). Syntax
RMQGetMsgHeader [ Message := ] < variable (VAR) of rmqmessage > , [ \ Header := < variable (VAR) of rmqheader > [ \ SenderId := < variable (VAR) of rmqslot > [ \ UserDef := < variable (VAR) of num >;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Send data to the queue of a RAPID task or Robot Application Builder client RMQSendMessage - Send an RMQ data message on page 401

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392 IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Slot RMQ Header RMQ Message rmqslot - Identity number of an RMQ client on page 1237 rmqmessage - RAPID Message Queue message on page 1235 rmqheader - RAPID Message Queue Message header on page 1233

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1 Instructions
1.143 RMQReadWait - Returns message from RMQ

1.143 RMQReadWait - Returns message from RMQ

Usage RMQReadWait is used in synchronous mode to receive any type of message. Basic examples A basic example of the instruction RMQReadWait is illustrated below. See also More examples on page 398. Example
VAR rmqmessage myrmqmsg; RMQReadWait myrmqmsg;

The first message in the queue is received in the variable myrmqmsg. Arguments
RMQReadWait Message [\TimeOut]

Message Data type: rmqmessage The variable in which the received message is placed. [\Timeout] Data type: num The maximum amount of time [s] that program execution waits for a message. If this time runs out before the condition is met, the error handler will be called, if there is one, with the error code ERR_RMQ_TIMEOUT. If there is no error handler, the execution will be stopped. It is possible to set the timeout to 0 (zero) seconds, so that there is no wait at all. If the parameter \Timeout is not used, the waiting time is 60 sec. To wait forever, use the predefined constant WAIT_MAX. Program execution All incoming messages are queued and RMQReadWait handles the messages in FIFO order, one message at a time. It is the users responsibility to avoid a full queue and to be prepared to handle any type of message supported by RAPID Message Queue. More examples More examples of how to use the instruction RMQReadWait are illustrated below. Example 1
VAR rmqmessage myrmqmsg; RMQReadWait myrmqmsg \TimeOut:=30;

The first message in the queue is received in the variable myrmqmsg. If no message is received within 30 seconds the program execution is stopped.

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1.143 RMQReadWait - Returns message from RMQ Continued Example 2
PROC main() VAR rmqmessage myrmqmsg; FOR i FROM 1 TO 25 DO RMQReadWait myrmqmsg \TimeOut:=30; ... ENDFOR ERROR IF ERRNO = ERR_RMQ_TIMEOUT THEN TPWrite "ERR_RMQ_TIMEOUT error reported"; ... ENDIF ENDPROC

Messages are received from the queue and stored in the variable myrmqmsg. If receiving a message takes longer than 30 seconds, the error handler is called. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
Error code ERR_RMQ_TIMEOUT ERR_RMQ_INVMSG Description No answer has been received within the time-out time This error will be thrown if the message is invalid. This can for example happen if a PC application sends a corrupt message

Limitations RMQReadWait is only supported in synchronous mode. Executing this instruction in interrupt based mode will cause a fatal runtime error. RMQReadWait is not supported in trap execution level or user execution level. Executing this instruction in either of these levels will cause a fatal runtime error. Syntax
RMQReadWait [ Message ':=' ] < variable (VAR) of rmqmessage> [ '\' TimeOut':=' < expression (IN) of num > ] ';'

Related information
For information about Description of the RAPID Message Queue functionality Description of task execution modes rmqmessage data type Send data to the queue of a RAPID task or Robot Application Builder client See Application manual - Robot communication and I/O control, section RAPID Message Queue. Technical reference manual - System parameters, section Topic Controller, Type Task. rmqmessage - RAPID Message Queue message on page 1235. RMQSendMessage - Send an RMQ data message on page 401.

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1 Instructions
1.143 RMQReadWait - Returns message from RMQ Continued
For information about See

Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405. an answer from the client Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387. ent. Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395. Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392. IRMQMessage - Orders RMQ interrupts for a data type on page 175.

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020. Empty RAPID Message Queue RMQEmptyQueue - Empty RAPID Message Queue on page 385rmqmessage - RAPID Message Queue message on page 1235.

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue page 389.

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1.144 RMQSendMessage - Send an RMQ data message

1.144 RMQSendMessage - Send an RMQ data message

Usage RMQSendMessage (RAPID Message Queue Send Message) is used to send data to an RMQ configured for a RAPID task, or to a Robot Application Builder client. Basic examples Basic examples of the instruction RMQSendMessage are illustrated below. See also More examples on page 402. Example 1
VAR rmqslot destination_slot; VAR string data:="Hello world"; .. RMQFindSlot destination_slot,"RMQ_Task2"; RMQSendMessage destination_slot,data;

The example shows how to send the value in the variable data to the RAPID task "Task2" with the configured RMQ "RMQ_Task2". Example 2
VAR rmqslot destination_slot; CONST robtarget p5:=[ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ]; VAR num my_id:=1; .. RMQFindSlot destination_slot,"RMQ_Task2"; RMQSendMessage destination_slot, p5 \UserDef:=my_id; my_id:=my_id + 1;

The example shows how to send the value in the constant p5 to the RAPID task "Task2" with the configured RMQ "RMQ_Task2". A user-defined number is also sent. This number can be used by the receiver as an identifier. Arguments
RMQSendMessage Slot SendData [\UserDef]

Slot Data type: rmqslot The identity slot number of the client that should receive the message. SendData Data type: anytype Reference to a variable, persistent or constant containing the data to be sent to the client with identity as in argument Slot. [\UserDef] User Defined data Data type: num

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1.144 RMQSendMessage - Send an RMQ data message Continued Data specifying user-defined information to the receiver of the SendData, i.e the client with identity number as in variable Slot. The value must be an integer between 0 and 32767. Program execution The instruction RMQSendMessage is used to send data to a specified client. The instruction packs the indata in a storage container and sends it. If the receiving client is not interested in receiving messages, i.e has not setup any interrupt to occur for the data type specified in the RMQSendMessage instruction or is not waiting in an RMQSendWait instruction, the message will be discarded, and a warning will be generated. Not all data types can be sent with the instruction (see limitations). More examples More examples of how to use the instruction RMQSendMessage are illustrated below. Example 1
MODULE SenderMod RECORD msgrec num x; num y; ENDRECORD PROC main() VAR rmqslot destinationSlot; VAR msgrec msg :=[0, 0, 0]; ! Connect to a Robot Application Builder client RMQFindSlot destinationSlot My_RAB_client; ! Perform cycle WHILE TRUE DO ! Update msg with valid data ... ! Send message RMQSendMessage destinationSlot, msg; ... ENDWHILE ERROR IF ERRNO = ERR_RMQ_INVALID THEN ! Handle destination client lost WaitTime 1; ! Reconnect to Robot Application Builder client RMQFindSlot destinationSlot My_RAB_client; ! Avoid execution stop due to retry count exceed ResetRetryCount; RETRY; ELSIF ERRNO = ERR_RMQ_FULL THEN ! Handle destination queue full WaitTime 1; ! Avoid execution stop due to retry count exceed

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1.144 RMQSendMessage - Send an RMQ data message Continued
ResetRetryCount; RETRY; ENDIF ENDPROC ENDMODULE

The example shows how to use instruction RMQSendMessage with errorhandling of occuring run-time errors. The program sends user-defined data of the type msgrec to a Robot Application Builder client called "My_RAB_client". Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_MSGSIZE The size of message is too big. Either the data exceeds the maximum allowed message size, or the receiving client is not configured to receive the size of the data that is sent. The destination message queue is full The destination slot has not been connected or the destination slot is no longer available. If not connected, a call to RMQFindSlot must be done. If not available, the reason is that a remote client has disconnected from the controller.

ERR_RMQ_FULL ERR_RMQ_INVALID

Limitations It is not possible to set up interrupts, or send or receive data instances of data types that are of non-value, semi-value types or data type motsetdata. The maximum size of data that can be sent to a Robot Application Builder client is about 5000 bytes. The maximum size of data that can be received by a RMQ and stored in a rmqmessage data type is about 3000 bytes. The size of the data that can be received by an RMQ can be configured (default size 400, max size 3000). Syntax
RMQSendMessage [ Slot := ] < variable (VAR) of rmqslot > , [ SendData := ] < reference (REF) of anytype > [ \ UserDef := < expression (IN) of num > ] ;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client

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1.144 RMQSendMessage - Send an RMQ data message Continued
For information about See

Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392 IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Slot rmqslot - Identity number of an RMQ client on page 1237

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1.145 RMQSendWait - Send an RMQ data message and wait for a response

1.145 RMQSendWait - Send an RMQ data message and wait for a response
Usage With the RMQSendWait (RAPID Message Queue Send Wait) instruction it is possible to send data to an RMQ or to a Robot Application Builder client, and wait for an answer from the specified client. If using this instruction, the user needs to know what kind of data type will be sent in the answer from the client. Basic examples Basic examples of the instruction RMQSendWait are illustrated below. See also More examples on page 407. Example 1
VAR rmqslot destination_slot; VAR string sendstr:="This string is from T_ROB1"; VAR rmqmessage receivemsg; VAR num mynum; .. RMQFindSlot destination_slot, "RMQ_T_ROB2"; RMQSendWait destination_slot, sendstr, receivemsg, mynum; RMQGetMsgData receivemsg, mynum;

The example shows how to send the data in the variable sendstr to the RAPID task "T_ROB2" with the configured RMQ "RMQ_T_ROB2". Now the instruction RMQSendWait waits for a reply from the task "T_ROB2". The instruction in "T_ROB2" needs to send data that is stored in a num data type to terminate the waiting instruction RMQSendWait. When the message has been received, the data is copied to the variable mynum from the variable receivemsg with the instruction RMQGetMsgData. Example 2
VAR rmqslot rmqslot1; VAR string mysendstr; VAR rmqmessage rmqmessage1; VAR string receivestr; VAR num mysendid:=1; .. mysendstr:="Message from Task1"; RMQFindSlot rmqslot1, "RMQ_Task2"; RMQSendWait rmqslot1, mysendstr \UserDef:=mysendid, rmqmessage1, receivestr \TimeOut:=20; RMQGetMsgData rmqmessage1, receivestr; mysendid:=mysendid + 1;

The example shows how to send the data in the variable mysendstr to the RAPID task "Task2" with the configured RMQ"RMQ_Task2". A user-defined number is also sent. This number can be used by the receiver as an identifier and must be bounced back to the sender to terminate the waiting RMQSendWait instruction. Another demand to terminate the waiting instruction is that the right data type is sent from the client. That data type is specified by the variable receivestr in the Continues on next page
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1.145 RMQSendWait - Send an RMQ data message and wait for a response Continued RMQSendWait instruction. After the message has been received, the actual data is copied to the variable receivestr with the instruction RMQGetMsgData. Arguments
RMQSendWait Slot SendData [\UserDef] Message ReceiveDataType [\TimeOut]

Slot Data type: rmqslot The identity number of the client that should receive the message. SendData Data type: anytype Reference to a variable, persistent or constant containing the data to be sent to the client with identity number as in the variable Slot. [\UserDef] User Defined data Data type: num Data specifying user-defined information to the receiver of the SendData, that is, the client with the identity number as in the variable Slot. If using this optional argument, the RMQSendWait instruction will only terminate if the ReceiveDataType and the specified UserDef is as specified in the message answer. The value must be an integer between 0 and 32767. Message Data type: rmqmessage The variable in which the received message is placed. ReceiveDataType Data type: anytype A reference to a persistent, variable or constant of the data type that the instruction is waiting for. The actual data is not copied to this variable when the RMQSendWait is executed. This argument is only used to specify the actual data type the RMQSendWait instruction is waiting for. [\Timeout] Data type: num The maximum amount of time [s] that program execution waits for an answer. If this time runs out before the condition is met, the error handler will be called, if there is one, with the error code ERR_RMQ_TIMEOUT. If there is no error handler, the execution will be stopped. If the parameter \Timeout is not used, the waiting time is 60 s. To wait forever, use the predefined constant WAIT_MAX.

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1.145 RMQSendWait - Send an RMQ data message and wait for a response Continued Program execution The instruction RMQSendWait sends data and waits for an answer from the client with the specified slot identity. The answer must be an rmqmessage from the client that got the message and the answer must be of the same data type that is specified in the argument ReceiveDataType. The message will be sent in the same way as when using RMQSendMessage, i.e.the receiver will get a normal RAPID Message Queue message. It is the responsibility of the sender that the receiver knows that a reply is needed. If the optional argument UserDef is used in the RMQSendWait, the demand is that the receiving client uses the same UserDef in the answer. If the receiving client is not interested in receiving messages, that is, has not set up any interrupt to occur for the data type specified in the RMQSendWait instruction, the message will be discarded, and a warning will be generated. The instruction returns an error after the time used in the argument TimeOut, or the default time-out time 60 s. This error can be dealt with in an error handler. The RMQSendWait instruction has the highest priority if a message is received and it fits the description for both the expected answer and a message connected to a TRAP routine (see instruction IRMQMessage). If a power failure occurs when waiting for an answer from the client, the variable used in the argument Slot is set to 0 and the instruction is executed again. The instruction will then fail due to an invalid slot identity and the error handler will be called, if there is one, with the error code ERR_RMQ_INVALID. The slot identity can be reinitialized there. Not all data types can be sent with the instruction (see limitations). More examples More examples of how to use the instruction RMQSendWait are illustrated below. Example 1
MODULE RMQ_Task1_mod PROC main() VAR rmqslot destination_slot; VAR string mysendstr:="String sent from RMQ_Task1_mod"; VAR string myrecstr; VAR rmqmessage recmsg; VAR rmqheader header; !Get slot identity to client called RMQ_Task2 RMQFindSlot destination_slot, "RMQ_Task2"; WHILE TRUE DO ! Do something ... !Send data in mysendstr, wait for an answer of type string RMQSendWait destination_slot, mysendstr, recmsg, myrecstr; !Get information about the received message RMQGetMsgHeader recmsg \Header:=header; IF header.datatype = "string" AND header.ndim = 0 THEN ! Copy the data in recmsg RMQGetMsgData recmsg, myrecstr; TPWrite "Received string: " + myrecstr;

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1.145 RMQSendWait - Send an RMQ data message and wait for a response Continued
ELSE TPWrite "Not a string that was received"; ENDIF ENDWHILE ENDPROC ENDMODULE

The data in the variable mysendstr is sent to the RAPID task "Task2" with the configured RAPID Message Queue "RMQ_Task2" with the instruction RMQSendWait. The answer from the RAPID task "Task2" should be a string (specified of the data type of the variable myrecstr). The RMQ message received as an answer is received in the variable recmsg. The use of the variable myrecstr in the call to RMQSendWait is just specification of the data type the sender is expecting as an answer. No valid data is placed in the variable in the RMQSendWait call. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_MSGSIZE The size of message is too big. Either the data exceeds the maximum allowed message size, or the receiving client is not configured to receive the size of the data that is sent. The destination message queue is full. The rmqslot has not been initialized, or the destination slot is no longer available. This can happen if the destination slot is a remote client and the remote client has disconnected from the controller. RMQSendWait was interrupted by a power failure, and at restart the rmqslot is set to 0. No answer has been received within the time-out time. This error will be thrown if the message is invalid. This may for instance happen if a PC application sends a corrupt message.

ERR_RMQ_FULL ERR_RMQ_INVALID

ERR_RMQ_TIMEOUT ERR_RMQ_INVMSG

Limitations It is not allowed to execute RMQSendWait in synchronous mode. That will cause a fatal runtime error. It is not possible to set up interrupts, or send or receive data instances of data types that are of non-value, semi-value types or data type motsetdata. The maximum size of data that can be sent to a Robot Application Builder client is about 5000 bytes. The maximum size of data that can be received by an RMQ and stored in an rmqmessage data type is about 3000 bytes. The size of the data that can be received by an RMQ can be configured (default size 400, max size 3000). Syntax
RMQSendWait [ Slot := ] < variable (VAR) of rmqslot > , [ SendData := ] < reference (REF) of anytype > [ \ UserDef := < expression (IN) of num > ] , [ Message := ] < variable (VAR) of rmqmessage > , [ ReceiveDataType := ] < reference (REF) of anytype > ,

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1.145 RMQSendWait - Send an RMQ data message and wait for a response Continued
[ \ Timeout := < expression (IN) of num > ] ;

Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Send data to the queue of a RAPID task or Robot Application Builder client RMQSendMessage - Send an RMQ data message on page 401

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQGetMsgData - Get the data part from an RMQ message on page 392 IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020 RMQ Slot RMQ Message rmqslot - Identity number of an RMQ client on page 1237 rmqmessage - RAPID Message Queue message on page 1235

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1.146 Save - Save a program module

1.146 Save - Save a program module

Usage Save is used to save a program module. The specified program module in the program memory will be saved with the original (specified in Load or StartLoad) or specified file path. It is also possible to save a system module at the specified file path. Basic examples Basic examples of the instruction Save are illustrated below. See also More examples on page 411. Example 1
Load "HOME:/PART_B.MOD"; ... Save "PART_B";

Load the program module with the file name PART_B.MOD from HOME: into the program memory. Save the program module PART_B with the original file path HOME: and with the original file name PART_B.MOD. Arguments
Save [\TaskRef]|[\TaskName] ModuleName [\FilePath] [\File]

[\TaskRef] Task Reference Data type: taskid The program task identity in which the program module should be saved. For all program tasks in the system the predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name in which the program module should be saved. If none of the arguments \TaskRef or \TaskName is specified then the specified program module in the current (executing) program task will be saved. ModuleName Data type: string The program module to save. [\FilePath] Data type: string The file path and the file name to the place where the program module is to be saved. The file name shall be excluded when the argument \File is used. Continues on next page
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1.146 Save - Save a program module Continued [\File] Data type: string When the file name is excluded in the argument \FilePath it must be specified with this argument. The argument \FilePath\File can only be omitted for program modules loaded with Load or StartLoad-WaitLoad and the program module will be stored at the same destination as specified in these instructions. To store the program module at another destination it is also possible to use the argument \FilePath \File. The argument \FilePath \File must be used to be able to save a program module that previously was loaded from the FlexPendant, external computer, or system configuration. Program execution Program execution waits for the program module to finish saving before proceeding with the next instruction. More examples More examples of how to use the instruction Save are illustrated below. Example 1
Save "PART_A" \FilePath:="HOME:/DOORDIR/PART_A.MOD";

Save the program module PART_A to HOME: in the file PART_A.MOD and in the directory DOORDIR. Example 2
Save "PART_A" \FilePath:="HOME:" \File:="DOORDIR/PART_A.MOD";

Same as in the above example 1 but another syntax. Example 3

Save \TaskRef:=TSK1Id, "PART_A" \FilePath:="HOME:/DOORDIR/PART_A.MOD";

Save program module PART_A in program task TSK1 to the specified destination. This is an example where the instruction Save is executing in one program task and the saving is done in another program task. Example 4
Save \TaskName:="TSK1", "PART_A" \FilePath:="HOME:/DOORDIR/PART_A.MOD";

Save program module PART_A in program task TSK1 to the specified destination. This is another example of where the instruction Save is executing in one program task and the saving is done in another program task. Limitations TRAP routines, system I/O events, and other program tasks cannot execute during the saving operation. Therefore, any such operations will be delayed. The save operation can interrupt update of PERS data done step by step from other program tasks. This will result in inconsistent whole PERS data. Continues on next page
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1.146 Save - Save a program module Continued A program stop during execution of the Save instruction can result in a guard stop with motors off. The error message "20025 Stop order timeout" will be displayed on the FlexPendant. Avoid ongoing robot movements during the saving. Error handling If the program task name in argument \TaskName cannot be found in the system, the system variable ERRNO is set to ERR_TASKNAME. If the program module cannot be saved because there is no module name, unknown, or ambiguous module name then the system variable ERRNO is set to ERR_MODULE. If the save file cannot be opened because of denied permission, no such directory, or no space left on device then the system variable ERRNO is set to ERR_IOERROR. If argument \FilePath is not specified for program modules loaded from the FlexPendant, System Parameters, or an external computer then the system variable ERRNO is set to ERR_PATH. The errors above can be handled in the error handler. Syntax
Save [[ \ TaskRef := <variable (VAR) of taskid>] |[ \ TaskName := <expression (IN) of string>] ,] [ ModuleName := ] <expression (IN) of string> [ \ FilePath :=<expression (IN) of string> ] [ \ File := <expression (IN) of string>] ;

Related information
For information about Program tasks See taskid - Task identification on page 1266

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1.147 SCWrite - Send variable data to a client application

1.147 SCWrite - Send variable data to a client application

Usage SCWrite (Superior Computer Write) is used to send the name, type, dimension, and value of a persistent variable to a client application. It is possible to send both single variables and arrays of variables. Basic examples Basic examples of the instruction instruction name are illustrated below. Example 1
PERS num cycle_done; PERS num numarr{2}:=[1,2]; SCWrite cycle_done;

The name, type, and value of the persistent variable cycle_done is sent to all client applications. Example 2
SCWrite \ToNode := "138.221.228.4", cycle_done;

The name, type, and value of the persistent variable cycle_done is sent to all client applications. The argument \ToNode will be ignored. Example 3
SCWrite numarr;

The name, type, dim, and value of the persistent variable numarr is sent to all client applications. Example 4
SCWrite \ToNode := "138.221.228.4", numarr;

The name, type, dim, and value of the persistent variable numarr is sent to all client applications. The argument \ToNode will be ignored. Arguments
SCWrite [ \ToNode ] Variable

[\ToNode] Data type: datatype The argument will be ignored. Variable Data type: anytype The name of a persistent variable. Program execution The name, type, dim, and value of the persistent variable is sent to all client applications. dim is the dimension of the variable and is only sent if the variable is an array. Continues on next page
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1.147 SCWrite - Send variable data to a client application Continued Error handling The SCWrite instruction will return an error in the following cases: The variable could not be sent to the client. This can have the following cause: The SCWrite messages comes so close so that they cannot be sent to the client. Solution: Put in a WaitTime instruction between the SCWrite instructions. The variable value is too large decreasing the size of the ARRAY or RECORD. The error message will be: 41473SystemaccesserrorFailedtosendYYYYYYWhereYYYYisthenameofthevariable.

When an error occurs the program halts and must be restarted. The ERRNO system variable will contain the value ERR_SC_WRITE. The SCWrite instruction will not return an error if the client application may, for example, be closed down or the communication is down. The program will continue executing. SCWrite error recovery To avoid stopping the program when a error occurs in a SCWrite instruction it has to be handled by an error handler. The error will only be reported to the log, and the program will continue running.

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1.147 SCWrite - Send variable data to a client application Continued Remember that the error handling will make it more difficult to find errors in the client communication since the error is never reported to the display on the FlexPendant (but it can be found in the log). Using RobotWare 5.0 or later The RAPID program looks as follows:

xx0500002339

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1.148 SearchC - Searches circularly using the robot

1.148 SearchC - Searches circularly using the robot

Usage SearchC (Search Circular) is used to search for a position when moving the tool center point (TCP) circularly. During the movement the robot supervises a digital input signal. When the value of the signal changes to the requested one the robot immediately reads the current position. This instruction can typically be used when the tool held by the robot is a probe for surface detection. The outline coordinates of a work object can be obtained using the SearchC instruction. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. When using search instructions it is important to configure the I/O system to have a very short time from setting the physical signal to the system to get information about the setting (use I/O unit with interrupt control, not poll control). How to do this can differ between fieldbuses. If using DeviceNet then the ABB units DSQC 651 (AD Combi I/O) and DSQC 652 (Digital I/O) will give short times since they are using connection type Change of State. If using other fieldbuses make sure to configure the network in a proper way to get the right conditions. Basic examples Basic examples of the instruction SearchC are illustrated below. See also More examples on page 421. Example 1
SearchC di1, sp, cirpoint, p10, v100, probe;

The TCP of the probe is moved circularly towards the position p10 at a speed of v100. When the value of the signal di1 changes to active the position is stored in sp. Example 1
SearchC \Stop, di2, sp, cirpoint, p10, v100, probe;

The TCP of the probe is moved circularly towards the position p10. When the value of the signal di2 changes to active the position is stored in sp and the robot stops immediately. Arguments
SearchC [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks] | [\PosFlank] | [\NegFlank] | [\HighLevel] | [\LowLevel] SearchPoint CirPoint ToPoint [\ID] Speed [\V] | [\T] Tool [\WObj] [\Corr] [\TLoad]

[ \Stop ] Stiff Stop Data type:switch

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1.148 SearchC - Searches circularly using the robot Continued The robot movement is stopped as quickly as possible without keeping the TCP on the path (hard stop) when the value of the search signal changes to active. However, the robot is moved a small distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. WARNING To stop the searching with stiff stop (switch \Stop) is only allowed if the TCP-speed is lower than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable direction. [ \PStop ] Path Stop Data type:switch The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft stop), when the value of the search signal changes to active. However, the robot is moved a distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. [ \SStop ] Soft Stop Data type:switch The robot movement is stopped as quickly as possible while keeping the TCP close to or on the path (soft stop) when the value of the search signal changes to active. However, the robot is moved only a small distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. SStop is faster then PStop. But when the robot is running faster than 100 mm/s it stops in the direction of the tangent of the movement which causes it to marginally slide of the path. [ \Sup ] Supervision Data type:switch The search instruction is sensitive to signal activation during the complete movement (flying search), i.e. even after the first signal change has been reported. If more than one match occurs during a search then a recoverable error is generated with the robot in the ToPoint. If the argument \Stop, \PStop, \SStop, or \Sup is omitted (no switch used at all): the movement continues (flying search) to the position specified in the ToPoint argument (same as with argument \Sup) error is reported for none search hit but is not reported for more than one search hit (first search hit is returned as the SearchPoint)

Signal Data type:signaldi The name of the signal to supervise. Continues on next page
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1.148 SearchC - Searches circularly using the robot Continued [ \Flanks ] Data type:switch The positive and the negative edge of the signal is valid for a search hit. If the argument \Flanks is omitted then only the positive edge of the signal is valid for a search hit, and a signal supervision will be activated at the beginning of a search process. This means that if the signal has a positive value already at the beginning of the search process or the communication with the signal is lost, then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). However, the robot is moved a small distance before it stops and is not moved back to the start position. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be dealt with by the error handler. [ \PosFlank ] Data type:switch The positive edge of the signal is valid for a search hit. [ \NegFlank ] Data type:switch The negative edge of the signal is valid for a search hit. [ \HighLevel ] Data type:switch The same functionality as if not using \Flanks switch. The positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has the positive value already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. [ \LowLevel ] Data type:switch The negative edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has value 0 already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. SearchPoint Data type: robtarget The position of the TCP and external axes when the search signal has been triggered. The position is specified in the outermost coordinate system taking the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into consideration.

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1.148 SearchC - Searches circularly using the robot Continued CirPoint Data type: robtarget The circle point of the robot. See the instruction MoveC for a more detailed description of circular movement. The circle point is defined as a named position or stored directly in the instruction (marked with an * in the instruction). ToPoint Data type: robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). SearchC always uses a stop point as zone data for the destination. [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the external axes and the tool reorientation. [ \V ] Velocity Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata

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1.148 SearchC - Searches circularly using the robot Continued The work object (coordinate system) to which the robot positions in the instruction are related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a linear movement relative to the work object to be performed. [ \Corr ] Correction Data type: switch When this argument is present the correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveC for information about circular movement. The movement is always ended with a stop point, i.e. the robot stops at the destination point. When a flying search is used, i.e. the \Sup argument is specified or none switch at all is specified, the robot movement always continues to the programmed destination point. When a search is made using the switch \Stop, \PStop, or \SStop the robot movement stops when the first search hit is detected. Continues on next page
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1.148 SearchC - Searches circularly using the robot Continued The SearchC instruction returns the position of the TCP when the value of the digital signal changes to the requested one, as illustrated in figure below. The figure shows how flank-triggered signal detection is used (the position is stored when the signal is changed the first time only).

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More examples More examples of how to use the instruction SearchC are illustrated below. Example 1
SearchC \Sup, di1\Flanks, sp, cirpoint, p10, v100, probe;

The TCP of the probe is moved circularly towards the position p10. When the value of the signal di1 changes to active or passive the position is stored in sp. If the value of the signal changes twice then program generates an error. Limitations General limitations according to instruction MoveC. Zone data for the positioning instruction that precedes SearchC must be used carefully. The start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the programmed destination point of the previous positioning instruction but a point along the real robot path. The figure below illustrates an example of something that may go wrong when zone data other than fine is used. The instruction SearchC should never be restarted after the circle point has been passed. Otherwise the robot will not take the programmed path (positioning around the circular path in another direction compared to that which is programmed). The figure shows how a match is made on the wrong side of the object because the wrong zone data was used.

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1.148 SearchC - Searches circularly using the robot Continued

WARNING Limitations for searching if coordinated synchronized movements: If using SearchL, SearchC or SearchExtJ for one program task and some other move instruction in other program task, it is only possible to use flying search with switch \Sup. Besides that, only possible to do error recovery with TRYNEXT. Its possible to use all searching functionality, if using some of the instructions SearchL, SearchC or SearchExtJ in all involved program tasks with coordinated synchronized movements and generate search hit from same digital input signal. This will generate search hit synchronously in all search instructions. Any error recovery must also be the same in all involved program tasks.

While searching is active, it isnt possible to store current path with instruction StorePath. Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm. Typical stop distance using a search velocity of 50 mm/s: without TCP on path (switch \Stop) 1-3 mm with TCP on path (switch \PStop) 15-25 mm with TCP near path (switch \SStop) 4-8 mm a search will stop the robot when hit or if the search fails, so make the search in the same direction as the conveyor moves and continue after the search-stop with a move to a safe position. Use error handling to move to a safe position when search fails. the repetition accuracy for the search hit position will be poorer when searching on a conveyor and depends on the speed of the conveyor and how stabil the speed is.

Limitations for searching on a conveyor:

Error handling An error is reported during a search when: no signal detection occurred - this generates the error ERR_WHLSEARCH. more than one signal detection occurred this generates the error ERR_WHLSEARCH only if the \Sup argument is used. the signal already has a positive value at the beginning of the search process or the communication with the signal is lost. This generates the error ERR_SIGSUPSEARCH only if the \Flanks argument is omitted. Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is returned and the movement always continues to the programmed destination point. The system variable ERRNO is set to ERR_WHLSEARCH and the error can be handled in the error handler of the routine.

Errors can be handled in different ways depending on the selected running mode:

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1.148 SearchC - Searches circularly using the robot Continued Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position is returned and the movement always stops as quickly as possible at the beginning of the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the error can be handled in the error handler of the routine. Instruction backward: During backward execution the instruction carries out the movement without any signal supervision.

Syntax
SearchC [ \ Stop ,] | [ \ PStop ,] | [ \ SStop ,] | [ \ Sup ,] [ Signal:= ] < variable (VAR) of signaldi > [\ Flanks] | [\ PosFlank] | [\ NegFlank] | [\ HighLevel] | [\ LowLevel] , [ SearchPoint:= ] < var or pers (INOUT) of robtarget > , [ CirPoint:= ] < expression (IN) of robtarget > , [ ToPoint:= ] < expression (IN) of robtarget > , [ \ ID := < expression (IN) of identno >], [ Speed:= ] < expression (IN) of speeddata > [ \ V := < expression (IN) of num > ]| [ \ T := < expression (IN) of num > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj:= < persistent (PERS) of wobjdata > ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Linear searches Writes to a corrections entry Moves the robot circularly Circular movement Definition of load Definition of velocity Definition of tools Definition of work objects Using error handlers Motion in general See SearchL - Searches linearly using the robot on page 432 CorrWrite - Writes to a correction generator on page 84 MoveC - Moves the robot circularly on page 241 Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load.

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1.148 SearchC - Searches circularly using the robot Continued
For information about Defining the payload for a robot See GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.149 SearchExtJ - Search with one or several mechanical units without TCP

1.149 SearchExtJ - Search with one or several mechanical units without TCP
Usage SearchExtJ (Search External Joints) is used to search for an external axes position when moving only linear or rotating external axes. The external axes can belong to one or several mechanical units without TCP. During the movement the system supervises a digital input signal. When the value of the signal changes to the requested one the system immediately reads the current position. This instruction can only be used if: The actual program task is defined as a Motion Task The task controls one or several mechanical units without TCP

When using search instructions it is important to configure the I/O system to have a very short time delay from setting the physical signal until the system gets the information about the setting (use I/O unit with interrupt control, not poll control). How to do this can differ between fieldbuses. If using DeviceNet, the ABB units DSQC 651 (AD Combi I/O) and DSQC 652 (Digital I/O) will give a short time delay since they are using the connection type Change of State. If using other fieldbuses, make sure the network is properly configured in order to get the correct conditions. Basic examples Basic examples of the instruction SearchExtJ are illustrated below. See also More examples on page 429. Example 1
SearchExtJ di1, searchp, jpos10, vrot20;

The mec. unit with rotational axes is moved towards the position jpos10 at a speed of vrot20. When the value of the signal di1 changes to active, the position is stored in searchp. Example 2
SearchExJ \Stop, di2, posx, jpos20, vlin50;

The mec. unit with linear axis is moved towards the position jpos20. When the value of the signal di2 changes to active, the position is stored in posx and the ongoing movement is stopped immediately. Arguments
SearchExtJ [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks] | [\PosFlank] | [\NegFlank] | [\HighLevel] | [\LowLevel] SearchJointPos ToJointPos [\ID] [\UseEOffs] Speed [\T]

[ \Stop ] Stiff Stop Data type:switch The movement is stopped as quickly as possible with hard stop when the value of the search signal changes to active. However, the external axes are moved a small

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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued distance before they stop and are not moved back to the searched position, i.e. to the position where the signal changed. [ \PStop ] Path Stop Data type: switch The movement is stopped with path stop (Program Stop) when the value of the search signal changes to active. However, the external axes are moved a rather long distance before they stop and are not moved back to the searched position, i.e. to the position where the signal changed. [ \SStop ] Soft Stop Data type: switch The movement is stopped as quickly as possible with fast soft stop when the value of the search signal changes to active. However, the external axes are moved only a small distance before they stop and are not moved back to the searched position, i.e. to the position where the signal changed. Stop is faster compare to SStop. SStop is faster compare to PStop. [ \Sup ] Supervision Data type: switch The search instruction is sensitive to signal activation during the complete movement (flying search), i.e. even after the first signal change has been reported. If more than one match occurs during a search a recoverable error is generated with the mec. units in the ToJointPos. If the argument \Stop, \PStop, \SStop or \Sup is omitted (no switch used at all): The movement continues (flying search) to the position specified in the ToJointPos argument (same as with argument \Sup) An error is reported for one search hit but is not reported for more than one search hit (the first search hit is returned as the SearchJointPos)

Signal Data type: signaldi The name of the signal to supervise. [ \Flanks ] Data type: switch The positive and the negative edge of the signal is valid for a search hit. If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal already has the positive value at the beginning of a search process or the communication with the signal is lost, the

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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued movement is stopped as quickly as possible with soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. [ \PosFlank ] Data type:switch The positive edge of the signal is valid for a search hit. [ \NegFlank ] Data type:switch The negative edge of the signal is valid for a search hit. [ \HighLevel ] Data type:switch The same functionality as if not using \Flanks switch. The positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has the positive value already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible with soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. [ \LowLevel ] Data type:switch The negative edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has value 0 already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible with soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. SearchJointPos Data type: jointtarget The position of the external axes when the search signal has been triggered. The position takes any active ExtOffs into consideration. ToJointPos Data type: jointtarget The destination point for the external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). SearchExtJ always uses a stop point as zone data for the destination. [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Continues on next page
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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued [ \UseEOffs ] Use External Offset Data type: switch The offset for external axes, setup by instruction EOffsSet, is activated for SearchExtJ instruction when the argument UseEOffs is used. See instruction EOffsSet for more information about external offset. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the linear or rotating external axis. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the mec. units move. It is then substituted for the corresponding speed data. Program execution See the instruction MoveExtJ for information about movement of mechanical units without TCP. The movement always ends with a stop point, i.e. the external axes stop at the destination point. If a flying search is used, that is, the \Sup argument is specified or no switch is specified the movement always continues to the programmed destination point. If a search is made using the switch \Stop, \PStop or \SStop, the movement stops when the first search hit is detected. The SearchExtJ instruction stores the position of the external axes when the value of the digital signal changes to the requested one, as illustrated in figure below. The figure shows how flank-triggered signal detection is used (the position is only stored when the signal is changed the first time).

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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued More examples More examples of how to use the instruction SearchExtJ are illustrated below. Example 1
SearchExtJ \Sup, di1\Flanks, searchp,jpos10, vrot20;

The mec. unit is moved towards the position jpos10. When the value of the signal di1 changes to active or passive, the position is stored in searchp. If the value of the signal changes twice, the program generates an error after the search process is finished. Example 2
SearchExtJ \Stop, di1, sp, jpos20, vlin50; MoveExtJ sp, vlin50, fine \Inpos := inpos50;

A check on the signal dil will be made at the beginning of the search process and if the signal already has a positive value or the communication with the signal is lost, the movement stops. Otherwise the mec. unit is moved towards the position jpos20. When the value of the signal di1 changes to active, the position is stored in sp. The mec. unit is moved back to this point using an accurately defined stop point. Error handling An error is reported during a search when: No signal detection occurred - this generates the error ERR_WHLSEARCH. More than one signal detection occurred this generates the error ERR_WHLSEARCH, but only if the \Sup argument is used. The signal already has a positive value at the beginning of the search process or the communication with the signal is lost - this generates the error ERR_SIGSUPSEARCH, but only if the \Flanks argument is omitted. Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is returned and the movement always continues to the programmed destination point. The system variable ERRNO is set to ERR_WHLSEARCH and the error can be handled in the error handler of the routine. Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position is returned and the movement always stops as quickly as possible at the beginning of the search movement. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the error can be handled in the error handler of the routine. Instruction backward: During backward execution, the instruction just carries out the movement without any signal supervision.

Errors can be handled in different ways depending on the selected running mode:

Example
VAR num fk; ... MoveExtJ jpos10, vrot100, fine; SearchExtJ \Stop, di1, sp, jpos20, vrot5; ...

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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued
ERROR IF ERRNO=ERR_WHLSEARCH THEN StorePath; MoveExtJ jpos10, vrot50, fine; RestoPath; ClearPath; StartMove; RETRY; ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN TPWrite "The signal of the SearchExtJ instruction is already high!"; TPReadFK fk,"Try again after manual reset of signal ?","YES", stEmpty, stEmpty, stEmpty, "NO"; IF fk = 1 THEN StorePath; MoveExtJ jpos10, vrot50, fine; RestoPath; ClearPath; StartMove; RETRY; ELSE Stop; ENDIF ENDIF

If the signal is already active at the beginning of the search process or the communication with the signal is lost, a user dialog will be activated (TPReadFK ...;). Reset the signal and push YES on the user dialog and the mec. unit moves back to jpos10 and tries once more. Otherwise program execution will stop. If the signal is passive at the beginning of the search process, the mec. unit searches from position jpos10 to jpos20. If no signal detection occurs, the robot moves back to jpos10 and tries once more. Limitations Limitations for searching if coordinated synchronized movements: If using SearchL, SearchC or SearchExtJ for one program task and some other move instruction in another program task, it is only possible to use flying search with switch \Sup. Besides that, it is only possible to do error recovery with TRYNEXT. It is possible to use all searching functions if using some of the instructions SearchL, SearchC or SearchExtJ in all involved program tasks with coordinated synchronized movements and generate search hits from the same digital input signal. This will generate search hits synchronously in all search instructions. Any error recovery must also be the same in all involved program tasks. While searching is active, it isnt possible to store current path with instruction StorePath.

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1.149 SearchExtJ - Search with one or several mechanical units without TCP Continued Syntax
SearchExtJ [ \ Stop ,] | [ \ PStop ,] | [ \ SStop ,] | [ \ Sup ,] [ Signal := ] < variable (VAR) of signaldi > [\ Flanks] | [\ PosFlank] | [\ NegFlank] | [\ HighLevel] | [\ LowLevel] , [ SearchJointPos := ] < var or pers (INOUT) of jointtarget > , [ ToJointPos := ] < expression (IN) of jointtarget > [ \ ID := < expression (IN) of identno >], [ \ UseEOffs , ] [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] ;

Related information
For information about Move mec. units without TCP Definition of jointtarget Definition of velocity Using error handlers Motion in general See MoveExtJ - Move one or several mechanical units without TCP on page 258 jointtarget - Joint position data on page 1189 speeddata - Speed data on page 1248 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

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1.150 SearchL - Searches linearly using the robot

1.150 SearchL - Searches linearly using the robot

Usage SearchL (Search Linear) is used to search for a position when moving the tool center point (TCP) linearly. During the movement the robot supervises a digital input signal. When the value of the signal changes to the requested one the robot immediately reads the current position. This instruction can typically be used when the tool held by the robot is a probe for surface detection. Using the SearchL instruction the outline coordinates of a work object can be obtained. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. When using search instructions it is important to configure the I/O system to have a very short time from setting the physical signal to the system to getting the information regarding the setting (use I/O unit with interrupt control, not poll control). How to do this can differ between fieldbuses. If using DeviceNet the ABB units DSQC 651 (AD Combi I/O) and DSQC 652 (Digital I/O) will give short times since they are using connection type Change of State. If using other fieldbuses make sure to configure the network in a proper way to get right conditions. Basic examples Basic examples of the instruction SearchL are illustrated below. See also More examples on page 437. Example 1
SearchL di1, sp, p10, v100, probe;

The TCP of the probe is moved linearly towards the position p10 at a speed of v100. When the value of the signal di1 changes to active the position is stored in sp. Example 2
SearchL \Stop, di2, sp, p10, v100, probe;

The TCP of the probe is moved linearly towards the position p10. When the value of the signal di2 changes to active the position is stored in sp and the robot stops immediately. Arguments
SearchL [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks] | [\PosFlank] | [\NegFlank] | [\HighLevel] | [\LowLevel] SearchPoint ToPoint [\ID] Speed [\V] | [\T] Tool [\WObj] [\Corr] [\TLoad]

[ \Stop ] Stiff Stop Data type:switch

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1.150 SearchL - Searches linearly using the robot Continued The robot movement is stopped as quickly as possible without keeping the TCP on the path (hard stop) when the value of the search signal changes to active. However, the robot is moved a small distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. WARNING To stop the searching with stiff stop (switch \Stop) is only allowed if the TCP-speed is lower than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable directions. [ \PStop ] Path Stop Data type: switch The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft stop) when the value of the search signal changes to active. However, the robot is moved a distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. [ \SStop ] Soft Stop Data type: switch The robot movement is stopped as quickly as possible while keeping the TCP close to or on the path (soft stop) when the value of the search signal changes to active. However, the robot is only moved a small distance before it stops and is not moved back to the searched position, i.e. to the position where the signal changed. SStop is faster than PStop. But when the robot is running faster than 100 mm/s it stops in the direction of the tangent of the movement which causes it to marginally slide off the path. [ \Sup ] Supervision Data type: switch The search instruction is sensitive to signal activation during the complete movement (flying search), i.e. even after the first signal change has been reported. If more than one match occurs during a search then a recoverable error is generated with the robot in the ToPoint. If the argument \Stop, \PStop, \SStop, or \Sup is omitted then (no switch used at all): the movement continues (flying search) to the position specified in the ToPoint argument (same as with argument \Sup) error is reported for none search hit but is not reported for more than one search hit (first search hit is returned as the SearchPoint)

Signal Data type: signaldi The name of the signal to supervise. Continues on next page
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1.150 SearchL - Searches linearly using the robot Continued [ \Flanks ] Data type:switch The positive and the negative edge of the signal is valid for a search hit. If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has the positive value already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. [ \PosFlank ] Data type:switch The positive edge of the signal is valid for a search hit. [ \NegFlank ] Data type:switch The negative edge of the signal is valid for a search hit. [ \HighLevel ] Data type:switch The same functionality as if not using \Flanks switch. The positive edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has the positive value already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. [ \LowLevel ] Data type:switch The negative edge of the signal is valid for a search hit and a signal supervision will be activated at the beginning of a search process. This means that if the signal has value 0 already at the beginning of a search process or the communication with the signal is lost then the robot movement is stopped as quickly as possible, while keeping the TCP on the path (soft stop). A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler. SearchPoint Data type: robtarget The position of the TCP and external axes when the search signal has been triggered. The position is specified in the outermost coordinate system taking the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into consideration. ToPoint Data type: robtarget Continues on next page
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1.150 SearchL - Searches linearly using the robot Continued The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). SearchL always uses a stop point as zone data for the destination. [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the external axes, and the tool reorientation. [ \V ] Velocity Data type: num This argument is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding velocity specified in the speed data. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a linear movement relative to the work object to be performed. [ \Corr ] Correction Continues on next page
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1.150 SearchL - Searches linearly using the robot Continued Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveL for information about linear movement. The movement always ends with a stop point, i.e. the robot stops at the destination point. If a flying search is used, i.e. the \Sup argument is specified or none switch at all is specified then the robot movement always continues to the programmed destination point. If a search is made using the switch \Stop, \PStop, or \SStop the robot movement stops when the first search hit is detected. The SearchL instruction stores the position of the TCP when the value of the digital signal changes to the requested one, as illustrated in figure below.

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1.150 SearchL - Searches linearly using the robot Continued The figure shows how flank-triggered signal detection is used (the position is stored when the signal is changed the first time only).

xx0500002243

More examples More examples of how to use the instruction SearchL are illustrated below. Example 1
SearchL \Sup, di1\Flanks, sp, p10, v100, probe;

The TCP of the probe is moved linearly towards the position p10. When the value of the signal di1 changes to active or passive the position is stored in sp. If the value of the signal changes twice then the program generates an error after the search process is finished. Example 2
SearchL \Stop, di1, sp, p10, v100, tool1; MoveL sp, v100, fine \Inpos := inpos50, tool1; PDispOn *, tool1; MoveL p100, v100, z10, tool1; MoveL p110, v100, z10, tool1; MoveL p120, v100, z10, tool1; PDispOff;

At the beginning of the search process, a check on the signal di1 will be done and if the signal already has a positive value or the communication with the signal is lost, the robot stops. Otherwise the TCP of tool1 is moved linearly towards the position p10. When the value of the signal di1 changes to active, the position is stored in sp. The robot is moved back to this point using an accurately defined stop point. Using program displacement, the robot then moves relative to the searched position, sp.

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1.150 SearchL - Searches linearly using the robot Continued Limitations Zone data for the positioning instruction that precedes SearchL must be used carefully. The start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the programmed destination point of the previous positioning instruction but a point along the real robot path. The figures below illustrate examples of things that may go wrong when zone data other than fine is used. The following figure shows that a match is made on the wrong side of the object because the wrong zone data was used.

xx0500002244

The following figure shows that no match was detected because the wrong zone data was used.

xx0500002245

The following figure shows that no match was detected because the wrong zone data was used.

xx0500002246

Limitations for searching if coordinated synchronized movements: If using SearchL, SearchC or SearchExtJ for one program task and some other move instruction in other program task, it is only possible to use flying search with switch \Sup. Besides that, only possible to do error recovery with TRYNEXT. Its possible to use all searching functionality, if using some of the instructions SearchL, SearchC or SearchExtJ in all involved program tasks with coordinated synchronized movements and generate search hit from same digital input signal. This will generate search hit synchronously in all search instructions. Any error recovery must also be the same in all involved program tasks.
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1.150 SearchL - Searches linearly using the robot Continued While searching is active, it isnt allowed to store current path with instruction StorePath. Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 0.3 mm. Typical stop distance using a search velocity of 50 mm/s: without TCP on path (switch \Stop) 1-3 mm with TCP on path (switch \PStop) 15-25 mm with TCP near path (switch \SStop) 4-8 mm a search will stop the robot when hit or if the search fails, so make the search in the same direction as the conveyor moves and continue after the search-stop with a move to a safe position. Use error handling to move to a safe position when search fails. the repetition accuracy for the search hit position will be poorer when searching on a conveyor and depends on the speed of the conveyor and how stabil the speed is.

Limitations for searching on a conveyor:

Error handling An error is reported during a search when: no signal detection occurred - this generates the error ERR_WHLSEARCH. more than one signal detection occurred this generates the error ERR_WHLSEARCH only if the \Sup argument is used. the signal already has a positive value at the beginning of the search process or the communication with the signal is lost - this generates the error ERR_SIGSUPSEARCH only if the \Flanks argument is omitted. Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is returned and the movement always continues to the programmed destination point. The system variable ERRNO is set to ERR_WHLSEARCH and the error can be handled in the error handler of the routine. Continuous forward / Instruction forward / ERR_SIGSUPSEARCH No position is returned and the movement always stops as quickly as possible at the beginning of the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the error can be handled in the error handler of the routine. Instruction backward: During backward execution the instruction carries out the movement without any signal supervision.

Errors can be handled in different ways depending on the selected running mode:

Example
VAR num fk; ... MoveL p10, v100, fine, tool1; SearchL \Stop, di1, sp, p20, v100, tool1; ...

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1.150 SearchL - Searches linearly using the robot Continued
ERROR IF ERRNO=ERR_WHLSEARCH THEN StorePath; MoveL p10, v100, fine, tool1; RestoPath; ClearPath; StartMove; RETRY; ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN TPWrite "The signal of the SearchL instruction is already high!"; TPReadFK fk,"Try again after manual reset of signal ?","YES", stEmpty, stEmpty, stEmpty, "NO"; IF fk = 1 THEN StorePath; MoveL p10, v100, fine, tool1; RestoPath; ClearPath; StartMove; RETRY; ELSE Stop; ENDIF ENDIF

If the signal is already active at the beginning of the search process or the communication with the signal is lost then a user dialog will be activated (TPReadFK ...;). Reset the signal and push YES on the user dialog, and the robot moves back to p10 and tries once more. Otherwise program execution will stop. If the signal is passive at the beginning of the search process then the robot searches from position p10 to p20. If no signal detection occurs then the robot moves back to p10 and tries once more. Syntax
SearchL [ \ Stop ,] | [ \ PStop ,] | [ \ SStop ,] | [ \ Sup ,] [ Signal := ] < variable (VAR) of signaldi > [\ Flanks] | [\ PosFlank] | [\ NegFlank] | [\ HighLevel] | [\ LowLevel] , [ SearchPoint := ] < var or pers (INOUT) of robtarget > , [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ V := < expression (IN) of num > ] | [ \ T := < expression (IN) of num > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ]

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1.150 SearchL - Searches linearly using the robot Continued
[ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Circular searches Writes to a corrections entry Moves the robot linearly Linear movement Definition of load Definition of velocity Definition of tools Definition of work objects Using error handlers Motion in general Example of how to use TLoad, Total Load. Defining the payload for a robot LoadIdentify, load identification service routine See SearchC - Searches circularly using the robot on page 416 CorrWrite - Writes to a correction generator on page 84 MoveL - Moves the robot linearly on page 275 Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview Technical reference manual - RAPID overview MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128 Operating manual - IRC5 with FlexPendant

System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.151 SenDevice - connect to a sensor device

1.151 SenDevice - connect to a sensor device

Usage SenDevice is used to connect to a sensor device connected to the serial sensor interface. The sensor interface communicates with sensors over serial channels using the RTP1 transport protocol. This is an example of a sensor channel configuration. COM_PHY_CHANNEL: Basic examples Basic examples of the instruction SenDevice are illustrated below. Example 1
! Define variable numbers CONST num SensorOn := 6; CONST num XCoord := 8; CONST num YCoord := 9; CONST num ZCoord := 10; VAR pos SensorPos; ! Connect to the sensor device sen1: (defined in sio.cfg). SenDevice "sen1:"; ! Request start of sensor meassurements WriteVar "sen1:", SensorOn, 1; ! Read a cartesian position from the sensor. SensorPos.x := ReadVar "sen1:", XCoord; SensorPos.y := ReadVar "sen1:", YCoord; SensorPos.z := ReadVar "sen1:", ZCoord; ! Stop sensor WriteVar "sen1:", SensorOn, 0;

Name COM1: Connector COM1 Baudrate 19200 Name sen1: Type RTP1 PhyChannel COM1

COM_TRP:

Arguments
SenDevice device

device Data type: string The I/O device name configured in sio.cfg for the sensor used.

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1.151 SenDevice - connect to a sensor device Continued Syntax
ReadBlock [ device := ] < expression(IN) of string>, [ BlockNo := ] < expression (IN) of num > , [ FileName := ] < expression (IN) of string > ;

Related information
For information about Write a sensor variable Read a sensor variable Write a sensor data block See WriteVar - write variable on page 757 ReadVar - Read variable from a device on page 1015 WriteBlock - write block of data to device on page 747

Configuration of sensor commu- Technical reference manual - System parameters nication

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1.152 Set - Sets a digital output signal

1.152 Set - Sets a digital output signal

Usage Set is used to set the value of a digital output signal to one. Basic examples Basic examples of the instruction Set are illustrated below. Example 1
Set do15;

The signal do15 is set to 1. Example 2

Set weldon;

The signal weldon is set to 1. Arguments

Set Signal

Signal Data type: signaldo The name of the signal to be set to one. Program execution There is a short delay before the signal physically gets its new value. If you do not want the program execution to continue until the signal has got its new value then you can use the instruction SetDO with the optional parameter \Sync. The true value depends on the configuration of the signal. If the signal is inverted in the system parameters then this instruction causes the physical channel to be set to zero. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
Set [ Signal := ] < variable (VAR) of signaldo > ;

Related information
For information about Setting a digital output signal to zero See Reset - Resets a digital output signal on page 375

Change the value of a digital output signal SetDO - Changes the value of a digital output signal on page 457 Input/Output instructions Technical reference manual - RAPID overview

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1.152 Set - Sets a digital output signal Continued
For information about Input/Output functionality in general Configuration of I/O See Technical reference manual - RAPID overview Technical reference manual - System parameters

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1.153 SetAllDataVal - Set a value to all data objects in a defined set

1.153 SetAllDataVal - Set a value to all data objects in a defined set

Usage SetAllDataVal(Set All Data Value) makes it possible to set a new value to all data objects of a certain type that match the given grammar. Basic examples Basic examples of the instruction SetAllDataVal are illustrated below.
VAR mydata mydata0:=0; ... SetAllDataVal "mydata"\TypeMod:="mytypes"\Hidden,mydata0;

This will set all data objects of data type mydata in the system to the same value that the variable mydata0 has (in the example to 0). The user defined data type mydata is defined in the module mytypes. Arguments
SetAllDataVal Type [\TypeMod] [\Object] [\Hidden] Value

Type Data type: string The type name of the data objects to be set. [ \TypeMod ] Type Module Data type: string The module name where the data type is defined if using user defined data types. [ \Object ] Data type: string The default behavior is to set all data object of the data type above but this option makes it possible to name one or several objects with a regular expression. (see also instruction SetDataSearch) [ \Hidden ] Data type: switch This also matches data objects that are in routines (routine data or parameters) hidden by some routine in the call chain. Value Data type: anytype Variable which holds the new value to be set. The data type must be the same as the data type for the object to be set. Program running The instruction will fail if the specification for Type or TypeMod is wrong. If the matching data object is an array then all elements of the array will be set to the specified value. Continues on next page
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1.153 SetAllDataVal - Set a value to all data objects in a defined set Continued If the matching data object is read-only data then the value will not be changed. If the system doesnt have any matching data objects then the instruction will accept it and return successfully. Limitations For a semivalue data type it is not possible to search for the associated value data type. E.g. if searching for dionum then there are no search hits for signal signaldi and if searching for num then there are no search hits for signals signalgi or signalai. It is not possible to set a value to a variable declared as LOCAL in a built in RAPID module. Syntax
SetAllDataVal [ Type := ] < expression (IN) of string > [\TypeMod :=<expression (IN) of string>] [\Object :=<expression (IN) of string>] [\Hidden ] , [ Value :=] <variable (VAR) of anytype>;

Related information
For information about Define a symbol set in a search session Get next matching symbol Get the value of a data object Set the value of a data object The related data type datapos See SetDataSearch - Define the symbol set in a search sequence on page 450 GetNextSym - Get next matching symbol on page 907 GetDataVal - Get the value of a data object on page 118 SetDataVal - Set the value of a data object on page 454 datapos - Enclosing block for a data object on page 1161

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1.154 SetAO - Changes the value of an analog output signal

1.154 SetAO - Changes the value of an analog output signal

Usage SetAO is used to change the value of an analog output signal. Basic examples Basic examples of the instruction SetAO are illustrated below. See also More examples on page 449. Example 1
SetAO ao2, 5.5;

The signal ao2 is set to 5.5. Arguments

SetAO Signal Value

Signal Data type: signalao The name of the analog output signal to be changed. Value Data type: num The desired value of the signal. Program execution The programmed value is scaled (in accordance with the system parameters) before it is sent on the physical channel. A diagram of how analog signal values are scaled is shown in the figure below.

xx0500002408

Error handling Following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: Continues on next page
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1.154 SetAO - Changes the value of an analog output signal Continued ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_AO_LIM if the programmed Value argument for the specified analog output signal Signal is outside limits. More examples More examples of the instruction SetAO are illustrated below. Example 1
SetAO weldcurr, curr_outp;

The signal weldcurr is set to the same value as the current value of the variable curr_outp. Syntax
SetAO [ Signal := ] < variable (VAR) of signalao > , [ Value := ] < expression (IN) of num > ;

Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.155 SetDataSearch - Define the symbol set in a search sequence

1.155 SetDataSearch - Define the symbol set in a search sequence

Usage SetDataSearch is used together with function GetNextSym to retrieve data objects from the system. Basic examples Basic examples of the instruction SetDataSearch are illustrated below. Example 1
VAR datapos block; VAR string name; ... SetDataSearch "robtarget"\InTask; WHILE GetNextSym(name,block \Recursive) DO ...

This session will find all robtargets object in the task. Arguments
SetDataSearch Type [\TypeMod] [\Object] [\PersSym] [\VarSym][\ConstSym] [\InTask] | [\InMod] [\InRout][\GlobalSym] | [\LocalSym]

Type Data type: string The data type name of the data objects to be retrieved. [ \TypeMod ] Type Module Data type: string The module name where the data type is defined, if using user defined data types. [ \Object ] Data type: string The default behavior is to set all data objects of the data type above, but this option makes it possible to name one or several data objects with a regular expression. A regular expression is a powerful mechanism to specify a grammar to match the data object names. The string could consist of either ordinary characters and meta characters. A meta character is a special operator used to represent one or more ordinary characters in the string with the purpose to extend the search. It is possible to see if a string matches a specified pattern as a whole or search within a string for a substring matching a specified pattern. Within a regular expression all alphanumeric characters match themselves. That is to say that the pattern "abc" will only match a data object named "abc". To match all data object names containing the character sequence "abc" it is necessary to add some meta characters. The regular expression for this is ".*abc.*".

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1.155 SetDataSearch - Define the symbol set in a search sequence Continued The available meta character set is shown below.
Expression . [s] [^s] r* r+ r? (r) r | r .* Meaning Any single character. Any single character in the non-empty set s, where s is a sequence of characters. Ranges may be specified as c-c. Any single character not in the set s. Zero or more occurrences of the regular expression r. One or more occurrences of the regular expression r Zero or one occurrence of the regular expression r. The regular expression r. Used for separate that regular expression from another. The regular expressions r or r. Any character sequence (zero, one, or several characters).

The default behavior is to accept any symbols but if one or several of following PersSym, VarSym, or ConstSym is specified then only symbols that match the specification are accepted: [ \PersSym ] Persistent Symbols Data type: switch Accept persistent variable (PERS) symbols. [ \VarSym ] Variable Symbols Data type: switch Accept variable (VAR) symbols. [ \ConstSym ] Constant Symbols Data type: switch Accept constant (CONST) symbols. If not one of the flags \InTask or \InMod are specified then the search is started at system level. The system level is the root to all other symbol definitions in the symbol tree. At the system level all build- in symbols are located plus the handle to the task level. At the task level all loaded global symbols are located plus the handle to the modules level. If the \Recursive flag is set in GetNextSym then the search session will enter all loaded modules and routines below the system level. [ \InTask ] In Task Data type: switch Start the search at the task level. At the task level all loaded global symbols are located plus the handle to the modules level. Continues on next page
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1.155 SetDataSearch - Define the symbol set in a search sequence Continued If the \Recursive flag is set in GetNextSym then the search session will enter all loaded modules and routines below the task level. [ \InMod ] In Module Data type: string Start the search at the specified module level. At the module level all loaded global and local symbols declared in the specified module are located plus the handle to the routines level. If the \Recursive flag is set in GetNextSym then the search session will enter all loaded routines below the specified module level (declared in the specified module). [ \InRout ] In Routine Data type: string Search only at the specified routine level. The module name for the routine must be specified in the argument \InMod. The default behavior is to match both local and global module symbols, but if one of following \GlobalSym or \LocalSym is specified then only symbols that match the specification are accepted: [ \GlobalSym ] Global Symbols Data type: switch Skip local module symbols. [ \LocalSym ] Local Symbols Data type: switch Skip global module symbols. Program running The instruction will fail if the specification for one of Type, TypeMod, InMod, or InRout is wrong. If the system doesnt have any matching objects the instruction will accept it and return successfully but the first GetNextSym will return FALSE. Limitations Array data objects cannot be defined in the symbol search set and cannot be found in a search sequence. For a semivalue data type it is not possible to search for the associated value data type. E.g. if searching for dionum then there are no search hits for signal signaldi and if searching for num then there are no search hits for signals signalgi or signalai. Installed built-in symbols declared as LOCAL will never be found, irrespective of use of argument \GlobalSym, \LocalSym or none of these. Continues on next page
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1.155 SetDataSearch - Define the symbol set in a search sequence Continued Installed built-in symbols declared as global or as TASK will always be found, irrespective of use of argument \GlobalSym, \LocalSym or none of these. It is not possible to use SetDataSearch for searching for data of some ALIAS data type defined with RAPID code. No limitation for predefined ALIAS data type. Syntax
SetDataSearch [ Type := ] < expression (IN) of string > [\TypeMod :=<expression (IN) of string>] [\Object :=<expression (IN) of string>] [\PersSym ] [\VarSym ] [\ConstSym ] [\InTask ] | [\InMod :=<expression (IN) of string>] [\InRout :=<expression (IN) of string>] [\GlobalSym ] | [\LocalSym] ;

Related information
For information about Get next matching symbol Get the value of a data object See GetNextSym - Get next matching symbol on page 907 GetDataVal - Get the value of a data object on page 118

Set the value of many data objects SetAllDataVal - Set a value to all data objects in a defined set on page 446 The related data type datapos datapos - Enclosing block for a data object on page 1161

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1.156 SetDataVal - Set the value of a data object

1.156 SetDataVal - Set the value of a data object

Usage SetDataVal (Set Data Value) makes it possible to set a value for a data object that is specified with a string variable. Basic examples Basic examples of the instruction SetDataVal are illustrated below. Example 1
VAR num value:=3; ... SetDataVal "reg"+ValToStr(ReadNum(mycom)),value;

This will set the value 3 to a register with a number that is received from the serial channel mycom. Example 2
VAR datapos block; VAR bool truevar:=TRUE; ... SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym; WHILE GetNextSym(name,block) DO SetDataVal name\Block:=block,truevar; ENDWHILE

This session will set all local bool that begin with my in the module mymod to TRUE. Example 3
VAR string StringArrVar_copy{2}; ... StringArrVar_copy{1} := "test1"; StringArrVar_copy{2} := "test2"; SetDataVal "StringArrVar", StringArrVar_copy;

This session will set the array StringArrVar to contain the two strings test1 and test2. Arguments
SetDataVal Object [\Block]|[\TaskRef]|[\TaskName] Value

Object Data type: string The name of the data object. [ \Block ] Data type: datapos The enclosed block to the data object. This can only be fetched with the GetNextSym function. If this argument is omitted then the value of the visible data object in the current program execution scope will be set.

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1.156 SetDataVal - Set the value of a data object Continued [\TaskRef] Task Reference Data type: taskid The program task identity in which to search for the data object specified. When using this argument, you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error. For all program tasks in the system the predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name in which to search for the data object specified. When using this argument, you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error. Value Data type: anytype Variable which holds the new value to be set. The data type must be the same as the data type for the data object to be set. The set value must be fetched from a variable but can be stored in a variable or persistent. Error handling The system variable ERRNO is set to ERR_SYM_ACCESS if: the data object is non-existent the data object is read-only data the data object is routine data or routine parameter and not located in the current active routine searching in other tasks for other declarations then PERS or TASKPERS

When using the arguments TaskRef or TaskName you may search for PERS or TASKPERS declarations in other tasks, any other declarations will result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS. Searching for a PERS declared as LOCAL in other tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS. The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in argument Value have different dimensions. The error can be handled in the error handler of the routine. Limitations For a semivalue data type it is not possible to search for the associated value data type. E.g. if searching for dionum then no search hit for signal signaldi will be obtained and if searching for num then no search hit for signals signalgi or signalai will be obtained. It is not possible to set a value to a variable declared as LOCAL in a built-in RAPID module. Continues on next page
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1.156 SetDataVal - Set the value of a data object Continued Syntax
SetDataVal [ Object := ] < expression (IN) of string > [\Block :=<variable (VAR) of datapos>] |[ \TaskRef := <variable (VAR) of taskid>] |[ \TaskName := <expression (IN) of string>] ,] [ Value := ] <variable (VAR) of anytype>];

Related information
For information about See

Define a symbol set in a search session SetDataSearch - Define the symbol set in a search sequence on page 450 Get next matching symbol Get the value of a data object Set the value of many data objects The related data type datapos GetNextSym - Get next matching symbol on page 907 GetDataVal - Get the value of a data object on page 118 SetAllDataVal - Set a value to all data objects in a defined set on page 446 datapos - Enclosing block for a data object on page 1161

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1.157 SetDO - Changes the value of a digital output signal

1.157 SetDO - Changes the value of a digital output signal

Usage SetDO is used to change the value of a digital output signal, with or without a time delay or synchronization. Basic examples Basic examples of the instruction SetDO are illustrated below. Example 1
SetDO do15, 1;

The signal do15 is set to 1. Example 2

SetDO weld, off;

The signal weld is set to off. Example 3

SetDO \SDelay := 0.2, weld, high;

The signal weld is set to high with a delay of 0.2 s. However, program execution continues with the next instruction. Example 4
SetDO \Sync ,do1, 0;

The signal do1 is set to 0. Program execution waits until the signal is physically set to the specified value. Arguments
SetDO [ \SDelay ]|[ \Sync ] Signal Value

[ \SDelay ] Signal Delay Data type: num Delays the change for the amount of time given in seconds (max. 2000s). Program execution continues directly with the next instruction. After the given time delay the signal is changed without the rest of the program execution being affected. [ \Sync ] Synchronization Data type: switch If this argument is used then the program execution will wait until the signal is physically set to the specified value. Signal Data type: signaldo The name of the signal to be changed.

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1.157 SetDO - Changes the value of a digital output signal Continued Value Data type: dionum The desired value of the signal 0 or 1.
Specified Value 0 Any value except 0 Set digital output to 0 1

Program execution The true value depends on the configuration of the signal. If the signal is inverted in the system parameters then the value of the physical channel is the opposite. If neither of the arguments \SDelay or \Sync are used then the signal will be set as fast as possible, and the next instruction will be executed at once without waiting for the signal to be physically set. Limitations If a SetDO with a \SDelay argument is followed by a new SetDO on the same signal, with or without \SDelay argument, then the first SetDO will be cancelled if the second SetDO is executed before the delay time of the first SetDO have expired. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_ARGVALERR if the value for the SDelay argument exceeds the maximum value allowed (2000 s). ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
SetDO [ \ SDelay := < expression (IN) of num > , ] |[\Sync,] [ Signal := ] < variable (VAR) of signaldo > , [ Value := ] < expression (IN) of dionum > ;

Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview

Input/Output functionality in general Technical reference manual - RAPID overview Configuration of I/O Technical reference manual - System parameters

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1.158 SetGO - Changes the value of a group of digital output signals

1.158 SetGO - Changes the value of a group of digital output signals

Usage SetGO is used to change the value of a group of digital output signals with or without a time delay. Basic examples Basic examples of the instruction SetGO are illustrated below. Example 1
SetGO go2, 12;

The signal go2 is set to 12. If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and 7 are set to zero while outputs 8 and 9 are set to one. Example 2
SetGO \SDelay := 0.4, go2, 10;

The signal go2 is set to 10. If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and 8 are set to zero while outputs 7 and 9 are set to one with a delay of 0.4 s. However program execution continues with the next instruction. Example 3
SetGO go32, 4294967295;

The signal go32 is set to 4294967295. go32 comprises 32 signals, which are all set to one. Arguments
SetGO [ \SDelay ] Signal Value | Dvalue

[ \SDelay ] Signal Delay Data type: num Delays the change for the period of time stated in seconds (max. 2000s). Program execution continues directly with the next instruction. After the specified time delay the value of the signals is changed without the rest of the program execution being affected. If the argument is omitted then the signal values are changed directly. Signal Data type: signalgo The name of the signal group to be changed. Value Data type: num The desired value of the signal group (a positive integer) is shown in the table below. The permitted value is dependent on the number of signals in the group. A num datatype can hold the value for a group of 23 signals or less.

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1.158 SetGO - Changes the value of a group of digital output signals Continued Dvalue Data type: dnum The desired value of the signal group (a positive integer) is shown in the table below. The permitted value is dependent on the number of signals in the group. A dnum datatype can hold the value for a group of 32 signals or less.
No. of signals 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Permitted Value 0-1 0-3 0-7 0-15 0-31 0-63 0-127 0-255 0-511 0-1023 0-2047 0-4095 0-8191 0-16383 0-32767 0-65535 0-131071 0-262143 0-524287 0-1048575 0-2097151 0-4194303 0-8388607 * * * * * * * * * Permitted Dvalue 0-1 0-3 0-7 0-15 0-31 0-63 0-127 0-255 0-511 0-1023 0-2047 0-4095 0-8191 0-16383 0-32767 0-65535 0-131071 0-262143 0-524287 0-1048575 0-2097151 0-4194303 0-8388607 0-16777215 0-33554431 0-67108863 0-134217727 0-268435455 0-536870911 0-1073741823 0-2147483647 0-4294967295

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1.158 SetGO - Changes the value of a group of digital output signals Continued *) The Value argument of type num can only hold up to 23 signals compared to the Dvalue argument of typednum that can hold up to 32 signals. Program execution The programmed value is converted to an unsigned binary number. This binary number is sent on the signal group with the result that individual signals in the group are set to 0 or 1. Due to internal delays the value of the signal may be undefined for a short period of time. Limitations Maximum number of signals that can be used for a group is 23 if argument Value is used and 32 if argument Dvalue is used. This limitation is valid for all instructions and functions using group signals. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_ARGVALERR if the value for the SDelay argument exceeds the maximum value allowed (2000 s). ERR_GO_LIM if the programmed Value or Dvalue argument for the specified digital group output signal Signal is outside limits. ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
SetGO [ \ SDelay := < expression (IN) [ Signal := ] < variable (VAR) of [ Value := ] < expression (IN) of | [ Dvalue := ] < expression (IN) of num > , ] signalgo > , num > of dnum > ;

Related information
For information about Other input/output instructions Input/Output functionality in general See Technical reference manual - RAPID overview Technical reference manual - RAPID overview

Configuration of I/O (system parameters) Technical reference manual - System parameters

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1.159 SetSysData - Set system data

1.159 SetSysData - Set system data

Usage SetSysData activates the specified system data name for the specified data type. With this instruction it is possible to change the current active Tool, Work Object, PayLoad or Total Load for the robot in actual or connected motion task. Basic examples Basic examples of the instruction SetSysData are illustrated below. Example 1
SetSysData tool5;

The tool tool5 is activated.

SetSysData tool0 \ObjectName := "tool6";

The tool tool6 is activated.

SetSysData anytool \ObjectName := "tool2";

The tool tool2 is activated. Arguments

SetSysData SourceObject [\ObjectName]

SourceObject Data type:anytype Persistent variable that should be active as current system data. The data type of this argument also specifies the type of system data to be activated for the robot in actual or connected motion task.
Data type tooldata wobjdata loaddata Type of system data Tool Work Object Payload/Total Load

Entire array or record component can not be used. [ \ObjectName ] Data type:string If this optional argument is specified then it specifies the name of the data object to be active (overrides name specified in argument SourceObject). The data type of the data object to be active is always fetched from the argument SourceObject. Program execution The current active system data object for the Tool, Work Object, PayLoad or Total Load is set according to the arguments. Note that this instruction only activates a new data object (or the same as before) and never changes the value of any data object.

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1.159 SetSysData - Set system data Continued Syntax
SetSysData [ SourceObject:=] < persistent(PERS) of anytype> [\ObjectName:= < expression (IN) of string> ] ;

Related information
For information about Definition of tools Definition of work objects Definition of payload Get system data See tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 loaddata - Load data on page 1192 GetSysData - Get system data on page 121

System parameter ModalPayLoadMode Technical reference manual - System parameters for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode) Example of how to use TLoad, Total Load. MoveL - Moves the robot linearly on page 275

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1.160 SingArea - Defines interpolation around singular points

1.160 SingArea - Defines interpolation around singular points

Usage SingArea is used to define how the robot is to move in the proximity of singular points. SingArea is also used to define linear and circular interpolation for robots with less than six axes. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction SingArea are illustrated below. Example 1
SingArea \Wrist;

The orientation of the tool may be changed slightly in order to pass a singular point (axes 4 and 6 in line). Robots with less than six axes may not be able to reach an interpolated tool orientation. By using SingArea \Wrist the robot can achieve the movement but the orientation of the tool will be slightly changed. Example 2
SingArea \Off;

The tool orientation is not allowed to differ from the programmed orientation. If a singular point is passed then one or more axes may perform a sweeping movement resulting in a reduction in velocity. Robots with less than six axes may not be able to reach a programmed tool orientation. As a result the robot will stop. Arguments
SingArea [\Wrist]|[\Off]

[ \Wrist ] Data type: switch The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for linear and circular interpolation of robots with less than six axes where the tool orientation is allowed to differ. [ \Off ] Data type: switch The tool orientation is not allowed to differ. Used when no singular points are passed or when the orientation is not permitted to be changed. If none of the arguments are specified the system will be set to \Off.

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1.160 SingArea - Defines interpolation around singular points Continued Program execution If the arguments \Wrist is specified then the orientation is joint-interpolated to avoid singular points. In this way the TCP follows the correct path, but the orientation of the tool deviates somewhat. This will also happen when a singular point is not passed. The specified interpolation applies to all subsequent movements until a new SingArea instruction is executed. The movement is only affected on execution of linear or circular interpolation. By default, program execution automatically uses the Off argument for robots with six axes. Robots with less than six axes may use either the Off argument or the /Wrist argument by default. This is automatically set in event routine SYS_RESET. Syntax
SingArea [ '\' Wrist ] | ['\' Off ] ';'

at a cold start when a new program is loaded when starting program execution from the beginning

Related information
For information about Singularity Interpolation Motion settings data See Technical reference manual - RAPID overview Technical reference manual - RAPID overview motsetdata - Motion settings data on page 1202

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1.161 SkipWarn - Skip the latest warning

1.161 SkipWarn - Skip the latest warning

Usage SkipWarn(Skip Warning) is used to skip the latest generated warning message to be stored in the Event Log during execution in running mode continuously or cycle (no warnings skipped in FWD or BWD step). With SkipWarn it is possible to repeatedly do error recovery in RAPID without filling the Event Log with only warning messages. Basic examples Basic examples of the instruction SkipWarn are illustrated below. Example 1
%"notexistingproc"%; nextinstruction; ERROR IF ERRNO = ERR_REFUNKPRC THEN SkipWarn; TRYNEXT; ENDIF ENDPROC

The program will execute the nextinstruction and no warning message will be stored in the Event Log. Syntax
SkipWarn ;

Related information
For information about Error recovery Error number See Technical reference manual - RAPID overview Technical reference manual - RAPID overview errnum - Error number on page 1168

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1.162 SocketAccept - Accept an incoming connection

1.162 SocketAccept - Accept an incoming connection

Usage SocketAccept is used to accept incoming connection requests. SocketAccept can only be used for server applications. Basic examples Basic examples of the instruction SocketAccept are illustrated below. See also More examples on page 468. Example 1
VAR socketdev server_socket; VAR socketdev client_socket; ... SocketCreate server_socket; SocketBind server_socket,"192.168.0.1", 1025; SocketListen server_socket; SocketAccept server_socket, client_socket;

A server socket is created and bound to port 1025 on the controller network address 192.168.0.1. After execution of SocketListen the server socket starts to listen for incoming connections on this port and address. SocketAccept waits for any incoming connections, accepts the connection request, and returns a client socket for the established connection. Arguments
SocketAccept Socket ClientSocket [\ClientAddress] [ \Time ]

Socket Data type: socketdev The server sockets that are waiting for incoming connections. The socket must already be created, bounded, and ready for listening. ClientSocket Data type: socketdev The returned new client socket that will be updated with the accepted incoming connection request. [\ClientAddress] Data type: string The variable that will be updated with the IP-address of the accepted incoming connection request. [\Time] Data type: num The maximum amount of time [s] that program execution waits for incoming connections. If this time runs out before any incoming connection then the error handler will be called, if there is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler then the execution will be stopped. Continues on next page
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1.162 SocketAccept - Accept an incoming connection Continued If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the predefined constant WAIT_MAX. Program execution The server socket will wait for any incoming connection requests. When accepting the incoming connection request the instruction is ready and the returned client socket is by default connected and can be used in SocketSend and SocketReceive instructions. More examples More examples of the instruction SocketAccept are illustrated below. Example 1
VAR socketdev server_socket; VAR socketdev client_socket; VAR string receive_string; VAR string client_ip; ... SocketCreate server_socket; SocketBind server_socket, "192.168.0.1", 1025; SocketListen server_socket; WHILE TRUE DO SocketAccept server_socket, client_socket \ClientAddress:=client_ip; SocketReceive client_socket \Str := receive_string; SocketSend client_socket \Str := "Hello client with ip-address " +client_ip; ! Wait for client acknowledge ... SocketClose client_socket; ENDWHILE ERROR RETRY; UNDO SocketClose server_socket; SocketClose client_socket;

A server socket is created and bound to port 1025 on the controller network address 192.168.0.1. After execution of SocketListen the server socket starts to listen for incoming connections on this port and address. SocketAccept will accept the incoming connection from some client and store the client address in the string client_ip. Then the server receives a string message from the client and stores the message in receive_string. Then the server responds with the message " Hello client with ip-address xxx.xxx.x.x" and closes the client connection. After that the server is ready for a connection from the same or some other client in the WHILE loop. If PP is moved to main in the program then all open sockets are closed (SocketClose can always be done even if the socket is not created).

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1.162 SocketAccept - Accept an incoming connection Continued Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED ERR_SOCK_TIMEOUT The socket is closed (has been closed or is not created). UseSocketCreate to create a new socket. The connection was not established within the time out time

Syntax
SocketAccept [ Socket := ] < variable (VAR) of socketdev > , [ ClientSocket := ] < variable (VAR) of socketdev > [ \ ClientAddress := < variable (VAR) of string> ] [ \ Time := < expression (IN) of num > ] ;

Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control, section Socket Messaging SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474 Send data to remote computer Receive data from remote computer Close the socket Bind a socket (only server) Listening connections (only server) Get current socket state Example client socket application Example of server socket application SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.163 SocketBind - Bind a socket to my IP-address and port

1.163 SocketBind - Bind a socket to my IP-address and port

Usage SocketBind is used to bind a socket to the specified server IP-address and port number. SocketBind can only be used for server applications. Basic examples Basic examples of the instruction SocketBind are illustrated below. Example 1
VAR socketdev server_socket; SocketCreate server_socket; SocketBind server_socket, "192.168.0.1", 1025;

A server socket is created and bound to port 1025 on the controller network address 192.168.0.1. The server socket can now be used in an SocketListen instruction to listen for incoming connections on this port and address. Arguments
SocketBind Socket LocalAddress LocalPort

Socket Data type: socketdev The server socket to bind. The socket must be created but not already bound. LocalAddress Data type: string The server network address to bind the socket to. The only valid addresses are any public LAN addresses or the controller service port address 192.168.125.1. LocalPort Data type: num The server port number to bind the socket to. Generally ports 1025-4999 are free to use. Ports below 1025 can already be taken. Program execution The server socked is bound to the specified server port and IP-address. An error is generated if the specified port is already in use. Use the SocketBind and SocketListen instructions in the startup of the program to associate a local address with a socket and then listen for incoming connections on the specified port. This is recommended to do only once for each socket and port that is used.

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1.163 SocketBind - Bind a socket to my IP-address and port Continued Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED The socket is closed (has been closed or is not created) Use SocketCreate to create a new socket. The address and port is already in use and can not be used again. Use a different port number..

ERR_SOCK_ADDR_INUSE

Syntax
SocketBind [ Socket := ] < variable (VAR) of socketdev > , [ LocalAddress := ] < expression (IN) of string > , [ LocalPort := ] < expression (IN) of num > ;

Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474 Send data to remote computer Receive data from remote computer Close the socket Listening connections (only server) Accept connections (only server) Get current socket state Example client socket application Example server socket application SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.164 SocketClose - Close a socket

1.164 SocketClose - Close a socket

Usage SocketClose is used when a socket connection is no longer going to be used. After a socket has been closed it cannot be used in any socket call except SocketCreate. Basic examples Basic examples of the instruction SocketClose are illustrated below. Example 1
SocketClose socket1;

The socket is closed and can not be used anymore. Arguments

SocketClose Socket

Socket Data type: socketdev The socket to be closed. Program execution The socket will be closed and its allocated resources will be released. Any socket can be closed at any time. The socket can not be used after closing. However it can be reused for a new connection after a call to SocketCreate. Limitations Closing the socket connection immediately after sending the data with SocketSend can lead to loss of sent data. This is because TCP/IP socket has built-in functionality to resend the data if there is some communication problem. To avoid such problems with loss of data, do the following before SocketClose: handshake the shutdown or WaitTime 2

Avoid fast loops with SocketCreate ... SocketClose, because the socket is not really closed until a certain time (TCP/IP functionality). Syntax
SocketClose [ Socket ':=' ] < variable (VAR) of socketdev > ';'

Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control, section Socket Messaging SocketCreate - Create a new socket on page 477

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1.164 SocketClose - Close a socket Continued
For information about See

Connect to a remote computer (onlycli- SocketConnect - Connect to a remote computer ent) on page 474 Send data to remote computer Receive data from remote computer Bind a socket (only server) Listening connections (only server) Accept connections (only server) Get current socket state Example client socket application Example server socket application SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467t SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.165 SocketConnect - Connect to a remote computer

1.165 SocketConnect - Connect to a remote computer

Usage SocketConnect is used to connect the socket to a remote computer in a client application. Basic examples Basic examples of the instruction SocketConnect are illustrated below. See also More examples on page 475. Example 1
SocketConnect socket1, "192.168.0.1", 1025;

Trying to connect to a remote computer at ip-address 192.168.0.1 and port 1025. Arguments
SocketConnect Socket Address Port [\Time]

Socket Data type: socketdev The client socket to connect. The socket must be created but not already connected. Address Data type: string The address of the remote computer. The remote computer must be specified as an IP address. It is not possible to use the name of the remote computer. Port Data type: num The port on the remote computer. Generally ports 1025-4999 are free to use. Ports below 1025 can already be taken. [ \Time ] Data type: num The maximum amount of time [s] that program execution waits for the connection to be accepted or denied. If this time runs out before the condition is met then the error handler will be called, if there is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler then the execution will be stopped. If parameter \Time is not used the waiting time is 60 s. To wait forever, use the predefined constant WAIT_MAX. Program execution The socket tries to connect to the remote computer on the specified address and port. The program execution will wait until the connection is established, failed, or a timeout occurs.

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1.165 SocketConnect - Connect to a remote computer Continued More examples More examples of the instruction SocketConnect are illustrated below. Example 1
VAR num retry_no := 0; VAR socketdev my_socket; ... SocketCreate my_socket; SocketConnect my_socket, "192.168.0.1", 1025; ... ERROR IF ERRNO = ERR_SOCK_TIMEOUT THEN IF retry_no < 5 THEN WaitTime 1; retry_no := retry_no + 1; RETRY; ELSE RAISE; ENDIF ENDIF

A socket is created and tries to connect to a remote computer. If the connection is not established within the default time-out time, i.e. 60 seconds, then the error handler retries to connect. Four retries are attemped then the error is reported to the user. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED The socket is closed (has been closed or is not created). Use SocketCreate to create a new socket. The connection was not established within the time-out time.

ERR_SOCK_TIMEOUT

Syntax
SocketConnect [ Socket := ] < variable (VAR) of socketdev > , [ Address := ] < expression (IN) of string > , [ Port := ] < expression (IN) of num > [ \ Time := < expression (IN) of num > ] ;

Related information
For information about Socket communication in general Create a new socket Send data to remote computer Receive data from remote computer Described in: Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.165 SocketConnect - Connect to a remote computer Continued
For information about Bind a socket (only server) Listening connections (only server) Accept connections (only server) Get current socket state Example client socket application Example server socket application Described in: SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.166 SocketCreate - Create a new socket

1.166 SocketCreate - Create a new socket

Usage SocketCreate is used to create a new socket for connection based communication. The socket messaging is of stream type protocol TCP/IP with delivery guarantee. Both server and client application can be developed. Datagram protocol UDP/IP with broadcast is not supported. Basic examples Basic examples of the instruction SocketCreate are illustrated below. Example 1
VAR socketdev socket1; ... SocketCreate socket1;

A new socket device is created and assigned into the variable socket1. Arguments
SocketCreate Socket

Socket Data type: socketdev The variable for storage of the systems internal socket data. Program execution The instruction creates a new socket device. The socket must not already be in use. The socket is in use between SocketCreate and SocketClose. Limitations Any number of sockets can be declared but it is only possible to use 32 sockets at the same time. Avoid fast loops with SocketCreate ... SocketClose, because the socket is not really closed until a certain time (TCP/IP functionality). Syntax
SocketCreate [ Socket := ] < variable (VAR) of socketdev > ;

Related information
For information about Socket communication in general See Application manual - Robot communication and I/O control, section Socket Messaging

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474

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1.166 SocketCreate - Create a new socket Continued
For information about Send data to remote computer Receive data from remote computer Close the socket Bind a socket (only server) Listening connections (only server) Accept connections (only server) Get current socket state Example client socket application Example server socket application See SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.167 SocketListen - Listen for incoming connections

1.167 SocketListen - Listen for incoming connections

Usage SocketListen is used to start listening for incoming connections, i.e. start acting as a server. SocketListen can only used for server applications. Basic examples Basic examples of the instruction SocketListen are illustrated below. Example 1
VAR socketdev server_socket; VAR socketdev client_socket; ... SocketCreate server_socket; SocketBind server_socket, "192.168.0.1", 1025; SocketListen server_socket; WHILE listening DO; ! Waiting for a connection request SocketAccept server_socket, client_socket;

A server socket is created and bound to port 1025 on the controller network address 192.168.0.1. After execution of SocketListen the server socket starts to listen for incoming connections on this port and address. Arguments
SocketListen Socket

Socket Data type: socketdev The server socket that should start listening for incoming connections. The socket must already be created and bound. Program execution The server socket start listening for incoming connections. When the instruction is ready the socket is ready to accept an incoming connection. Use the SocketBind and SocketListen instructions in the startup of the program to associate a local address with a socket and then listen for incoming connections on the specified port. This is recommended to do only once for each socket and port that is used. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED The socket is closed (has been closed or is not created). Use SocketCreate to create a new socket.

Syntax
SocketListen [ Socket := ] < variable (VAR) of socketdev > ;

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1.167 SocketListen - Listen for incoming connections Continued Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474 Send data to remote computer Receive data from remote computer Close the socket Bind a socket (only server) Accept connections (only server) Get current socket state Example client socket application Example server socket application SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481

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1.168 SocketReceive - Receive data from remote computer

1.168 SocketReceive - Receive data from remote computer

Usage SocketReceive is used for receiving data from a remote computer. SocketReceive can be used both for client and server applications. Basic examples Basic examples of the instruction SocketReceive are illustrated below. See also More examples on page 483. Example 1
VAR string str_data; ... SocketReceive socket1 \Str := str_data;

Receive data from a remote computer and store it in the string variable str_data. Arguments
SocketReceive Socket [ \Str ] | [ \RawData ] | [ \Data ] [\ReadNoOfBytes] [\NoRecBytes] [\Time]

Socket Data type: socketdev In a client application where the socket receives the data, the socket must already be created and connected. In a server application where the socket receives the data, the socket must already be accepted. [ \Str ] Data type: string The variable in which the received string data should be stored. Max. number of characters 80 can be handled. [ \RawData ] Data type: rawbytes The variable in which the received rawbytes data should be stored. Max. number of rawbytes 1024 can be handled. [ \Data ] Data type: array of byte The variable in which the received byte data should be stored. Max. number of byte 1024 can be handled. Only one of the optional parameters \Str, \RawData, and \Data can be used at the same time. [ \ReadNoOfBytes ] Read number of Bytes Data type: num Continues on next page
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1.168 SocketReceive - Receive data from remote computer Continued The number of bytes to read. The minimum value of bytes to read is 1, and the maximum amount is the value of the size of the data type used, i.e. 80 bytes if using a variable of the data type string. If communicating with a client that always sends a fixed number of bytes, this optional parameter can be used to specify that the same amount of bytes should be read for each SocketReceive instruction. If the sender sends RawData, the receiver needs to specify that 4 bytes should be received for each rawbytes sent. [ \NoRecBytes ] Number Received Bytes Data type: num Variable for storage of the number of bytes needed from the specified socketdev. The same result can also be achieved with [ \Time ] Data type: num The maximum amount of time [s] that program execution waits for the data to be received. If this time runs out before the data is transferred then the error handler will be called, if there is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler then the execution will be stopped. If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the predefined constant WAIT_MAX. Program execution The execution of SocketReceive will wait until the data is available or fail with a timeout error. The amount of bytes read is specified by the the data type used in the instruction. If using a string data type to receive data in, 80 bytes is received if there is 80 bytes that can be read. If using optional argument ReadNoOfBytes the user can specify how many bytes that should be received for each SocketReceive. The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No header is added by default to the message. The usage of any header is reserved for the actual application.
Parameter \Str \RawData \Data Input data 1 char 1 rawbytes 1 byte Cable data 1 byte (8 bits) 1 byte (8 bits) 1 byte (8 bits) Output data 1 char 1 rawbytes 1 byte

function StrLen on varable in argument \Str function RawBytesLen on variable in argument \RawData

It is possible to mix the used data type (string, rawbytes, or array of byte) between SocketSend and SocketReceive.

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1.168 SocketReceive - Receive data from remote computer Continued More examples More examples of the instruction SocketReceive are illustrated below. Example 1
VAR socketdev server_socket; VAR socketdev client_socket; VAR string client_ip; PROC server_messaging() VAR string receive_string; ... ! Create, bind, listen and accept of sockets in error handlers SocketReceive client_socket \Str := receive_string; SocketSend client_socket \Str := "Hello client with ip-address"+client_ip; ! Wait for acknowlegde from client ... SocketClose server_socket; SocketClose client_socket; ERROR IF ERRNO=ERR_SOCK_TIMEOUT THEN RETRY; ELSEIF ERRNO=SOCK_CLOSED THEN server_recover; RETRY; ELSE ! No error recovery handling ENDIF ENDPROC PROC server_recover() SocketClose server_socket; SocketClose client_socket; SocketCreate server_socket; SocketBind server_socket, "192.168.0.1", 1025; SocketListen server_socket; SocketAccept server_socket, client_socket\ClientAddress:=client_ip; ERROR IF ERRNO=ERR_SOCK_TIMEOUT THEN RETRY; ELSEIF ERRNO=ERR_SOCK_CLOSED THEN RETURN; ELSE ! No error recovery handling ENDIF ENDPROC

This is an example of a server program with creation, binding, listening, and accepting of sockets in error handlers. In this way the program can handle power fail restart. Continues on next page
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1.168 SocketReceive - Receive data from remote computer Continued In the procedure server_recover, a server socket is created and bound to port 1025 on the controller network address 192.168.0.1. After execution of SocketListen the server socket starts to listen for incoming connections on this port and address. SocketAccept will accept the incoming connection from some client and store the client address in the string client_ip. In the communication procedure server_messaging the server receives a string message from the client and stores the message in receive_string. Then the server responds with the message "Hello client with ip-address xxx.xxx.x.x". Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED ERR_SOCK_TIMEOUT The socket is closed. Broken connection. No data was received within the time out time.

Limitations There is no built-in synchronization mechanism in Socket Messaging to avoid received messages that are compounded of several sent messages. It is up to the programmer to handle the synchronization with Ack messages (one sequence of SocketSend - SocketReceive in the client or server program must be completed before next sequence of SocketSend - SocketReceive). All sockets are closed after power fail restart. This problem can be handled by error recovery. See example above. Avoid fast loops with SocketCreate ... SocketClose because the socket is not really closed until a certain time (TCP/IP functionality). The maximum size of the data that can be received in one call is limited to 1024 bytes. Syntax
SocketReceive [ Socket := ] < variable (VAR) of socketdev > [ \ Str := < variable (VAR) of string > ] | [ \ RawData := < variable (VAR) of rawbytes > ] | [ \ Data := < array {*} (VAR) of byte > ] [ \ ReadNoOfBytes := < expression (IN) of num > ] [ \ NoRecBytes := < variable (VAR) of num > ] [ \ Time := < expression (IN) of num > ] ;

Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474

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1.168 SocketReceive - Receive data from remote computer Continued
For information about Send data to remote computer Close the socket Bind a socket (only server) Listening connections (only server) Accept connections (only server) Get current socket state Example client socket application See SocketSend - Send data to remote computer on page 486 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketSend - Send data to remote computer on page 486

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1.169 SocketSend - Send data to remote computer

1.169 SocketSend - Send data to remote computer

Usage SocketSend is used to send data to a remote computer. SocketSend can be used both for client and server applications. Basic examples Basic examples of the instruction SocketSend are illustrated below. See also More examples on page 487. Example 1
SocketSend socket1 \Str := "Hello world";

Sends the message "Hello world" to the remote computer. Arguments

SocketSend Socket [ \Str ] | [ \RawData ] | [ \Data] [ \NoOfBytes ]

Socket Data type: socketdev In client application the socket to send from must already be created and connected. In server application the socket to send to must already be accepted. [ \Str ] Data type: string The string to send to the remote computer. [ \RawData ] Data type: rawbytes The rawbytes data to send to the remote computer. [ \Data ] Data type: array of byte The data in the byte array to send to the remote computer. Only one of the option parameters \Str, \RawData, or \Data can be used at the same time. [ \NoOfBytes ] Data type: num If this argument is specified only this number of bytes will be sent to the remote computer. The call to SocketSend will fail if \NoOfBytes is larger than the actual number of bytes in the data structure to send. If this argument is not specified then the whole data structure (valid part of rawbytes) will be sent to the remote computer.

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1.169 SocketSend - Send data to remote computer Continued Program execution The specified data is sent to the remote computer. If the connection is broken an error is generated. The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No header is added by default to the message. The usage of any header is reserved for the actual application.
Parameter \Str \RawData \Data Input data 1 char 1 rawbytes 1 byte Cable data 1 byte (8 bits) 1 byte (8 bits) 1 byte (8 bits) Output data 1 char 1 rawbytes 1 byte

Its possible to mix the used data type (string, rawbytes, or array of byte) between SocketSend and SocketReceive. More examples More examples of the instruction SocketSend are illustrated below. Example 1
VAR socketdev client_socket; VAR string receive_string; PROC client_messaging() ... ! Create and connect the socket in error handlers SocketSend client_socket \Str := "Hello server"; SocketReceive client_socket \Str := receive_string; ... SocketClose client_socket; ERROR IF ERRNO=ERR_SOCK_TIMEOUT THEN RETRY; ELSEIF ERRNO=ERR_SOCK_CLOSED THEN client_recover; RETRY; ELSE ! No error recovery handling ENDIF ENDPROC PROC client_recover() SocketClose client_socket; SocketCreate client_socket; SocketConnect client_socket, "192.168.0.2", 1025; ERROR IF ERRNO=ERR_SOCK_TIMEOUT THEN RETRY; ELSEIF ERRNO=ERR_SOCK_CLOSED THEN RETURN;

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1.169 SocketSend - Send data to remote computer Continued
ELSE ! No error recovery handling ENDIF ENDPROC

This is an example of a client program with creation and connection of socket in error handlers. In this way the program can handle power fail restart. In the procedure client_recover the client socket is created and connected to a remote computer server with IP-address 192.168.0.2 on port 1025. In the communication procedure client_messaging the client sends "Hello server" to the server and the server responds with "Hello client" to the client, which is stored in the variable receive_string. Example 2
VAR socketdev client_socket; VAR string receive_string; PROC client_messaging() ... ! Send cr and lf to the server SocketSend client_socket \Str := "\0D\0A"; ... ENDPROC

This is an example of a client program that sends non printable characters (binary data) in a string. This can be useful if communicating with sensors or other clients that requires such characters. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED The socket is closed. Broken connection.

Limitations There is no built-in synchronization mechanism in Socket Messaging to avoid received messages that are compounded of several sent messages. Its up to the programmer to handle the synchronization with Ack messages (one sequence of SocketSend - SocketReceive in the client or server program must be completed before the next sequence of SocketSend - SocketReceive). All sockets are closed after power fail restart. This problem can be handled by error recovery. See example above. Avoid fast loops with SocketCreate ... SocketClose because the socket is not really closed until a certain time (TCP/IP functionality). The size of the data to send is limited to 1024 bytes. Syntax
SocketSend [ Socket := ] < variable (VAR) of socketdev >

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1.169 SocketSend - Send data to remote computer Continued
[ | | [ \Str := < expression (IN) of string > ] [ \RawData := < variable (VAR) of rawdata > ] [ \Data := < array {*} (IN) of byte > ] \ NoOfBytes := < expression (IN) of num > ] ;

Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474 Receive data from remote computer Close the socket Bind a socket (only server) Listening connections (only server) Accept connections (only server) Get current socket state Example server socket application Use of non printable characters (binary data) in string literals. SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467 SocketGetStatus - Get current socket state on page 1031 SocketReceive - Receive data from remote computer on page 481 Technical reference manual - RAPID kernel

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1.170 SoftAct - Activating the soft servo

1.170 SoftAct - Activating the soft servo

Usage SoftAct (Soft Servo Activate) is used to activate the so called soft servo on any axis of the robot or external mechanical unit. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any motion tasks. Basic examples Basic examples of the instruction SoftAct are illustrated below. Example 1
SoftAct 3, 20;

Activation of soft servo on robot axis 3 with softness value 20%. Example 2
SoftAct 1, 90 \Ramp:=150;

Activation of the soft servo on robot axis 1 with softness value 90% and ramp factor 150%. Example 3
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;

Activation of soft servo on axis 1 for the mechanical unit orbit1 with softness value 40% and ramp factor 120%. Arguments
SoftAct[\MechUnit] Axis Softness [\Ramp]

[ \MechUnit ] Mechanical Unit Data type: mecunit The name of the mechanical unit. If this argument is omitted then it means activation of the soft servo for specified robot axis in the current program task. Axis Data type: num Number of the robot or external axis to work with soft servo. Softness Data type: num Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness), and 100% denotes max. softness. [ \Ramp ] Data type: num Ramp factor in percent (>= 100%). The ramp factor is used to control the engagement of the soft servo. A factor 100% denotes the normal value; with greater

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1.170 SoftAct - Activating the soft servo Continued values the soft servo is engaged more slowly (longer ramp). The default value for ramp factor is 100 %. Program execution Softness is activated at the value specified for the current axis. The softness value is valid for all movement until a new softness value is programmed for the current axis or until the soft servo is deactivated by the instruction SoftDeact. Limitations Soft servo for any robot or external axis is always deactivated when there is a power failure. This limitation can be handled in the user program when restarting after a power failure. The same axis must not be activated twice unless there is a moving instruction in between. Thus, the following program sequence should be avoided. Otherwise there will be a jerk in the robot movement:
SoftAct n , x ; SoftAct n , y ;

(n = robot axis n, x, and y softness values) Syntax

SoftAct [\MechUnit := < variable (VAR) of mecunit>,] [Axis := ] < expression (IN) of num> , [Softness:= ] < expression (IN) of num> , [ \Ramp:= < expression (IN) of num> ];

Related information
For information about Deactivate soft servo Behavior with the soft servo engaged Configuration of external axes See SoftDeact - Deactivating the soft servo on page 492 Technical reference manual - RAPID overview Application manual - Additional axes and stand alone controller

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1.171 SoftDeact - Deactivating the soft servo

1.171 SoftDeact - Deactivating the soft servo

Usage SoftDeact (Soft Servo Deactivate) is used to deactivate the so called soft servo. Basic examples Basic examples of the instruction SoftDeact are illustrated below. Example 1
SoftDeact;

Deactivating the soft servo on all axes. Example 2

SoftDeact \Ramp:=150;

Deactivating the soft servo on all axes, with ramp factor 150 %. Arguments
SoftDeact[\Ramp]

[ \Ramp ] Data type: num Ramp factor in percent (>= 100 %). The ramp factor is used to control the deactivating of the soft servo. A factor 100% denotes the normal value. With greater values the soft servo is deactivated more slowly (longer ramp). The default value for ramp factor is 100 %. Program execution The soft servo is deactivated for the mechanical units that are controlled from current program task. If SoftDeact is done from a non-motion task, the soft servo is deactivated for the mechanical unit controlled by the connected motion task. Executing a SoftDeact when in synchronized movement mode, soft servo will be deactivated for all mechanical units that are synchronized. When deactivating soft servo with SoftDeact the robot will move to the programmed position even if the robot has moved out of position during soft servo activation. Syntax
SoftDeact [ \Ramp := < expression (IN) of num> ];

Related information
For information about Activating the soft servo See SoftAct - Activating the soft servo on page 490

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1.172 SpeedLimAxis - Set speed limitation for an axis

1.172 SpeedLimAxis - Set speed limitation for an axis

Usage SpeedLimAxis is used to set a speed limit value for an axis. The speed reduction is done when the system input signal LimitSpeed is set to 1. With this instruction it is possible to setup a speed limitation that later on should be applied. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any Motion tasks. Basic examples Basic examples of the instruction SpeedLimAxis are illustrated below. Example 1
SpeedLimAxis STN_1, 1, 20;

This will limit the speed to 20 degrees/second on axis 1 for mechanical unit STN_1 when system input LimitSpeed is set to 1. Example 2
SpeedLimAxis SpeedLimAxis SpeedLimAxis SpeedLimAxis SpeedLimAxis SpeedLimAxis ROB_1, ROB_1, ROB_1, ROB_1, ROB_1, ROB_1, 1, 2, 3, 4, 5, 6, 10; 30; 30; 30; 30; 30;

This will limit the speed to 30 degrees/second on axis 2 to 6, and limit the speed to 10 degrees/second on axis 1 for mechanical unit ROB_1 when system input LimitSpeed is set to 1. Arguments
SpeedLimAxis MechUnit AxisNo AxisSpeed

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. AxisNo Data type: num The number of the current axis for the mechanical unit. AxisSpeed Data type: num The speed that should be applied. For a rotating axis the speed should be in degrees/second and for a linear axis it should be in mm/s.

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1.172 SpeedLimAxis - Set speed limitation for an axis Continued Program execution SpeedLimAxis is used to set a speed limit value for an axis for a specific mechanical unit. The speed reduction is not done at once. The values are stored and are applied when the system input signal LimitSpeed is set to 1. If SpeedLimAxis is not used to set a limitation for an axis, then the speed limitation for manual mode will be used instead. If no limitation at all is wanted for a specific axis, a high value should be entered. When the system input signal LimitSpeed is set to 1, the speed is ramped down to the reduced speed. When the system input signal LimitSpeed is set to 0, the speed is ramped up to the programmed speed used in the current movement instruction. The system output signal LimitSpeed is set to 1, when the reduced speed is reached. The system output signal LimitSpeed is set to 0, when the speed starts to ramp up. The default values for speed limitation are automatically set More examples More examples of the instruction SpeedLimAxis are illustrated below. Example 1
.. VAR intnum sigint1; VAR intnum sigint2; .. PROC main() ! Setup interrupts reacting on a signal input IDelete sigint1; CONNECT sigint1 WITH setlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 1, sigint1; IDelete sigint2; CONNECT sigint2 WITH resetlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 0, sigint2; .. MoveL p1, z50, fine, tool2; MoveL p2, z50, fine, tool2; .. MoveL p10, v100, fine, tool2; ! Set limitations for checkpoints and axes SpeedLimCheckPoint 200; SpeedLimAxis ROB_1, 1, 10; SpeedLimAxis ROB_1, 2, 10; SpeedLimAxis ROB_1, 3, 10; SpeedLimAxis ROB_1, 4, 20; SpeedLimAxis ROB_1, 5, 20; SpeedLimAxis ROB_1, 6, 20;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

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1.172 SpeedLimAxis - Set speed limitation for an axis Continued
WHILE run_loop = TRUE DO MoveL p1, vmax, z50, tool2; .. MoveL p99, vmax, fine, tool2; ENDWHILE ! Set the default manual mode max speed SpeedLimCheckPoint 0; SpeedLimAxis ROB_1, 1, 0; SpeedLimAxis ROB_1, 2, 0; SpeedLimAxis ROB_1, 3, 0; SpeedLimAxis ROB_1, 4, 0; SpeedLimAxis ROB_1, 5, 0; SpeedLimAxis ROB_1, 6, 0; .. TRAP setlimitspeed IDelete sigint1; CONNECT sigint1 WITH setlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 1, sig1int1; ! Set out signal that is cross connected to system input LimitSpeed SetDO do1LimitSpeed, 1; ENDTRAP TRAP resetlimitspeed IDelete sigint2; CONNECT sigint2 WITH resetlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 0, sig1int2; ! Reset out signal that is cross connected to system input LimitSpeed SetDO do1LimitSpeed, 0; ENDTRAP

During the robot movement from position p1 to p10, the default speed limitation is used (manual mode speed). A new speed limit for the checkpoints for the TCP robot and for the axes are added. The TRAP setlimitspeed will apply the speed limitation if signal mysensorsignal changes value to 1. The TRAP resetlimitspeed will remove the speed limitation when signal mysensorsignal changes value to 0. The new settings for the speed limitation will be used as long as the variable run_loop is TRUE and the system input signal LimitSpeed is set to 1. When run_loop is set to FALSE the default speed limitation (manual mode speed) is set. Note The TRAP routine in the example is only used to visualize the functionality. The signal used to limit the speed could also be connected either directly to the system input signal LimitSpeed, or through a safety PLC.

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1.172 SpeedLimAxis - Set speed limitation for an axis Continued Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_AXIS_PAR ERR_SPEEDLIM_VALUE Parameter axis in instruction is wrong The speed used in argument AxisSpeed is too low.

Limitations SpeedLimAxis cannot be used in the POWER ON event routine. Syntax

SpeedLimAxis [ MechUnit:= ] < variable (VAR) of mecunit> , [ AxisNo:= ] < expression (IN) of num> , [ AxisSpeed:= ] < expression (IN) of num> ;

Related information
For information about Positioning instructions Set speed limitation for check points System input and output signals See Technical reference manual - RAPID overview SpeedLimCheckPoint - Set speed limitation for check points on page 497 Technical reference manual - System parameters

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1.173 SpeedLimCheckPoint - Set speed limitation for check points

1.173 SpeedLimCheckPoint - Set speed limitation for check points

Usage SpeedLimCheckPoint is used to set a speed limit value for a TCP robot. The speed reduction is done when the system input signal LimitSpeed is set to 1. With this instruction it is possible to setup a speed limit that later on should be applied. The reduction of the speed is done if any of the checkpoints are running faster than the limit set by SpeedLimCheckPoint. (For More information about checkpoints, see More examples on page 499. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any Motion tasks. Basic examples Basic examples of the instruction SpeedLimCheckPoint are illustrated below. Example 1
VAR num limit_speed:=200; SpeedLimCheckPoint limit_speed;

This will limit the speed to 200 mm/s for the TCP robot when system input LimitSpeed is set to 1. Arguments
SpeedLimCheckPoint RobSpeed

RobSpeed Data type: num The speed limitation in mm/s that should be applied.

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1.173 SpeedLimCheckPoint - Set speed limitation for check points Continued Program execution Definition of checkpoints, see figure below.

D E

A F B
xx1200000521

A B C D E F

World coordinate system Base coordinate system Arm checkpoint Wrist Center Point (WCP) tool0 Tool Center Point (TCP)

SpeedLimCheckPoint is used to set a speed limit value for 4 checkpoints for a TCP robot. The checkpoints that will be limited are the arm, the wrist, tool0, and the active TCP, as seen in the picture above. The speed reduction is not done at once. The values are stored and are applied when the system input signal LimitSpeed is set to 1. The speed of the checkpoints are limited relative to the base coordinate system. If instruction SpeedLimCheckPoint is not used to set a limitation, the speed limitation for manual mode will be used as limitation. If no limitation at all is wanted for a specific axis, a high value should be entered. When the system input signal LimitSpeed is set to 1, the speed is ramped down to the reduced speed. Continues on next page
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1.173 SpeedLimCheckPoint - Set speed limitation for check points Continued When the system input signal LimitSpeed is set to 0, the speed is ramped up to the programmed speed used in the current movement instruction. The system output signal LimitSpeed is set to 1, when the reduced speed is reached. The system output signal LimitSpeed is set to 0, when the speed starts to ramp up. The default values for speed limitation are automatically set More examples More examples of the instruction SpeedLimCheckPoint are illustrated below. Example 1
.. VAR intnum sigint1; VAR intnum sigint2; .. PROC main() ! Setup interrupts reacting on a signal input IDelete sigint1; CONNECT sigint1 WITH setlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 1, sigint1; IDelete sigint2; CONNECT sigint2 WITH resetlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 0, sigint2; .. MoveL p1, z50, fine, tool2; MoveL p2, z50, fine, tool2; .. MoveL p10, v100, fine, tool2; ! Set limitations for checkpoints and axes SpeedLimCheckPoint 200; SpeedLimAxis ROB_1, 1, 10; SpeedLimAxis ROB_1, 2, 10; SpeedLimAxis ROB_1, 3, 10; SpeedLimAxis ROB_1, 4, 20; SpeedLimAxis ROB_1, 5, 20; SpeedLimAxis ROB_1, 6, 20; WHILE run_loop = TRUE DO MoveL p1, vmax, z50, tool2; .. MoveL p99, vmax, fine, tool2; ENDWHILE ! Set the default manual mode max speed SpeedLimCheckPoint 0; SpeedLimAxis ROB_1, 1, 0; SpeedLimAxis ROB_1, 2, 0; SpeedLimAxis ROB_1, 3, 0;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

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1.173 SpeedLimCheckPoint - Set speed limitation for check points Continued
SpeedLimAxis ROB_1, 4, 0; SpeedLimAxis ROB_1, 5, 0; SpeedLimAxis ROB_1, 6, 0; .. TRAP setlimitspeed IDelete sigint1; CONNECT sigint1 WITH setlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 1, sig1int1; ! Set out signal that is cross connected to system input LimitSpeed SetDO do1LimitSpeed, 1; ENDTRAP TRAP resetlimitspeed IDelete sigint2; CONNECT sigint2 WITH resetlimitspeed; ISignalDI \SingleSafe, mysensorsignal, 0, sig1int2; ! Reset out signal that is cross connected to system input LimitSpeed SetDO do1LimitSpeed, 0; ENDTRAP

During the robot movement from position p1 to p10, the default speed limitation is used (manual mode speed). A new speed limit for the checkpoints for the TCP robot and for the axes are added. The TRAP setlimitspeed will apply the speed limitation if signal mysensorsignal changes value to 1. The TRAP resetlimitspeed will remove the speed limitation when signal mysensorsignal changes value to 0. The new settings for the speed limitation will be used as long as the variable run_loop is TRUE and the system input signal LimitSpeed is set to 1. When run_loop is set to FALSE the default speed limitation (manual mode speed) is set. Note The TRAP routine in the example is only used to visualize the functionality. The signal used to limit the speed could also be connected either directly to the system input signal LimitSpeed, or through a safety PLC. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_SPEEDLIM_VALUE The speed used in argument RobSpeed is too low.

Limitations SpeedLimCheckPoint cannot be used in the POWER ON event routine. Syntax

SpeedLimCheckPoint [ RobSpeed := ] < expression (IN) of num > ;

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1.173 SpeedLimCheckPoint - Set speed limitation for check points Continued Related information
For information about Positioning instructions Set speed limitation for an axis Defining arm loads System input and output signals See Technical reference manual - RAPID overview SpeedLimAxis - Set speed limitation for an axis on page 493 Technical reference manual - System parameters Technical reference manual - System parameters

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1.174 SpeedRefresh - Update speed override for ongoing movement

1.174 SpeedRefresh - Update speed override for ongoing movement

Usage SpeedRefresh is used to change the movement speed for the ongoing robot movement in current motion program task. With this instruction it is possible to create some type of coarse speed adaptation from some sensor input. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any Motion tasks. Basic examples Basic examples of the instruction SpeedRefresh are illustrated below. Example 1
VAR num change_speed:=70; SpeedRefresh change_speed;

This will change the current speed override to 70%. Arguments

SpeedRefresh Override

Override Data type: num The speed override value within range 0 ... 100 %. Program execution The actual speed override value for the ongoing movements of robot and external units in current motion program task will be updated. All speed data components for any mechanical units in current motion task will be influenced. This speed override value generated with this instruction will replace any speed override value generated from FlexPendant for this motion task (no influence on other motion tasks). If the override speed used for the instruction SpeedRefresh exceeds the value set from the FlexPendant, the lowest value will be used. This means, that the speed can not be increased above the speed set from the FlexPendant. If a PP to main is done or if a new program is loaded, the speed that was set with SpeedRefresh will be resetted, and the speed set from the FlexPendant will be applied. More examples More examples of the instruction SpeedRefresh are illustrated below. Example 1
VAR intnum time_int; VAR num override; ... PROC main() CONNECT time_int WITH speed_refresh;

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1.174 SpeedRefresh - Update speed override for ongoing movement Continued
ITimer 0.1, time_int; ISleep time_int; ... MoveL p1, v100, fine, tool2; ! Read current speed override set from FlexPendant override := CSpeedOverride (\CTask); IWatch time_int; MoveL p2, v100, fine, tool2; IDelete time_int; ! Reset to FlexPendant old speed override WaitTime 0.5; SpeedRefresh override; ... TRAP speed_refresh VAR speed_corr; ! Analog input signal value from sensor, value 0 ... 10 speed_corr := (ai_sensor * 10); SpeedRefresh speed_corr; ERROR IF ERRNO = ERR_SPEED_REFRESH_LIM THEN IF speed_corr > 100 speed_corr := 100; IF speed_corr < 0 speed_corr := 0; RETRY; ENDIF ENDTRAP

During the robot movement from position p1 to p2, the speed override value is updated every 0.1 s in the TRAP speed_refresh. The analog input signal ai_sensor is used for calculation of Overide value for the instruction SpeedRefresh. There is no TRAP execution before and after the robot movement between p1 and p2. The manual speed override from FlexPendant is restored. After that the robot has to reach p2. Error handling If Override has a value outside the range of 0 to 100 % then the ERRNO variable will be s et to ERR_SPEED_REFRESH_LIM. This error is recoverable and can be handled in the ERROR handler. Limitations Note that with SpeedRefresh the speed override will not be done momentary. Instead there will be a lag of 0,3 - 0,5 seconds between order and influence on the physical robot. The user is responsible to reset the speed override value from the RAPID program after the SpeedRefresh sequence. The override speed can not be increased above the speed override set from the FlexPendant. If SpeedRefresh is used in the START or in the RESET event routine, the speed that is set is always the actual FlexPendant speed override.

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1.174 SpeedRefresh - Update speed override for ongoing movement Continued Syntax
SpeedRefresh [ Override := ] < expression (IN) of num > ;

Related information
For information about Positioning instructions Definition of velocity Read current speed override See Technical reference manual - RAPID overview speeddata - Speed data on page 1248 CSpeedOverride - Reads the current override speed on page 857

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1.175 SpyStart - Start recording of execution time data

1.175 SpyStart - Start recording of execution time data

Usage SpyStartis used to start the recording of instruction and time data during execution. The execution data will be stored in a file for later analysis. The stored data is intended for debugging RAPID programs, specifically for multi-tasking systems (only necessary to have SpyStart - SpyStop in one program task). Basic examples Basic examples of the instruction SpyStart are illustrated below. Example 1
SpyStart "HOME:/spy.log";

Starts recording the execution time data in the file spy.log on the HOME: disk. Arguments
SpyStart File

File Data type: string The file path and the file name to the file that will contain the execution data. Program execution The specified file is opened for writing and the execution time data begins recording in the file. Recording of execution time data is active until: execution of instruction SpyStop starting program execution from the beginning loading a new program next warm start-up

SpyStart is affected by Auto Condition Reset Limitations Avoid using the floppy disk (option) for recording since writing to the floppy is very time consuming. Never use the spy function in production programs because the function increases the cycle time and consumes memory on the mass memory device in use. Error handling If the file in the SpyStart instruction cant be opened then the system variable ERRNO is set to ERR_FILEOPEN (see "Data types - errnum"). This error can then be handled in the error handler.

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1.175 SpyStart - Start recording of execution time data Continued File format
TASK MAIN MAIN MAIN MAIN MAIN MAIN MAIN MAIN MAIN MAIN SYSTEM TRAP MAIN MAIN MAIN SYSTEM TRAP MAIN MAIN MoveL p2, v1000, fine, tool0; SpyStop; 326 326 READY READY 326 MoveL p1, v1000, fine, tool0; ENDIF MoveL p2, v1000, fine, tool0; 111 108 111 READY READY WAIT 111 108 118 INSTR FOR i FROM 1 TO 3 DO mynum:=mynum+i; ENDFOR mynum:=mynum+i; ENDFOR mynum:=mynum+i; ENDFOR SetDo1,1; IF di1=0 THEN MoveL p1, v1000, fine, tool0; IN 0 1 2 2 2 2 2 3 3 4 CODE READY READY READY READY READY READY READY READY READY WAIT OUT 0 1 2 2 2 2 3 3 4 14

TASK column shows executed program task. INSTR column shows executed instruction in specified program task. IN column shows the time in ms when entering the executed instruction. CODE column shows if the instruction is READY or the instruction WAIT for completion at OUT time. OUT column shows the time in ms upon leaving the executed instruction. All times are given in ms (relative values). SYSTEM TRAP means that the system is doing something else than execution of RAPID instructions. If the procedure calls to some NOSTEPIN procedure (module) then the output list shows only the name of the called procedure. This is repeated for every executed instruction in the NOSTEPIN routine. Syntax
SpyStart [File:=]<expression (IN) of string>;

Related information
For information about Stop recording of execution data See SpyStop - Stop recording of time execution data on page 508

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1.175 SpyStart - Start recording of execution time data Continued
For information about Auto condition See Technical reference manual - System parameters

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1.176 SpyStop - Stop recording of time execution data

1.176 SpyStop - Stop recording of time execution data

Usage SpyStopis used to stop the recording of time data during execution. The data, which can be useful for optimizing the execution cycle time, is stored in a file for later analysis. Basic examples Basic examples of the instruction SpyStop are illustrated below. See also More examples on page 508. Example 1
SpyStop;

Stops recording the execution time data in the file specified by the previous SpyStart instruction. Program execution The execution data recording is stopped and the file specified by the previous SpyStart instruction is closed. If no SpyStart instruction has been executed before then the SpyStop instruction is ignored. More examples More examples of the instruction SpyStop are illustrated below. Example 1
IF debug = TRUE SpyStart "HOME:/spy.log"; produce_sheets; IF debug = TRUE SpyStop;

If the debug flag is true then start recording execution data in the file spy.log on the HOME: disk. Perform actual production; stop recording, and close the file spy.log. Limitations Avoid using the floppy disk (option) for recording since writing to the floppy is very time consuming. Never use the spy function in production programs because the function increases the cycle time and consumes memory on the mass memory device in use. Syntax
SpyStop;

Related information
For information about Start recording of execution data See SpyStart - Start recording of execution time data on page 505

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1.177 StartLoad - Load a program module during execution

1.177 StartLoad - Load a program module during execution

Usage StartLoad is used to start the loading of a program module into the program memory during execution. When loading is in progress other instructions can be executed in parallel. The loaded module must be connected to the program task with the instruction WaitLoad before any of its symbols/routines can be used. The loaded program module will be added to the modules already existing in the program memory. A program or system module can be loaded in static (default) or dynamic mode. Depending on the used mode, some operations will unload the module or not affect the module at all. Static mode The following table shows how two different operations affect a static loaded program or system modules.
Set PP to main from TP Program Module System Module Not affected Not affected Open new RAPID program Unloaded Not affected

Dynamic mode The following table shows how two different operations affect a dynamic loaded program or system modules.
Set PP to main from TP Program Module System Module Unloaded Unloaded Open new RAPID program Unloaded Unloaded

Both static and dynamic loaded modules can be unloaded by the instruction UnLoad. Basic examples Basic examples of the instruction StartLoad are illustrated below. See also More examples on page 511. Example 1
VAR loadsession load1; ! Start loading of new program module PART_B containing routine routine_b in dynamic mode StartLoad \Dynamic, diskhome \File:="PART_B.MOD", load1; ! Executing in parallel in old module PART_A containing routine_a %"routine_a"%; ! Unload of old program module PART_A UnLoad diskhome \File:="PART_A.MOD";

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1.177 StartLoad - Load a program module during execution Continued
! Wait until loading and linking of new program module PART_B is ready WaitLoad load1; ! Execution in new program module PART_B %"routine_b"%;

Starts the loading of program module PART_B.MOD from diskhome into the program memory with instruction StartLoad. In parallel with the loading the program executes routine_a in module PART_A.MOD. Then instruction WaitLoad waits until the loading and linking is finished. The module is loaded in dynamic mode. Variable load1 holds the identity of the load session updated by StartLoad and referenced by WaitLoad. To save linking time the instruction UnLoad and WaitLoad can be combined in the instruction WaitLoad by using the option argument \UnLoadPath. Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo

[\Dynamic] Data type: switch The switch enables loading of a program module in dynamic mode. Otherwise the loading is in static mode. FilePath Data type: string The file path and the file name to the file that will be loaded into the program memory. The file name shall be excluded when the argument \File is used. [\File] Data type: string When the file name is excluded in the argument FilePath it must be defined with this argument. LoadNo Data type: loadsession This is a reference to the load session that should be used in the instruction WaitLoad to connect the loaded program module to the program task. Program execution Execution of StartLoad will only order the loading and then proceed directly with the next instruction without waiting for the loading to be completed. The instruction WaitLoad will then wait at first for the loading to be completed if it is not already finished, and then it will be linked and initialized. The initiation of the loaded module sets all variables at module level to their initial values. Unresolved references will default be accepted for this loading operation StartLoad - WaitLoad, but it will be a run time error on execution of an unresolved reference. Continues on next page
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1.177 StartLoad - Load a program module during execution Continued To obtain a good program structure that is easy to understand and maintain, all loading and unloading of program modules should be done from the main module, which is always present in the program memory during execution. For loading of program that contains a main procedure to a main program (with another main procedure), see instruction Load. More examples More examples of how to use the instruction StartLoad are illustrated below. Example 1
StartLoad \Dynamic, "HOME:/DOORDIR/DOOR1.MOD", load1;

Loads the program module DOOR1.MOD from the HOME: at the directory DOORDIR into the program memory. The program module is loaded in dynamic mode. Example 2
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;

Same as in example 1 but with another syntax. Example 3

StartLoad "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;

Same as in examples 1 and 2 above but the module is loaded in static mode. Example 4
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1; WaitLoad load1;

is the same as
Load \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD";

Error handling If the file specified in the instruction cannot be found then the system variable ERRNO is set to ERR_FILNOTFND. This error can then be handled in the error handler. If the variable specified in argument LoadNo is already in use then the system variable ERRNO is set to ERR_LOADNO_INUSE. This error can then be handled in the error handler. Syntax
StartLoad [\Dynamic ,] [FilePath :=] <expression (IN) of string> [\File := <expression (IN) of string> ] , [LoadNo :=] <variable (VAR) of loadsession>;

Related information
For information about See

Connect the loaded module to the task WaitLoad - Connect the loaded module to the task on page 713 Load session loadsession - Program load session on page 1199

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1.177 StartLoad - Load a program module during execution Continued
For information about Load a program module Unload a program module Cancel loading of a program module Procedure call with Late binding See Load - Load a program module during execution on page 215 UnLoad - UnLoad a program module during execution on page 686 CancelLoad - Cancel loading of a module on page 41 Technical reference manual - RAPID overview

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1.178 StartMove - Restarts robot movement

1.178 StartMove - Restarts robot movement

Usage StartMoveis used to resume robot, external axes movement and belonging process after the movement has been stopped by the instruction StopMove. after execution of StorePath ... RestoPath sequence. after asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error after handling in the ERROR handler.

For base system it is possible to use this instruction in the following type of program tasks: main task T_ROB1 for restart of the movement in that task. any other task for restart of the movements in the main task.

For MultiMove system it is possible to use this instruction in the following type of program tasks: motion task, for restart of the movement in that task. non motion task, for restart of the movement in the connected motion task. Besides that, if movement is restarted in one connected motion task belonging to a coordinated synchronized task group, the movement is restarted in all the cooperating tasks.

Basic examples Basic examples of the instruction StartMove are illustrated below. Example 1
StopMove; WaitDI ready_input,1; StartMove;

The robot starts to move again when the input ready_input is set. Example 2
... MoveL p100, v100, z10, tool1; StorePath; p:= CRobT(\Tool:=tool1); ! New temporary movement MoveL p1, v100, fine, tool1; ... MoveL p, v100, fine, tool1; RestoPath; StartMove; ...

After moving back to a stopped position p (in this example equal to p100), the robot starts to move again on the basic path level. Arguments
StartMove [\AllMotionTasks]

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1.178 StartMove - Restarts robot movement Continued [\AllMotionTasks] Data type: switch Restart the movement of all mechanical units in the system. The switch [\AllMotionTasks] can only be used from a non-motion program task. Program execution Any processes associated with the stopped movement are restarted at the same time that the motion resumes. To restart a MultiMove application in synchronized coordinated mode, StartMove must be executed in all motion tasks that are involved in coordination. With the switch \AllMotionTasks (only allowed from non-motion program task) the movements for all mechanical units in the system are restarted. In a base system without the switch \AllMotionTasks, the movements for following mechanical units are restarted: always the mechanical units in the main task, independent of which task executes the StartMove instruction.

In a MultiMove system without the switch \AllMotionTasks the movements for the following mechanical units are restarted: the mechanical units in the motion task executing StartMove. the mechanical units in the motion task that are connected to the non motion task executing StartMove. Besides that, if mechanical units are restarted in one connected motion task belonging to a coordinated synchronized task group then the mechanical units are restarted in all the cooperated tasks.

Error handling If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST. If the robot is in a hold state at the time StartMove is executed then the system variable ERRNO is set to ERR_STARTMOVE. ERR_STARTMOVE can also be caused of an emergency stop, if the timing is right. If the program execution is stopped several times while regaining path movement with StartMove then the system variable ERRNO is set to ERR_PROGSTOP If the robot is moving at the time StartMove is executed then the system variable ERRNO is set to ERR_ALRDY_MOVING. These errors can then be handled in the error handler: at ERR_PATHDIST move the robot closer to the path before attempting RETRY. at ERR_STARTMOVE, ERR_PROGSTOP, or ERR_ALRDY_MOVING wait some time before attempting RETRY.

Limitations Only one of several non-motion tasks is allowed at the same time to do StopMove - StartMove sequence against some motion task.

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1.178 StartMove - Restarts robot movement Continued It is not possible to do any error recovery if StartMove is executed in any error handler. Syntax
StartMove [\AllMotionTasks];

Related information
For information about Stopping movements Continuing a movement More examples See StopMove - Stops robot movement on page 542 StartMoveRetry - Restarts robot movement and execution on page 516 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

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1.179 StartMoveRetry - Restarts robot movement and execution

1.179 StartMoveRetry - Restarts robot movement and execution

Usage StartMoveRetry is used to resume robot and external axes movements and belonging processes and also retry the execution from an ERROR handler. This instruction can be used in an ERROR handler in the following types of program tasks: Basic examples Basic examples of the instruction StartMoveRetry are illustrated below. Example 1
VAR robtarget p_err; ... MoveL p1\ID:=50, v1000, z30, tool1 \WObj:=stn1; ... ERROR IF ERRNO = ERR_PATH_STOP THEN StorePath; p_err := CRobT(\Tool:= tool1 \WObj:=wobj0); ! Fix the problem MoveL p_err, v100, fine, tool1; RestoPath; StartMoveRetry; ENDIF ENDPROC

main task T_ROB1 in a base system any motion task in a MultiMove system

This is an example from a MultiMove system with coordinated synchronized movements (two robots working on some rotated work object). During the movement to position p1, the other cooperated robot gets some process error so that the coordinated synchronized movements stops. This robots then gets the error ERR_PATH_STOP, and the execution is transferred to the ERROR handler. In the ERROR handler, do the following: StorePath stores the original path, goes to a new path level, and sets the MultiMove system in independent mode. If there are problems with the robot then initiate movements on the new path level. Before RestoPath go back to the error position. RestoPath goes back to the original path level and sets the MultiMove system back to synchronized mode again. StartMoveRetry restarts the interrupted movement and any process. It also transfers the execution back to resume the normal execution.

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1.179 StartMoveRetry - Restarts robot movement and execution Continued Program execution StartMoveRetry does the following sequence: regain to path restart any processes associated with the stopped movement restart the interrupted movement RETRY of the program execution

StartMoveRetry does the same as StartMove and RETRY together in one indivisible operation. Only the mechanical units in the program task that execute StartMoveRetry are restarted. Limitations Can only be used in an ERROR handler in a motion task. In a MultiMove system executing coordinated synchronized movements the following programming rules must be followed in the ERROR handler: StartMoveRetry must be used in all cooperated program tasks. If movement is needed in any ERROR handler then the instructions StorePath ... RestoPath must be used in all cooperated program tasks. The program must move the robot back to the error position before RestoPath is executed if the robot was moved on the StorePath level.

Error handling If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST. If the robot is in hold state at the time StartMoveRetry is executed then the system variable ERRNO is set to ERR_STARTMOVE. If the program execution is stopped several times during the regain to path movement with StartMoveRetry then the system variable ERRNO is set to ERR_PROGSTOP. If the robot is moving at the time StartMoveRetry is executed then the system variable ERRNO is set to ERR_ALRDY_MOVING. It is not possible to do any error recovery from these errors because StartMoveRetry can only be executed in some error handler. Syntax
StartMoveRetry ;

Related information
For information about Stopping movements Continuing a movement See StopMove - Stops robot movement on page 542 StartMove - Restarts robot movement on page 513

Resume execution after an error RETRY - Resume execution after an error on page 380

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1.179 StartMoveRetry - Restarts robot movement and execution Continued
For information about Store/restore path See StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

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1.180 STCalib - Calibrate a Servo Tool

1.180 STCalib - Calibrate a Servo Tool

Usage STCalib is used to calibrate the distance between the tool tips. This is necessary after tip change or tool change, and it is recommended after performing a tip dress or after using the tool for a while. Note! The tool performs two close/open movements during the calibration. The first close movement will detect the tip contact position. Basic examples Basic examples of the instruction STCalib are illustrated below. Example 1
VAR num curr_tip_wear; VAR num retval; CONST num max_adjustment := 20; STCalib gun1 \ToolChg;

Calibrate a servo gun after a toolchange. Wait until the gun calibration has finished before continuing with the next Rapid instruction. Example 2
STCalib gun1 \ToolChg \Conc;

Calibrate a servo gun after a toolchange. Continue with the next Rapid instruction without waiting for the gun calibration to be finished. Example 3
STCalib gun1 \TipChg;

Calibrate a servo gun after a tipchange. Example 4

STCalib gun1 \TipWear \RetTipWear := curr_tip_wear;

Calibrate a servo gun after tip wear. Save the tip wear in variable curr_tip_wear. Example 5
STCalib gun1 \TipChg \RetPosAdj:=retval; IF retval > max_adjustment THEN TPWrite "The tips are lost!"; ...

Calibrate a servo gun after a tipchange. Check if the tips are missing. Example 6
STCalib gun1 \TipChg \PrePos:=10;

Calibrate a servo gun after a tipchange. Move fast to position 10 mm then start to search for contact position with slower speed. Example 7 Example of non valid combination:
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear \Conc;

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1.180 STCalib - Calibrate a Servo Tool Continued Perform a tip wear calibration. Continue with the next Rapid instruction without waiting for the gun calibration to be finished. The parameter curr_tip_wear will in this case not hold any valid value since the \Conc switch is used (The next Rapid instruction will start to execute before the calibration process is finished). Arguments
STCalib ToolName [\ToolChg] | [\TipChg] | [\TipWear] [\RetTipWear] [\RetPosAdj] [\PrePos] [\Conc]

ToolName Data type: string The name of the mechanical unit. [\ToolChg] Data type: switch Calibration after a tool change. [\TipChg] Data type: switch Calibration after a tip change. [\TipWear] Data type: switch Calibration after tip wear. [\RetTipWear] Data type: num The achieved tip wear [mm]. [\RetPosAdj] Data type: num The positional adjustment since the last calibration [mm]. [\PrePos] Data type: num The position to move with high speed before the search for contact position with slower speed is started [mm]. [\Conc] Data type: switch Subsequent instructions are executed while the gun is moving. The argument can be used to shorten cycle time. This is useful when, for example, two guns are controlled at the same time. Program execution Calibration modes If the mechanical unit exists then the servo tool is ordered to calibrate. The calibration is done according to the switches, see below. If the RetTipWear parameter is used then the tip wear is updated. Continues on next page
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1.180 STCalib - Calibrate a Servo Tool Continued Calibration after toolchange: The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low force, and open again in one sequence. The tip wear will remain unchanged. Calibration after tipchange: The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low force, and open again in one sequence. The tip wear will be reset. Calibration after tipwear: The tool will close with high speed to the contact position, open fast, close fast to a low force, and open again in one sequence. The tip wear will be updated. NOTE! If the switch Conc is used then the instruction will be considered ready once started and therefore the return value RetTipWear will not be available. In this case the RetTipWear will be returned by the function STIsOpen. For more details, see RobotWareOS functions - STIsOpen. Positional adjustment The optional argument RetPosAdj can be used to detect, for example, if the tips are lost after a tip change. The parameter will hold the value of the positional adjustment since the last calibration. The value can be negative or positive. Using a pre-position In order to speed up the calibration it is possible to define a pre-position. When the calibration starts the gun arm will run fast to the pre-position, stop, and then continue slowly*) forward in order to detect the tip contact position. If a pre-position is used then select it carefully! It is important that the tips do not get in contact until after the pre-position is reached! Otherwise the accuracy of the calibration will become poor and motion supervision errors may possibly occur. A pre-position will be ignored if it is larger than the current gun position (in order not to slow down the calibration). *) The second movement will also be fast if the \TipWear option is used. Error handling If the specified servo tool name is not a configured servo tool then the system variable ERRNO is set to ERR_NO_SGUN. If the gun is not open when STCalib is invoked then the system variable ERRNO is set to ERR_SGUN_NOTOPEN. If the servo tool mechanical unit is not activated then the system variable ERRNO is set to ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool. If the servo tool position is not initialized then the system variable ERRNO is set to ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is installed or after a fine calibration is made. Use the service routine ManServiceCalib or perform a tip change calibration. The tip wear will be reset. If the servo tool tips are not synchronized then the system variable ERRNO is set to ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has been lost and/or updated. No process data such as tip wear will be lost. Continues on next page
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1.180 STCalib - Calibrate a Servo Tool Continued If the instruction is invoked from a background task and there is an emergency stop, the instruction will be finished, and the system variable ERRNO is set to ERR_SGUN_ESTOP. Note that if the instruction is invoked from the main task then the program pointer will be stopped at the instruction, and the instruction will be restarted from the beginning at program restart. If the argument PrePos is specified with a value less than zero then the system variable ERRNO is set to ERR_SGUN_NEGVAL. If the instruction is invoked from a background task and the system is in motors off state then the system variable ERRNO will be set to ERR_SGUN_MOTOFF. All above errors can be handled in a RAPID error handler. Syntax
STCalib [ ToolName := ] < expression (IN) of string > , [ \ToolChg] | [\TipChg] | [ \TipWear] [ \RetTipWear := < variable or persistent(INOUT) of num > ]; [ \RetPosAdj := < variable or persistent(INOUT) of num > ]; [ \PrePos := < expression (IN) of num > ] [ \Conc ];

Related information
For information about Open a servo tool Close a servo tool See STOpen - Open a Servo Tool on page 540 STClose - Close a Servo Tool on page 523

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1.181 STClose - Close a Servo Tool

1.181 STClose - Close a Servo Tool

Usage STClose is used to close the Servo Tool. Basic examples Basic examples of the instruction STClose are illustrated below. Example 1
VAR num curr_thickness1; VAR num curr_thickness2; STClose gun1, 1000, 5;

Close the servo gun with tip force 1000 N and plate thickness 5 mm. Wait until the gun is closed before continuing with the next Rapid instruction. Example 2
STClose gun1, 2000, 3\RetThickness:=curr_thickness;

Close the servo gun with tip force 2000 N and plate thickness 3 mm. Get the measured thickness in variable curr_thickness. Example 3 Concurrent mode:
STClose gun1, 1000, 5 \Conc; STClose gun2, 2000, 3 \Conc;

Close the servo gun1 with tip force 1000 N and plate thickness 5 mm. Continue the program execution without waiting for gun1 to be closed, and close the servo gun2 with tip force 2000N and plate thickness 3 mm. Continue the execution of the Rapid program without waiting for gun2 to be closed. Example 4
IF STIsClosed (gun1)\RetThickness:=curr_thickness1 THEN IF curr_thickness1 < 0.2 Set weld_start1; ENDIF IF STIsClosed (gun2)\RetThickness:=curr_thickness2 THEN IF curr_thickness2 < 0.2 Set weld_start2; ENDIF

Get the measured thickness in the function STIsClosed variable curr_thickness1 and curr_thickness2. Example 5 Example of non valid combination:
STClose gun1, 2000, 3\RetThickness:=curr_thickness \Conc;

Close the servo gun and continue with the Rapid program execution. The parameter curr_thickness will in this case not hold any valid value since the \Conc switch is used (The next Rapid instruction will start to execute before the gun is closed). Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]

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1.181 STClose - Close a Servo Tool Continued ToolName Data type: string The name of the mechanical unit. TipForce Data type: num The desired tip force [N]. Thickness Data type: num The expected contact position for the servo tool [mm]. [\RetThickness] Data type: num The achieved thickness [mm], will only get a value if the \Conc switch is not used. [\Conc] Data type: switch Subsequent instructions are executed while the gun is moving. The argument can be used to shorten cycle time. This is useful when e.g. two guns are controlled at the same time. Program execution If the mechanical unit exists then the servo tool is ordered to close to the expected thickness and force. The closing will start to move the tool arm to the expected contact position (thickness). The movement is stopped in this position, and a switch from position control mode to force control mode is done. The tool arm is moved with max speed and acceleration as it is defined in the system parameters for corresponding external axis. As for other axes movements, the speed is reduced in manual mode. When the desired tip force is achieved the instruction is ready and the achieved thickness is returned if the optional argument RetThickness is specified. NOTE! If the switch Conc is used then the instruction will be considered to be ready once started and therefore the return value RetThickness will not be available. In this case the RetThickness will be returned by the function STIsClosed. For more details see RobotWare OS functions - STIsClosed. It is possible to close the tool during a programmed robot movement as long as the robot movement does not include a movement of the tool arm. For more details see Servo tool motion control. Error handling If the specified servo tool name is not a configured servo tool then the system variable ERRNO is set to ERR_NO_SGUN. If the gun is not open when STClose is invoked then the system variable ERRNO is set to ERR_SGUN_NOTOPEN. Continues on next page
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1.181 STClose - Close a Servo Tool Continued If the servo tool mechanical unit is not activated then the system variable ERRNO is set to ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool. If the servo tool position is not initialized then the system variable ERRNO is set to ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is installed or after a fine calibration is made. Use the service routine ManServiceCalib or perform a tip change calibration. The tip wear will be reset. If the servo tool tips are not synchronized then the system variable ERRNO is set to ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has been lost and/or updated. No process data such as tip wear will be lost. If the instruction is invoked from a background task and if there is an emergency stop then the instruction will be finished and the system variable ERRNO is set to ERR_SGUN_ESTOP. Note that if the instruction is invoked from the main task then the program pointer will be stopped at the instruction, and the instruction will be restarted from the beginning at program restart. If the instruction is invoked from a background task and if the system is in motors off state then the system variable ERRNO will be set to ERR_SGUN_MOTOFF. All errors above can be handled in a Rapid error handler. Syntax
STClose [ ToolName := ] < expression (IN) of string > , [ Tipforce := ] < expression (IN) of num > , [ Thickness :=] < expression (IN) of num > ] [\ RetThickness := < variable or persistent (INOUT) of num > ] [\Conc]

Related information
For information about Open a servo tool See STOpen - Open a Servo Tool on page 540

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1.182 StepBwdPath - Move backwards one step on path

1.182 StepBwdPath - Move backwards one step on path

Usage StepBwdPath is used to move the TCP backwards on the robot path from a RESTART event routine. It is up to the user to introduce a restart process flag so StepBwdPath in the RESTART event routine is only executed at process restart and not at all program restarts. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in Motion tasks. Basic examples Basic examples of the instruction StepBwdPath are illustrated below. Example 1
StepBwdPath 30, 1;

Move backwards 30 mm in 1 second. Arguments

StepBwdPath StepLength StepTime

StepLength Data type: num Specifies the distance, in millimeters, to move backwards during this step. This argument must be a positive value. StepTime Data type: num Specifies the time, in seconds, the movement will take. This argument must have a positive value. Program execution The robot moves back on its path for the specified distance. The path is exactly the same in the reverse way as it was before the stop occurred. In the case of a quick stop or emergency stop, the RESTART event routine is called after the regain phase has completed so the robot will already be back on its path when this instruction is executed. The actual speed for this movement is the lowest of: StepLength / StepTime The programmed speed on the segment 250 mm/s

Following properties are valid in MultiMove System - Synchronized Coordinated Movements: All involved mechanical units are moved backward simultaneously and coordinated

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1.182 StepBwdPath - Move backwards one step on path Continued Each executed StepBwdPath in any involved program task results in one new backward movement step (without need of any StartMove) To restart and continue the interrupted process movements, instruction StartMove must be executed in all involved program tasks

Limitations After the program has been stopped it is possible to step backwards on the path with the following limits: The 1st StepBwdPath movements step will be reduced to the current segment for the robot Further StepBwdPath movements steps will be limited to the segment before the previous segment (possible to step backward within two segment before the interupted segment).

If an attempt is made to move beyond these limits then the error handler will be called with ERRNO set to ERR_BWDLIMIT. Syntax
StepBwdPath [ StepLength:= ] < expression (IN) of num >, [ StepTime := ] < expression (IN) of num >;

Related information
For information about Motion in general Positioning instructions See Technical reference manual - RAPID overview Technical reference manual - RAPID overview

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1.183 STIndGun - Sets the gun in independent mode

1.183 STIndGun - Sets the gun in independent mode

Usage STIndGun(Servo Tool independent gun) is used to set the gun in independent mode and thereafter move the gun to a specified independent position. The gun will stay in independent mode until the instruction STIndGunReset is executed. During independent mode the control of the gun is separated from the robot. The gun can be closed, opened, calibrated, or moved to a new independent position, but it will not follow coordinated robot movements. Independent mode is useful if the gun performs a task that is independent of the robots task, e.g. tip dressing of a stationary gun. Basic examples Basic examples of the instruction STIndGun are illustrated below. Example 1 This procedure could be run from a background task while the robot in the main task can continue with, for example, move instructions.
PROC tipdress() ! Note that the gun will move to current robtarget position, if ! already in independent mode. STIndGunReset gun1; ... STIndGun gun1, 30; StClose gun1, 1000, 5; WaitTime 10; STOpen gun1; ... STIndGunReset gun1; ENDPROC

Independent mode is activated and the gun is moved to an independent position (30 mm). During independent mode the instructions StClose, WaitTime, and STOpen are executed without interfering with robot motion. The instruction

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1.183 STIndGun - Sets the gun in independent mode Continued StIndGunReset will take the gun out of independent mode and move the gun to current robtarget position.

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The position p1 depends on the position of the gun given in the robtarget just performed by the robot. Arguments
STIndGun ToolName GunPos

ToolName Data type: string The name of the mechanical unit. GunPos Data type: num The position (stroke) of the servo gun in mm. Syntax
STIndGun [ ToolName := ] < expression (IN) of string > , [ GunPos := < expression (IN) of num > ];

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1.184 STIndGunReset - Resets the gun from independent mode

1.184 STIndGunReset - Resets the gun from independent mode

Usage STIndGunReset (Servo Tool independent gun reset) is used to reset the gun from independent mode and thereafter move the gun to current robtarget position. Basic examples Basic examples of the instruction STIndGunReset are illustrated below.
STIndGunReset gun1;

Arguments
STIndGunReset ToolName

ToolName Data type: string The name of the mechanical unit. Program execution The instruction will reset the gun from independent mode and move the gun to current robtarget position. During this movement the coordinated speed of the gun must be zero otherwise an error will occur. The coordinated speed will be zero if the robot is standing still or if the current robot movement includes a zero movement from the gun. Syntax
STIndGunReset [ToolName :=]<expression (IN) of string>;

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1.185 SToolRotCalib - Calibration of TCP and rotation for stationary tool

1.185 SToolRotCalib - Calibration of TCP and rotation for stationary tool

Usage SToolRotCalib (Stationary Tool Rotation Calibration) is used to calibrate the TCP and rotation of a stationary tool. The position of the robot and its movements are always related to its tool coordinate system, i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool coordinate system as correctly as possible. The calibration can also be done with a manual method using the FlexPendant (described in Operating manual - IRC5 with FlexPendant, section Programming and testing). Description To define the TCP and rotation of a stationary tool, you need a movable pointing tool mounted on the end effector of the robot. Before using the instruction SToolRotCalib, some preconditions must be fulfilled: The stationary tool that is to be calibrated must be mounted stationary and defined with the correct component robhold (FALSE). The pointing tool (robhold TRUE) must be defined and calibrated with the correct TCP values. If using the robot with absolute accuracy then the load and center of gravity for the pointing tool should be defined. LoadIdentify can be used for the load definition. The pointing tool, wobj0, and PDispOff must be activated before jogging the robot. Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool (origin of the tool coordinate system) and define a robtarget for the reference point RefTip. Jog the robot without changing the tool orientation so the TCP of the pointing tool is pointing at some point on the positive z-axis of the tool coordinate system, and define a robtarget for point ZPos. Jog the robot without changing the tool orientation so the TCP of the pointing tool is pointing at some point on the positive x-axis of the tool coordinate system, and define a robtarget for point XPos.

As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be used.

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1.185 SToolRotCalib - Calibration of TCP and rotation for stationary tool Continued Definition of robtargets RefTip, ZPos, and XPos. See figure below.

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Note It is not recommended to modify the positions RefTip, ZPos, and XPos in the instruction SToolRotCalib. Basic examples Basic examples of the instruction SToolRotCalib are illustrated below. Example 1
! Created with pointing TCP pointing at the stationary tool ! coordinate system CONST robtarget pos_tip := [...]; CONST robtarget pos_z := [...]; CONST robtarget pos_x := [...]; PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]]; !Instructions for creating or ModPos of pos_tip, pos_z and pos_x MoveJ pos_tip, v10, fine, point_tool; MoveJ pos_z, v10, fine, point_tool; MoveJ pos_x, v10, fine, point_tool; SToolRotCalib pos_tip, pos_z, pos_x, tool1;

The position of the TCP (tframe.trans) and the tool orientation (tframe.rot) of tool1 in the world coordinate system is calculated and updated. Arguments
SToolRotCalib RefTip ZPos XPos Tool

RefTip Data type: robtarget The point where the TCP of the pointing tool is pointing at the stationary tool TCP to calibrate.

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1.185 SToolRotCalib - Calibration of TCP and rotation for stationary tool Continued ZPos Data type: robtarget The elongator point that defines the positive z direction. XPos Data type: robtarget The elongator point that defines the positive x direction. Tool Data type: tooldata The persistent variable of the tool that is to be calibrated. Program execution The system calculates and updates the TCP (tframe.trans) and the tool orientation (tfame.rot) in the specified tooldata. The calculation is based on the specified 3 robtarget. The remaining data in tooldata is not changed. Syntax
SToolRotCalib [ RefTip := [ ZPos := ] [ XPos := ] [ Tool := ] ] < < < < expression (IN) of robtarget > , expression (IN) of robtarget > , expression (IN) of robtarget > , persistent (PERS) of tooldata > ;

Related information
For information about Calibration of TCP for a moving tool See MToolTCPCalib - Calibration of TCP for moving tool on page 293

Calibration of rotation for a moving tool MToolRotCalib - Calibration of rotation for moving tool on page 290 Calibration of TCP for a stationary tool MToolTCPCalib - Calibration of TCP for moving tool on page 293

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1.186 SToolTCPCalib - Calibration of TCP for stationary tool

1.186 SToolTCPCalib - Calibration of TCP for stationary tool

Usage SToolTCPCalib (Stationary Tool TCP Calibration) is used to calibrate the Tool Center Point - TCP for a stationary tool. The position of the robot and its movements are always related to its tool coordinate system, i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool coordinate system as correctly as possible. The calibration can also be done with a manual method using the FlexPendant (described in Operating manual - IRC5 with FlexPendant, section Programming and testing). Description To define the TCP of a stationary tool, you need a movable pointing tool mounted on the end effector of the robot. Before using the instruction SToolTCPCalib, some preconditions must be fulfilled: The stationary tool that is to be calibrated must be mounted stationary and defined with the correct component robhold (FALSE). The pointing tool (robhold TRUE) must be defined and calibrated with the correct TCP values. If using the robot with absolute accuracy then the load and center of gravity for the pointing tool should be defined. LoadIdentify can be used for the load definition. The pointing tool, wobj0 and PDispOff, must be activated before jogging the robot. Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool and define a robtarget for the first point p1. Define the further three positions p2, p3, and p4, all with different orientations. It is recommended that the TCP is pointed out with different orientations to obtain a reliable statistical result. However, it is not necessary.

Definition of 4 robtargets p1...p4. See figure below.

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1.186 SToolTCPCalib - Calibration of TCP for stationary tool Continued

Note It is not recommended to modify the positions Pos1 to Pos4 in the instruction SToolTCPCalib. The reorientation between the 4 positions should be as big as possible, putting the robot in different configurations.Its also good practice to check the quality of the TCP after a calibration. Which can be performed by reorientation of the tool to check if the TCP is standing still. Basic example Basic examples of the instruction SToolTCPCalib are illustrated below. Example 1
! Created with pointing TCP pointing at the stationary TCP CONST robtarget p1 := [...]; CONST robtarget p2 := [...]; CONST robtarget p3 := [...]; CONST robtarget p4 := [...]; PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0,001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]]; VAR num max_err; VAR num mean_err; ! Instructions for creating or ModPos of p1 - p4 MoveJ p1, v10, fine, point_tool; MoveJ p2, v10, fine, point_tool; MoveJ p3, v10, fine, point_tool; MoveJ p4, v10, fine, point_tool; SToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;

The TCP value (tframe.trans) of tool1 will be calibrated and updated. max_err and mean_err will hold the max error in mm from the calculated TCP and the mean error in mm from the calculated TCP, respectively. Arguments
SToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr

Pos1 Data type: robtarget The first approach point. Pos2 Data type: robtarget The second approach point. Pos3 Data type: robtarget The third approach point. Continues on next page
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1.186 SToolTCPCalib - Calibration of TCP for stationary tool Continued Pos4 Data type: robtarget The fourth approach point. Tool Data type: tooldata The persistent variable of the tool that is to be calibrated. MaxErr Data type: num The maximum error in mm for one approach point. MeanErr Data type: num The average distance that the approach points are from the calculated TCP, i.e. how accurately the robot was positioned relative to the stationary TCP. Program execution The system calculates and updates the TCP value in the world coordinate system (tfame.trans) in the specified tooldata. The calculation is based on the specified 4 robtarget. The remaining data in tooldata, such as tool orientation (tframe.rot), is not changed. Syntax
SToolTCPCalib [ Pos1 := ] < expression (IN) of robtarget > , [ Pos2 := ] < expression (IN) of robtarget > , [ Pos3 := ] < expression (IN) of robtarget > , [ Pos4 := ] < expression (IN) of robtarget > , [ Tool := ] < persistent (PERS) of tooldata > , [ MaxErr := ] < variable (VAR) of num > , [ MeanErr := ] < variable (VAR) of num > ;

Related information
For information about Calibration of TCP for a moving tool See SToolTCPCalib - Calibration of TCP for stationary tool on page 534

Calibration of rotation for a moving tool MToolRotCalib - Calibration of rotation for moving tool on page 290 Calibration of TCP and rotation for a stationary tool SToolRotCalib - Calibration of TCP and rotation for stationary tool on page 531

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1.187 Stop - Stops program execution

1.187 Stop - Stops program execution

Usage Stop is used to stop the program execution. Any movement performed at the time will be finished before the Stop instruction is ready. Basic examples Basic examples of the instruction Stop are illustrated below. See also More examples on page 539. Example 1
TPWrite "The line to the host computer is broken"; Stop;

Program execution stops after a message has been written on the FlexPendant. Arguments
Stop [ \NoRegain ] | [ \AllMoveTasks ]

[ \NoRegain ] Data type: switch Specifies for the next program start, whether or not the affected mechanical unit should return to the stop position. If the argument \NoRegain is set then the robot and external axes will not return to the stop position (if they have been jogged away from it). If the argument is omitted and if the robot or external axes have been jogged away from the stop position then the robot displays a question on the FlexPendant. The user can then answer whether or not the robot should return to the stop position. [ \AllMoveTasks ] Data type: switch Specifies that programs in all running normal tasks besides the actual task should be stopped. If the argument is omitted then only the program in the task that executes the instruction will be stopped. Program execution The instruction stops program execution when the affected mechanical units in the actual motion task have reached zero speed for the movement it is performing at the time, and stands still. Program execution can then be restarted from the next instruction. If the instruction is used without any switches then only the program in that task will be affected. If the AllMoveTasks switch is used in a task (Normal, Static, or Semistatic) then the program in that task and all normal tasks will stop. See more about declaration of tasks in documentation for System Parameters

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1.187 Stop - Stops program execution Continued The NoRegain switch is only possible to use in motion tasks since it only concerns the motion path. If there is a Stop instruction in some event routine then the execution of the routine will be stopped, and the execution continue as described in TABLE 1. If there is a Stop\AllMoveTasks instruction in some event routine in a MultiMove system, then the task containing the instruction continue as described in TABLE 1 and all other motion tasks executing an event routine continues as described in TABLE 2 (same affect as for normal program stop during execution of the event routine).
TABLE 1 Event routines POWER ON Affect by Stop instruction The execution is stopped. STOP event routines are executed. The execution does not continue in the event routine at the next start order.. The execution is stopped. STOP event routines are executed. The execution does not continue in the event routine at the next start order. The execution is stopped. STOP event routines are executed. The execution does not continue in the event routine at the next start order. The execution is stopped. No other event routines are executed. The execution does not continue in the event routine at the next start order. The execution is stopped. STOP event routines are executed. The execution does not continue in the event routine at the next start order. The execution is stopped. STOP event routines are executed. The execution does not continue in the event routine at the next start order.

START

RESTART

STOP

QSTOP

RESET

TABLE 2 Event routines POWER ON Affect by Stop \AllMoveTasks The POWER ON event routine completes its execution. No STOP event routines are executed. The execution is stopped, and continues at the next ordered start. No STOP event routines are executed. The execution is stopped, and continues at the next ordered start. No STOP event routines are executed. The STOP event routine completes its execution. The QSTOP event routine completes its execution. The execution is stopped, and continues at the next ordered start. No STOP event routines are executed.

START

RESTART

STOP QSTOP RESET

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1.187 Stop - Stops program execution Continued More examples More examples of how to use the instruction Stop are illustrated below. Example 1
MoveL p1, v500, fine, tool1; TPWrite "Jog the robot to the position for pallet corner 1"; Stop \NoRegain; p1_read := CRobT(\Tool:=tool1 \WObj:=wobj0); MoveL p2, v500, z50, tool1;

Program execution stops with the robot at p1. The operator jogs the robot to p1_read. For the next program start the robot does not regain to p1, so the position p1_read can be stored in the program. Syntax
Stop [ \ NoRegain ]| [ \ AllMoveTasks ];

Related information
For information about Terminating program execution Only stopping robot movements Stop program for debugging See EXIT - Terminates program execution on page 113 StopMove - Stops robot movement on page 542 Break - Break program execution on page 38

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1.188 STOpen - Open a Servo Tool

1.188 STOpen - Open a Servo Tool

Usage STOpen is used to open the Servo Tool. Basic examples Basic examples of the instruction STOpen are illustrated below. Example 1
STOpen gun1;

Open the servo tool gun1. Wait until the gun is opened before continuing with the next Rapid instruction. Example 2
STOpen gun1 \Conc;

Open the servo tool gun1. Continue with the next Rapid instruction without waiting for the gun to be opened. Example 3
STOpen "SERVOGUN"\WaitZeroSpeed;

Stop the servo tool SERVOGUN, wait until any coordinated movement has finished, and then open the servo tool SERVOGUN. Arguments
STOpen ToolName [\WaitZeroSpeed] [\Conc]

ToolName Data type: string The name of the mechanical unit. [\WaitZeroSpeed] Data type: switch Stop the servo tool, wait until any coordinated movement has finished, and then open the servo tool. [\Conc] Data type: switch Subsequent instructions are executed while the gun is moving. The argument can be used to shorten cycle time. This is useful when, for example, two guns are controlled at the same time. Program execution If the mechanical unit exists then the servo tool is ordered to open. The tip force is reduced to zero and the tool arm is moved back to the pre_close position. The tool arm is moved with max speed and acceleration as it is defined in the system parameters for the corresponding external axis. As for other axes movements, the speed is reduced in manual mode. Continues on next page
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1.188 STOpen - Open a Servo Tool Continued It is possible to open the tool during a programmed robot movement as long as the robot movement does not include a movement of the tool arm. If the tool is opened during such movement then an error 50251 Tool opening failed will be displayed. The switch WaitZeroSpeed can be used to reduce the risk for this error. If the switch Conc is used then the instruction will be considered to be ready before the servo tool is opened. It is recommended that the function STIsOpen is used after STOpen to avoid any problems in concurrent mode. For more details, see Servo tool motion control. Error handling If the specified servo tool name is not a configured servo tool then the system variable ERRNO is set to ERR_NO_SGUN. If the servo tool mechanical unit is not activated then the system variable ERRNO is set to ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool. If the servo tool position is not initialized then the system variable ERRNO is set to ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is installed or after a fine calibration is made. Use the service routine ManServiceCalib, or perform a tip change calibration. The tip wear will be reset. If the servo tool tips are not synchronized then the system variable ERRNO is set to ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has been lost and/or updated. No process data such as tip wear will be lost. All above errors can be handled in a RAPID error handler. Note If the instruction is invoked from a background task and there is an emergency stop then the instruction will be finished without an error. Syntax
STOpen [ ToolName := ] < expression (IN) of string > , [ \WaitZeroSpeed] , [\Conc]

Related information
For information about Close a servo tool See STClose - Close a Servo Tool on page 523

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1.189 StopMove - Stops robot movement

1.189 StopMove - Stops robot movement

Usage StopMove is used to stop robot and external axes movements and any belonging process temporarily. If the instruction StartMove is given then the movement and process resumes. This instruction can, for example, be used in a trap routine to stop the robot temporarily when an interrupt occurs. For base system it is possible to use this instruction in the following type of program tasks: main task T_ROB1 for stopping the movement in that task. any other task for stopping the movements in the main task.

For MultiMove systems it is possible to use this instruction in following type of program tasks: motion task for stopping the movement in that task. non-motion task for stopping the movement in the connected motion task. Besides that, if movement is stopped in one motion task belonging to a coordinated synchronized task group then the movement is stopped in all the cooperated tasks.

Basic examples Basic examples of the instruction StopMove are illustrated below. See also More examples on page 543. Example 1
StopMove; WaitDI ready_input, 1; StartMove;

The robot movement is stopped until the input, ready_input is set. Arguments
StopMove [\Quick] [\AllMotionTasks]

[\Quick] Data type: switch Stops the robot on the path as fast as possible. Without the optional parameter \Quick, the robot stops on the path, but the braking distance is longer (same as for normal Program Stop). [\AllMotionTasks] Data type: switch Stop the movement of all mechanical units in the system. The switch [\AllMotionTasks] can only be used from a non-motion program task.

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1.189 StopMove - Stops robot movement Continued Program execution The movements of the robot and external axes stop without the brakes being engaged. Any processes associated with the movement in progress are stopped at the same time as the movement is stopped. Program execution continues after waiting for the robot and external axes to stop (standing still). With the switch \AllMotionTasks (only allowed from non-motion program task) the movements for all mechanical units in the system are stopped. In a base system without the switch \AllMotionTasks, the movements for the following mechanical units are stopped: always the mechanical units in the main task, independent of which task executes the StopMove instruction.

In a MultiMove system without the switch \AllMotionTasks, the movements for the following mechanical units are stopped: the mechanical units in the motion task executing StopMove. the mechanical units in the motion task that are connected to the non-motion task executing StopMove. Besides that, if mechanical units are stopped in one connected motion task belonging to a coordinated synchronized task group then the mechanical units are stopped in all the cooperated tasks.

The StopMove state in the motion task generated from the motion task itself will automatically be reset when starting that task from the beginning. The StopMove state in connected motion task, generated from the some non-motion task, will automatically be reset: if normal non-motion task, at the start of that task from the beginning. if semi-static non-motion task, at power fail restart when the task is starting from the beginning. if static non-motion task, at installation start when the task is starting from the beginning.

More examples More examples of the instruction StopMove are illustrated below. Example 1
VAR intnum intno1; ... PROC main() ... CONNECT intno1 WITH go_to_home_pos; ISignalDI di1,1,intno1; TRAP go_to_home_pos VAR robtarget p10; StopMove; StorePath; p10:=CRobT(\Tool:=tool1 \WObj:=wobj0); MoveL home,v500,fine,tool1;

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1.189 StopMove - Stops robot movement Continued
WaitDI di1,0; Move L p10,v500,fine,tool1; RestoPath; StartMove; ENDTRAP

When the input di1 is set to 1 an interrupt is activated which in turn activates the interrupt routine go_to_home_pos. The current movement is stopped, and the robot moves instead to the home position. When di1 is set to 0 the robot returns to the position at which the interrupt occurred and continues to move along the programmed path. Example 2
VAR intnum intno1; ... PROC main() CONNECT intno1 WITH go_to_home_pos; ISignalDI di1,1,intno1; ... TRAP go_to_home_pos () VAR robtarget p10; StorePath; p10:=CRobT(\Tool:=tool1 \WObj:=wobj0); MoveL home,v500,fine,tool1; WaitDI di1,0; MoveL p10,v500,fine,tool1; RestoPath; StartMove; ENDTRAP

Similar to the previous example but the robot does not move to the home position until the current movement instruction is finished. Limitations Only one of several non-motion tasks is allowed at the same time to do StopMove - StartMove sequence against some motion task. Syntax
StopMove [\Quick] [\AllMotionTasks];

Related information
For information about Continuing a movement See StartMove - Restarts robot movement on page 513 StartMoveRetry - Restarts robot movement and execution on page 516

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1.189 StopMove - Stops robot movement Continued
For information about Store - restore path See StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

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1.190 StopMoveReset - Reset the system stop move state

1.190 StopMoveReset - Reset the system stop move state

Usage StopMoveReset is used to reset the system stop move state without starting any movements. Asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error during the movements, can be handled in the ERROR handler. When such an error occurs the movements are stopped at once, and the system stop move flag is set for actual program tasks. This means that the movement is not restarted if doing any program start while program pointer is inside the ERROR handler. Restart of the movements after such movement error will be done after one of these action: Execute StartMove or StartMoveRetry. Execute StopMoveReset and the movement will restart at the next program start.

Basic examples Basic examples of the instruction StopMoveReset are illustrated below. Example 1
... ArcL p101, v100, seam1, weld1, weave1, z10, gun1; ... ERROR IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN ! Execute something but without any restart of the movement ! ProgStop - ProgStart must be allowed ... ! No idea to try to recover from this error, so let the error ! stop the program ... ! Reset the move stop flag, so its possible to manual restart ! the program and the movement after that the program has ! stopped StopMoveReset; ENDIF ENDPROC

After that above ERROR handler has executed the ENDPROC, the program execution stops and the pointer is at the beginning of the ArcL instruction. Next program start restarts the program and movement from the position where the original movement error occurred. Arguments
StopMoveReset [\AllMotionTasks]

[\AllMotionTasks] Data type: switch Continues on next page

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1.190 StopMoveReset - Reset the system stop move state Continued Reset the system stop move state for all mechanical units in the system. The switch [\AllMotionTasks] can only be used from a non-motion program task. Program execution To reset a MultiMove application in synchronized coordinated mode, StopMoveReset must be executed in all motion tasks that are involved in coordination. With the switch \AllMotionTasks (only allowed from non-motion program task) the reset is done for all all mechanical units in the system. In a base system without the switch \AllMotionTasks, the reset is always done for the main task, independent of which task that executes the StopMoveReset instruction. For base system it is possible to use StopMoveReset in the following type of program tasks: main task T_ROB1 to reset the stop move state in that task. any other task to reset the stop move state in the main task.

For MultiMove system it is possible to use this instruction in the following type of program tasks: motion task, to reset the stop move state in that task. non motion task, to reset the stop move state in the connected motion task. Besides that, if the reset of the stop move state in one connected motion task belonging to a coordinated synchronized task group, the stop move state is reset in all the cooperating tasks.

Syntax
StopMoveReset [\AllMotionTasks];

Related information
For information about Stop the movement Continuing a movement See StopMove - Stops robot movement on page 542 StartMove - Restarts robot movement on page 513 StartMoveRetry - Restarts robot movement and execution on page 516 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

Store - restore path

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1.191 StorePath - Stores the path when an interrupt occurs

1.191 StorePath - Stores the path when an interrupt occurs

Usage StorePath is used to store the movement path being executed, e.g. when an error or interrupt occurs. The error handler or a trap routine can then start a new temporary movement and finally restart the original movement that was stored earlier. For example, this instruction can be used to go to a service position or to clean the gun when an error occurs. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction StorePath are illustrated below. See also More examples on page 549. Example 1
StorePath;

The current movement path is stored for later use. Set the system to independent movement mode. Example 2
StorePath \KeepSync;

The current movement path is stored for later use. Keep synchronized movement mode. Arguments
StorePath [\KeepSync]

[\KeepSync] Keep Synchronization Data type: switch Keeps synchronized movement mode after the StorePath \KeepSync. The KeepSync switch can only be used if the system is in synchronized movement mode before the StorePath \KeepSync call. Without the optional parameter \KeepSync, in a MultiMove coordinated synchronized system, the system is set to independent-semicoordinated movement mode. After execution of StorePath in all involved tasks, the system is in semicoordinated mode if further on use of coordinated work object. Otherwise it is in independent mode. If in semicoordinated mode it is recommended to always start with a movement in the mechanical unit that controls the user frame before WaitSyncTask in all involved tasks.

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1.191 StorePath - Stores the path when an interrupt occurs Continued Program execution The current movement path of the robot and external axes are saved. After this, another movement can be started in a trap routine or in an error handler. When the reason for the error or interrupt has been rectified then the saved movement path can be restarted. More examples More examples of how to use the instruction StorePath are illustrated below. Example 1
TRAP machine_ready VAR robtarget p1; StorePath; p1 := CRobT(); MoveL p100, v100, fine, tool1; ... MoveL p1, v100, fine, tool1; RestoPath; StartMove; ENDTRAP

When an interrupt occurs that activates the trap routine machine_ready, the movement path which the robot is executing at the time is stopped at the end of the instruction (ToPoint) and stored. After this the robot remedies the interrupt by, for example, replacing a part in the machine. Then the normal movement is restarted. Limitations Only the movement path data is stored with the instruction StorePath. If the user wants to order movements on the new path level then the actual stop position must be stored directly after StorePath and before RestoPath makes a movement to the stored stop position on the path. Only one movement path can be stored at a time. Syntax
StorePath [\KeepSync];

Related information
For information about Restoring a path More examples See RestoPath - Restores the path after an interrupt on page 378 RestoPath - Restores the path after an interrupt on page 378 PathRecStart - Start the path recorder on page 323 SyncMoveResume - Set synchronized coordinated movements on page 567 SyncMoveSuspend - Set independent-semicoordinated movements on page 569

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1.192 STTune - Tuning Servo Tool

1.192 STTune - Tuning Servo Tool

Usage STTune is used to tune/change a servo tool parameter. The parameter is changed temporarily from the original value, which is set up in the system parameters. The new tune value will be active immediately after executing the instruction. STTune is useful in tuning procedures. A tuning procedure is typically used to find an optimal value for a parameter. An experiment (i.e. a program execution with a servo tool movement) is repeated when using different parameter tune values. STTune shall not be used during calibration or tool closure. Basic examples Basic examples of the instruction STTune are illustrated below. Example 1
STTune SEOLO_RG, 0.050, CloseTimeAdjust;

The servo tool parameter CloseTimeAdjust is temporarily set to 0.050 seconds. Arguments
STTune MecUnit TuneValue Type

MecUnit Data type: mecunit The name of the mechanical unit. TuneValue Data type: num New tuning value. Type Data type: tunegtype Parameter type. Servo tool parameters available for tuning are RampTorqRefOpen, RampTorqRefClose, KV, SpeedLimit, CollAlarmTorq, CollContactPos, CollisionSpeed, CloseTimeAdjust, ForceReadyDelayT, PostSyncTime, CalibTime, CalibForceLow, CalibForceHigh. These types are predefined in the system parameters and defines the original values. Description RampTorqRefOpen Tunes the system parameter Ramp when decrease force, which decides how fast force is released while opening the tool. The unit is Nm/s and a typical value 200. Corresponding system parameter: topic Motion, type Force master, parameter ramp_torque_ref_opening.

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1.192 STTune - Tuning Servo Tool Continued RampTorqRefClose Tunes the system parameter Ramp when increase force, which decides how fast force is built up while opening the tool. The unit is Nm/s and a typical value 80. Corresponding system parameter: topic Motion, type Force master, parameter ramp_torque_ref_closing. KV Tunes the system parameter KV, which is used for speed limitation. The unit is Nms/rad and a typical value 1. For more details, see the external axis documentation. Corresponding system parameter: topic Motion, type Force master, parameter Kv. SpeedLimit Tunes the system parameter Speed limit, which is used for speed limitation. The unit is rad/s (motor speed) and a typical value 60. For more details, see the external axis documentation. Corresponding system parameter: topic Motion, type Force master, parameter speed_limit. CollAlarmTorq Tunes the system parameter Collision alarm torque, which is used for the automatic calibration of new tips. The unit is Nm (motor torque) and a typical value 1. For more details, see the external axis documentation. Corresponding system parameter: topic Motion, type Force master, parameter alarm_torque. CollContactPos Tunes the system parameter Collision delta pos, which is used for automatic calibration of new tips. The unit is m and a typical value 0,002. For more details, see the external axis documentation. Corresponding system parameter: topic Motion, type Force master, parameter distance_to_contact_position. CollisionSpeed Tunes the system parameter Collision speed, which is used for automatic calibration of new tips. The unit is m/s and a typical value 0,02. For more details, see the external axis documentation. Corresponding system parameter: topic Motion, type Force master, parameter col_speed. CloseTimeAdjust Constant time adjustment (s), positive or negative, of the moment when the tool tips reaches contact during a tool closure. May be used to delay the closing slightly when the synchronized pre-closing is used for welding. Corresponding system parameter: topic Motion, type SG process, parameter min_close_time_adjust. Continues on next page
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1.192 STTune - Tuning Servo Tool Continued ForceReadyDelayT Constant time delay (s) before sending the weld ready signal after reaching the programmed force. Corresponding system parameter: topic Motion, type SG process, parameter pre_sync_delay_time. PostSyncTime Release time anticipation (s) of the next robot movement after a weld. This tune type can be tuned to synchronize the gun opening with the next robot movement. The synchronization may fail if the parameters is set too high. Corresponding system parameter: topic Motion, type SG process, parameter post_sync_time. CalibTime The wait time (s) during a calibration before the positional tool tip correction is done. For best results do not use too low a value like 0.5 s. Corresponding system parameter: topic Motion, type SG process, parameter calib_time. CalibForceLow The minimum tip force (N) used during a TipWear calibration. For best result of the thickness detection it is recommended to use the minimum programmed weld force. Corresponding system parameter: topic Motion, type SG process, parameter calib_force_low. CalibForceHigh The maximum tip force (N) used during a TipWear calibration. For best result of the thickness detection it is recommended to use the max programmed weld force. Corresponding system parameter: topic Motion, type SG process, parameter calib_force_high. Program execution The specified tuning type and tuning value are activated for the specified mechanical unit. This value is applicable for all movements until a new value is programmed for the current mechanical unit or until the tuning types and values are reset using the instruction STTuneReset. The original tune values may be permanently changed in the system parameters. The default servo tool tuning values are automatically set by executing instruction STTuneReset. at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

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1.192 STTune - Tuning Servo Tool Continued Error handling If the specified servo tool name is not a configured servo tool then the system variable ERRNO is set to ERR_NO_SGUN. The error can be handled in a Rapid error handler. Syntax
STTune [ MecUnit := ] < variable (VAR) of mecunit > , [ TuneValue := ] < expression (IN) of num > , [ Type :=] < expression (IN) of tunegtype > ];

Related information
For information about Restore of servo tool parameters Tuning of servo tool See TuneReset - Resetting servo tuning on page 667 Application manual - Additional axes and stand alone controller

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1.193 STTuneReset - Resetting Servo tool tuning

1.193 STTuneReset - Resetting Servo tool tuning

Usage STTuneReset is used to restore original values of servo tool parameters if they have been changed by the STTune instruction. Basic examples Basic examples of the instruction STTuneReset are illustrated below. Example 1
STTuneReset SEOLO_RG;

Restore original values of servo tool parameters for the mechanical unit SEOLO_RG. Arguments
STTuneReset MecUnit

MecUnit Data type: mecunit The name of the mechanical unit. Program execution The original servo tool parameters are restored. This is also achieved Error handling If the specified servo tool name is not a configured servo tool then the system variable ERRNO is set to ERR_NO_SGUN. The error can be handled in a Rapid error handler. Syntax
STTuneReset [ MecUnit := ] < variable (VAR) of mecunit > ,

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about Tuning of servo tool parameters Tuning of servo tool parameters See STTune - Tuning Servo Tool on page 550 Application manual - Additional axes and stand alone controller

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1.194 SyncMoveOff - End coordinated synchronized movements

1.194 SyncMoveOff - End coordinated synchronized movements

Usage SyncMoveOff is used to end a sequence of synchronized movements and, in most cases, coordinated movements. First, all involved program tasks will wait to synchronize in a stop point, and then the motion planners for the involved program tasks are set to independent mode. The instruction SyncMoveOff can only be used in a MultiMove system with option Coordinated Robots and only in program tasks defined as Motion Task. WARNING To reach safe synchronization functionality every meeting point (parameter SyncID) must have a unique name. The name of the meeting point must also be the same for all the program tasks that should meet. Basic examples Basic examples of the instruction SyncMoveOff are illustrated below. See also More examples on page 556. Example 1
!Program example in task T_ROB1 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; ... SyncMoveOn sync1, task_list; ... SyncMoveOff sync2; ... !Program example in task T_ROB2 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; ... SyncMoveOn sync1, task_list; ... SyncMoveOff sync2; ...

The program task that first reaches SyncMoveOff with identity sync2 waits until the other tasks reach SyncMoveOff with the same identity sync2. At that synchronization point sync2, the motion planners for the involved program tasks

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1.194 SyncMoveOff - End coordinated synchronized movements Continued are set to independent mode. After that, both task T_ROB1 and T_ROB2 continue their execution. Arguments
SyncMoveOff SyncID [\TimeOut]

SyncID Synchronization Identity Data type: syncident Variables that specify the name of the unsynchronization (meeting) point. Data type syncident is a non-value type. It is only used as an identifier for naming the unsynchronization point. The variable must be defined and have an equal name in all cooperated program tasks. It is recommended to always define the variable global in each task (VAR syncident ...). [\TimeOut] Data type: num The max. time to wait for the other program tasks to reach the unsynchronization point. The time-out is defined in seconds (resolution 0,001s). If this time runs out before all program tasks have reached the unsynchronization point then the error handler will be called, if there is one, with the error code ERR_SYNCMOVEOFF. If there is no error handler then the execution will be stopped. If this argument is omitted then the program task will wait forever. Program execution The program task that first reaches SyncMoveOff waits until all other specified tasks reach SyncMoveOff with the same SyncID identity. At that SyncID unsynchronization point the motion planner for the involved program tasks is set to independent mode. After that, involved program tasks continue their execution. The motion planner for the involved program tasks are set to unsynchronized mode. This means the following: All RAPID program tasks and all movements from these tasks are working independently of each other again. Any move instruction must not be marked with any ID number. See instruction MoveL.

It is possible to exclude program tasks for testing purpose from FlexPendant Task Selection Panel. The instructions SyncMoveOn and SyncMoveOff will still work with the reduced number of program tasks, even for only one program task. More examples More examples of how to use the instruction SyncMoveOff are illustrated below. Example of simple synchronized movement
!Program example in task T_ROB1 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1;

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1.194 SyncMoveOff - End coordinated synchronized movements Continued
VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, tcp1; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, tcp1; syncmove; ... ENDPROC PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, tcp1 \WObj:= rob2_obj; MoveL * \ID:=20, v100, fine, tcp1 \WObj:= rob2_obj; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC !Program example in task T_ROB2 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, obj2; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, obj2; syncmove; ... ENDPROC PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, obj2; MoveL * \ID:=20, v100, fine, obj2 ; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC

First program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1 for each other, programmed with corner path for the preceding movements for saving cycle time. Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other, programmed with a necessary stop point for the preceding movements. Continues on next page
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1.194 SyncMoveOff - End coordinated synchronized movements Continued After that, the motion planner for the involved program tasks is set to synchronized mode. After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2. Then the program tasks are waiting at SyncMoveOff with identity sync3 for each other, programmed with a necessary stop point for the preceding movements. After that, the motion planner for the involved program tasks is set to independent mode. Example with error recovery
!Program example with use of time-out function VAR syncident sync3; ... SyncMoveOff sync3 \TimeOut := 60; ... ERROR IF ERRNO = ERR_SYNCMOVEOFF THEN RETRY; ENDIF

The program task waits for an instruction SyncMoveOff and for some other program task to reach the same synchronization point sync3. After waiting 60 seconds, the error handler is called with ERRNO equal to ERR_SYNCMOVEOFF. Then the instruction SyncMoveOff is called again for an additional wait of 60 seconds. Example with semi coordinated and coordinated movement
!Example with semicoordinated and synchronized movement !Program example in task T_ROB1 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; PERS wobjdata rob2_obj:= [FALSE,FALSE,"ROB_2", [[0,0,0],[1,0,0,0]],[[155.241,-51.5938,57.6297], [0.493981,0.506191,-0.501597,0.49815]]]; VAR syncident sync0; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; VAR syncident sync4; PROC main() ... WaitSyncTask sync0, task_list; MoveL p1_90, v100, fine, tcp1 \WObj:= rob2_obj; WaitSyncTask sync1, task_list; SyncMoveOn sync2, task_list; MoveL p1_100 \ID:=10, v100, fine, tcp1 \WObj:= rob2_obj; SyncMoveOff sync3; !Wait until the movement has been finished in T_ROB2 WaitSyncTask sync3, task_list; !Now a semicoordinated movement can be performed

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1.194 SyncMoveOff - End coordinated synchronized movements Continued
MoveL p1_120, v100, z10, tcp1 \WObj:= rob2_obj; MoveL p1_130, v100, fine, tcp1 \WObj:= rob2_obj; WaitSyncTask sync4, task_list; ... ENDPROC !Program example in task T_ROB2 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync0; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; VAR syncident sync4; PROC main() ... MoveL p_fine, v1000, fine, tcp2; WaitSyncTask sync0, task_list; !Wait until the movement in T_ROB1 task is finished WaitSyncTask sync1, task_list; SyncMoveOn sync2, task_list; MoveL p2_100 \ID:=10, v100, fine, tcp2; SyncMoveOff sync3; !The path has been removed at SyncMoveOff !Perform a movement to wanted position for the object to make the position available for other tasks MoveL p2_100, v100, fine, tcp2; WaitSyncTask sync3, task_list; WaitSyncTask sync4, task_list; MoveL p2_110, v100, z10, tcp2; ... ENDPROC

When switching between semicoordinated to synchronized movement, a WaitSyncTask is needed (when using identity sync1). When switching between synchronized to semicoordinated movement, the task that move the work object (rob2_obj) needs to move to the desired position. After that a WaitSyncTask is needed (identity sync3) before the semicoordinated movement can be performed. Error handling If time-out is reached because SyncMoveOff is not ready in time then the system variable ERRNO is set to ERR_SYNCMOVEOFF. This error can be handled in the ERROR handler. Limitations The SyncMoveOff instruction can only be executed if all involved robots stand still in a stop point.

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1.194 SyncMoveOff - End coordinated synchronized movements Continued If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. SyncMoveOff cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step. Syntax
SyncMoveOff [ SyncID := ] < variable (VAR) of syncident> [ \TimeOut := < expression (IN) of num> ] ;

Related information
For information about Specify cooperated program tasks Identity for synchronization point See tasks - RAPID program tasks on page 1267 syncident - Identity for synchronization point on page 1263

Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561 Set independent movements Test if in synchronized mode SyncMoveUndo - Set independent movements on page 571 IsSyncMoveOn - Test if in synchronized movement mode on page 943

MultiMove system with option Coordinated Application manual - MultiMove robots

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1 Instructions
1.195 SyncMoveOn - Start coordinated synchronized movements

1.195 SyncMoveOn - Start coordinated synchronized movements

Usage SyncMoveOn is used to start a sequence of synchronized movements and in most cases, coordinated movements. First, all involved program tasks will wait to synchronize in a stop point and then the motion planner for the involved program tasks is set to synchronized mode. The instruction SyncMoveOn can only be used in a MultiMove system with option Coordinated Robots and only in program tasks defined as Motion Task. WARNING To reach safe synchronization functionality every meeting point (parameter SyncID) must have a unique name. The name of the meeting point must also be the same for all the program tasks that should meet in the meeting point. Basic examples Basic examples of the instruction SyncMoveOn are illustrated below. See also More examples on page 563. Example 1
!Program example in task T_ROB1 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; ... SyncMoveOn sync1, task_list; ... SyncMoveOff sync2; ... !Program example in task T_ROB2 PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; ... SyncMoveOn sync1, task_list; ... SyncMoveOff sync2; ...

The program task that first reaches SyncMoveOn with identity sync1 waits until the other task reaches its SyncMoveOn with the same identity sync1. At that synchronization point, sync1, the motion planner for the involved program tasks is set to synchronized mode. After that, both task T_ROB1 and T_ROB2 continue Continues on next page
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1 Instructions
1.195 SyncMoveOn - Start coordinated synchronized movements Continued their execution, synchronized until they reach SyncMoveOff with the same identity sync2. Arguments
SyncMoveOn SyncID TaskList [\TimeOut]

SyncID Synchronization Identity Data type:syncident Variable that specifies the name of the synchronization (meeting) point. Data type syncident is a non-value type that is only used as an identifier for naming the synchronization point. The variable must be defined and have an equal name in all cooperated program tasks. It is recommended to always define the variable global in each task (VAR syncident ...). TaskList Data type:tasks Persistent variable that in a task list (array) specifies the name (string) of the program tasks that should meet in the synchronization point with name according argument SyncID. The persistent variable must be defined and have equal name and equal contents in all cooperated program tasks. It is recommended to always define the variable global in the system (PERS tasks ...). [\TimeOut] Data type: num The max. time to wait for the other program tasks to reach the synchronization point. The time-out is defined in seconds (resolution 0.001s). If this time runs out before all program tasks have reached the synchronization point then the error handler will be called, if there is one, with the error code ERR_SYNCMOVEON. If there is no error handler then the execution will be stopped. If this argument is omitted then the program task will wait for ever. Program execution The program task that first reaches SyncMoveOn waits until all other specified tasks reach their SyncMoveOn with the same SyncID identity. At that SyncID synchronization point the motion planner for the involved program tasks is set to synchronized mode. After that, involved program tasks continue their execution. The motion planner for the involved program tasks is set to synchronized mode. This means the following: Each movement instruction in any program task in the TaskList is working synchronous with movement instructions in other program tasks in the TaskList. All cooperated movement instructions are planned and interpolated in the same Motion Planner.

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1.195 SyncMoveOn - Start coordinated synchronized movements Continued All movements start and end at the same time. The movement that takes the longest time will be the speed master with reduced speed in relation to the work object for the other movements. All cooperated move instruction must be marked with the same ID number. See instruction MoveL.

It is possible to exclude program tasks for testing purpose from FlexPendant Task Selection Panel. The instruction SyncMoveOn will still work with the reduced number of program tasks even for only one program task. More examples More examples of how to use the instruction SyncMoveOn are illustrated below. Example 1
!Program example in task T_ROB1 PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]]; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, tcp1; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, tcp1; syncmove; ... ENDPROC PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj; MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC !Program example in task T_ROB2 PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]]; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, obj2; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, obj2; syncmove; ... ENDPROC

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1.195 SyncMoveOn - Start coordinated synchronized movements Continued

PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, obj2; MoveL * \ID:=20, v100, fine, obj2; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC

First, program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1 for each other. They are programmed with corner path for the preceding movements for saving cycle time. Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other. They are programmed with a necessary stop point for the preceding movements. After that the motion planner for the involved program tasks is set to synchronized mode. After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2. Example 2
!Program example with use of time-out function VAR syncident sync3; ... SyncMoveOn sync3, task_list \TimeOut :=60; ... ERROR IF ERRNO = ERR_SYNCMOVEON THEN RETRY; ENDIF

The program task waits for instruction SyncMoveOn for the program task T_ROB2 to reach the same synchronization point sync3. After waiting 60 seconds, the error handler is called with ERRNO equal to ERR_SYNCMOVEON. Then the instruction SyncMoveOn is called again for an additional wait of 60 seconds. Example 3- Program example with three tasks
!Program example in task T_ROB1 PERS tasks task_list1 {2} :=[["T_ROB1"], ["T_ROB2"]]; PERS tasks task_list2 {3} :=[["T_ROB1"], ["T_ROB2"], ["T_ROB3"]]; VAR syncident sync1; ... VAR syncident sync5; ... SyncMoveOn sync1, task_list1; ... SyncMoveOff sync2; WaitSyncTask sync3, task_list2; SyncMoveOn sync4, task_list2;

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1 Instructions
1.195 SyncMoveOn - Start coordinated synchronized movements Continued
... SyncMoveOff sync5; ... !Program example in task T_ROB2 PERS tasks task_list1 {2} := [["T_ROB1"], ["T_ROB2"]]; PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]]; VAR syncident sync1; ... VAR syncident sync5; ... SyncMoveOn sync1, task_list1; ... SyncMoveOff sync2; WaitSyncTask sync3, task_list2; SyncMoveOn sync4, task_list2; ... SyncMoveOff sync5; ... !Program example in task T_ROB3 PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]]; VAR syncident sync3; VAR syncident sync4; VAR syncident sync5; ... WaitSyncTask sync3, task_list2; SyncMoveOn sync4, task_list2; ... SyncMoveOff sync5; ...

In this example, at first, program task T_ROB1 and T_ROB2 are moving synchronized and T_ROB3 is moving independent. Further on in the program all three tasks are moving synchronized. To prevent the instruction of SyncMoveOn to be executed in T_ROB3 before the first synchronization of T_ROB1 and T_ROB2 have ended, the instruction WaitSyncTask is used. Error handling If time-out is reached because SyncMoveOn is not ready in time then the system variable ERRNO is set to ERR_SYNCMOVEON. This error can be handled in the ERROR handler. Limitations The SyncMoveOn instruction can only be executed if all involved robots stand still in a stop point. Continues on next page
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1 Instructions
1.195 SyncMoveOn - Start coordinated synchronized movements Continued Only one coordinated synchronized movement group can be active at the same time. If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. SyncMoveOn cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step. Syntax
SyncMoveOn [ SyncID := ] < variable (VAR) of syncident> , [ TaskList := ] < persistent array {*} (PERS) of tasks> , [ \TimeOut := < expression (IN) of num > ];

Related information
For information about Specify cooperated program tasks Identity for synchronization point See tasks - RAPID program tasks on page 1267 syncident - Identity for synchronization point on page 1263

End coordinated synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555 Set independent movements Test if in synchronized mode SyncMoveUndo - Set independent movements on page 571 IsSyncMoveOn - Test if in synchronized movement mode on page 943

MultiMove system with option Coordinated Application manual - MultiMove Robots Wait for synchronized tasks WaitSyncTask - Wait at synchronization point for other program tasks on page 719

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1.196 SyncMoveResume - Set synchronized coordinated movements

1.196 SyncMoveResume - Set synchronized coordinated movements

Usage SyncMoveResume is used to go back to synchronized movements from independent movement mode. The instruction can only be used on StorePath level, e.g. after a StorePath \KeepSync has been executed and the system is in independent motion mode after SyncMoveSuspend has been executed. To be able to use the instruction the system must have been in synchronized motion mode before executing the StorePath and SyncMoveSuspend instruction. The instruction SyncMoveResume can only be used in a MultiMove system with options Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task. Basic examples Basic examples of the instruction SyncMoveResume are illustrated below. Example 1
ERROR StorePath \KeepSync; ! Save position p11 := CRobT(\Tool:=tool2); ! Move in synchronized motion mode MoveL p12\ID:=111, v50, fine, tool2; SyncMoveSuspend; ! Move in independent mode somewhere, e.g. to a cleaning station p13 := CRobT(); MoveL p14, v100, fine, tool2; ! Do something at cleaning station MoveL p13, v100, fine, tool2; SyncMoveResume; ! Move in synchronized motion mode back to start position p11 MoveL p11\ID:=111, fine, z20, tool2; RestoPath; StartMove; RETRY;

Some kind of recoverable error occurs. The system is kept in synchronized mode, and a synchronized movement is done to a point, e.g. moving backwards on path. After that, an independent movement is done to a cleaning station. Then the robot is moved back to the point where the error occurred and the program continues where it was interrupted by the error. Program execution SyncMoveResume forces resume of synchronized mode when system is in independent movement mode on StorePath level. SyncMoveResume is required in all tasks that were executing in synchronized movement before entering independent movement mode. If one Motion task executes a SyncMoveResume then that task will wait until all tasks that earlier were Continues on next page
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1 Instructions
1.196 SyncMoveResume - Set synchronized coordinated movements Continued in synchronized movement mode execute a SyncMoveResume instruction. After that, involved program tasks continue their execution. Limitations The SyncMoveResume can only be used to go back to synchronized movement mode and can only be used on StorePath level. If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. SyncMoveResume cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart,Reset, or Step. Syntax
SyncMoveResume ;

Related information
For information about Specify cooperated program tasks See tasks - RAPID program tasks on page 1267

Start coordinated synchronized move- SyncMoveOn - Start coordinated synchronized ments movements on page 561 End coordinated synchronized movements Test if in synchronized mode Stores the path Restores the path Suspends synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555 SyncMoveOn - Start coordinated synchronized movements on page 561 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 SyncMoveSuspend - Set independent-semicoordinated movements on page 569

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1 Instructions
1.197 SyncMoveSuspend - Set independent-semicoordinated movements

1.197 SyncMoveSuspend - Set independent-semicoordinated movements

Usage SyncMoveSuspend is used to suspend synchronized movements mode and set the system to independent-semicoordinated movement mode. The instruction can only be used on StorePath level, e.g. after a StorePath or StorePath \KeepSync has been executed and the system is in synchronized movement mode. The instruction SyncMoveSuspend can only be used in a MultiMove System with options Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task. Basic examples Basic examples of the instruction SyncMoveSuspend are illustrated below. Example 1
ERROR StorePath \KeepSync; ! Save position p11 := CRobT(\Tool:=tool2); ! Move in synchronized motion mode MoveL p12\ID:=111, v50, fine, tool2; SyncMoveSuspend; ! Move in independent mode somewhere, e.g. to a cleaning station p13 := CRobT(); MoveL p14, v100, fine, tool2; ! Do something at cleaning station MoveL p13, v100, fine, tool2; SyncMoveResume; ! Move in synchronized motion mode back to start position p11 MoveL p11\ID:=111, fine, z20, tool2; RestoPath; StartMove; RETRY;

Some kind of recoverable error occurs. The system is kept in synchronized mode, and a synchronized movement is done to a point, e.g. moving backwards on path. After that, an independent movement is done to a cleaning station. Then the robot is moved back to the point where the error occurred and the program continues where it was interrupted by the error. Program execution SyncMoveSuspend forces reset of synchronized movements and sets the system to independent-semicoordinated movement mode. SyncMoveSuspend is required in all synchronized Motion tasks to set the system in independent-semicoordinated movement mode. If one Motion tasks executes a SyncMoveSuspend then that task waits until the other tasks have executed a SyncMoveSuspend instruction. Continues on next page
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1.197 SyncMoveSuspend - Set independent-semicoordinated movements Continued After execution of SyncMoveSuspend in all involved tasks, the system is in semicoordinated mode if it further uses a coordinated work object. Otherwise, it is in independent mode. If in semicoordinated mode, it is recommended to always start with a movement in the mechanical unit that controls the user frame before WaitSyncTask in all involved tasks. Limitations The SyncMoveSuspend instruction suspends synchronized mode only on StorePath level. After returning from StorePath level, the system is set to the mode that it was in before the StorePath. If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. SyncMoveSuspend cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart,Reset, or Step. Syntax
SyncMoveSuspend ;

Related information
For information about Specify cooperated program tasks See tasks - RAPID program tasks on page 1267

Start coordinated synchronized move- SyncMoveOn - Start coordinated synchronized ments movements on page 561 End coordinated synchronized movements Test if in synchronized mode Stores the path Restores the path Resume synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555 IsSyncMoveOn - Test if in synchronized movement mode on page 943 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 SyncMoveResume - Set synchronized coordinated movements on page 567

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1.198 SyncMoveUndo - Set independent movements

1.198 SyncMoveUndo - Set independent movements

Usage SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the system to independent movement mode. The instruction SyncMoveUndo can only be used in a MultiMove system with option Coordinated Robots and only in program tasks defined as Motion Task. Basic examples Basic examples of the instruction SyncMoveUndo are illustrated below. Example 1 Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, tcp1; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, tcp1; syncmove; ... ENDPROC PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj; MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC

If the program is stopped while the execution is inside the procedure syncmove and the program pointer is moved out of the procedure syncmove then all instruction inside the UNDO handler is executed. In this example, the instruction SyncMoveUndo is executed and the system is set to independent movement mode. Program execution Force reset of synchronized coordinated movements and set the system to independent movement mode. It is enough to execute SyncMoveUndo in one program task to set the whole system to the independent movement mode. The instruction can be executed several times without any error if the system is already in independent movement mode.

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1.198 SyncMoveUndo - Set independent movements Continued The system is set to the default independent movement mode also Syntax
SyncMoveUndo ;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning. when moving program pointer to the beginning.

Related information
For information about Specify cooperated program tasks Identity for synchronization point Start coordinated synchronized movements End coordinated synchronized movements Test if in synchronized mode See tasks - RAPID program tasks on page 1267 syncident - Identity for synchronization point on page 1263 SyncMoveOn - Start coordinated synchronized movements on page 561 SyncMoveOff - End coordinated synchronized movements on page 555 IsSyncMoveOn - Test if in synchronized movement mode on page 943

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1.199 SystemStopAction - Stop the robot system

1.199 SystemStopAction - Stop the robot system

Usage SystemStopAction can be used to stop the robot system in different ways depending how serious the error or problem is. Basic examples Basic examples of the instruction SystemStopAction are illustrated below. Example 1
SystemStopAction \Stop;

This will stop program execution and robot movements in all motion tasks. No specific action is needed to be done before restarting the program execution. Example 2
SystemStopAction \StopBlock;

This will stop program execution and robot movements in all motion tasks. All program pointers must be moved before the program execution can be restarted. Example 3
SystemStopAction \Halt;

This will result in motors off, stop program execution, and robot movements in all motion tasks. Motors on must be done before the program execution can be restarted. Arguments
SystemStopAction [\Stop] [\StopBlock] [\Halt]

[\Stop] Data type: switch \Stop is used to stop program execution and robot movements in all motion tasks. No specific action is needed to be done before restart of the program execution. [\StopBlock] Data type: switch \StopBlock is used stop program execution and robot movements in all motion tasks. All program pointers must be moved before the program execution can be restarted. [\Halt] Data type: switch \Halt will result in motors off state, stop of program execution and robot movements in all motion tasks. Motors on must be done before the program execution can be restarted. Limitations If the robot is performing a circular movement during a SystemStopAction \StopBlock then the program pointer and the robot have to be moved to the beginning of the circular movement before the program execution is restarted. Continues on next page
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1.199 SystemStopAction - Stop the robot system Continued Syntax
SystemStopAction [ \Stop ] | [ \StopBlock ] | [ \Halt ];

Related information
For information about Stop program execution Terminate program execution Only stop robot movements Write some error message See Stop - Stops program execution on page 537 EXIT - Terminates program execution on page 113 StopMove - Stops robot movement on page 542 ErrLog - Write an error message on page 103

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1.200 TEST - Depending on the value of an expression ...

1.200 TEST - Depending on the value of an expression ...

Usage TESTis used when different instructions are to be executed depending on the value of an expression or data. If there are not too many alternatives then the IF..ELSE instruction can also be used. Basic examples Basic examples of the instruction TEST are illustrated below. Example 1
TEST reg1 CASE 1,2,3 : routine1; CASE 4 : routine2; DEFAULT : TPWrite "Illegal choice"; Stop; ENDTEST

Different instructions are executed depending on the value of reg1. If the value is 1-3 routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an error message is printed and execution stops. Arguments
TEST Test data {CASE Test value {, Test value} : ...} [ DEFAULT: ...] ENDTEST

Test data Data type: All The data or expression with which the test value will be compared. Test value Data type: Same as test data The value which the test data must have for the associated instructions to be executed. Program execution The test data is compared with the test values in the first CASE condition. If the comparison is true then the associated instructions are executed. After that, program execution continues with the instruction following ENDTEST. If the first CASE condition is not satisfied then other CASE conditions are tested and so on. If none of the conditions are satisfied then the instructions associated with DEFAULT are executed (if this is present). Syntax
(EBNF)

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1.200 TEST - Depending on the value of an expression ... Continued
TEST <expressio {( CASE<test value> { , <test value> } : <instruction list> ) | <CSE> } [ DEFAULT : <instruction list> ] ENDTEST <test value> ::= <expression>

Related information
For information about Expressions See Technical reference manual - RAPID Instructions, Functions and Data types

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1.201 TestSignDefine - Define test signal

1.201 TestSignDefine - Define test signal

Usage TestSignDefine is used to define one test signal for the robot motion system. A test signal continuously mirrors some specified motion data stream. For example, torque reference for some specified axis. The actual value at a certain time can be read in RAPID with the function TestSignRead. Only test signals for external axes can be reached. Test signals are also available on request for the robot axes and for not predefined test signals for external axes. Basic examples Basic examples of the instruction TestSignDefine are illustrated below. Example 1
TestSignDefine 1, resolver_angle, Orbit, 2, 0.1;

Test signal resolver_angle connected to channel 1 will give the value of the resolver angle for external axis 2 on the orbit manipulator, sampled at 100 ms rate. Arguments
TestSignDefine Channel SignalId MechUnit Axis SampleTime

Channel Data type: num The channel numbers 1-12 to be used for the test signal. The same number must be used in the function TestSignRead for reading the actual value of the test signal. SignalId Data type: testsignal The name or number of the test signal. Refer to predefined constants described in data type testsignal. MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The axis number within the mechanical unit. SampleTime Data type: num Sample time in seconds.

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1.201 TestSignDefine - Define test signal Continued For sample time < 0.004 s, the function TestSignRead returns the mean value of the latest available internal samples as shown in the table below.
Sample Time in seconds Result from TestSignRead 0 0.001 0.002 Mean value of the latest 8 samples generated each 0.5 ms Mean value of the latest 4 samples generated each 1 ms Mean value of the latest 2 samples generated each 2 ms

Greater or equal to 0.004 Momentary value generated at specified sample time 0.1 Momentary value generated at specified sample time 100 ms

Program execution The definition of test signal is activated and the robot system starts the sampling of the test signal. The sampling of the test signal is active until: Error handling If there is an error in the parameter MechUnit then the variable ERRNO is set to ERR_UNIT_PAR. If there is an error in the parameter Axis then ERRNO is set to ERR_AXIS_PAR. Syntax
TestSignDefine [ Channel := ] < expression (IN) of num> , [ SignalId := ] < expression (IN) of testsignal> , [ MechUnit := ] < variable (VAR) of mecunit> , [ Axis := ] < expression (IN) of num> , [ SampleTime := ] < expression (IN) of num > ;

A new TestSignDefine instruction for the actual channel is executed. All test signals are deactivated with execution of instruction TestSignReset. All test signals are deactivated with a warm start of the system.

Related information
For information about Test signal Read test signal Reset test signals See testsignal - Test signal on page 1269 TestSignRead - Read test signal value on page1077 TestSignReset - Reset all test signal definitions on page 579

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1.202 TestSignReset - Reset all test signal definitions

1.202 TestSignReset - Reset all test signal definitions

Usage TestSignReset is used to deactivate all previously defined test signals. Basic examples Basic examples of the instruction TestSignReset are illustrated below. Example 1
TestSignReset;

Deactivate all previously defined test signals. Program execution The definitions of all test signals are deactivated, and the robot system stops the sampling of any test signals. The sampling of defined test signals is active until: Syntax
TestSignReset;

A warm start of the system Execution of this instruction TestSignReset

Related information
For information about Test signal Define test signal Read test signal See testsignal - Test signal on page 1269 TestSignDefine - Define test signal on page 577 TestSignRead - Read test signal value on page1077

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1.203 TextTabInstall - Installing a text table

1.203 TextTabInstall - Installing a text table

Usage TextTabInstall is used to install a text table in the system. Basic examples Basic examples of the instruction TextTabInstall are illustrated below. Example 1
! System Module with Event Routine to be executed at event ! POWER ON, RESET or START PROC install_text() IF TextTabFreeToUse("text_table_name") THEN TextTabInstall "HOME:/text_file.eng"; ENDIF ENDPROC

The first time the event routine install_text is executed the function TextTabFreeToUse returns TRUE, and the text file text_file.eng is installed in the system. After that, the installed text strings can be fetched from the system to RAPID by the functions TextTabGet and TextGet. The next time the event routine install_text is executed, the function TextTabFreeToUse returns FALSE, and the installation is not repeated. Arguments
TextTabInstall File

File Data type: string The file path and the file name to the file that contains text strings to be installed in the system. Limitations Limitations for installation of text tables (text resources) in the system: It is not possible to install the same text table more than once in the system. It is not possible to uninstall (free) a single text table from the system. The only way to uninstall text tables from the system is to cold start the system. All text tables (both system and user defined) will then be uninstalled.

Error handling If the file in the TextTabInstall instruction cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN. This error can then be handled in the error handler. Syntax
TextTabInstall [ File := ] < expression (IN) of string >;

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1.203 TextTabInstall - Installing a text table Continued Related information
For information about Test whether text table is free Format of text files Get text table number Get text from system text tables String functions Definition of string See TextTabFreeToUse - Test whether text table is free on page 1081 Technical reference manual - RAPID kernel TextTabGet - Get text table number on page 1083 TextGet - Get text from system text tables on page 1079 Technical reference manual - RAPID overview string - Strings on page 1258

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1.204 TPErase - Erases text printed on the FlexPendant

1.204 TPErase - Erases text printed on the FlexPendant

Usage TPErase (FlexPendant Erase) is used to clear the display of the FlexPendant. Basic examples Basic examples of the instruction TPErase are illustrated below. Example 1
TPErase; TPWrite "Execution started";

The FlexPendant display is cleared before Execution started is written. Program execution The FlexPendant display is completely cleared of all text. The next time text is written it will be entered on the uppermost line of the display. Syntax
TPErase;

Related information
For information about Writing on the FlexPendant See Technical reference manual - RAPID overview

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1.205 TPReadDnum - Reads a number from the FlexPendant

1.205 TPReadDnum - Reads a number from the FlexPendant

Usage TPReadDnum (FlexPendant Read Numerical) is used to read a number from the FlexPendant Basic examples Basic examples of the instruction TPReadDnum are illustrated below. Example 1
VAR dnum value; TPReadDnum value, "How many units should be produced?";

The text How many units should be produced? is written on the FlexPendant display. Program execution waits until a number has been input from the numeric keyboard on the FlexPendant. That number is stored in value. Arguments
TPReadDnum TPAnswer TPText [\MaxTime][\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag]

TPAnswer Data type: dnum The variable for which the number input via the FlexPendant is returned. TPText Data type: string The information text to be written on the FlexPendant (a maximum of 80 characters with 40 characters row). [\MaxTime] Data type: num The maximum amount of time that program execution waits. If no number is input within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital signal that may interrupt the operator dialog. If no number is input when the signal is set to 1 (or is already 1), the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch Continues on next page
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1.205 TPReadDnum - Reads a number from the FlexPendant Continued This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital signal that support termination request from other tasks. If no button is selected when the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable that will hold the error code if MaxTime, DIBreak or DOBreak is used. If this optional variable is omitted, the error handler will be executed. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the reason. Program execution The information text is always written on a new line. If the display is full of text, this body of text is moved up one line first. There can be up to 7 lines above the new text written. Program execution waits until a number is typed on the numeric keyboard (followed by Enter or OK) or the instruction is interrupted by a time out or signal action.. Reference to TPReadFK about description of concurrent TPReadFK or TPReadDnum request on FlexPendant from same or other program tasks. Error handling If time out (parameter \MaxTime) before input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input set (parameter \DIBreak) before input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.

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1.205 TPReadDnum - Reads a number from the FlexPendant Continued If a digital output occurred (parameter \DOBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. These situations can then be dealt with by the error handler. Syntax
TPReadDnum [TPAnswer:=] <var or pers (INOUT) of dnum>, [TPText:=] <expression (IN) of string> [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] ;

Related information
For information about See

Writing to and reading from the FlexPend- Technical reference manual - RAPID overview ant Entering a number on the FlexPendant Examples of how to use the arguments MaxTime, DIBreak and BreakFlag Clean up the Operator window Operating manual - IRC5 with FlexPendant TPReadFK - Reads function keys on page 586 TPErase - Erases text printed on the FlexPendant on page 582

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1.206 TPReadFK - Reads function keys

1.206 TPReadFK - Reads function keys

Usage TPReadFK (FlexPendant Read Function Key) is used to write text on the functions keys and to find out which key is depressed. Basic examples Basic examples of the instruction TPReadFK are illustrated below. See also More examples on page 588. Example 1
TPReadFK reg1, "More?", stEmpty, stEmpty, stEmpty, "Yes", "No";

The text More? is written on the FlexPendant display and the function keys 4 and 5 are activated by means of the text strings Yes and No respectively (see figure below ). Program execution waits until one of the function keys 4 or 5 is pressed. In other words, reg1 will be assigned 4 or 5 depending on which of the keys are pressed. The figure shows that the operator can put in information via the function keys.

xx0500002345

Arguments
TPReadFK TPAnswer TPText TPFK1 TPFK2 TPFK3 TPFK4 TPFK5 [\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag]

TPAnswer Data type: num The variable for which, depending on which key is pressed, the numeric value 1..5 is returned. If the function key 1 is pressed then 1 is returned, and so on. TPText Data type: string The information text to be written on the display (a maximum of 80 characters, with 40 characters/row). TPFKx Function key text Data type: string The text to be written on the appropriate function key (a maximum of 45 characters). TPFK1 is the left-most key.

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1.206 TPReadFK - Reads function keys Continued Function keys without text are specified by the predefined string constant stEmpty with value empty string (). [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If no function key is pressed within this time then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital signal that may interrupt the operator dialog. If no function key is pressed when the signal is set to 1 (or is already 1) then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital signal that supports termination request from other tasks. If no button is selected when the signal is set to 1 (or is already 1) then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum Continues on next page
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1.206 TPReadFK - Reads function keys Continued A variable that will hold the error code if MaxTime, DIBreak, or DOBreak is used. If this optional variable is omitted then the error handler will be executed. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. Program execution The information text is always written on a new line. If the display is full of text then this body of text is moved up one line first. There can be up to 7 lines above the new written text. Text is written on the appropriate function keys. Program execution waits until one of the activated function keys are pressed. Description of concurrent TPReadFK or TPReadNum request on FlexPendant (TP request) from the same or other program tasks: More examples More examples of how to use the instruction TPReadFK are illustrated below. Example 1
VAR errnum errvar; ... TPReadFK reg1, "Go to service position?", stEmpty, stEmpty, stEmpty, "Yes","No" \MaxTime:= 600 \DIBreak:= di5\BreakFlag:= errvar; IF reg1 = 4 OR errvar = ERR_TP_DIBREAK THEN MoveL service, v500, fine, tool1; Stop; ENDIF IF errvar = ERR_TP_MAXTIME EXIT;

New TP request from other program tasks will not take focus (new put in queue) New TP request from TRAP in the same program task will take focus (old put in queue) Program stop take focus (old put in queue) New TP request in program stop state takes focus (old put in queue)

The robot is moved to the service position if the forth function key ("Yes") is pressed or if the input 5 is activated. If no answer is given within 10 minutes then the execution is terminated. Error handling If there is a timeout (parameter \MaxTime) before an input from the operator then the system variable ERRNO is set to ERR_TP_MAXTIME, and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DIBREAK, and the execution continues in the error handler.

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1.206 TPReadFK - Reads function keys Continued If a digital output occurred (parameter \DOBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT, and the execution continues in the error handler. These situations can then be dealt with by the error handler. Limitations Avoid using too small of a value for the timeout parameter \MaxTime when TPReadFK is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slowing the FlexPendant response. Predefined data
CONST string stEmpty := "";

The predefined constant stEmpty can be used for Function Keys without text. Syntax
TPReadFK [TPAnswer :=] <var or pers (INOUT) of num>, [TPText :=] <expression (IN) of string>, [TPFK1 :=] <expression (IN) of string>, [TPFK2 :=] <expression (IN) of string>, [TPFK3 :=] <expression (IN) of string>, [TPFK4 :=] <expression (IN) of string>, [TPFK5 :=] <expression (IN) of string> [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>];

Related information
For information about See

Writing to and reading from the FlexPend- Technical reference manual - RAPID overview ant Replying via the FlexPendant Clean up the Operator window Operating manual - IRC5 with FlexPendant TPErase - Erases text printed on the FlexPendant on page 582

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1.207 TPReadNum - Reads a number from the FlexPendant

1.207 TPReadNum - Reads a number from the FlexPendant

Usage TPReadNum (FlexPendant Read Numerical) is used to read a number from the FlexPendant. Basic examples Basic examples of the instruction TPReadNum are illustrated below. See also More examples on page 591. Example 1
TPReadNum reg1, "How many units should be produced?";

The text How many units should be produced? is written on the FlexPendant display. Program execution waits until a number has been input from the numeric keyboard on the FlexPendant. That number is stored in reg1. Arguments
TPReadNum TPAnswer TPText [\MaxTime][\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag]

TPAnswer Data type: num The variable for which the number input via the FlexPendant is returned. TPText Data type: string The information text to be written on the FlexPendant (a maximum of 80 characters with 40 characters per row). [\MaxTime] Data type: num The maximum amount of time that program execution waits. If no number is input within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital signal that may interrupt the operator dialog. If no number is input when the signal is set to 1 (or is already 1), the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch

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1.207 TPReadNum - Reads a number from the FlexPendant Continued This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital signal that supports termination request from other tasks. If no button is selected when the signal is set to 1 (or is already 1), the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable that will hold the error code if MaxTime, DIBreak or DOBreak is used. If this optional variable is omitted, the error handler will be executed. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the reason. Program execution The information text is always written on a new line. If the display is full of text, this body of text is moved up one line first. There can be up to 7 lines above the new text written. Program execution waits until a number is typed on the numeric keyboard (followed by Enter or OK) or the instruction is interrupted by a time out or signal action. Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum request on FlexPendant from same or other program tasks. More examples More examples of how to use the instruction TPReadNum are illustrated below. Example 1
TPReadNum reg1, "How many units should be produced?"; FOR i FROM 1 TO reg1 DO produce_part; ENDFOR

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1.207 TPReadNum - Reads a number from the FlexPendant Continued The text How many units should be produced? is written on the FlexPendant display. The routine produce_part is then repeated the number of times that is input via the FlexPendant. Error handling If timeout occurs (parameter \MaxTime) before input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If the digital input (parameter \DIBreak) is set before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If the digital output (parameter \DOBreak) is set before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. These situations can then be dealt with by the error handler. Syntax
TPReadNum [TPAnswer:=] <var or pers (INOUT) of num>, [TPText:=] <expression (IN) of string> [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] ;

Related information
For information about See

Writing to and reading from the FlexPend- Technical reference manual - RAPID overview ant Entering a number on the FlexPendant Examples of how to use the arguments MaxTime, DIBreak and BreakFlag Clean up the Operator window Operating manual - IRC5 with FlexPendant TPReadFK - Reads function keys on page 586 TPErase - Erases text printed on the FlexPendant on page 582

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1.208 TPShow - Switch window on the FlexPendant

1.208 TPShow - Switch window on the FlexPendant

Usage TPShow (FlexPendant Show) is used to select FlexPendant window from RAPID. Basic examples Basic examples of the instruction TPShow are illustrated below. Example 1
TPShow TP_LATEST;

The latest used FlexPendant Window before the current FlexPendant window will be active after execution of this instruction. Arguments
TPShow Window

Window Data type: tpnum The window TP_LATEST will show the latest used FlexPendant window before current FlexPendant window. Predefined data
CONST tpnum TP_LATEST := 2;

Program execution The selected FlexPendant window will be activated. Syntax

TPShow [Window:=] <expression (IN) of tpnum> ;

Related information
For information about Communicating using the FlexPendant FlexPendant Window number Clean up the Operator window See Technical reference manual - RAPID overview tpnum - FlexPendant window number on page 1276 TPErase - Erases text printed on the FlexPendant on page 582

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1.209 TPWrite - Writes on the FlexPendant

1.209 TPWrite - Writes on the FlexPendant

Usage TPWrite (FlexPendant Write) is used to write text on the FlexPendant. The value of certain data can be written as well as text. Basic examples Basic examples of the instruction TPWrite are illustrated below. Example 1
TPWrite "Execution started";

The text Execution started is written on the FlexPendant. Example 2

TPWrite "No of produced parts="\Num:=reg1;

If, for example, reg1 holds the value 5 then the text No of produced parts=5 is written on the FlexPendant. Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum]

String Data type: string The text string to be written (a maximum of 80 characters, with 40 characters/row). [\Num] Numeric Data type: num The data whose numeric value is to be written after the text string. [\Bool] Boolean Data type: bool The data whose logical value is to be written after the text string. [\Pos] Position Data type: pos The data whose position is to be written after the text string. [\Orient] Orientation Data type: orient The data whose orientation is to be written after the text string. [\Dnum] Numeric Data type: dnum Continues on next page
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1.209 TPWrite - Writes on the FlexPendant Continued The data whose numeric value is to be written after the text string. Program execution Text written on the FlexPendant always begins on a new line. When the display is full of text (11 lines) then this text is moved up one line first. If one of the arguments \Num, \Dnum, \Bool, \Pos, or \Orient is used then its value is first converted to a text string before it is added to the first string. The conversion from value to text string takes place as follows:
Argument \Num \Num \Bool \Pos \Orient \Dnum Value 23 1.141367 TRUE [1817.3,905.17,879.11] [0.96593,0,0.25882,0] 4294967295 Text string "23" "1.14137" "TRUE" "[1817.3,905.17,879.11]" "[0.96593,0,0.25882,0]" "4294967295"

The value is converted to a string with standard RAPID format. This means, in principle, 6 significant digits. If the decimal part is less than 0.000005 or greater than 0.999995 then the number is rounded to an integer. Limitations The arguments \Num, \Dnum, \Bool, \Pos, and \Orient are mutually exclusive and thus cannot be used simultaneously in the same instruction. Syntax
TPWrite [TPText:=] <expression (IN) of string> [\Num:= <expression (IN) of num> ] | [\Bool:= <expression (IN) of bool> ] | [\Pos:= <expression (IN) of pos> ] | [\Orient:= <expression (IN) of orient> ] | [\Dnum:= <expression (IN) of dnum> ];

Related information
For information about Clearing and reading the FlexPendant Clean up the Operator window See Technical reference manual - RAPID overview TPErase - Erases text printed on the FlexPendant on page 582

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1.210 TriggC - Circular robot movement with events

1.210 TriggC - Circular robot movement with events

Usage TriggC (Trigg Circular) is used to set output signals and/or run interrupt routines at fixed positions at the same time that the robot is moving on a circular path. One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO and afterwards these definitions are referred to in the instruction TriggC. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggC are illustrated below. See also More examples on page 600. Example 1
VAR triggdata gunon; TriggIO gunon, 0 \Start \DOp:=gun, 1; MoveL p1, v500, z50, gun1; TriggC p2, p3, v500, gunon, fine, gun1;

The digital output signal gun is set when the robots TCP passes the midpoint of the corner path of the point p1. The figure shows an example of fixed position I/O event.

xx0500002267

Arguments
TriggC [\Conc] CirPoint ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [ \Corr ] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument is usually not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external Continues on next page
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1.210 TriggC - Circular robot movement with events Continued equipment and robot movement is not required. It can also be used to tune the execution of the robot path, to avoid warning 50024 Corner path failure, or error 40082 Deceleration limit. When using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument can not be used in coordinated synchronized movement in a MultiMove system. CirPoint Data type: robtarget The circle point of the robot. See the instruction MoveC for a more detailed description of circular movement. The circle point is defined as a named position or stored directly in the instruction (marked with an * in the instruction). ToPoint Data type: robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and the external axes. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Trigg_1 Data type: triggdata

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1.210 TriggC - Circular robot movement with events Continued Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T2 ] Trigg 2 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T3 ] Trigg 3 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T4 ] Trigg 4 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T5 ] Trigg 5 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheck, TriggSpeed, or TriggRampAO. [ \T6 ] Trigg 6 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO ,TriggSpeed, or TriggRampAO. [ \T7 ] Trigg 7 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO.

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1.210 TriggC - Circular robot movement with events Continued [ \T8 ] Trigg 8 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. Zone Data type: zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a linear movement relative to the work object to be performed. [ \Corr ] Correction Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. Continues on next page
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1.210 TriggC - Circular robot movement with events Continued If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveC for information about circular movement. As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point, the defined trigger activities are carried out. The trigger conditions are fulfilled either at a certain distance before the end point of the instruction, or at a certain distance after the start point of the instruction, or at a certain point in time (limited to a short time) before the end point of the instruction. During stepping the execution forward, the I/O activities are carried out but the interrupt routines are not run. During stepping the execution backward, no trigger activities at all are carried out. More examples More examples of how to use the instruction TriggC are illustrated below. Example 1
VAR intnum intno1; VAR triggdata trigg1; ... PROC main() ... CONNECT intno1 WITH trap1; TriggInt trigg1, 0.1 \Time, intno1; ... TriggC p1, p2, v500, trigg1, fine, gun1; TriggC p3, p4, v500, trigg1, fine, gun1; ... IDelete intno1;

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1.210 TriggC - Circular robot movement with events Continued The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point p2 or p4 respectively. Error handling If the programmed ScaleValue argument for the specified analog output signal AOp in some of the connected TriggSpeed instructions result in out of limit for the analog signal together with the programmed Speed in this instruction, then the system variable ERRNO is set to ERR_AO_LIM. If the programmed DipLag argument in some of the connected TriggSpeed instructions is too big in relation to the used Event Preset Time in System Parameters then the system variable ERRNO is set to ERR_DIPLAG_LIM. The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e. a signal is used in the triggdata. These errors can be handled in the error handler. Limitations General limitations according to instruction MoveC. If the current start point deviates from the usual point so that the total positioning length of the instruction TriggC is shorter than usual then it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position. In such cases, the sequence in which the trigger activities are carried out will be undefined. The program logic in the user program may not be based on a normal sequence of trigger activities for an incomplete movement. WARNING The instruction TriggC should never be started from the beginning with the robot in position after the circle point. Otherwise, the robot will not take the programmed path (positioning around the circular path in another direction compared to that which is programmed). Syntax
TriggC [ \ Conc ,] [ CirPoint := ] < expression (IN) of robtarget > , [ ToPoint := ] < expression (IN) of robtarget > , [ \ ID := < expression (IN) of identno >] , [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ] , [Trigg_1 := ] < variable (VAR) of triggdata > [ \ T2 := < variable (VAR) of triggdata > ] [ \ T3 := < variable (VAR) of triggdata > ] [ \ T4 := < variable (VAR) of triggdata > ] [ \ T5 := < variable (VAR) of triggdata > ] [ \ T6 := < variable (VAR) of triggdata > ] [ \ T7 := < variable (VAR) of triggdata > ] [ \ T8 := < variable (VAR) of triggdata > ] ,

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1.210 TriggC - Circular robot movement with events Continued
[Zone := ] < expression (IN) of zonedata > [ \ Inpos := < expression (IN) of stoppointdata > ], [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Linear movement with triggers Joint movement with triggers Move the robot circularly Definition of triggers See TriggL - Linear robot movements with events on page 631 TriggJ - Axis-wise robot movements with events on page 624 MoveC - Moves the robot circularly on page 241 TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 TriggInt - Defines a position related interrupt on page 615 TriggCheckIO - Defines IO check at a fixed position on page 604 TriggRampAO - Define a fixed position ramp AO event on the path on page 645 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event on page 651 CorrWrite - Writes to a correction generator on page 84 Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview

Writes to a corrections entry Circular movement Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Motion in general

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot GripLoad - Defines the payload for a robot on page 128

LoadIdentify, load identification ser- Operating manual - IRC5 with FlexPendant vice routine System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode)

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1.210 TriggC - Circular robot movement with events Continued
For information about See

System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.211 TriggCheckIO - Defines IO check at a fixed position

1.211 TriggCheckIO - Defines IO check at a fixed position

Usage TriggCheckIO is used to define conditions for testing the value of a digital, a group of digital, or an analog input or output signal at a fixed position along the robots movement path. If the condition is fulfilled then there will be no specific action. But if it is not then an interrupt routine will be run after the robot has optionally stopped on path as fast as possible. To obtain a fixed position I/O check, TriggCheckIO compensates for the lag in the control system (lag between servo and robot). The data defined is used for implementation in one or more subsequent TriggL, TriggC, or TriggJ instructions. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggCheckIO are illustrated below. See also More examples on page 607. Example 1
VAR triggdata checkgrip; VAR intnum intno1; PROC main() CONNECT intno1 WITH trap1; TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1; TriggL p1, v500, checkgrip, z50, grip1;

The digital input signal airok is checked to have the value 1 when the TCP is 100 mm before the point p1. If it is set then normal execution of the program continues. If it is not set then the interrupt routine trap1 is run. The figure shows an example of fixed position I/O check.

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Arguments
TriggCheckIO TriggData Distance [\Start] | [\Time] Signal Relation CheckValue |CheckDvalue [\StopMove] Interrupt

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1.211 TriggCheckIO - Defines IO check at a fixed position Continued TriggData Data type: triggdata Variable for storing the triggdata returned from this instruction. These triggdata are then used in the subsequent TriggL, TriggC, or TriggJ instructions. Distance Data type: num Defines the position on the path where the I/O check shall occur. Specified as the distance in mm (positive value) from the end point of the movement path (applicable if the argument \Start or \Time is not set). See the section Program execution for further details. [ \Start ] Data type: switch Used when the distance for the argument Distance starts at the movement start point instead of the end point. [ \Time ] Data type: switch Used when the value specified for the argument Distance is in fact a time in seconds (positive value) instead of a distance. Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches the end point of the instruction. See the section Limitations for more details. Signal Data type: signalxx The name of the signal that will be tested. May be any type of IO signal. Relation Data type: opnum Defines how to compare the actual value of the signal with the one defined by the argument CheckValue. Refer to the opnum data type for the list of the predefined constants to be used. CheckValue Data type: num Value to which the actual value of the input or output signal is to be compared (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital group signal, the permitted value is dependent on the number of signals in the group. Max value that can be used in the CheckValue argument is 8388608, and that is the value a 23 bit digital group signal can have as maximum value (see ranges for num). CheckDvalue Data type: dnum

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1.211 TriggCheckIO - Defines IO check at a fixed position Continued Value to which the actual value of the input or output signal is to be compared (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital group signal, the permitted value is dependent on the number of signals in the group. The maximal amout of signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover the value range 0-4294967295, which is the value range a 32 bits digital signal can have. [ \StopMove ] Data type: switch Specifies that if the condition is not fulfilled then the robot will stop on path as quickly as possible before the interrupt routine is run. Interrupt Data type: intnum Variable used to identify the interrupt routine to run. Program execution When running the instruction TriggCheckIO, the trigger condition is stored in a specified variable for the argument TriggData. Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the following are applicable with regard to the definitions in TriggCheckIO: The table describes distance specified in the argument Distance:
Linear movement Circular movement Non-linear movement The straight line distance The circle arc length The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure shows fixed position I/O check on a corner path.

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The fixed position I/O check will be done when the start point (end point) is passed if the specified distance from the end point (start point) is not within the length of movement of the current instruction (TriggL...). When the TCP of the robot is at specified place on the path, the following I/O check will be done by the system: Continues on next page
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Read the value of the I/O signal. Compare the read value with CheckValue according specified Relation.

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1.211 TriggCheckIO - Defines IO check at a fixed position Continued More examples More examples of how to use the instruction TriggCheckIO are illustrated below. Example 1
VAR triggdata checkgate; VAR intnum gateclosed; PROC main() CONNECT gateclosed WITH waitgate; TriggCheckIO checkgate,150, gatedi, EQ, 1 \StopMove, gateclosed; TriggL p1, v600, checkgate, z50, grip1; ... TRAP waitgate ! log some information ... WaitDI gatedi,1; StartMove; ENDTRAP

If the comparison is TRUE then nothing more is done. If the comparison is FALSE then following is done: If optional parameter \StopMove is present then the robot is stopped on the path as quickly as possible. Generate and execute the specified TRAP routine.

The gate for the next workpiece operation is checked to be open (digital input signal gatedi is checked to have the value 1) when the TCP is 150 mm before the point p1. If it is open then the robot will move on to p1 and continue. If it is not open then the robot is stopped on path and the interrupt routine waitgate is run. This interrupt routine logs some information and typically waits for the conditions to be OK to execute a StartMove instruction in order to restart the interrupted path. Error handling The following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_GO_LIM if the programmed CheckValue or CheckDvalue argument for the specified digital group output signal Signal is outside limits. ERR_AO_LIM if the programmed CheckValue or CheckDvalue argument for the specified analog output signal Signal is outside limits. Limitations I/O checks with distance (without the argument \Time) is intended for flying points (corner path). I/O checks with distance, using stop points, results in worse accuracy than specified below.

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1.211 TriggCheckIO - Defines IO check at a fixed position Continued I/O checks with time (with the argument \Time) is intended for stop points. I/O checks with time, using flying points, results in worse accuracy than specified below. I/O checks with time can only be specified from the end point of the movement. This time cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater that the current braking time then the I/O check will be generated anyway but not until braking is started (later than specified). However, the whole of the movement time for the current movement can be utilized during small and fast movements. Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy values for testing of digital inputs +/- 2 ms. Syntax
TriggCheckIO [ TriggData := ] < variable (VAR) of triggdata> , [ Distance := ] < expression (IN) of num> [ \ Start ] | [ \ Time ] , [ Signal := ] < variable (VAR) of anytype> , [ Relation := ] < expression (IN) of opnum> , [ CheckValue := ] < expression (IN) of num> | [ CheckDvalue := ] < expression (IN) of dnum> [ \ StopMove] , [ Interrupt := ] < variable(VAR) of intnum> ;

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624

Definition of position-time I/O event TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 Definition of position related interrupts Storage of trigg data Definition of comparison operators TriggInt - Defines a position related interrupt on page 615 triggdata - Positioning events, trigg on page 1279 opnum - Comparison operator on page 1210I

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1.212 TriggEquip - Define a fixed position and time I/O event on the path

1.212 TriggEquip - Define a fixed position and time I/O event on the path
Usage TriggEquip (Trigg Equipment) is used to define conditions and actions for setting a digital, a group of digital, or an analog output signal at a fixed position along the robots movement path with possibility to do time compensation for the lag in the external equipment. TriggIO (not TriggEquip) should always be used if there is need for good accuracy of the I/O settings near a stop point. The data defined is used for implementation in one or more subsequent TriggL, TriggC, or TriggJ instructions. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggEquip are illustrated below. See also More examples on page 612. Example 1
VAR triggdata gunon; ... TriggEquip gunon, 10, 0.1 \DOp:=gun, 1; TriggL p1, v500, gunon, z50, gun1;

The tool gun1 starts to open when its TCP is 0,1 s before the fictitious point p2 (10 mm before point p1). The gun is full open when TCP reach point p2. The figure shows an example of a fixed position time I/O event.

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Arguments
TriggEquip TriggData Distance [\Start] EquipLag [\DOp] | [\GOp]| [\AOp] | [\ProcID] SetValue | SetDvalue [\Inhib]

TriggData Data type: triggdata Variable for storing the triggdata returned from this instruction. These triggdata are then used in the subsequent TriggL, TriggC, or TriggJ instructions. Distance Data type: num Continues on next page
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1.212 TriggEquip - Define a fixed position and time I/O event on the path Continued Defines the position on the path where the I/O equipment event shall occur. Specified as the distance in mm (positive value) from the end point of the movement path (applicable if the argument \Start is not set). See the section Program execution for further details. [ \Start ] Data type: switch Used when the distance for the argument Distance starts at the movement start point instead of the end point. EquipLag Equipment Lag Data type: num Specify the lag for the external equipment in s. For compensation of external equipment lag, use a positive argument value. Positive argument value means that the I/O signal is set by the robot system at a specified time before the TCP physically reaches the specified distance in relation to the movement start or end point. Negative argument value means that the I/O signal is set by the robot system at a specified time after that the TCP has physically passed the specified distance in relation to the movement start or end point. The figure shows use of argument EquipLag.

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[ \DOp ] Digital Output Data type: signaldo The name of the signal when a digital output signal shall be changed. [ \GOp ] Group Output Data type: signalgo The name of the signal when a group of digital output signals shall be changed. [ \AOp ] Analog Output Continues on next page
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1.212 TriggEquip - Define a fixed position and time I/O event on the path Continued Data type: signalao The name of the signal when a analog output signal shall be changed. [ \ProcID ] Process Identity Data type: num Not implemented for customer use. (The identity of the IPM process to receive the event. The selector is specified in the argument SetValue.) SetValue Data type: num The desired value of the signal (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital group signal, the permitted value is dependent on the number of signals in the group. Max value that can be used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal can have as maximum value (see ranges for num). SetDvalue Data type: dnum The desired value of the signal (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital group signal, the permitted value is dependent on the number of signals in the group. The maximal amout of signal bits a digital group signal can have is 32. With a dnumvariable it is possible to cover the value range 0-4294967295, which is the value range a 32 bits digital signal can have. [ \Inhib ] Inhibit Data type: bool The name of a persistent variable flag for inhibiting the setting of the signal at runtime. If this optional argument is used and the actual value of the specified flag is TRUE at the position-time for setting of the signal then the specified signal (DOp, GOp or AOp) will be set to 0 instead of a specified value. Program execution When running the instruction TriggEquip, the trigger condition is stored in the specified variable for the argument TriggData. Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed then the following are applicable with regard to the definitions in TriggEquip: The table describes the distance specified in the argument Distance:
Linear movement Circular movement The straight line distance The circle arc length

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1.212 TriggEquip - Define a fixed position and time I/O event on the path Continued
Non-linear movement The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure shows fixed position time I/O on a corner path.

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The position-time related event will be generated when the start point (end point) is passed if the specified distance from the end point (start point) is not within the length of movement of the current instruction (TriggL...). With use of argument EquipLag with negative time (delay), the I/O signal can be set after the end point. More examples More examples of how to use the instruction TriggEquip are illustrated below. Example 1
VAR triggdata glueflow; ... TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3; MoveJ p1, v1000, z50, tool1; TriggL p2, v500, glueflow, z50, tool1;

The analog output signal glue is set to the value 5.3 when the TCP passes a point located 1 mm after the start point p1 with compensation for equipment lag 0.05 s. Example 2
... TriggL p3, v500, glueflow, z50, tool1;

The analog output signal glue is set once more to the value 5.3 when the TCP passes a point located 1 mm after the start point p2. Error handling If the programmed SetValue argument for the specified analog output signal AOp is out of limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in the error handler. If the programmed SetValue or SetDvalue argument for the specified digital group output signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error can be handled in the error handler. Limitations I/O events with distance is intended for flying points (corner path). I/O events with distance, using stop points, results in worse accuracy than specified below. Continues on next page
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1.212 TriggEquip - Define a fixed position and time I/O event on the path Continued Regarding the accuracy for I/O events with distance and using flying points, the following is applicable when setting a digital output at a specified distance from the start point or end point in the instruction TriggL or TriggC: Accuracy specified below is valid for positive EquipLag parameter < 40 ms, equivalent to the lag in the robot servo (without changing the system parameter Event Preset Time ). The lag can vary between different robot types. For example it is lower for IRB140. Accuracy specified below is valid for positive EquipLag parameter < configured Event Preset Time (system parameter). Accuracy specified below is not valid for positive EquipLag parameter > configured Event Preset Time (system parameter). In this case, an approximate method is used in which the dynamic limitations of the robot are not taken into consideration. SingArea \Wrist must be used in order to achieve an acceptable accuracy. Accuracy specified below is valid for negative EquipLag.

Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy values for set of digital outputs +/- 2 ms. Syntax
TriggEquip [ TriggData := ] < variable (VAR) of triggdata> , [ Distance := ] < expression (IN) of num> [ \ Start ] , [ EquipLag := ] < expression (IN) of num> [ \ DOp := < variable (VAR) of signaldo> ] | [ \ GOp := < variable (VAR) of signalgo> ] | [ \ AOp := < variable (VAR) of signalao> ] | [ \ ProcID := < expression (IN) of num> ] , [ SetValue := ] < expression (IN) of num> | [ SetDvalue := ] < expression (IN) of dnum> [ \ Inhib := < persistent (PERS) of bool> ] ,

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggInt - Defines a position related interrupt on page 615 TriggCheckIO - Defines IO check at a fixed position on page 604 triggdata - Positioning events, trigg on page 1279

Definition of other triggs

Define I/O check at a fixed position Storage of trigg data

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1.212 TriggEquip - Define a fixed position and time I/O event on the path Continued
For information about Set of I/O See SetDO - Changes the value of a digital output signal on page 457 SetGO - Changes the value of a group of digital output signals on page 459 SetAO - Changes the value of an analog output signal on page 448 Technical reference manual - System parameters

Configuration of Event preset time

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1.213 TriggInt - Defines a position related interrupt

1.213 TriggInt - Defines a position related interrupt

Usage TriggInt is used to define conditions and actions for running an interrupt routine at a specified position on the robots movement path. The data defined is used for implementation in one or more subsequent TriggL, TriggC, or TriggJ instructions. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in Motion tasks. Basic examples Basic examples of the instruction TriggInt are illustrated below. Example 1
VAR intnum intno1; VAR triggdata trigg1; ... PROC main() CONNECT intno1 WITH trap1; TriggInt trigg1, 5, intno1; ... TriggL p1, v500, trigg1, z50, gun1; TriggL p2, v500, trigg1, z50, gun1; ... IDelete intno1;

The interrupt routine trap1 is run when the TCP is at a position 5mm before the point p1 or p2 respectively. The figure shows an example of position related interrupt.

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Arguments
TriggInt TriggData Distance [\Start] | [\Time] Interrupt

TriggData Data type: triggdata Variable for storing the triggdata returned from this instruction. These triggdata are then used in the subsequent TriggL, TriggC, or TriggJ instructions. Distance Data type: num Continues on next page
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1.213 TriggInt - Defines a position related interrupt Continued Defines the position on the path where the interrupt shall be generated. Specified as the distance in mm (positive value) from the end point of the movement path (applicable if the argument \Start or \Time is not set). See the section entitled Program execution for further details. [ \Start ] Data type: switch Used when the distance for the argument Distance starts at the movements start point instead of the end point. [ \Time ] Data type: switch Used when the value specified for the argument Distance is in fact a time in seconds (positive value) instead of a distance. Position related interrupts in time can only be used for short times (< 0.5 s) before the robot reaches the end point of the instruction. See the section Limitations for more details. Interrupt Data type: intnum Variable used to identify an interrupt. Program execution When running the instruction TriggInt, data is stored in a specified variable for the argument TriggData and the interrupt that is specified in the variable for the argument Interrupt is activated. Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the following are applicable with regard to the definitions in TriggInt: The table describes the distance specified in the argument Distance:
Linear movement Circular movement Non-linear movement The straight line distance The circle arc length The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure shows position related interrupt on a corner path.

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1.213 TriggInt - Defines a position related interrupt Continued The position related interrupt will be generated when the start point (end point) is passed if the specified distance from the end point (start point) is not within the length of movement of the current instruction (TriggL...). The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with instruction ISleep. The safe interrupt event will be queued at program stop and stepwise execution, and when starting in continious mode again, the interrupt will be executed. The only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will not survive program reset, e.g. PP to main. More examples More examples of how to use the instruction TriggInt are illustrated below. Example 1 This example describes programming of the instructions that interact to generate position related interrupts:
VAR intnum intno2; VAR triggdata trigg2;

Declaration of the variables intno2 and trigg2 (shall not be initiated).

CONNECT intno2 WITH trap2;

Allocation of interrupt numbers that are stored in the variable intno2. The interrupt number is coupled to the interrupt routine trap2.
TriggInt trigg2, 0, intno2;

The interrupt number in the variable intno2 is flagged as used. The interrupt is activated. Defined trigger conditions and interrupt numbers are stored in the variable trigg2
TriggL p1, v500, trigg2, z50, gun1;

The robot is moved to the point p1. When the TCP reaches the point p1 an interrupt is generated, and the interrupt routine trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;

The robot is moved to the point p2. When the TCP reaches the point p2, an interrupt is generated and the interrupt routine trap2 is run once more.
IDelete intno2;

Limitations

The interrupt number in the variable intno2 is de-allocated.

Interrupt events with distance (without the argument\Time) are intended for flying points (corner path). Interrupt events with distance, using stop points results in worse accuracy than specified below. Interrupt events with time (with the argument\Time) are intended for stop points. Interrupt events with time, using flying points, result in worse accuracy than specified below. I/O events with time can only be specified from the end point of Continues on next page
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1.213 TriggInt - Defines a position related interrupt Continued the movement. This time cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater that the current braking time then the event will be generated anyhow but not until braking is started (later than specified). However, the whole of the movement time for the current movement can be utilized during small and fast movements. Typical absolute accuracy values for generation of interrupts +/- 5 ms. Typical repeat accuracy values for generation of interrupts +/- 2 ms. Normally there is a delay of 2 to 30 ms between interrupt generation and response depending on the type of movement being performed at the time of the interrupt. (Ref. to RAPID reference manual - RAPID overview, section Basic characteristics - Interrupts). To obtain the best accuracy when setting an output at a fixed position along the robots path, use the instructions TriggIO or TriggEquip in preference to the instructions TriggInt with SetDO/SetGO/SetAO in an interrupt routine. Syntax
TriggInt [ TriggData := ] < variable (VAR) of triggdata> , [ Distance := ] < expression (IN) of num> [ \ Start ] | [ \ Time ] , [ Interrupt := ] < variable (VAR) ofintnum> ;

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 TriggCheckIO - Defines IO check at a fixed position on page 604 triggdata - Positioning events, trigg on page 1279 Technical reference manual - RAPID overview

Definition of position fix I/O

Define I/O check at a fixed position Storage of trigg data Interrupts

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1.214 TriggIO - Define a fixed position or time I/O event near a stop point

1.214 TriggIO - Define a fixed position or time I/O event near a stop point
Usage TriggIO is used to define conditions and actions for setting a digital, a group of digital, or an analog output signal at a fixed position along the robots movement path. TriggIO (not TriggEquip) should always be used if needed for good accuracy of the I/O settings near a stop point. To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system (lag between robot and servo) but not for any lag in the external equipment. For compensation of both lags use TriggEquip. The data defined is used for implementation in one or more subsequent TriggL, TriggC, or TriggJ instructions. This instruction can only be used in the main T_ROB1 task or, if in a MultiMove system, in Motion tasks. Basic examples Basic example of the instruction TriggIO are illustrated below. See also More examples on page 622. Example 1
VAR triggdata gunon; ... TriggIO gunon, 0.2\Time\DOp:=gun, 1; TriggL p1, v500, gunon, fine, gun1;

The digital output signal gun is set to the value 1 when the TCP is 0,2 seconds before the point p1. The figure shows an example of fixed position I/O event.

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Arguments
TriggIO TriggData Distance [\Start] | [\Time] [\DOp] | [\GOp]| [\AOp] | [\ProcID] SetValue | SetDvalue [\DODelay]

TriggData Data type: triggdata Variable for storing the triggdata returned from this instruction. These triggdata are then used in the subsequent TriggL, TriggC, or TriggJ instructions. Continues on next page
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1.214 TriggIO - Define a fixed position or time I/O event near a stop point Continued Distance Data type: num Defines the position on the path where the I/O event shall occur. Specified as the distance in mm (positive value) from the end point of the movement path (applicable if the argument \Start or \Time is not set). See the sections Program execution on page 621, and Limitations on page 622 for further details. [ \Start ] Data type: switch Used when the distance for the argument Distance starts at the movement start point instead of the end point. [ \Time ] Data type: switch Used when the value specified for the argument Distance is in fact a time in seconds (positive value) instead of a distance. Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches the end point of the instruction. See the section Limitations for more details. [ \DOp ] Digital Output Data type: signaldo The name of the signal when a digital output signal shall be changed. [ \GOp ] Group Output Data type: signalgo The name of the signal when a group of digital output signals shall be changed. [ \AOp ] Analog Output Data type: signalao The name of the signal when a analog output signal shall be changed. [ \ProcID ] Process Identity Data type: num Not implemented for customer use. (The identity of the IPM process to receive the event. The selector is specified in the argument SetValue.) SetValue Data type: num The desired value of the signal (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital Continues on next page
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1.214 TriggIO - Define a fixed position or time I/O event near a stop point Continued group signal, the permitted value is dependent on the number of signals in the group. Max value that can be used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal can have as maximum value (see ranges for num). SetDvalue Data type: dnum The desired value of the signal (within the allowed range for the current signal). If the signal is a digital signal, it must be an integer value. If the signal is a digital group signal, the permitted value is dependent on the number of signals in the group. The maximal amout of signal bits a digital group signal can have is 32. With a dnumvariable it is possible to cover the value range 0-4294967295, which is the value range a 32 bits digital signal can have. [ \DODelay ] Digital Output Delay Data type: num Time delay in seconds (positive value) for a digital, group, or analog output signal. Only used to delay setting of output signals after the robot has reached the specified position. There will be no delay if the argument is omitted. The delay is not synchronized with the movement. Program execution When running the instruction TriggIO, the trigger condition is stored in a specified variable in the argument TriggData. Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the following are applicable with regard to the definitions in TriggIO: The following table describes the distance specified in the argument Distance:
Linear movement Circular movement Non-linear movement The straight line distance The circle arc length The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure shows fixed position I/O on a corner path.

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1.214 TriggIO - Define a fixed position or time I/O event near a stop point Continued The fixed position I/O will be generated when the start point (end point) is passed if the specified distance from the end point (start point) is not within the length of movement of the current instruction (Trigg...). More examples More examples of how to use the instruction TriggIO are illustrated below. Example 1
VAR triggdata glueflow; TriggIO glueflow, 1 \Start \AOp:=glue, 5.3; MoveJ p1, v1000, z50, tool1; TriggL p2, v500, glueflow, z50, tool1;

The analog output signal glue is set to the value 5.3 when the work point (TCP) passes a point located 1 mm after the start point p1. Example 2
... TriggL p3, v500, glueflow, z50, tool1;

The analog output signal glue is set once more to the value 5.3 when the work point (TCP) passes a point located 1 mm after the start point p2. Error handling If the programmed SetValue argument for the specified analog output signal AOp is out of limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in the error handler. If the programmed SetValue or SetDvalue argument for the specified digital group output signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error can be handled in the error handler. Limitations I/O events with distance (without the argument \Time) is intended for flying points (corner path). I/O events with distance=0, using stop points, will delay the trigg until the robot has reached the point with accuracy +/-24 ms. I/O events with time (with the argument \Time) are intended for stop points. I/O events with time, using flying points result in worse accuracy than specified below. I/O events with time can only be specified from the end point of the movement. This time cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater than the current braking time then the event will be generated anyway but not until braking is started (later than specified). However, the whole of the movement time for the current movement can be utilized during small and fast movements. Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy values for set of digital outputs +/- 2 ms.

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1.214 TriggIO - Define a fixed position or time I/O event near a stop point Continued Syntax
TriggIO [ TriggData := ] < variable (VAR) of triggdata> , [ Distance := ] < expression (IN) of num> [ \ Start ] | [ \ Time ] [ \ DOp := < variable (VAR) of signaldo> ] | [ \ GOp := < variable (VAR) of signalgo> ] | [ \ AOp := < variable (VAR) of signalao> ] | [ \ ProcID := < expression (IN) of num> ] , [ SetValue := ] < expression (IN) of num> | [ SetDvalue := ] < expression (IN) of dnum> [ \ DODelay := < expression (IN) of num> ] ;

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 TriggEquip - Define a fixed position and time I/O event on the path on page 609

Definition of position-time I/O event

Definition of position related interrupts TriggInt - Defines a position related interrupt on page 615 Storage of trigg data Define I/O check at a fixed position Set of I/O triggdata - Positioning events, trigg on page 1279 TriggCheckIO - Defines IO check at a fixed position on page 604 SetDO - Changes the value of a digital output signal on page 457 SetGO - Changes the value of a group of digital output signals on page 459 SetAO - Changes the value of an analog output signal on page 448

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1.215 TriggJ - Axis-wise robot movements with events

1.215 TriggJ - Axis-wise robot movements with events

Usage TriggJ (TriggJoint) is used to set output signals and/or run interrupt routines at roughly fixed positions at the same time that the robot is moving quickly from one point to another when that movement does not have be in a straight line. One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO and afterwards these definitions are referred to in the instruction TriggJ. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggJ are illustrated below. See also More examples on page 628. Example 1
VAR triggdata gunon; ... TriggIO gunon, 0 \Start \DOp:=gun, 1; MoveL p1, v500, z50, gun1; TriggJ p2, v500, gunon, fine, gun1;

The digital output signal gun is set when the robots TCP passes the midpoint of the corner path of the point p1. The figure shows an example of fixed position I/O event.

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Arguments
TriggJ [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [ \T2 ] [ \T3 ] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the programmed points are very close together at high speeds. Continues on next page
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1.215 TriggJ - Axis-wise robot movements with events Continued The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. It can also be used to tune the execution of the robot path to avoid warning 50024 Corner path failure or error 40082 Deceleration limit. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted then the subsequent instruction is executed after the robot has reached the specified stop point or 100 ms before the specified zone. This argument can not be used in coordinated synchronized movement in a MultiMove System. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove System, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the tool reorientation, and the external axes. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Trigg_1 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO. [ \T2 ] Trigg 2 Data type: triggdata

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1.215 TriggJ - Axis-wise robot movements with events Continued Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO. [ \T3 ] Trigg 3 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO. [ \T4 ] Trigg 4 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO. [ \T5 ] Trigg 5 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T6 ] Trigg 6 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T7 ] Trigg 7 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO. [ \T8 ] Trigg 8 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO.

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1.215 TriggJ - Axis-wise robot movements with events Continued Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a joint movement relative to the work object to be performed. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital

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1.215 TriggJ - Axis-wise robot movements with events Continued input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveJ for information about joint movement. As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point, the defined trigger activities are carried out. The trigger conditions are fulfilled either at a certain distance before the end point of the instruction, or at a certain distance after the start point of the instruction, or at a certain point in time (limited to a short time) before the end point of the instruction. During the stepping execution forward, the I/O activities are carried out but the interrupt routines are not run. During stepping the execution backwards, no trigger activities at all are carried out. More examples More examples of how to use the instruction TriggJ are illustrated below. Example 1
VAR intnum intno1; VAR triggdata trigg1; ... PROC main() CONNECT intno1 WITH trap1; TriggInt trigg1, 0.1 \Time, intno1; ... TriggJ p1, v500, trigg1, fine, gun1; TriggJ p2, v500, trigg1, fine, gun1; ... IDelete intno1;

The interrupt routine trap1 is run when the work point is at a position 0.1 s before the stop point p1 or p2 respectively. Error handling If the programmed ScaleValue argument for the specified analog output signal AOp in some of the connected TriggSpeed instructions results in out of limit for the analog signal together with the programmed Speed in this instruction, then the system variable ERRNO is set to ERR_AO_LIM. If the programmed DipLag argument in some of the connected TriggSpeed instructions is too big in relation to the Event Preset Time used in System Parameters then the system variable ERRNO is set to ERR_DIPLAG_LIM. The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e. a signal is used in the triggdata. Continues on next page
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1.215 TriggJ - Axis-wise robot movements with events Continued These errors can be handled in the error handler. Limitations If the current start point deviates from the usual so that the total positioning length of the instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot position at the end point), it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position. In such cases, the sequence in which the trigger activities are carried will be undefined. The program logic in the user program may not be based on a normal sequence of trigger activities for an incomplete movement. Syntax
TriggJ [ \ Conc ,] [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >], [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ], [Trigg_1 := ] < variable (VAR) of triggdata > [ \ T2 := < variable (VAR) of triggdata > ] [ \ T3 := < variable (VAR) of triggdata > ] [ \ T4 := < variable (VAR) of triggdata > ] [ \ T5 := < variable (VAR) of triggdata > ] [ \ T6 := < variable (VAR) of triggdata > ] [ \ T7 := < variable (VAR) of triggdata > ] [ \ T8 := < variable (VAR) of triggdata > ] , [Zone := ] < expression (IN) of zonedata > [ \ Inpos := < expression (IN) of stoppointdata > ], [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj :=< persistent (PERS) of wobjdata > ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Linear movement with triggers Circular movement with triggers Definition of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 TriggRampAO - Define a fixed position ramp AO event on the path on page 645 TriggInt - Defines a position related interrupt on page 615 TriggCheckIO - Defines IO check at a fixed position on page 604

Moves the robot by joint movement MoveJ - Moves the robot by joint movement on page 261

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1.215 TriggJ - Axis-wise robot movements with events Continued
For information about Joint movement Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work object Definition of zone data Motion in general See Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview

Example of how to use TLoad, Total MoveL - Moves the robot linearly on page 275 Load. Defining the payload for a robot LoadIdentify, load identification service routine GripLoad - Defines the payload for a robot on page 128 Operating manual - IRC5 with FlexPendant

System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.216 TriggL - Linear robot movements with events

1.216 TriggL - Linear robot movements with events

Usage TriggL (Trigg Linear) is used to set output signals and/or run interrupt routines at fixed positions at the same time that the robot is making a linear movement. One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. Afterwards these definitions are referred to in the instruction TriggL. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggL are illustrated below. See also More examples on page 635. Example 1
VAR triggdata gunon; TriggIO gunon, 0 \Start \DOp:=gun, 1; MoveJ p1, v500, z50, gun1; TriggL p2, v500, gunon, fine, gun1;

The digital output signal gun is set when the robots TCP passes the midpoint of the corner path of the point p1. The figure shows an example of fixed position I/O event.

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Arguments
TriggL [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\Corr] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument can be used to avoid unwanted stops, caused by overloaded CPU, when using fly-by points. This is useful when the programmed points are very close together at high speeds.

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1.216 TriggL - Linear robot movements with events Continued The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. It can also be used to tune the execution of the robot path, to avoid warning 50024 Corner path failure or error 40082 Deceleration limit. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument cannot be used in a coordinated synchronized movement in a MultiMove System. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the external axes, and of the tool reorientation. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. Trigg_1 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO or TriggRampAO. [ \T2 ] Trigg 2 Data type: triggdata

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1.216 TriggL - Linear robot movements with events Continued Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T3 ] Trigg 3 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T4 ] Trigg 4 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T5 ] Trigg 5 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T6 ] Trigg 6 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T7 ] Trigg 7 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. [ \T8 ] Trigg 8 Data type: triggdata Variable that refers to trigger conditions and trigger activity defined earlier in the program using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO.

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1.216 TriggL - Linear robot movements with events Continued Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a linear movement relative to the work object to be performed. [ \Corr ] Correction Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present. [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy Continues on next page
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1.216 TriggL - Linear robot movements with events Continued the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveL for information about linear movement. As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end point, the defined trigger activities are carried out. The trigger conditions are fulfilled either at a certain distance before the end point of the instruction, or at a certain distance after the start point of the instruction, or at a certain point in time (limited to a short time) before the end point of the instruction. During stepping the execution forward, the I/O activities are carried out but the interrupt routines are not run. During stepping the execution backwards, no trigger activities at all are carried out. More examples More examples of how to use the instruction TriggL are illustrated below. Example 1
VAR intnum intno1; VAR triggdata trigg1; ... PROC main() CONNECT intno1 WITH trap1; TriggInt trigg1, 0.1 \Time, intno1; ... TriggL p1, v500, trigg1, fine, gun1; TriggL p2, v500, trigg1, fine, gun1; ... IDelete intno1;

The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point p1 or p2 respectively. Error handling If the programmed ScaleValue argument for the specified analog output signal AOp in some of the connected TriggSpeed instructions results in out of limit for the analog signal together with the programmed Speed in this instruction, then the system variable ERRNO is set to ERR_AO_LIM.

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1.216 TriggL - Linear robot movements with events Continued If the programmed DipLag argument in some of the connected TriggSpeed instructions is too big in relation to the Event Preset Time used in System Parameters, then the system variable ERRNO is set to ERR_DIPLAG_LIM. The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e. a signal is used in the triggdata. These errors can be handled in the error handler. Limitations If the current start point deviates from the usual so that the total positioning length of the instruction TriggL is shorter than usual (e.g. at the start of TriggL with the robot position at the end point) it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position. In such cases, the sequence in which the trigger activities are carried out will be undefined. The program logic in the user program may not be based on a normal sequence of trigger activities for an incomplete movement. Syntax
TriggL [\ Conc ,] [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >] , [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ], [Trigg_1 := ] < variable (VAR) of triggdata > [ \ T2 := < variable (VAR) of triggdata > ] [ \ T3 := < variable (VAR) of triggdata > ] [ \ T4 := < variable (VAR) of triggdata > ] [ \ T5 := < variable (VAR) of triggdata > ] [ \ T6 := < variable (VAR) of triggdata > ] [ \ T7 := < variable (VAR) of triggdata > ] [ \ T8 := < variable (VAR) of triggdata > ] , [Zone := ] < expression (IN) of zonedata > [ \ Inpos := < expression (IN) of stoppointdata > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about Circular movement with triggers Joint movement with triggers See TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624

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1.216 TriggL - Linear robot movements with events Continued
For information about Definition of triggers See TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 TriggInt - Defines a position related interrupt on page 615 TriggCheckIO - Defines IO check at a fixed position on page 604 TriggRampAO - Define a fixed position ramp AO event on the path on page 645 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event on page 651 CorrWrite - Writes to a correction generator on page 84 Technical reference manual - RAPID overview loaddata - Load data on page 1192 speeddata - Speed data on page 1248 stoppointdata - Stop point data on page 1252 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 zonedata - Zone data on page 1298 Technical reference manual - RAPID overview MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128 Operating manual - IRC5 with FlexPendant

Writes to a corrections entry Linear movement Definition of load Definition of velocity Definition of stop point data Definition of tools Definition of work objects Definition of zone data Motion in general Example of how to use TLoad, Total Load. Defining the payload for a robot LoadIdentify, load identification service routine

System input signal SimMode for Technical reference manual - System parameters running the robot in simulated mode without payload. (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoad- Technical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.217 TriggLIOs - Linear robot movements with I/O events

1.217 TriggLIOs - Linear robot movements with I/O events

Usage TriggLIOs (Trigg Linear I/O) is used to set output signals at fixed positions at the same time that the robot is making a linear movement. The TriggLIOs instruction is optimized to give good accuracy when using movements with zones (compare with TriggEquip/TriggL). Basic examples Basic examples of the instruction TriggLIOs are illustrated below. See also More examples on page 642. Example 1
VAR triggios gunon{1}; gunon{1}.used:=TRUE; gunon{1}.distance:=3; gunon{1}.start:=TRUE; gunon{1}.signalname:="gun"; gunon{1}.equiplag:=0; gunon{1}.setvalue:=1; MoveJ p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData1:=gunon, z50, gun1; MoveL p3, v500, z50, gun1;

The signal gun is set when the TCP is 3 mm after point p1. The figure shows an example of a fixed position I/O event.

en0800000157

Arguments
TriggLIOs [\Conc] ToPoint [\ID] Speed [\T] [\TriggData1] [\TriggData2] [\TriggData3] Zone [\Inpos] Tool [\WObj] [\Corr] [\TLoad]

[ \Conc ] Concurrent Data type:switch Subsequent instructions are executed while the robot is moving. The argument can be used to avoid unwanted stops, caused by overloaded CPU, when using

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1.217 TriggLIOs - Linear robot movements with I/O events Continued fly-by points. This is useful when the programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with external equipment and synchronization between the external equipment and robot movement is not required. It can also be used to tune the execution of the robot path, to avoid warning 50024 Corner path failure or error 40082 Deceleration limit. Using the argument \Conc, the number of movement instructions in succession is limited to 5. In a program section that includes StorePath-RestoPath, movement instructions with the argument \Conc are not permitted. If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction is executed some time before the robot has reached the programmed zone. This argument cannot be used in a coordinated synchronized movement in a MultiMove System. ToPoint Data type:robtarget The destination point of the robot and external axes. It is defined as a named position or stored directly in the instruction (marked with an * in the instruction). [ \ID ] Synchronization id Data type: identno This argument must be used in a MultiMove system, if it is a coordinated synchronized movement, and is not allowed in any other cases. The specified ID number must be the same in all cooperating program tasks. The ID number gives a guarantee that the movements are not mixed up at runtime. Speed Data type: speeddata The speed data that applies to movements. Speed data defines the velocity of the tool center point, the external axes, and of the tool reorientation. [ \T ] Time Data type: num This argument is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding speed data. [\TriggData1] Data type: array of triggios Variable (array) that refers to trigger conditions and trigger activity. When using this argument, it is possible to set analog output signals, digital output signals and digital group output signals. If using a digital group output signal there is a limitation on 23 signals in the group.

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1.217 TriggLIOs - Linear robot movements with I/O events Continued [\TriggData2] Data type: array of triggstrgo Variable (array) that refers to trigger conditions and trigger activity. When using this argument, it is possible to set digital group output signals that consists of 32 signals in the group and can have a maximum set value of 4294967295. Only digital group output signals can be used. [\TriggData3] Data type: array of triggiosdnum Variable (array) that refers to trigger conditions and trigger activity. When using this argument, it is possible to set analog output signals, digital output signals and digital group output signals that consists of 32 signals in the group and can have a maximum set value of 4294967295. Zone Data type:zonedata Zone data for the movement. Zone data describes the size of the generated corner path. [ \Inpos ] In position Data type: stoppointdata This argument is used to specify the convergence criteria for the position of the robots TCP in the stop point. The stop point data substitutes the zone specified in the Zone parameter. Tool Data type: tooldata The tool in use when the robot moves. The tool center point is the point that is moved to the specified destination position. [ \WObj ] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted and if so then the position is related to the world coordinate system. If, on the other hand, a stationary TCP or coordinated external axes are used then this argument must be specified for a linear movement relative to the work object to be performed. [ \Corr ] Correction Data type: switch Correction data written to a corrections entry by the instruction CorrWrite will be added to the path and destination position if this argument is present.

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1.217 TriggLIOs - Linear robot movements with I/O events Continued [ \TLoad ] Total load Data type: loaddata The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. If the \TLoad argument is set to load0, then the \TLoad argument is not considered and the loaddata in the current tooldata is used instead. To be able to use the \TLoad argument it is necessary to set the value of the system parameter ModalPayLoadMode to 0. If ModalPayLoadMode is set to 0, it is no longer possible to use the instruction GripLoad. The total load can be identified with the service routine LoadIdentify. If the system parameter ModalPayLoadMode is set to 0, the operator has the possibility to copy the loaddata from the tool to an existing or new loaddata persistent variable when running the service routine. It is possible to test run the program without any payload by using a digital input signal connected to the system input SimMode (Simulated Mode). If the digital input signal is set to 1, the loaddata in the optional argument \TLoad is not considered, and the loaddata in the current tooldata is used instead. Note The default functionality to handle payload is to use the instruction GripLoad. Therefore the default value of the system parameter ModalPayLoadMode is 1. Program execution See the instruction MoveL for information about linear movement. With the instruction TriggLIOs it is possible to setup 1-50 different trigger activities on I/O signals along a path from A to B. The signals that can be used are digital output signals, digital group output signals and analog output signals. The trigger conditions are fulfilled either at a certain distance before the end point of the instruction, or at a certain distance after the start point of the instruction. The instruction requires use of either TriggData1, TriggData2 or TriggData3 argument or all three of them. Use of any of the triggs is optional though. To inhibit use of a trigg the component used can be set to FALSE in the array element of the data types triggios/triggstrgo/triggiosdnum. If no array element is in use, then the TriggLIOs instruction will behave as a MoveL, and no I/O activities will be carried out. If stepping the program forward, the I/O activities are carried out. During stepping the execution backwards, no I/O activities at all are carried out. If setting component EquipLag in TriggData1, TriggData2 or TriggData3 argument to a negative time (delay), the I/O signal can be set after the destination point (ToPoint).

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1.217 TriggLIOs - Linear robot movements with I/O events Continued If using the argument TriggData2 or TriggData3 it is possible to use values up to 4294967295, which is the maximum value a group of digital signals can have (32 signals in a group signal is max for the system). More examples More examples of how to use the instruction TriggLIOs are illustrated below. Example 1
VAR triggios mytriggios{3}:= [[TRUE, 3, TRUE, 0, "go1", 55, 0], [TRUE, 15, TRUE, 0, "ao1", 10, 0], [TRUE, 3, FALSE, 0, "do1", 1, 0]]; ... MoveL p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData1:=mytriggios, z50, gun1; MoveL p3, v500, z50, gun1;

The digital group output signal go1 will be set to value 55 3 mm from p1. Analog output signal will be set to value 10 15 mm from p1. Digital output signal do1 will be set 3 mm from ToPoint p2. Example 2
VAR triggios mytriggios{3}:= [[TRUE, 3, TRUE, 0, "go1", 55, 0], [TRUE, 15, TRUE, 0, "ao1", 10, 0], [TRUE, 3, FALSE, 0, "do1", 1, 0]]; VAR triggstrgo mytriggstrgo{3}:= [[TRUE, 3, TRUE, 0, "go2", "1", 0], [TRUE, 15, TRUE, 0, "go2", "800000", 0], [TRUE, 4, FALSE, 0, "go2", "4294967295", 0]]; VAR triggiosdnum mytriggiosdnum{3}:= [[TRUE, 10, TRUE, 0, "go3", 4294967295, 0], [TRUE, 10, TRUE, 0, "ao2", 5, 0], [TRUE, 10, TRUE, 0, "do2", 1, 0]]; ... MoveL p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData1:=mytriggios \TriggData2:= mytriggstrgo \TriggData3:=mytriggiosdnum, z50, gun1; MoveL p3, v500, z50, gun1;

The digital group output signal go1 will be set to value 55 3 mm from p1. Analog output signal ao1 will be set to value 10 15 mm from p1. Digital output signal do1 will be set 3 mm from ToPointp2. Those position events is setup by variable mytriggios. The variable mytriggstrgo sets up position events to occur 3 and 15 mm from p1. First the signal go2 is set to 1, then it is set to 800000. The signal will be set to value 4294967295 4 mm from the ToPointp2. This is the maximum value for a 32 bits digital output signal. The variable mytriggiosdnum sets up three position events to occur 10 mm from p1. First the signal go3 is set to 4294967295, then ao2 is set to 5 and last do2 is set to 1. Error handling The following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT Continues on next page
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1.217 TriggLIOs - Linear robot movements with I/O events Continued if there is no contact with the I/O unit. ERR_GO_LIM if the programmed setvalue argument for the specified digital group output signal signalname is outside limits. (Declared in TriggData1, TriggData2 or TriggData3) ERR_AO_LIM if the programmed setvalue argument for the specified analog output signal signalname is outside limits. (Declared in TriggData1 or TriggData3) Limitations If the current start point deviates from the usual so that the total positioning length of the instruction TriggLIOs is shorter than usual (e.g. at the start of TriggLIOs with the robot position at the end point) it may happen that several or all of the trigger conditions are fulfilled immediately and at the same position. In such cases, the sequence in which the trigger activities are carried out will be undefined. The program logic in the user program may not be based on a normal sequence of trigger activities for an incomplete movement. The limitation of the number of triggs in the instruction TriggLIOs is 50 for each programmed instruction. However, if those triggs is supposed to happen in a close distance, the system might not be able to handle that. That depends on how the movement is done, TCP speed used and how close the triggs are programmed. Those limitations exists, but it is hard to predict when those problems will occur. Syntax
TriggLIOs [\ Conc ,] [ ToPoint := ] < expression (IN) of robtarget > [ \ ID := < expression (IN) of identno >] , [ Speed := ] < expression (IN) of speeddata > [ \ T := < expression (IN) of num > ], [ \ TriggData1 := ] < array {*} (VAR) of triggios > [ \ TriggData2 := ] < array {*} (VAR) of triggstrgo > [ \ TriggData3 := ] < array {*} (VAR) of triggiosdnum > [Zone := ] < expression (IN) of zonedata > [ \ Inpos := < expression (IN) of stoppointdata > ] , [ Tool := ] < persistent (PERS) of tooldata > [ \ WObj := < persistent (PERS) of wobjdata > ] [ \ Corr ] [ \ TLoad := < persistent (PERS) of loaddata > ] ;

Related information
For information about See

Storage of trigg conditions and trigger activity triggios - Positioning events, trigg on page1280 Storage of trigg conditions and trigger activity triggstrgo - Positioning events, trigg on for digital signal group consisting of 32 sig- page 1285 nals

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1.217 TriggLIOs - Linear robot movements with I/O events Continued
For information about See

Storage of trigg conditions and trigger activity triggiosdnum - Positioning events, trigg on page 1283 Allocation of event objects Technical reference manual - System parameters, section Topic Motion - Motion planner - Number of Internal Event Objects Technical reference manual - RAPID overview Technical reference manual - RAPID overview loaddata - Load data on page 1192 MoveL - Moves the robot linearly on page 275 GripLoad - Defines the payload for a robot on page 128 Operating manual - IRC5 with FlexPendant

Linear movement Motion in general Definition of load Example of how to use TLoad, Total Load. Defining the payload for a robot LoadIdentify, load identification service routine

System input signal SimMode for running the Technical reference manual - System pararobot in simulated mode without payload. meters (Topic I/O, Type System Input, Action values, SimMode) System parameter ModalPayLoadMode for Technical reference manual - System paraactivating and deactivating payload. meters (Topic Controller, Type System Misc, Action values, ModalPayLoadMode)

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1.218 TriggRampAO - Define a fixed position ramp AO event on the path

1.218 TriggRampAO - Define a fixed position ramp AO event on the path

Usage TriggRampAO(Trigg Ramp Analog Output) is used to define conditions and actions for ramping up or down analog output signal value at a fixed position along the robot's movement path with possibility to do time compensation for the lag in the external equipment. The data defined is used for implementation in one or more subsequent TriggL, TriggC, or TriggJ instructions. Beside these instructions, TriggRampAO can also be used in CapL or CapC instructions. The type of trig actions connected to the same TriggL/C/J instruction can be TriggRampAO or any of TriggIO, TriggEquip, TriggSpeed, TriggInt, or TriggCheckIO instructions. Any type of combination is allowed except that only one TriggSpeed action on the same signal in the same TriggL/C/J instruction is allowed. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TriggRampAO are illustrated below. See also More examples on page 649. Example 1
VAR triggdata ramp_up; ... TriggRampAO ramp_up, 0 \Start, 0.1, aolaser1, 8, 15; MoveL p1, v200, z10, gun1; TriggL p2, v200, ramp_up, z10, gun1;

The analog signal aolaser1 will start ramping up its logical value from current value to the new value 8, when the TCP of the tool gun1 is 0.1 s before the center of the corner path at p1. The whole ramp-up will be done while the robot moves 15 mm. Example 2
VAR triggdata ramp_down; ... TriggRampAO ramp_down, 15, 0.1, aolaser1, 2, 10; MoveL p3, v200, z10, gun1; TriggL p4, v200, ramp_down, z10, gun1;

The analog signal aolaser1 will start ramping down its logical value from current value to the new value 2, when the TCP of the tool gun1 is 15 mm plus 0.1 s before the centre of the corner path at p4. The whole ramp-down will be done while the robot moves 10 mm. Arguments
TriggRampAO TriggData Distance [\Start] EquipLag AOutput SetValue RampLength [\Time]

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1.218 TriggRampAO - Define a fixed position ramp AO event on the path Continued

xx0600003433

D RL CV SV P1 P2

Parameter Distance Parameter RampLength Current analog signal Value Parameter SetValue for the analog signal value ToPoint for preceding move instruction ToPoint for actual TrigL/C/J instruction

TriggData Data type: triggdata Variable for storing of the triggdata returned from this instruction. These triggdata can then be used in the subsequent TriggL, TriggC , TriggJ, CapL, or CapC instructions. Distance Data type: num Defines the distance from the centre of the corner path where the ramp of the analog output shall start. Specified as the distance in mm (positive value) from the end point (ToPoint) of the movement path (applicable if the argument \Start is not set). See the section Program Execution for further details. [\Start] Data type: switch Used when the distance for the argument Distance is related to the movement start point (preceding ToPoint) instead of the end point.

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1.218 TriggRampAO - Define a fixed position ramp AO event on the path Continued EquipLag Equipment Lag Data type: num Specify the lag for the external equipment in s. For compensation of external equipment lag, use positive argument value. Positive argument value means that the start of the ramping of the AO signal is done by the robot system at a specified time before the TCP physically reaches the specified distance point in relation to the movement start or end point. Negative argument value means that starting the ramping of the AO signal is done by the robot system at a specified time. After that, the TCP has physically passed the specified distance point in relation to the movement start or end point. The figure shows use of argument EquipLag.

xx0500002262

AOutput Analog Output Data type: signalao The name of the analog output signal. SetValue Data type: num The value to which the analog output signal should be ramped up or down to (must be within the allowed logical range value for the signal). The ramping is started with the current value of the analog output signal. RampLength Data type: num The ramping length in mm along the TCP movement path. [\Time] Data type: switch Used then the RampLength specifies the ramp time in s instead of ramping length. Must be used, if subsequent TriggL, TriggC, or TriggJ specifies that the total movement should be done on time (argument \T) instead of speed.

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1.218 TriggRampAO - Define a fixed position ramp AO event on the path Continued Program execution When running the instruction TriggRampAO, the trigger condition is stored in the specified variable for the argument TriggData. Afterwards, when one of the instructions TriggL, TriggC or TriggJ is executed, the following are applicable with regard to the definitions in TriggRampAO: The table describes the distance specified in the argument Distance:
Linear movement Circular movement Non-linear movement The straight line distance The circle arc length The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure shows ramping of AO in a corner path.

xx0600003439

Program execution characteristics of TriggRampAO connected to any TriggL/C/J: The ramping of the AO is started when the robot reaches the specified Distance point on the robot path (with compensation for the specified EquipLag) The ramping function will be performed during a time period calculated from specified RampLength and the programmed TCP speed. The calculation takes into cosideration VelSet, manual speed override, and max. 250 mm/s in MAN mode but not any other speed limitations. Updating of the AO signal value from start (current read) value to specified SetValue will be done each 10 ms resulting in a staircase form. If the calculated ramp time or specified ramp time is greater than 0.5 s then the ramping frequency will slow down: <= 0.5 s gives max. 50 step each 10 ms <= 1 s gives max. 50 steps each 20 ms <= 1.5 s gives max. 50 steps each 30 ms and so on

The TriggRampAO action is also done in FWD step but not in BWD step mode. At any type of stop (ProgStop, Emergency Stop ) if the ramping function is active for the occasion: if ramping up, the AO is set to an old value momentarily. if ramping down, the AO is set to the new SetValue momentarily.

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1.218 TriggRampAO - Define a fixed position ramp AO event on the path Continued More examples More examples of how to use the instruction TriggRampAO are illustrated below. Example 1
VAR triggdata ramp_up; VAR triggdata ramp_down; ... TriggRampAO ramp_up, 0 \Start, 0.1, aolaser1, 8, 15; TriggRampAO ramp_down, 15, 0.1, aolaser1, 2, 10; MoveL p1, v200, z10, gun1; TriggL p2, v200, ramp_up, \T2:=ramp_down, z10, gun1;

In this example both the ramp-up and ramp-down of the AO is done in the same TriggL instruction on the same movement path. It works without any interference of the AO settings if the movement path is long enough. The analog signal aolaser1 will start ramping up its logical value from the current value to the new value 8 when the TCP of the tool gun1 is 0.1 s before the center of the corner path at p1. The whole ramp-up will be done while the robot moves 15 mm. The analog signal aolaser1 will start ramping down its logical value from the current value 8 to the new value 2 when the TCP of the tool gun1 is 15 mm plus 0.1 s before the centre of the corner path at p2. The whole ramp-up will be done while the robot moves 10 mm. Error handling If the programmed SetValue argument for the specified analog output signal AOutput is out of limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in the error handler. Limitations The analog output signal value will not be compensated for lower TCP-speed in corner path or during other acceleration or deceleration phases (the AO is not TCP speed proportional). Only the start point of the AO ramping will be done at the specified position on the path. The ramping up or down will be done with dead calculation, with high accuracy: At constant speed the deviation for the end of the AO ramping compared with the specified will be low. During acceleration or deceleration phases, such as near stop points, the deviation will be higher. Recommendation: use corner paths before ramp up and after ramp down.

If use of two or several TriggRampAO on the same analog output signal and connected to the same TriggL/C/J instrucion and both or several RampLength are located on the same part of the robot path then the AO settings will interact with each other. The position (+/- time) related ramp AO event will start when the previous ToPoint is passed if the specified Distance from the actual ToPoint is not within the Continues on next page
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1.218 TriggRampAO - Define a fixed position ramp AO event on the path Continued length of movement for the current TriggL/C/J instruction. The position (+/time) related ramp AO event will start when the actual ToPoint is passed if the specified Distance from the previous ToPoint is not within the length of movement for the current TriggL/C/J instruction (with argument \Start). No support for restart of the ramping AO function after any type of stop (ProgStop, Emergency Stop ). At Power Fail Restart the TriggL/C/J instruction is started from the beginning of the current Power Fail position. Syntax
TriggRampAO [ TriggData ':=' ] < variable (VAR) of triggdata > ',' [ Distance ':=' ] < expression (IN) of num > [ '\' Start ] ',' [ EquipLag ':=' ] < expression (IN) of num > ',' [ AOutput ':=' ] < variable (VAR) of signalao> ',' [ SetValue ':=' ] < expression (IN) of num> ',' [ RampLength ':=' ] < expression (IN) of num> ',' [ '\' Time ] ';'

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 TriggEquip - Define a fixed position and time I/O event on the path on page 609 triggdata - Positioning events, trigg on page 1279 SetAO - Changes the value of an analog output signal on page 448 signalxx - Digital and analog signals on page 1244 Technical reference manual - System parameters

Definition of other triggs Storage of triggdata Set of analog output signal

Configuration of event preset time

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event

1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
Usage TriggSpeedis used to define conditions and actions for control of an analog output signal with output value proportional to the actual TCP speed. The beginning, scaling, and ending of the analog output can be specified at a fixed position-time along the robots movement path. It is possible to use time compensation for the lag in the external equipment for the beginning, scaling, and ending of the analog output and also for speed dips of the robot. The data defined is used in one or more subsequent TriggL, TriggC, or TriggJ instructions. This instruction can only be used in the main task T_ROB1, if in a MultiMove System, in Motion tasks. Basic examples Basic examples of the instruction TriggSpeed are illustrated below. See also More examples on page 655. Example 1
VAR triggdata glueflow; TriggSpeed glueflow, 0, 0.05, glue_ao, 0.8\DipLag=:0.04 \ErrDO:=glue_err; TriggL p1, v500, glueflow, z50, gun1; TriggSpeed glueflow, 10, 0.05, glue_ao, 1; TriggL p2, v500, glueflow, z10, gun1; TriggSpeed glueflow, 0, 0.05, glue_ao, 0; TriggL p3, v500, glueflow, z50, gun1;

The figure below illustrates an example of TriggSpeed sequence

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The glue flow (analog output glue_ao) with scale value 0.8 starts when TCP is 0.05 s before point p1, new glue flow scale value 1 when TCP is 10 mm plus 0.05 Continues on next page
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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued s before point p2, and the glue flow ends (scale value 0) when TCP is 0.05 s before point p3. Any speed dip by the robot is time compensated in such a way that the analog output signal glue_ao is affected 0.04 s before the TCP speed dip occurs. If overflow of the calculated logical analog output value in glue_ao then the digital output signal glue_err is set. If there is no more overflow then glue_err is reset. Arguments
TriggSpeed TriggData Distance [\Start] ScaleLag AOp ScaleValue [\DipLag] [\ErrDO] [\Inhib]

TriggData Data type: triggdata Variable for storing the triggdata returned from this instruction. These triggdata are then used in the subsequent TriggL, TriggC, or TriggJ instructions. Distance Data type: num Defines the position on the path for change of the analog output value. Specified as the distance in mm (positive value) from the end point of the movement path (applicable if the argument \ Start is not set). See Program execution on page 654 for further details. [ \Start ] Data type: switch Used when the distance for the argument Distance starts at the movements start point instead of the end point. ScaleLag Data type: num Specify the lag as time in s (positive value) in the external equipment for change of the analog output value (starting, scaling, and ending). For compensation of external equipment lag, this argument value means that the analog output signal is set by the robot at a specified time before the TCP physically reaches the specified distance in relation to the movements start or end point. The argument can also be used to extend the analog output beyond the end point. Set the time in seconds that the robot shall keep the analog output. Set the time with a negative sign. The limit is -0.10 seconds.

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued The figure below illustrates the use of argument ScaleLag

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AOp Analog Output Data type: signalao The name of the analog output signal. ScaleValue Data type: num The scale value for the analog output signal. The physical output value for the analog signal is calculated by the robot: Logical output value = Scale value * Actual TCP speed in mm/s. Physical output value = According definition in configuration for actual analog output signal with above Logical output value as input.

[ \DipLag ] Data type: num Specify the lag as time in s (positive value) for the external equipment when changing of the analog output value due to robot speed dips. For compensation of external equipment lag, this argument value means that the analog output signal is set by the robot at a specified time before the TCP speed dip occurs. This argument can only be used by the robot for the first TriggSpeed (in combination with one of TriggL, TriggC, or TriggJ) in a sequence of several TriggSpeed instructions. The first specified argument value is valid for all the following TriggSpeed in the sequence. [ \ErrDO ] Error Digital Output Data type: signaldo The name of the digital output signal for reporting analog value overflow. If during movement the calculation of the logical analog output value for signal in argument AOp results in overflow due to overspeed then this signal is set and the

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued physical analog output value is reduced to the maximum value. If there is no more overflow then the signal is reset. This argument can only be used by the robot for the 1st TriggSpeed (in combination with one of TriggL, TriggC, or TriggJ) in a sequence of several TriggSpeed instructions. The 1st given argument value is valid for all the following TriggSpeed in the sequence. [ \Inhib ] Inhibit Data type: bool The name of a persistent variable flag for inhibiting the setting of the analog signal at runtime. If this optional argument is used and the actual value of the specified flag is TRUE at the time for setting the analog signal then the specified signal AOp will be set to 0 instead of a calculated value. This argument can only be used by the robot for the 1st TriggSpeed (in combination with one of TriggL, TriggC, or TriggJ) in a sequence of several TriggSpeed instructions. The 1st given argument value is valid for all the following TriggSpeed in the sequence. Program execution When running the instruction TriggSpeed the trigger condition is stored in the specified variable for the argument TriggData. Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed then the following are applicable with regard to the definitions in TriggSpeed: For the distance specified in the argument Distance, see the table below.:
Linear movement Circular movement The straight line distance The circle arc length

Non-linear movement The approximate arc length along the path (to obtain adequate accuracy, the distance should not exceed one half of the arc length).

The figure below illustrates the fixed position-time scale value event on a corner path.

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The position-time related scale value event will be generated when the start point (end point) is passed if the specified distance from the end point (start point) is not within the length of the movement of the current instruction (TriggL, TriggC, or TriggJ). Continues on next page
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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued The 1:st TriggSpeed used by one of TriggL, TriggC, or TriggJ instruction will internally in the system create a process with the same name as the analog output signal. The same process will be used by all succeeding TriggL, TriggC, or TriggJ which refers to same signal name and setup by a TriggSpeed instruction. The process will immediately set the analog output to 0, in the event of a program emergency stop. In the event of a program stop, the analog output signal will stay TCP-speed proportional until the robot stands still. The process keeps alive and ready for a restart. When the robot restarts, the signal is TCP-speed proportional directly from the start.

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The process will die after handling a scale event with value 0 if no succeeding TriggL, TriggC, or TriggJ is in the queue at the time. More examples More examples of the instruction TriggSpeed are illustrated below. Example 1
VAR triggdata flow; TriggSpeed flow, 10 \Start, 0.05, flowsignal, 0.5 \DipLag:=0.03; MoveJ p1, v1000, z50, tool1; TriggL p2, v500, flow, z50, tool1;

The analog output signal flowsignal is set to a logical value = (0.5 * actual TCP speed in mm/s) 0.05 s before the TCP passes a point located 10 mm after the start point p. The output value is adjusted to be proportional to the actual TCP speed during the movement to p2.
... TriggL p3, v500, flow, z10, tool1;

The robot moves from p2 to p3 with the analog output value proportional to the actual TCP speed. The analog output value will be decreased at time 0.03 s before the robot reduces the TCP speed during the passage of the corner path z10.

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued Limitations The limitations for the instruction TriggSpeed are illustrated below. Accuracy of position-time related scale value event Typical absolute accuracy values for scale value events 5 ms. Typical repeat accuracy values for scale value events 2 ms. Accuracy of TCP speed dips adaptation (deceleration - acceleration phases) Typical absolute accuracy values for TCP speed dips adaptation 5 ms. Typical repeat accuracy values for TCP speed dips adaptation 2ms (the value depends of the configured Path resolution). Negative ScaleLag If a negative value on parameter ScaleLag is used to move the zero scaling over to the next segment then the analog output signal will not be reset if a program stop occurs. An emergency stop will always reset the analog signal. The analog signal is no longer TCP-speed proportional after the end point on the segment.

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued Error handling Given two consecutive segments with TriggL/TriggSpeed instructions. A negative value in parameter ScaleLag makes it possible to move the scale event from the first segment to the beginning of the second segment. If the second segment scales at the beginning then there is no control if the two scales interfere.

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Related system parameters The system parameter Event Preset Time is used to delay the robot to make it possible to activate/control the external equipment before the robot runs through the position. The table below illustrates the recommendation for setup of system parameter Event Preset Time, where typical Servo Lag is 0.040 s..
ScaleLag DipLag Required Event Preset Time Recommended Event to avoid runtime execution Preset Time to obtain error best accuracy DipLag, ifDipLag>ServoLag - " ScaleLag in s plus 0.090 s 0.090 s DipLag in s plus 0.030 s

ScaleLag > DipLag ScaleLag < DipLag - " -

Always DipLag < Servo Lag

DipLag >Servo - " Lag

Syntax
TriggSpeed [ TriggData := ] < variable (VAR) of triggdata>, [ Distance := ] < expression (IN) of num> [ \ Start ] , [ ScaleLag:= ] < expression (IN) of num> , [ AOp :=] < variable (VAR) of signalao> , [ ScaleValue := ] < expression (IN) of num>

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1.219 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event Continued
[ \ DipLag := < expression (IN) of num> ] [ \ ErrDO := < variable (VAR ) of signaldo> ] [ \ Inhib := < persistent (PERS ) of bool >] ;

Related information
For information about Use of triggers See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggInt - Defines a position related interrupt on page 615 TriggEquip - Define a fixed position and time I/O event on the path on page 609 triggdata - Positioning events, trigg on page 1279

Definition of other triggs

Storage of triggs

Configuration of Event preset time Technical reference manual - System parameters

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1.220 TriggStopProc - Generate restart data for trigg signals at stop

1.220 TriggStopProc - Generate restart data for trigg signals at stop

Usage The instruction TriggStopProc creates an internal supervision process in the system for zero setting of specified process signals and the generation of restart data in a specified persistent variable at every program stop (STOP) or emergency stop (QSTOP) in the system. TriggStopProc and the data type restartdata are intended to be used for restart after program stop (STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID (NOSTEPIN routines). It is possible in a user defined RESTART event routine to analyze the current restart data, step backwards on the path with instruction StepBwdPath, and activate suitable process signals before the movement restarts. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any motion tasks. Note for MultiMove system that only one TriggStopProc support process with the specified shadow signal name (argument ShadowDO) can be active in the system at the same time. It means that TriggStopProc supervises program stop or emergency stop in the program task where it was last executed. Arguments
TriggStopProc RestartRef [\DO] [\GO1] [\GO2] [\GO3] [\GO4] ShadowDO

RestartRef Restart Reference Data type: restartdata The persistent variable in which restart data will be available after every stop of program execution. [\DO1] Digital Output 1 Data type: signaldo The signal variable for a digital process signal to be set to zero and supervised in restart data when program execution is stopped. [\GO1] Group Output 1 Data type: signalgo The signal variable for a digital group process signal to be set to zero and supervised in restart data when program execution is stopped. [\GO2] Group Output 2 Data type: signalgo The signal variable for a digital group process signal to be set to zero and supervised in restart data when program execution is stopped. Continues on next page
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1.220 TriggStopProc - Generate restart data for trigg signals at stop Continued [\GO3] Group Output 3 Data type: signalgo The signal variable for a digital group process signal to be set to zero and supervised in restart data when program execution is stopped. [\GO4] Group Output 4 Data type: signalgo The signal variable for a digital group process signal to be set to zero and supervised in restart data when program execution is stopped. At least one of the option parameters D01, GO1 ... GO4 must be used. ShadowDO Shadow Digital Output Data type: signaldo The signal variable for the digital signal, which must mirror whether or not the process is active along the robot path. This signal will not be set to zero by the process TriggStopProc at STOP or QSTOP, but its values will be mirrored in restartdata. Program execution Setup and execution of TriggStopProc TriggStopProc must be called from both: the START event routine or in the unit part of the program (set PP to main, kill the internal process for TriggStopProc) the POWERON event routine (power off, kill the internal process for TriggStopProc)

The internal name of the process for TriggStopProc is the same as the signal name in the argument ShadowDO. If TriggStopProc, with the same signal name in argument ShadowDO, is executed twice from the same or another program task then only the last executed TriggStopProc will be active. Execution of TriggStopProc only starts the supervision of I/O signals at STOP and QSTOP. Program stop STOP The process TriggStopProc comprises the following steps: 1 Wait until the robot stands still on the path. 2 Store the current value (prevalue according to restartdata) of all used process signals. Zero sets all used process signals except ShadowDO. 3 Do the following during the next time slot, about 500 ms, if some process signals change their value during this time: Continues on next page
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Store the current value again (postvalue according to restatdata) Set that signal to zero except ShadowDO

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1.220 TriggStopProc - Generate restart data for trigg signals at stop Continued Count the number of value transitions (flanks) of the signal ShadowDO

4 Update the specified persistent variable with restart data. Emergency stop (QSTOP) The process TriggStopProc comprises the following steps: 1 Do the next step as soon as possible. 2 Store the current value (prevalue according to restartdata) of all used process signals. Set to zero all used process signals except ShadowDO. 3 Do the following during the next time slot, about 500 ms, if some process signal changes its value during this time: Store its current value again (postvalue according to restatdata) Set to zero that signal except ShadowDO Count the number of value transitions (flanks) of the signal ShadowDO

4 Update the specified persistent variable with restart data. Critical area for process restart Both the robot servo and the external equipment have some lags. All the instructions in the Trigg family are designed so that all signals will be set at suitable places on the robot path, independently of different lags in external equipment, to obtain process results that are as good as possible. Because of this, the settings of I/O signals can be delayed between 0-80ms internally in the system after the robot stands still at program stop (STOP) or after registration of an emergency stop (QSTOP). Because of this disadvantage for the restart functionality, both the prevalue, postvalue, and the shadow flanks are introduced in restart data. If this critical timeslot of 0-80ms coincides with the following application process cases then it is difficult to perform a good process restart: At the start of the application process At the end of the application process During a short application process During a short interrupt in the application process

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1.220 TriggStopProc - Generate restart data for trigg signals at stop Continued The figure below illustrates process phases at STOP or QSTOP within critical time slot 0-80ms

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Performing a restart A restart of process instructions (NOSTEPIN routines) along the robot path must be done in a RESTART event routine. The RESTART event routine can consist of the following steps:
Action 1. 2. After QSTOP the regain to path is done at program start. Analyze the restart data from the latest STOP or QSTOP.

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1.220 TriggStopProc - Generate restart data for trigg signals at stop Continued
Action 3. Determine the strategy for process restart from the result of the analysis such as: Process active, do process restart Process inactive, do not process restart Do suitable actions depending on type of process application: - Start of process - End of process - Short process - Short interrupt in process Step backwards on the path. Continue the program results in movement restart.

4. 5.

If waiting in any STOP or QSTOP event routine until the TriggStopProc process is ready with e.g. WaitUntil (myproc.restartstop=TRUE), \MaxTime:=2; , the user must always reset the flag in the RESTART event routine with e.g. myproc.restartstop:=FALSE. After that the restart is ready. Error handling If there is no contact with the I/O unit, the system variable ERRNO is set to ERR_NORUNUNIT and the execution continues in the error handler. Limitation No support for restart of process instructions after a power failure. Syntax
TriggStopProc [ RestartRef ':=' ] < persistent (PERS) of restartdata> [ '\' DO1 ':=' < variable (VAR) of signaldo> [ '\' GO1 ':=' < variable (VAR) of signalgo> ] [ '\' GO2 ':=' < variable (VAR) of signalgo> ] [ '\' GO3 ':=' < variable (VAR) of signalgo> ] [ '\' GO4 ':=' < variable (VAR) of signalgo> ] ',' [ ShadowDO ':=' ] < variable (VAR) of signaldo> ';'

Related information
For information about Process instructions See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 restartdata - Restart data for trigg signals on page 1229 StepBwdPath - Move backwards one step on path on page 526

Restart data Step backward on path

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1.221 TryInt - Test if data object is a valid integer

1.221 TryInt - Test if data object is a valid integer

Usage TryInt is used to test if a given data object is a valid integer. Basic examples Basic examples of the instruction TryInt are illustrated below. Example 1
VAR num myint := 4; ... TryInt myint;

The value of myint will be evaluated and since 4 is a valid integer, the program execution continues. Example 2
VAR dnum mydnum := 20000000; ... TryInt mydnum;

The value of mydnum will be evaluated and since 20000000 is a valid dnum integer, the program execution continues. Example 3
VAR num myint := 5.2; ... TryInt myint; ... ERROR IF ERRNO = ERR_INT_NOTVAL THEN myint := Round(myint); RETRY; ENDIF

The value of myint will be evaluated and since 5.2 is not a valid integer, an error will be raised. In the error handler, myint will be rounded to 5 and the instruction TryInt is executed one more time. Arguments
TryInt DataObj | DataObj2

DataObj Data Object Data type: num The data object to test if it is a valid integer. DataObj2 Data Object 2 Data type: dnum The data object to test if it is a valid integer.

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1.221 TryInt - Test if data object is a valid integer Continued Program execution The given data object is tested: If it is a valid integer, the execution continues with the next instruction. If it is not a valid integer, the execution continues in the error handler in an actual procedure.

Error handling If DataObj contains a decimal value then the variable ERRNO will be set to ERR_INT_NOTVAL. If the value of DataObj is larger or smaller then the integer value range of data type num then the variable ERRNO will be set to ERR_INT_MAXVAL. If the value of DataObj2 is larger or smaller then the integer value range of data type dnum then the variable ERRNO will be set to ERR_INT_MAXVAL. These errors can be handled in the error handler. Note that a value of 3.0 is evaluated as an integer, since.0 can be ignored. Syntax
TryInt [ DataObj := ] < expression (IN) of num> | [ DataObj2 := ] < expression (IN) of dnum> ;

Related information
For information about Data type num See num - Numeric values on page 1207

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1.222 TRYNEXT - Jumps over an instruction which has caused an error

1.222 TRYNEXT - Jumps over an instruction which has caused an error

Usage The TRYNEXT instruction is used to resume execution after an error, starting with the instruction following the instruction that caused the error. Basic examples Basic examples of the instruction TryNext are illustrated below. Example 1
reg2 := reg3/reg4; ... ERROR IF ERRNO = ERR_DIVZERO THEN reg2:=0; TRYNEXT; ENDIF

An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero) then a jump is made to the error handler where reg2 is assigned to 0. The TRYNEXT instruction is then used to continue with the next instruction. Program execution Program execution continues with the instruction subsequent to the instruction that caused the error. Limitations The instruction can only exist in a routines error handler. Syntax
TRYNEXT;

Related information
For information about Error handlers See Technical reference manual - RAPID overview

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1.223 TuneReset - Resetting servo tuning

1.223 TuneReset - Resetting servo tuning

Usage TuneReset is used to reset the dynamic behavior of all robot axes and external mechanical units to their normal values. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction TuneReset are illustrated below. Example 1
TuneReset;

Resetting tuning values for all axes to 100%. Program execution The tuning values for all axes are reset to 100%. The default servo tuning values for all axes are automatically set by executing instruction TuneReset Syntax
TuneReset ;

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about Tuning servos See TuneServo - Tuning servos on page 668

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1.224 TuneServo - Tuning servos

1.224 TuneServo - Tuning servos

Usage TuneServo is used to tune the dynamic behavior of separate axes on the robot. It is not necessary to use TuneServo under normal circumstances, but sometimes tuning can be optimized depending on the robot configuration and the load characteristics. For external axes TuneServo can be used for load adaptation. Avoid doing TuneServo commands at the same time that the robot is moving. It can result in momentary high CPU loads causing error indication and stops. Note! To obtain optimal tuning it is essential that the correct load data is used. Check this before using TuneServo. Generally, optimal tuning values often differ between different robots. Optimal tuning may also change with time. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. WARNING Incorrect use of the TuneServo can cause oscillating movements or torques that can damage the robot. You must bear this in mind and be careful when using the TuneServo. Improving path accuracy For robots running at lower speeds, TuneServo can be used to improve the path accuracy by: Tuning TUNE_KV and TUNE_TI (see the tune types description below). Tuning friction compensation parameters (see below).

These two methods can be combined. Other possibilities to improve the path accuracy: Decreasing path resolution can improve the path. Note: a value of path resolution which is too low will cause CPU load problems. The accuracy of straight lines can be improved by decreasing acceleration using AccSet. Example: AccSet 20, 10.

Description Reduce overshoots - TUNE_DF TUNE_DF is used for reducing overshoots or oscillations along the path. There is always an optimum tuning value that can vary depending on position and movement length. This optimum value can be found by changing the tuning in small steps (1 - 2%) on the axes that are involved in this unwanted behavior. Normally the optimal tuning will be found in the range 70% - 130%. Too low or too high tuning values have a negative effect and will impair movements considerably. When the tuning value at the start point of a long movement differs considerably from the tuning value at the end point, it can be advantageous in some cases to Continues on next page
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1.224 TuneServo - Tuning servos Continued use an intermediate point with a corner zone to define where the tuning value will change. Some examples of the use of TuneServo to optimize tuning follow below: IRB 6400, in a press service application (extended and flexible load), axes 4 - 6: Reduce the tuning value for the current wrist axis until the movement is acceptable. A change in the movement will not be noticeable until the optimum value is approached. A low value will impair the movement considerably. Typical tuning value is 25%. IRB 6400, upper parts of working area. Axis 1 can often be optimized with a tuning value of 85% - 95%. IRB 6400, short movement (< 80 mm). Axis 1 can often be optimized with a tuning value of 94% - 98%. IRB 2400, with track motion. In some cases axes 2 - 3 can be optimized with a tuning value of 110% - 130%. The movement along the track can require a different tuning value compared with movement at right angles to the track. Overshoots and oscillations can be reduced by decreasing the acceleration or the acceleration ramp (AccSet), which will however increase the cycle time. This is an alternative method to the use of TuneServo.

Reduce overshoots - TUNE_DG TUNE_DG can reduce overshoots on rare occasions. Normally it should not be used. TUNE_DF should always be tried first in cases of overshooting. Tuning of TUNE_DG can be performed with large steps in tune value (e.g. 50%, 100%, 200%, 400%). Never use TUNE_DG when the robot is moving. Reduces vibrations with heavy loads - TUNE_DH TUNE_DH can be used for reducing vibrations and overshooting (e.g. large flexible load). Tune value must always be lower than 100. TUNE_DH increases path deviation and normally also increases cycle time. Example: IRB6400 with large flexible loads which vibrates when the robot has stopped. Use TUNE_DH with tune value 15.

TUNE_DH should only be executed for one axis. All axes in the same mechanical unit automatically get the same TuneValue. Never use TUNE_DH when the robot is moving. Reduce path errors - TUNE_DI TUNE_DI can be used for reducing path deviation at high speeds. A tune value in the range 50 - 80 is recommended for reducing path deviation. Overshooting can increase (lower tune value means larger overshoot). A higher tune value than 100 can reduce overshooting (but increases path deviation at high speed).

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1.224 TuneServo - Tuning servos Continued TUNE_DI should only be executed for one axis. All axes in the same mechanical unit automatically get the same TuneValue. Only for ABB internal use - TUNE_DK, TUNE_DL

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WARNING! Only for ABB internal use. Do not use these tune types. Incorrect use can cause oscillating movements or torques that can damage the robot. Tuning external axes - TUNE_KP, TUNE_KV, TUNE_TI These tune types affect position control gain (kp), speed control gain (kv), and speed control integration time (ti) for external axes. These are used for adapting external axes to different load inertias. Basic tuning of external axes can also be simplified by using these tune types. Tuning robot axes - TUNE_KP, TUNE_KV, TUNE_TI For robot axes, these tune types have another significance and can be used for reducing path errors at low speeds (< 500 mm/s). Recommended values: TUNE_KV 100 - 180%, TUNE_TI 50 - 100%. TUNE_KP should not be used for robot axes. Values of TUNE_KV/TUNE_TI which are too high or too low will cause vibrations or oscillations. Be careful if trying to exceed these recommended values. Make changes in small steps and avoid oscillating motors. Always tune one axis at a time. Change the tuning values in small steps. Try to improve the path where this specific axis changes its direction of movement or where it accelerates or decelerates. Never use these tune types at high speeds or when the required path accuracy is fulfilled.

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1.224 TuneServo - Tuning servos Continued Friction compensation - TUNE_FRIC_LEV, TUNE_FRIC_RAMP These tune types can be used to reduce robot path errors caused by friction and backlash at low speeds (10 - 200 mm/s). These path errors appear when a robot axis changes direction of movement. Activate friction compensation for an axis by setting the system parameter Motion/Control Parameters/Friction FFW On to Yes. The friction model is a constant level with opposite sign of the axis speed direction. Friction FFW Level (Nm) is the absolute friction level at (low) speeds and is greater than Friction FFW Ramp (rad/s). See the figure below, which shows a friction model.

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TUNE_FRIC_LEV overrides the value of the system parameter Friction FFW Level. Tuning Friction FFW Level (using TUNE_FRIC_LEV) for each robot axis can improve the robots path accuracy considerably in the speed range 20 - 100 mm/s. For larger robots (especially the IRB6400 family) the effect will, however, be minimal as other sources of tracking errors dominate these robots. TUNE_FRIC_RAMP overrides the value of the system parameter Friction FFW Ramp. In most cases there is no need to tune the Friction FFW Ramp. The default setting will be appropriate. Tune one axis at a time. Change the tuning value in small steps and find the level that minimizes the robot path error at positions on the path where this specific axis changes direction of movement. Repeat the same procedure for the next axis etc. The final tuning values can be transferred to the system parameters. Example: Friction FFW Level = 1. Final tune value (TUNE_FRIC_LEV) = 150%. Set Friction FFW Level = 1.5 and tune value = 100% (default value) which is equivalent. Arguments
TuneServo MecUnit Axis TuneValue [\Type]

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num Continues on next page
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1.224 TuneServo - Tuning servos Continued The number of the current axis for the mechanical unit (1 - 6). TuneValue Data type: num Tuning value in percent (1 - 500). 100% is the normal value. [ \Type ] Data type: tunetype Type of servo tuning. Available types are TUNE_DF, TUNE_KP, TUNE_KV, TUNE_TI, TUNE_FRIC_LEV, TUNE_FRIC_RAMP, TUNE_DG, TUNE_DH, TUNE_DI. Type TUNE_DK and TUNE_DL only for ABB internal use. This argument can be omitted when using tuning type TUNE_DF. Basic examples Basic examples of the instruction TuneServo are illustrated below. Example 1
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;

Activating of tuning type TUNE_KP with the tuning value 110% on axis 1 in the mechanical unit MHA160R1. Program execution The specified tuning type and tuning value are activated for the specified axis. This value is applicable for all movements until a new value is programmed for the current axis, or until the tuning types and values for all axes are reset using the instruction TuneReset. The default servo tuning values for all axes are automatically set by executing instruction TuneReset Limitations Any active servo tuning are always set to default values at power fail. This limitation can be handled in the user program at restart after power failure. Syntax
TuneServo [MecUnit := ] < variable (VAR) of mecunit> , [Axis := ] < expression (IN) of num> , [TuneValue := ] < expression (IN) of num> [\ Type := <expression (IN) of tunetype>];

at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

Related information
For information about Other motion settings See Technical reference manual - RAPID overview

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1.224 TuneServo - Tuning servos Continued
For information about Types of servo tuning Reset of all servo tunings Tuning of external axes Friction compensation See tunetype - Servo tune type on page 1288 TuneReset - Resetting servo tuning on page 667 Application manual - Additional axes and stand alone controller Technical reference manual - System parameters

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1.225 UIMsgBox - User Message Dialog Box type basic

1.225 UIMsgBox - User Message Dialog Box type basic

Usage UIMsgBox (User Interaction Message Box) is used to communicate with the user of the robot system on available user device, such as the FlexPendant. A message is written to the operator, who answers by selecting a button. The user selection is then transferred back to the program. Basic examples Basic examples of the instruction UIMsgBox are illustrated below. See also More examples on page 679. Example 1
UIMsgBox Continue the program ?;

The message "Continue the program ?" is displayed. The program proceeds when the user presses the default button OK. Example 2
VAR btnres answer; ... UIMsgBox \Header:="UIMsgBox Header", "Message Line 1" \MsgLine2:="Message Line 2" \MsgLine3:="Message Line 3" \MsgLine4:="Message Line 4" \MsgLine5:="Message Line 5" \Buttons:=btnOKCancel \Icon:=iconInfo \Result:=answer; IF answer = resOK my_proc;

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1.225 UIMsgBox - User Message Dialog Box type basic Continued

xx0500002432

Above message box with icon, header, message line 1 to 5, and push buttons is written on the FlexPendant display. Program execution waits until OK or Cancel is pressed. In other words, answer will be assigned 1 (OK) or 5 (Cancel) depending on which of the buttons is pressed. If answer is OK then my_proc will be called. Note that Message Line 1 ... Message Line 5 are displayed on separate lines 1 to 5 (the switch \Wrap is not used). Arguments
UIMsgBox [\Header] MsgLine1 [\MsgLine2] [\MsgLine3] [\MsgLine4] [\MsgLine5] [\Wrap] [\Buttons] [\Icon] [\Image] [\Result] [\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag]

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. MsgLine1 Message Line 1 Data type: string Text line 1 to be written on the display. Max. 55 characters. [\MsgLine2] Message Line 2 Data type: string Additional text line 2 to be written on the display. Max. 55 characters. Continues on next page
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1.225 UIMsgBox - User Message Dialog Box type basic Continued [\MsgLine3] Message Line 3 Data type: string Additional text line 3 to be written on the display. Max. 55 characters. [\MsgLine4] Message Line 4 Data type: string Additional text line 4 to be written on the display. Max. 55 characters. [\MsgLine5] Message Line 5 Data type: string Additional text line 5 to be written on the display. Max. 55 characters. [\Wrap] Data type: switch If selected, all the strings MsgLine1 ... MsgLine5 will be concatenated to one string with a single space between each individual string and spread out on as few lines as possible. Default, each message string MsgLine1 ... MsgLine5 will be on separate lines on the display. [\Buttons] Data type: buttondata Defines the push buttons to be displayed. Only one of the predefined buttons combination of type buttondata can be used. See Predefined data on page 678. Default, the system displays the OK button. (\Buttons:=btn OK). [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 678. Default no icon. [\Image] Data type: string The name of the image that should be used. To launch your own images, the images have to be placed in the HOME: directory in the active system or directly in the active system. The recommendation is to place the files in the HOME: directory so that they are saved if a Backup and Restore is done. A warmstart is required and then the FlexPendant will load the images. A demand on the system is that the RobotWare option FlexPendant Interface is used.

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1.225 UIMsgBox - User Message Dialog Box type basic Continued The image that will be showed can have the width of 185 pixels and the height of 300 pixels. If the image is bigger, only 185 * 300 pixels of the image will be shown starting at the top left of the image. No exact value can be specified on the size that an image can have or the amount of images that can be loaded to the FlexPendant. It depends on the size of other files loaded to the FlexPendant. The program execution will just continue if an image is used that has not been loaded to the FlexPendant. [\Result] Data type: btnres The variable for which, depending on which button is pressed, the numeric value 0..7 is returned. Only one of the predefined constants of type btnres can be used to test the user selection. See Predefined data on page 678. If any type of system break such as \MaxTime, \DIBreak, or \DOBreak or if \Buttons:=btnNone, resUnkwn equal to 0 is returned. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If no button is selected within this time then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If no button is selected when the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If no button is selected when the signal is set to 1 (or is already 1) then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. Continues on next page
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1.225 UIMsgBox - User Message Dialog Box type basic Continued [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable (before used it is set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted then the error handler will be executed. Program execution The message box with icon, header, message lines, image, and buttons are displayed according to the programmed arguments. Program execution waits until the user selects one button or the message box is interrupted by time-out or signal action. The user selection and interrupt reason are transferred back to the program. New message box on TRAP level takes the focus from the message box on the basic level. Predefined data
!Icons: CONST CONST CONST CONST icondata icondata icondata icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

!Buttons: CONST buttondata CONST buttondata CONST buttondata CONST buttondata CONST buttondata CONST buttondata CONST buttondata !Results: CONST btnres CONST btnres CONST btnres CONST btnres CONST btnres CONST btnres CONST btnres

btnNone := -1; btnOK := 0; btnAbrtRtryIgn btnOKCancel := btnRetryCancel btnYesNo := 4; btnYesNoCancel

:= 1; 2; := 3; := 5;

resUnkwn := 0; resOK := 1; resAbort := 2; resRetry := 3; resIgnore := 4; resCancel := 5; resYes := 6;

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1.225 UIMsgBox - User Message Dialog Box type basic Continued
CONST btnres resNo := 7;

More examples More examples of how to use the instruction UIMsgBox are illustrated below. Example 1
VAR errnum err_var; ... UIMsgBox \Header:= "Example 1", "Waiting for a break condition..." \Buttons:=btnNone \Icon:=iconInfo \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var; TEST err_var CASE ERR_TP_MAXTIME: ! Time out break, max time 60 seconds has elapsed CASE ERR_TP_DIBREAK: ! Input signal break, signal di5 has been set to 1 DEFAULT: ! Not such case defined ENDTEST

The message box is displayed until a break condition has become true. The operator can not answer or remove the message box because btnNone is set for the argument \Buttons. The message box is removed when di5 is set to 1 or at time out (after 60 seconds). Example 2
VAR errnum err_var; ... UIMsgBox \Header:= "Example 2", "Waiting for a break condition..." \Buttons:=btnNone \Icon:=iconInfo \MaxTime:=60 \DIBreak:=di5 \DIPassive \BreakFlag:=err_var; TEST err_var CASE ERR_TP_MAXTIME: ! Time out break, max time 60 seconds has elapsed CASE ERR_TP_DIBREAK: ! Input signal break, signal di5 has been set to 0 DEFAULT: ! Not such case defined ENDTEST

The message box is displayed until a break condition has become true. The operator can not answer or remove the message box because btnNone is set for the argument \Buttons. The message box is removed when di5 is set to 0 or at time out (after 60 seconds).

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1.225 UIMsgBox - User Message Dialog Box type basic Continued Error handling If parameter \BreakFlag is not used then these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator then the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small of a value for the time-out parameter \MaxTime when UIMsgBox is frequently executed, like in a loop. It can result in an unpredictable behavior of the system performance, like slow response of the FlexPendant. Syntax
UIMsgBox [\Header:= <expression (IN) of string>,] [MsgLine1:=] <expression (IN) of string> [\MsgLine2:=<expression (IN) of string>] [\MsgLine3:=<expression (IN) of string>] [\MsgLine4:=<expression (IN) of string>] [\MsgLine5:=<expression (IN) of string>] [\Wrap] [\Buttons:= <expression (IN) of buttondata>] [\Icon:= <expression (IN) of icondata>] [\Image:=<expression (IN) of string>] [\Result:=< var or pers (INOUT) of btnres>] [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>];

Related information
For information about Icon display data Push button data See icondata - Icon display data on page 1181 buttondata - Push button data on page 1149

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1.225 UIMsgBox - User Message Dialog Box type basic Continued
For information about Push button result data User Interaction Message Box type advanced User Interaction Number Entry User Interaction Number Tune User Interaction Alpha Entry User Interaction List View System connected to FlexPendant etc. FlexPendant interface Clean up the Operator window See btnres - Push button result data on page 1146 UIMessageBox - User Message Box type advanced on page 1117 UINumEntry - User Number Entry on page 1124 UINumTune - User Number Tune on page 1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 Product specification - Controller software IRC5 TPErase - Erases text printed on the FlexPendant on page 582

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1.226 UIShow - User Interface show

1.226 UIShow - User Interface show

Usage UIShow (User Interface Show) is used to communicate with the user of the robot system on the available User Device such as the FlexPendant. With UIShow both individually written applications and standard applications can be launched from a RAPID program. Basic examples Basic examples of the instruction UIShow are illustrated below. Example 1 and example 2 only works if the files TpsViewMyAppl.dll and TpsViewMyAppl.gtpu.dll is present in the HOME: directory, and a warmstart has been performed. Example 1
CONST string Name:="TpsViewMyAppl.gtpu.dll"; CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl"; CONST string Cmd1:="Init data string passed to the view"; CONST string Cmd2:="New init data string passed to the view"; PERS uishownum myinstance:=0; VAR num mystatus:=0; ... ! Launch one view of my application MyAppl UIShow Name, Type \InitCmd:=Cmd1 \InstanceID:=myinstance \Status:=mystatus; ! Update the view with new init command UIShow Name, Type \InitCmd:=Cmd2 \InstanceID:=myinstance \Status:=mystatus;

The code above will launch the view TpsViewMyAppl with init command Cmd1, and then update the view with Cmd2. Example 2
CONST string Name:="TpsViewMyAppl.gtpu.dll"; CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl"; CONST string Cmd1:="Init data string passed to the view"; CONST string Cmd2:="New init data string passed to the view"; PERS uishownum myinstance:=0; VAR num mystatus:=0; ... ! Launch one view of my application MyAppl UIShow Name, Type \InitCmd:=Cmd1 \Status:=mystatus; ! Launch another view of the application MyAppl UIShow Name, Type \InitCmd:=Cmd2 \InstanceID:=myinstance \Status:=mystatus;

The code above will launch the view TpsViewMyAppl with init command Cmd1. Then it launches another view with init command Cmd2. Example 3
CONST string Name:="tpsviewbackupandrestore.dll"; CONST string Type:="ABB.Robotics.Tps.Views.TpsViewBackupAndRestore";

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1.226 UIShow - User Interface show Continued
VAR num mystatus:=0; ... UIShow Name, Type \Status:=mystatus;

Launch standard application Backup and Restore. Arguments

UIShow AssemblyName TypeName [\InitCmd] [\InstanceId] [\Status] [\NoCloseBtn]

AssemblyName Data type: string The name of the assembly that contains the view. TypeName Data type: string This is the name of the view (the type to create). This is the fully qualified name of the type, i.e. its namespace is included. [\InitCmd] Init Command Data type: string A init data string passed to the view. [\InstanceId] Data type: uishownum A parameter that represents a token used to identify a view. If a view is shown after the call to UIShow then a value that identifies the view is passed back. This token can then be used in other calls to UIShow to activate an already running view. If the value identifies an existing (running) view then the view will be activated. If it does not exist then a new instance will be created. This means that this parameter can be used to determine if a new instance will be launched or not. If its value identifies an already started view then this view will be activated regardless of the values of all other parameters. A recommendation is to use an unique InstanceId variable for each new application that is going to be launched with the UIShow instruction. The parameter must be a persistent variable and the reason for this is that this variable should keep its value, even if the program pointer is moved to main. If executing the same UIShow as earlier and using the same variable then the same view will be activated if it is still open. If the view has been closed then a new view will be launched. [\Status] Data type: num Status indicates if the operation was successful or not. Note that if this option is used then the RAPID execution will be waiting until the instruction is completed, i.e. the view is launched.

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1.226 UIShow - User Interface show Continued This optional parameter is primary used for debugging purpose. (See Error handling)
Status 0 -1 -2 -3 -4 -5 -6 Description OK No space left on the FlexPendant for the new view. Maximum 6 views can be open at the same time on the FlexPendant. Assembly could not be found, does not exist File was found, but could not be loaded Assembly exist, but no new instance could be created The typename is invalid for this assembly InstanceID does not match assembly to load

[\NoCloseBtn] No Close Button Data type: switch NoCloseBtn disables the close button of the view. Program execution The UIShow instruction is used to launch individual applications on the FlexPendant. To launch individual applications, the assemblies have to be placed in the HOME: directory in the active system, or directly in the active system, or in an additional option. The recommendation is to place the files in the HOME: directory so that they are saved if a Backup and Restore is done. A warmstart is required and then the FlexPendant loads the new assemblies. A demand on the system is that the RobotWare option FlexPendant Interface is used. It is also possible to launch standard applications such as Backup and Restore. Then there is no demand to have the RobotWare option FlexPendant Interface. If using the parameter \Status then the program execution will wait until the application is launched. If errors in the application are not handled then it is only the result of the launch that is supervised. Without the \Status parameter, the FlexPendant is ordered to launch the application but there is no check to determine if it is possible to launch it or not. Error handling If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. If parameter \Status is used then these situations can then be dealt with by the error handler: If there is no space left on the FlexPendant for the assembly then the system variable ERRNO is set to ERR_UISHOW_FULL and the execution continues in the error handler. The FlexPendant can have 6 views open at the same time. If something else goes wrong when trying to launch a view then the system variable ERRNO is set to ERR_UISHOW_FATAL, and the execution continues in the error handler.

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1.226 UIShow - User Interface show Continued Limitations When using UIShow instruction to launch individual applications then it is a demand that the system is equipped with the option FlexPendant Interface. Applications that have been launched with the UIShow instruction do not survive power fail situations. POWER ON event routine can be used to setup the application again. Syntax
UIShow [AssemblyName :=] < expression (IN) of string >, [TypeName :=] < expression (IN) of string >, [\InitCmd := < expression (IN) of string> ] [\InstanceId := < persistent (PERS) of uishownum> ] [\Status := < variable (VAR) of num> ] [\NoCloseBtn ];

Related information
For information about FlexPendant nterface Building individual applications for the FlexPendant uishownum Clean up the Operator window See Product specification - Controller software IRC5 Application manual - PC SDK uishownum - Instance ID for UIShow on page 1289 TPErase - Erases text printed on the FlexPendant on page 582

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1.227 UnLoad - UnLoad a program module during execution

1.227 UnLoad - UnLoad a program module during execution

Usage UnLoad is used to unload a program module from the program memory during execution. The program module must have previously been loaded into the program memory using the instructions Load or StartLoad - WaitLoad. Basic examples Basic examples of the instruction UnLoad are illustrated below. See also More examples below. Example 1
UnLoad diskhome \File:="PART_A.MOD";

UnLoad the program module PART_A.MOD from the program memory that was previously loaded into the program memory with Load. (See instruction Load). diskhome is a predefined string constant "HOME:". Arguments
UnLoad [\ErrIfChanged] | [\Save] FilePath [\File]

[\ErrIfChanged] Data type: switch If this argument is used, and the module has been changed since it was loaded into the system, then the instruction will generate the error recovery code ERR_NOTSAVED. [\Save] Data type: switch If this argument is used then the program module is saved before the unloading starts. The program module will be saved at the original place specified in the Load or StartLoad instruction. FilePath Data type: string The file path and the file name to the file that will be unloaded from the program memory. The file path and the file name must be the same as in the previously executed Load or StartLoad instruction. The file name shall be excluded when the argument \File is used. [\File] Data type: string When the file name is excluded in the argument FilePath, then it must be defined with this argument. The file name must be the same as in the previously executed Load or StartLoad instruction.

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1.227 UnLoad - UnLoad a program module during execution Continued Program execution To be able to execute an UnLoad instruction in the program, a Load or StartLoad - WaitLoad instruction with the same file path and name must have been executed earlier in the program. The program execution waits for the program module to finish unloading before the execution proceeds with the next instruction. After that the program module is unloaded, and the rest of the program modules will be linked. For more information see the instructions Load or StartLoad-Waitload. More examples More examples of how to use the instruction UnLoad are illustrated below. Example 1
UnLoad "HOME:/DOORDIR/DOOR1.MOD";

UnLoad the program module DOOR1.MOD from the program memory that was previously loaded into the program memory. Example 2
UnLoad "HOME:" \File:="DOORDIR/DOOR1.MOD";

Same as in example 1 above but another syntax. Example 3

Unload \Save, "HOME:" \File:="DOORDIR/DOOR1.MOD";

Same as in examples 1 and 2 above but saves the program module before unloading. Limitations It is not allowed to unload a program module that is executing (program pointer in the module). TRAP routines, system I/O events, and other program tasks cannot execute during the unloading. Avoid ongoing robot movements during the unloading. Program stop during execution of UnLoad instruction can result in guard stop with motors off and error message "20025 Stop order timeout" on the FlexPendant. Error handling If the file in the UnLoad instruction cannot be unloaded because of ongoing execution within the module or wrong path (module not loaded with Load or StartLoad) then the system variable ERRNO is set to ERR_UNLOAD. If the argument \ErrIfChanged is used and the module has been changed then the execution of this routine will set the system variable ERRNO to ERR_NOTSAVED. Those errors can then be handled in the error handler. Syntax
UnLoad [\ErrIfChanged ,] | [\Save ,]

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1.227 UnLoad - UnLoad a program module during execution Continued
[FilePath:=]<expression (IN) of string> [\File:= <expression (IN) of string>];

Related information
For information about See

Check program references CheckProgRef - Check program references on page 43 Load a program module Load - Load a program module during execution on page 215 StartLoad - Load a program module during execution on page 509 WaitLoad - Connect the loaded module to the task on page 713

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1.228 UnpackRawBytes - Unpack data from rawbytes data

1.228 UnpackRawBytes - Unpack data from rawbytes data

Usage UnpackRawBytes is used to unpack the contents of a container of type rawbytes to variables of type byte, num, dnum or string. Basic examples Basic examples of the instruction UnpackRawBytes are illustrated below. Example 1
VAR VAR VAR VAR VAR VAR VAR VAR VAR iodev io_device; rawbytes raw_data_out; rawbytes raw_data_in; num integer; dnum bigInt; num float; string string1; byte byte1; byte data1;

! Data packed in raw_data_out according to the protocol ... Open "chan1:", io_device\Bin; WriteRawBytes io_device, raw_data_out; ReadRawBytes io_device, raw_data_in\Time := 1; Close io_device;

According to the protocol that is known to the programmer, the message is sent to device "chan1:". Then the answer is read from the device. The answer contains, for an example, the following:
byte number: 1-4 5-8 9-25 26 27 28-36 37-40 contents: integer 5 float 234.6 string "This is real fun!" hex value 4D ASCII code 122, i.e. z integer 4294967295 integer 4294967295

UnpackRawBytes raw_data_in, 1, integer \IntX := DINT;

The contents of integer will be 5.

UnpackRawBytes raw_data_in, 5, float \Float4;

The contents of float will be 234.6 decimal.

UnpackRawBytes raw_data_in, 9, string1 \ASCII:=17;

The contents of string1 will be "This is real fun!".

UnpackRawBytes raw_data_in, 26, byte1 \Hex1;

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1.228 UnpackRawBytes - Unpack data from rawbytes data Continued The contents of byte1 will be '4D' hexadecimal.
UnpackRawBytes raw_data_in, 27, data1 \ASCII:=1;

The contents of data1 will be 122, the ASCII code for "z".
UnpackRawBytes raw_data_in, 28, bigInt \IntX := LINT;

The contents of bigInt will be 4294967295.

UnpackRawBytes raw_data_in, 37, bigInt \IntX := UDINT;

The contents of bigInt will be 4294967295. Arguments

UnpackRawBytes RawData [ \Network ] StartIndex Value [\Hex1 ]| [ \IntX ] | [ \Float4 ] | [ \ASCII ]

RawData Data type: rawbytes Variable container to unpack data from. [ \Network ] Data type: switch Indicates that integer and float shall be unpacked from big-endian (network order) represented in RawData. ProfiBus and InterBus use big-endian. Without this switch, integer and float will be unpacked in little-endian (not network order) representation from RawData. DeviceNet uses little-endian. Only relevant together with option parameter \IntX - UINT, UDINT, ULINT, INT, DINT, LINT and \Float4. StartIndex Data type: num StartIndex, between 1 and 1024, indicates where to start unpacking data from RawData. Value Data type: anytype Variable containing the data that was unpacked from RawData. Allowed data types are: byte, num, dnum or string. Array cannot be used. [ \Hex1 ] Data type: switch The data to be unpacked and placed in Value has hexadecimal format in 1 byte and will be converted to decimal format in a byte variable. [ \IntX ] Data type: inttypes The data to be unpacked has the format according to the specified constant of data type inttypes. The data will be converted to a num or a dnum variable containing an integer and stored in Value. See Predefined data on page 691.

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1 Instructions
1.228 UnpackRawBytes - Unpack data from rawbytes data Continued [ \Float4 ] Data type: switch The data to be unpacked and placed in Value has float, 4 bytes, format, and it will be converted to a num variable containing a float. [ \ASCII ] Data type: num The data to be unpacked and placed in Value has byte or string format. If Value is of type byte then the data will be interpreted as ASCII code and converted to byte format (1 character). If Value is of type string then the data will be stored as string (1...80 characters). String data is not NULL terminated in data of type rawbytes. One of arguments \Hex1, \IntX, \Float4 or \ASCII must be programmed. The following combinations are allowed:
Data type of Value: num *) dnum **) num string byte Allowed option parameters: \IntX \IntX \Float4 \ASCII:=n with n between 1 and 80 \Hex1 \ASCII:=1

*) Must be an integer within the value range of selected symbolic constant USINT, UINT, UDINT, SINT, INT or DINT. **) Must be an integer within the value range of selected symbolic constant USINT, UINT, UDINT, ULINT, SINT, INT, DINT or LINT. Program execution During program execution data is unpacked from the container of type rawbytes into a variable of type anytype. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Predefined data The following symbolic constants of the data type inttypes are predefined and can be used to specify the integer in parameter \IntX.
Symbolic constant USINT UINT UDINT Constant value 1 2 4 8 -1 Integer format Unsigned 1 byte integer Unsigned 2 byte integer Unsigned 4 byte integer Unsigned 8 byte integer Signed 1 byte integer Integer value range 0 ... 255 0 ... 65 535 0 ... 8 388 608 *) 0 ... 4 294 967 295 ****) 0 ... 4 503 599 627 370 496**) - 128... 127

ULINT SINT

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1 Instructions
1.228 UnpackRawBytes - Unpack data from rawbytes data Continued
Symbolic constant INT DINT Constant value -2 -4 Integer format Signed 2 byte integer Signed 4 byte integer Integer value range - 32 768 ... 32 767 - 8 388 607 ... 8 388 608 *) -2 147 483 648 ... 2 147 483 647 ***) - 4 503 599 627 370 496... 4 503 599 627 370 496 **)

LINT

-8

Signed 8 byte integer

*) RAPID limitation for storage of integer in data type num. **) RAPID limitation for storage of integer in data type dnum. ***) Range when using a dnum variable and inttype DINT. ****) Range when using a dnum variable and inttype UDINT. Syntax
UnpackRawBytes [RawData := ] < variable (VAR) of rawbytes> [ \ Network ] , [StartIndex := ] < expression (IN) of num> , [Value := ] < variable (VAR) of anytype> [ \ Hex1 ] | [ \ IntX := < expression (IN) of inttypes>] | [ \ Float4 ] | [ \ ASCII := < expression (IN) of num>] ;

Related information
For information about rawbytes data Get the length of rawbytes data See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997

Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes data on page 57 Copy the contents of rawbytes data CopyRawBytes - Copy the contents of rawbytes data on page 75 Pack DeviceNet header into rawbytes data Pack data into rawbytes data Write rawbytes data Read rawbytes data Unpack data from rawbytes data Bit/Byte Functions String functions File and serial channel handling PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 PackRawBytes - Pack data into rawbytes data on page 306 WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Technical reference manual - RAPID overview Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1 Instructions
1.229 VelSet - Changes the programmed velocity

1.229 VelSet - Changes the programmed velocity

Usage VelSet is used to increase or decrease the programmed velocity of all subsequent positioning instructions. This instruction is also used to maximize the velocity. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction VelSet are illustrated below. See also More examples on page 694. Example 1
VelSet 50, 800;

All the programmed velocities are decreased to 50% of the value in the instruction. However, the TCP velocity is not permitted to exceed 800 mm/s. Arguments
VelSet Override Max

Override Data type: num Desired velocity as a percentage of programmed velocity. 100% corresponds to the programmed velocity. Max Data type: num Maximum TCP velocity in mm/s. Program execution The programmed velocity of all subsequent positioning instructions is affected until a new VelSet instruction is executed. The argument Override affects: All velocity components (TCP, orientation, rotating, and linear external axes) in speeddata. The programmed velocity override in the positioning instruction (the argument \V). Timed movements. The welding speed in welddata. The heating and filling speed in seamdata.

The argument Override does not affect:

The argument Max only affects the velocity of the TCP. The default values for Override and Max are 100% and vmax.v_tcp mm/s *) respectively. These values are automatically set at a cold start-up. Continues on next page
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1 Instructions
1.229 VelSet - Changes the programmed velocity Continued when a new program is loaded. when starting program execution from the beginning.

*) Max. TCP speed for the used robot type and normal practical TCP values. The RAPID function MaxRobSpeed returns the same value. More examples More examples of how to use the instruction VelSet are illustrated below. Example 1
VelSet 50, 800; MoveL p1, v1000, z10, tool1; MoveL p2, v2000, z10, tool1; MoveL p3, v1000\T:=5, z10, tool1;

The speed is 500 mm/s to point p1 and 800 mm/s to p2. It takes 10 seconds to move from p2 to p3. Limitations The maximum speed is not taken into consideration when the time is specified in the positioning instruction. Syntax
VelSet [ Override := ] < expression (IN) of num > , [ Max := ] < expression (IN) of num > ;

Related information
For information about Definition of velocity Max. TCP speed for this robot Positioning instructions Motion settings data See speeddata - Speed data on page 1248 MaxRobSpeed - Maximum robot speed on page 947 Technical reference manual - RAPID overview motsetdata - Motion settings data on page 1202

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1 Instructions
1.230 WaitAI - Waits until an analog input signal value is set

1.230 WaitAI - Waits until an analog input signal value is set

Usage WaitAI (Wait Analog Input) is used to wait until an analog input signal value is set. Basic examples Basic examples of the instruction WaitAI are illustrated below. Example 1
WaitAI ai1, \GT, 5;

Program execution only continues after the ai1 analog input has value greater than 5. Example 2
WaitAI ai1, \LT, 5;

Program execution only continues after the ai1 analog input has value less than 5. Arguments
WaitAI Signal [\LT] | [\GT] Value [\MaxTime] [\ValueAtTimeout]

Signal Data type: signalai The name of the analog input signal. [\LT] Less Than Data type: switch If using this parameter, the WaitAI instruction waits until the analog signal value is less than the value in Value. [\GT] Greater Than Data type: switch If using this parameter the WaitAI instruction waits until the analog signal value is greater than the value in Value. Value Data type: num The desired value of the signal. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met, the error handler will be called, if there is one,

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1 Instructions
1.230 WaitAI - Waits until an analog input signal value is set Continued with the error code ERR_WAIT_MAXTIME. If there is no error handler, the execution will be stopped. [\ValueAtTimeout] Data type: num If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. Program execution If the value of the signal is correct when the instruction is executed, the program simply continues with the following instruction. If the signal value is incorrect, the robot enters a waiting state and the program continues when the signal changes to the correct value. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised. By default, the robot can wait forever, but the maximal waiting time can be specified with the optional argument \MaxTime. If this max. time is exceeded, an error is raised. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. In manual mode and if the waiting time is greater than 3 s, an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear, you can set system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). More examples More examples of the instruction WaitAI are illustrated below. Example 1
VAR num myvalattimeout:=0; WaitAI ai1, \LT, 5 \MaxTime:=4 \ValueAtTimeout:=myvalattimeout; ERROR IF ERRNO=ERR_WAIT_MAXTIME THEN TPWrite "Value of ai1 at timeout:" + ValToStr(myvalattimeout); TRYNEXT; ELSE ! No error recovery handling ENDIF

Program execution continues only if ai1 is less than 5, or when timing out. If timing out, the value of the signal ai1 at timeout can be logged without another read of signal. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_AO_LIM if the programmed Value argument for the specified analog input signal Signal is outside limits. Continues on next page
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1 Instructions
1.230 WaitAI - Waits until an analog input signal value is set Continued ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. ERR_WAIT_MAXTIME if there is a time-out (parameter \MaxTime) before the signal changes to the right value. Syntax
WaitAI [ Signal := ] < variable (VAR) of [ \ LT] | [ \ GT] , [ Value := ] < expression (IN) of [\MaxTime :=<expression (IN) of [ \ValueAtTimeout := < variable signalai> , num> num>] (VAR) of num >] ;

Related information
For information about Waiting until a condition is satisfied Waiting for a specified period of time See WaitUntil - Waits until a condition is met on page 728 WaitTime - Waits a given amount of time on page 726

Waiting until an analog output is set/reset WaitAO - Waits until an analog output signal value is set on page 698

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1 Instructions
1.231 WaitAO - Waits until an analog output signal value is set

1.231 WaitAO - Waits until an analog output signal value is set

Usage WaitAO (Wait Analog Output) is used to wait until an analog output signal value is set. Basic examples Basic examples of the instruction WaitAO are illustrated below. Example 1
WaitAO ao1, \GT, 5;

Program execution only continues after the ao1 analog output has value greater than 5. Example 2
WaitAO ao1, \LT, 5;

Program execution only continues after the ao1 analog output has value less than 5. Arguments
WaitAO Signal [\LT] | [\GT] Value [\MaxTime] [\ValueAtTimeout]

Signal Data type: signalao The name of the analog output signal. [\LT] Less Than Data type: switch If using this parameter, the WaitAO instruction waits until the analog signal value is less than the value in Value. [\GT] Greater Than Data type: switch If using this parameter, the WaitAO instruction waits until the analog signal value is greater than the value in Value. Value Data type: num The desired value of the signal. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met, the error handler will be called, if there is one,

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1 Instructions
1.231 WaitAO - Waits until an analog output signal value is set Continued with the error code ERR_WAIT_MAXTIME. If there is no error handler, the execution will be stopped. [\ValueAtTimeout] Data type: num If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. Program execution If the value of the signal is correct when the instruction is executed, the program simply continues with the following instruction. If the signal value is incorrect, the robot enters a waiting state and the program continues when the signal changes to the correct value. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised. By default, the robot can wait forever, but the maximal waiting time can be specified with the optional argument \MaxTime. If this max. time is exceeded, an error is raised. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. In manual mode and if the waiting time is greater than 3 s, an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear, you can set system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). More examples More examples of the instruction WaitAO are illustrated below. Example 1
VAR num myvalattimeout:=0; WaitAO ao1, \LT, 5 \MaxTime:=4 \ValueAtTimeout:=myvalattimeout; ERROR IF ERRNO=ERR_WAIT_MAXTIME THEN TPWrite "Value of ao1 at timeout:" + ValToStr(myvalattimeout); TRYNEXT; ELSE ! No error recovery handling ENDIF

Program execution continues only if ao1 is less than 5, or when timing out. If timing out, the value of the signal ao1 at timeout can be logged without another read of signal. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_AO_LIM if the programmed Value argument for the specified analog output signal Signal is outside limits. Continues on next page
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1 Instructions
1.231 WaitAO - Waits until an analog output signal value is set Continued ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. ERR_WAIT_MAXTIME if there is a time-out (parameter \MaxTime) before the signal changes to the right value. Syntax
WaitAO [ Signal := ] < variable (VAR) of [ \ LT] | [ \ GT] , [ Value := ] < expression (IN) of [\MaxTime :=<expression (IN) of [ \ValueAtTimeout := < variable signalao> , num> num>] (VAR) of num >] ;

Related information
For information about Waiting until a condition is satisfied Waiting for a specified period of time See WaitUntil - Waits until a condition is met on page 728 WaitTime - Waits a given amount of time on page 726

Waiting until an analog input is set/reset WaitAI - Waits until an analog input signal value is set on page 695

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1 Instructions
1.232 WaitDI - Waits until a digital input signal is set

1.232 WaitDI - Waits until a digital input signal is set

Usage WaitDI (Wait Digital Input) is used to wait until a digital input is set. Basic examples Basic examples of the instruction WaitDI are illustrated below. Example 1
WaitDI di4, 1;

Program execution continues only after the di4 input has been set. Example 2
WaitDI grip_status, 0;

Program execution continues only after the grip_status input has been reset. Arguments
WaitDI Signal Value [\MaxTime] [\TimeFlag]

Signal Data type: signaldi The name of the signal. Value Data type: dionum The desired value of the signal. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met then the error handler will be called, if there is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler then the execution will be stopped. [\TimeFlag] Timeout Flag Data type: bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met. If this parameter is included in the instruction then it is not considered to be an error if the max. time runs out. This argument is ignored if the MaxTime argument is not included in the instruction. Program execution If the value of the signal is correct, when the instruction is executed, then the program simply continues with the following instruction.

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1 Instructions
1.232 WaitDI - Waits until a digital input signal is set Continued If the signal value is not correct then the robot enters a waiting state and when the signal changes to the correct value, the program continues. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised, and if it exceeds the max time value then the program will continue if a TimeFlag is specified or raise an error if its not. If a TimeFlag is specified then this will be set to TRUE if the time is exceeded. Otherwise it will be set to FALSE. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. In manual mode, after waiting in 3 s then an alert box will pop up asking if you want to simulate the instruction. If you dont want the alert box to appear you can set the system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
WaitDI [ Signal := ] < variable (VAR) of signaldi> , [ Value := ] < expression (IN) of dionum> [\MaxTime :=<expression (IN) of num>] [\TimeFlag:=<variable (VAR) of bool>] ;

Related information
For information about Waiting until a condition is satisfied Waiting for a specified period of time See WaitUntil - Waits until a condition is met on page 728 WaitTime - Waits a given amount of time on page 726

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1 Instructions
1.233 WaitDO - Waits until a digital output signal is set

1.233 WaitDO - Waits until a digital output signal is set

Usage WaitDO (Wait Digital Output) is used to wait until a digital output is set. Basic examples Basic examples of the instruction WaitDO are illustrated below. Example 1
WaitDO do4, 1;

Program execution continues only after the do4 output has been set. Example 2
WaitDO grip_status, 0;

Program execution continues only after the grip_status output has been reset. Arguments
WaitDO Signal Value [\MaxTime] [\TimeFlag]

Signal Data type: signaldo The name of the signal. Value Data type: dionum The desired value of the signal. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met and the TimeFlag argument is not used then the error handler can be called with the error code ERR_WAIT_MAXTIME. If there is no error handler then the execution will be stopped. [\TimeFlag] Timeout Flag Data type: bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met. If this parameter is included in the instruction then it is not considered to be an error if the maximum time runs out. This argument is ignored if the MaxTime argument is not included in the instruction. Program execution If the value of the output signal is correct, when the instruction is executed, then the program simply continues with the following instruction.

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1 Instructions
1.233 WaitDO - Waits until a digital output signal is set Continued If the value of the output signal is not correct then the robot enters a waiting state. When the signal changes to the correct value then the program continues. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised, and if it exceeds the maximum time value then the program will continue if a TimeFlag is specified or raise an error if its not. If a TimeFlag is specified then this will be set to TRUE if the time is exceeded. Otherwise it will be set to FALSE. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. In manual mode, after waiting in 3 s then an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear you can set system parameter SimulateMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
WaitDO [ Signal :=] < variable (VAR) of signaldo >, [ Value := ] < expression (IN) of dionum> [\MaxTime :=<expression (IN) of num>] [\TimeFlag:=<variable (VAR) of bool>];

Related information
For information about Waiting until a condition is satisfied See WaitUntil - Waits until a condition is met on page 728

Waiting for a specified period of time WaitTime - Waits a given amount of time on page 726 Waiting until an input is set/reset WaitDI - Waits until a digital input signal is set on page 701

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1 Instructions
1.234 WaitGI - Waits until a group of digital input signals are set

1.234 WaitGI - Waits until a group of digital input signals are set
Usage WaitGI (Wait Group digital Input) is used to wait until a group of digital input signals are set to specified values. Basic examples Basic examples of the instruction WaitGI are illustrated below. See also More examples on page 707. Example 1
WaitGI gi4, 5;

Program execution continues only after the gi4 input has the value 5. Example 2
WaitGI grip_status, 0;

Program execution continues only after the grip_status input has been reset. Arguments
WaitGI Signal [\NOTEQ] | [\LT] | [\GT] Value | Dvalue [\MaxTime] [\ValueAtTimeout] | [\DvalueAtTimeout]

Signal Data type: signalgi The name of the digital group input signal. [\NOTEQ] NOT EQual Data type: switch If using this parameter, the WaitGI instruction waits until the digital group signal value divides from the value in Value. [\LT] Less Than Data type: switch If using this parameter, the WaitGI instruction waits until the digital group signal value is less than the value in Value. [\GT] Greater Than Data type: switch If using this parameter, the WaitGI instruction waits until the digital group signal value is greater than the value in Value. Value Data type: num The desired value of the signal. Must be an integer value within the working range of the used digital group input signal. The permitted value is dependent on the Continues on next page
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1 Instructions
1.234 WaitGI - Waits until a group of digital input signals are set Continued number of signals in the group. Max value that can be used in the Value argument is 8388608, and that is the value a 23 bit digital signal can have as maximum value. Dvalue Data type: dnum The desired value of the signal. Must be an integer value within the working range of the used digital group input signal. The permitted value is dependent on the number of signals in the group. The maximal amout of signal bits a digital group signal can have is 32. With a dnumvariable it is possible to cover the value range 0-4294967295, which is the value range a 32 bits digital signal can have. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met, the error handler will be called (if there is one) with the error code ERR_WAIT_MAXTIME. If there is no error handler, the execution will be stopped. [\ValueAtTimeout] Data type: num If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. If the Dvalue argument is used, use argument DvalueAtTimeout to store current value on signal (reason: limitation of maximum integer value for num). Signal values between 0 and 8388608 are always stored as an exact integer. [\DvalueAtTimeout] Data type: dnum If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. Signal values between 0 and 4294967295 are always stored as an exact integer. Program execution If the value of the signal is correct when the instruction is executed, the program simply continues with the following instruction. If the signal value is not correct, the robot enters a waiting state and the program continues when the signal changes to the correct value. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised. By default, the robot can wait forever, but the maximal waiting time can be specified with the optional argument \MaxTime. If this max. time is exceeded, an error is raised. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. Continues on next page
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1 Instructions
1.234 WaitGI - Waits until a group of digital input signals are set Continued In manual mode and if the waiting time is greater than 3 s, an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear, you can set system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). More examples More examples of the instruction WaitGI are illustrated below. Example 1
WaitGI gi1,\NOTEQ,0;

Program execution only continues after the gi1 differs from the value 0. Example 2
WaitGI gi1,\LT,1;

Program execution only continues after the gi1 is less than 1. Example 3
WaitGI gi1,\GT,0;

Program execution continues only after the gi1 is greater than 0. Example 4
VAR num myvalattimeout:=0; WaitGI gi1, 5 \MaxTime:=4 \ValueAtTimeout:=myvalattimeout; ERROR IF ERRNO=ERR_WAIT_MAXTIME THEN TPWrite "Value of gi1 at timeout:" + ValToStr(myvalattimeout); TRYNEXT; ELSE ! No error recovery handling ENDIF

Program execution continues only if gi1 is equal to 5, or when timing out. If timing out, the value of the signal gi1 at timeout can be logged without another read of signal. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_GO_LIM if the programmed Value or Dvalue argument for the specified digital group input signal Signal is outside limits. ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. ERR_WAIT_MAXTIME if there is a time-out (parameter \MaxTime) before the signal changes to the right value. Syntax
WaitGI [ Signal := ] < variable (VAR) of signalgi> , [\ NOTEQ] | [ \ LT] | [ \ GT] , [ Value := ] < expression (IN) of num>

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1 Instructions
1.234 WaitGI - Waits until a group of digital input signals are set Continued
| [ Dvalue := ] < expression (IN) of dnum> [\MaxTime :=<expression (IN) of num>] [ \ValueAtTimeout := < variable (VAR) of num > ] | [ \DvalueAtTimeout := < variable (VAR) of dnum > ];

Related information
For information about Waiting until a condition is satisfied Waiting for a specified period of time Waiting until a group of digital output signals are set/reset See WaitUntil - Waits until a condition is met on page 728 WaitTime - Waits a given amount of time on page 726 WaitGO - Waits until a group of digital output signals are set on page 709

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1 Instructions
1.235 WaitGO - Waits until a group of digital output signals are set

1.235 WaitGO - Waits until a group of digital output signals are set
Usage WaitGO (Wait Group digital Output) is used to wait until a group of digital output signals are set to a specified value. Basic examples Basic examples of the instruction WaitGO are illustrated below. See also More examples on page 711. Example 1
WaitGO go4, 5;

Program execution only continues after the go4 output has value 5. Example 2
WaitGO grip_status, 0;

Program execution only continues after the grip_status output has been reset. Arguments
WaitGO Signal [\NOTEQ] | [\LT] | [\GT] Value | Dvalue [\MaxTime] [\ValueAtTimeout] | [\DvalueAtTimeout]

Signal Data type: signalgo The name of the digital group output signal. [\NOTEQ] NOT EQual Data type: switch If using this parameter, the WaitGO instruction waits until the digital group signal value divides from the value in Value. [\LT] Less Than Data type: switch If using this parameter, the WaitGO instruction waits until the digital group signal value is less than the value in Value. [\GT] Greater Than Data type: switch If using this parameter, the WaitGO instruction waits until the digital group signal value is greater than the value in Value. Value Data type: num The desired value of the signal. Must be an integer value within the working range of the used digital group output signal. The permitted value is dependent on the Continues on next page
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1.235 WaitGO - Waits until a group of digital output signals are set Continued number of signals in the group. Max value that can be used in the Value argument is 8388608, and that is the value a 23 bit digital signal can have as maximum value. Dvalue Data type: dnum The desired value of the signal. Must be an integer value within the working range of the used digital group output signal. The permitted value is dependent on the number of signals in the group. The maximal amout of signal bits a digital group signal can have is 32. With a dnumvariable it is possible to cover the value range 0-4294967295, which is the value range a 32 bits digital signal can have. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is met, the error handler will be called, if there is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler, the execution will be stopped. [\ValueAtTimeout] Data type: num If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. If the Dvalue argument is used, use argument DvalueAtTimeout to store current value on signal (reason: limitation of maximum integer value for num). Signal values between 0 and 8388608 are always stored as an exact integer. [\DvalueAtTimeout] Data type: dnum If the instruction time-out, the current signal value will be stored in this variable. The variable will only be set if the system variable ERRNO is set to ERR_WAIT_MAXTIME. Signal values between 0 and 4294967295 are always stored as an exact integer. Program execution If the value of the signal is correct when the instruction is executed, the program simply continues with the following instruction. If the signal value is incorrect, the robot enters a waiting state and the program continues when the signal changes to the correct value. The change is detected with an interrupt, which gives a fast response (not polled). When the robot is waiting, the time is supervised. By default, the robot can wait forever, but the maximal waiting time can be specified with the optional argument \MaxTime. If this max. time is exceeded, an error is raised. If program execution is stopped, and later restarted, the instruction evaluates the currentvalue of the signal. Any change during program stop is rejected. Continues on next page
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1.235 WaitGO - Waits until a group of digital output signals are set Continued In manual mode and if the waiting time is greater than 3 s, an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear, you can set the system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). More examples More examples of the instruction WaitGO are illustrated below. Example 1
WaitGO go1,\NOTEQ,0;

Program execution only continues after the go1 differs from the value 0. Example 2
WaitGO go1,\LT,1;

Program execution only continues after the go1 is less than 1. Example 3
WaitGO go1,\GT,0;

Program execution only continues after the go1 is greater than 0. Example 4
VAR num myvalattimeout:=0; WaitGO go1, 5 \MaxTime:=4 \ValueAtTimeout:=myvalattimeout; ERROR IF ERRNO=ERR_WAIT_MAXTIME THEN TPWrite "Value of go1 at timeout:" + ValToStr(myvalattimeout); TRYNEXT; ELSE ! No error recovery handling ENDIF

Program execution continues only if go1 is equal to 5, or when timing out. If timing out, the value of the signal go1 at timeout can be logged without another read of signal. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_GO_LIM if the programmed Value or Dvalue argument for the specified digital group output signal Signal is outside limits. ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. ERR_WAIT_MAXTIME if there is a time-out (parameter \MaxTime) before the signal changes to the right value. Syntax
WaitGO [ Signal := ] < variable (VAR) of signalgo> , [\ NOTEQ] | [ \ LT] | [ \ GT] , [ Value := ] < expression (IN) of num>

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1.235 WaitGO - Waits until a group of digital output signals are set Continued
| [ Dvalue := ] < expression (IN) of dnum> [\MaxTime :=<expression (IN) of num>] [ \ValueAtTimeout := < variable (VAR) of num > ] | [ \DvalueAtTimeout := < variable (VAR) of dnum > ];

Related information
For information about Waiting until a condition is satisfied Waiting for a specified period of time See WaitUntil - Waits until a condition is met on page 728 WaitTime - Waits a given amount of time on page 726

Waiting until a group of digital input sig- WaitGI - Waits until a group of digital input signals nals are set/reset are set on page 705

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1 Instructions
1.236 WaitLoad - Connect the loaded module to the task

1.236 WaitLoad - Connect the loaded module to the task

Usage WaitLoad is used to connect the with StartLoad loaded module to the program task. The loaded program module will be added to the modules already existing in the program memory. The with StartLoad loaded module must be connected to the program task with the instruction WaitLoad before any of its symbols/routines can be used. WaitLoad can also unload a program module if the optional switches are used. This will minimize the number of links (1 instead of 2). WaitLoad can also check for any unsolved references if the optional switch \CheckRef is used. Basic examples Basic examples of the instruction WaitLoad are illustrated below. See also More examples on page 714. Example 1
VAR loadsession load1; ... StartLoad "HOME:/PART_A.MOD", load1; MoveL p10, v1000, z50, tool1 \WObj:=wobj1; MoveL p20, v1000, z50, tool1 \WObj:=wobj1; MoveL p30, v1000, z50, tool1 \WObj:=wobj1; MoveL p40, v1000, z50, tool1 \WObj:=wobj1; WaitLoad load1; %"routine_x"%; UnLoad "HOME:/PART_A.MOD";

Load the program module PART_A.MOD from HOME: into the program memory. In parallel, move the robot. Then connect the new program module to the program task and call the routine routine_x in the module PART_A. Arguments
WaitLoad [\UnloadPath] [\UnloadFile] LoadNo [\CheckRef]

[\UnloadPath] Data type: string The file path and the file name to the file that will be unloaded from the program memory. The file name should be excluded when the argument \UnloadFile is used. [\UnloadFile] Data type: string When the file name is excluded in the argument \UnloadPath, then it must be defined with this argument.

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1 Instructions
1.236 WaitLoad - Connect the loaded module to the task Continued LoadNo Data type: loadsession This is a reference to the load session, created by the instruction StartLoad that is needed to connect the loaded program module to the program task. [\CheckRef] Data type: switch Check after loading of the module for unsolved references in the program task. If not used no check for unsolved references are done. Program execution The instruction WaitLoad will first wait for the loading to be completed, if it is not already done, and then the module will be linked and initialized. The initiation of the loaded module sets all variables at module level to their initial values. Unresolved references will always be accepted for the loading operations StartLoad - WaitLoad if parameter \CheckRef is not used, but it will be a run time error on execution of an unresolved reference. The system starts with the unloading operation, if specified. If the unloading of the module fails, then no new module will be loaded. If any error from the loading operation, including unresolved references if use of switch \CheckRef, the loaded module will not be available any more in the program memory. To obtain a good program structure, that is easy to understand and maintain, all loading and unloading of program modules should be done from the main module, which is always present in the program memory during execution. For loading a program that contains a main procedure to a main program (with another main procedure), see instruction Load. More examples More examples of the instruction WaitLoad are illustrated below. Example 1
StartLoad "HOME:/DOORDIR/DOOR2.MOD", load1; ... WaitLoad \UnloadPath:="HOME:/DOORDIR/DOOR1.MOD", load1;

Load the program module DOOR2.MOD from HOME: in the directory DOORDIR into the program memory and connect the new module to the task. The program module DOOR1.MOD will be unloaded from the program memory. Example 2
StartLoad "HOME:" \File:="DOORDIR/DOOR2.MOD", load1; ! The robot can do some other work WaitLoad \UnloadPath:="HOME:" \File:= "DOORDIR/DOOR1.MOD", load1;

It is the same as the instructions below but the robot can do some other work during the loading time and also do it faster (only one link instead of the two links below).
Load "HOME:" \File:="DOORDIR/DOOR2.MOD";

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1.236 WaitLoad - Connect the loaded module to the task Continued
UnLoad "HOME:" \File:="DOORDIR/DOOR1.MOD";

Error handling If the file specified in the StartLoad instruction cannot be found then the system variable ERRNO is set to ERR_FILNOTFND at execution of WaitLoad. If some other type of problems to read the file to load then the system variable ERRNO will be set to ERR_IOERROR. If argument LoadNo refers to an unknown load session then the system variable ERRNO is set to ERR_UNKPROC. If the module cannot be loaded because the program memory is full then the system variable ERRNO is set to ERR_PRGMEMFULL. If the module is already loaded into the program memory then the system variable ERRNO is set to ERR_LOADED. If the loaded module contains syntax errors, the system variable ERRNO is set to ERR_SYNTAX. If the loaded module result in fatal link errors, the system variable ERRNO is set to ERR_LINKREF. If WaitLoad is used with the switch \CheckRef to check for any reference error and the program memory contains unresolved references, the system variable ERRNO is set to ERR_LINKREF. The following errors can only occur when the argument \UnloadPathis used in the instruction WaitLoad: If the module specified in the argument \UnloadPath cannot be unloaded because of ongoing execution within the module then the system variable ERRNO is set to ERR_UNLOAD. If the module specified in the argument \UnloadPath cannot be unloaded because the program module is not loaded with Load or StartLoad-WaitLoad from the RAPID program then the system variable ERRNO is also set to ERR_UNLOAD.

These errors can then be handled in the ERROR handler. If some of these error occurs, the actual module will be unloaded and will not be available in the ERROR handler. Note RETRY cannot be used for error recovery for any errors from WaitLoad. Limitations It is not possible to change the current value of some PERS variable by loading the same module with a new init value for the actual PERS variable. Example: File my_module.mod with declaration PERS num my_pers:=1; is loaded in the system.

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1.236 WaitLoad - Connect the loaded module to the task Continued The file my_module.mod is edited on disk with new persistent value eg. PERS num my_pers:=3; The code below is executed. After loading the my_module.mod again, the value of my_pers is still 1 instead of 3.
StartLoad \Dynamic, "HOME:/my_module.mod", load1; ... WaitLoad \UnLoadPath:="HOME:/my_module.mod", load1;

This limitation is a consequence of PERS variable characteristic. The current value of the PERS variable will not be changed by the new loaded PERS init value if thePERS variable is in any use at the loading time. The above problems will not occur if the following code is executed instead:
UnLoad "HOME:/my_module.mod"; StartLoad \Dynamic, "HOME:/my_module.mod", load1; ... WaitLoad load1;

Another option is to use a CONST for the init value and do the following assignment in the beginning of the execution in the new module: my_pers := my_const; Syntax
WaitLoad [ \ UnloadPath := <expression (IN) of string> ,] [ \ UnloadFile := <expression (IN) of string> ,] [ LoadNo := ] <variable (VAR) of loadsession> [ \ CheckRef ] ;

Related information
For information about See

Load a program module during execu- StartLoad - Load a program module during execution tion on page 509 Load session Load a program module Unload a program module Cancel loading of a program module Check program references Procedure call with Late binding loadsession - Program load session on page 1199 Load - Load a program module during execution on page 215 UnLoad - UnLoad a program module during execution on page 686 CancelLoad - Cancel loading of a module on page 41 CheckProgRef - Check program references on page 43 Technical reference manual - RAPID overview

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1 Instructions
1.237 WaitRob - Wait until stop point or zero speed

1.237 WaitRob - Wait until stop point or zero speed

Usage WaitRob waits until the robot and external axes have reached stop point or have zero speed. Basic examples Basic examples of the instruction WaitRob are illustrated below. See also More examples on page 717. Example 1
WaitRob \InPos;

Program execution waits until the robot and external axes have reached stop point. Arguments
WaitRob [\InPos] | [\ZeroSpeed]

[\InPos] In Position Data type: switch If this argument is used then the robot and external axes must have reached the stop point (ToPoint of current move instruction) before the execution can continue. [\ZeroSpeed] Zero Speed Data type: switch If this argument is used then the robot and external axes must have zero speed before the execution can continue. If none of the arguments \InPos and \ZeroSpeed are entered, an error message will be displayed. More examples More examples of how to use the instruction WaitRob are illustrated below. Example 1
PROC stop_event() WaitRob \ZeroSpeed; SetDO rob_moving, 0; ENDPROC

The example shows an event routine that executes at program stop. The digital out signal rob_moving is 1 as long as the robot is moving and is set to 0 when the robot and external axes has stopped moving after a program stop. Syntax
WaitRob [ \ InPos ] | [ \ ZeroSpeed ];

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1.237 WaitRob - Wait until stop point or zero speed Continued Related information
For information about Motion in general Other positioning instructions Definition of stop point data See Technical reference manual - RAPID overview, section Motion and I/O principles Technical reference manual - RAPID overview, section RAPID summary - Motion stoppointdata - Stop point data on page 1252

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1.238 WaitSyncTask - Wait at synchronization point for other program tasks

1.238 WaitSyncTask - Wait at synchronization point for other program tasks

Usage WaitSyncTask is used to synchronize several program tasks at a special point in each program. Each program task waits until all program tasks have reach the named synchronization point. Note WaitSyncTask only synchronize the program execution. To reach synchronization of both the program execution and the robot movements, the move instruction before the WaitSyncTask must be a stop-point in all involved program tasks. It is also possible to synchronize both the program execution and the robot movements by using WaitsyncTask \Inpos ... in all involved program tasks. WARNING To reach safe synchronization functionality, the meeting point (parameter SyncID) must have an unique name in each program task. The name must also be the same for the program tasks that should meet in the meeting point. Basic examples Basic examples of the instruction WaitSyncTask are illustrated below. See also More examples on page 721. Example 1 Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; ... WaitSyncTask sync1, task_list; ...

Example 2 Program example in task T_ROB2

PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; ... WaitSyncTask sync1, task_list; ...

The program task, that first reaches WaitSyncTask with identity sync1, waits until the other program task reaches its WaitSyncTask with the same identity sync1. Then both program tasks T_ROB1 and T_ROB2 continue their execution.

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1.238 WaitSyncTask - Wait at synchronization point for other program tasks Continued Arguments
WaitSyncTask [\InPos] SyncID TaskList [\TimeOut]

[\InPos] In Position Data type: switch If this argument is used then the robot and external axes must have come to a standstill before this program task starts waiting for other program tasks to reach its meeting point specified in the WaitSyncTask instruction. SyncID Synchronization identity Data type: syncident Variable that specifies the name of the synchronization (meeting) point. Data type syncident is a non-value type only used as an identifier for naming the synchronization point. The variable must be defined and have an equal name in all cooperated program tasks. It is recommended to always define the variable global in each program task (VAR syncident ...). TaskList Data type: tasks Persistent variable, that in a task list (array) specifies the name (string) of the program tasks, that should meet in the synchronization point with its name according to the argument SyncID. The persistent variable must be defined and have an equal name and equal contents in all cooperated program tasks. It is recommended to always define the variable global in the system (PERS tasks ...). [\TimeOut] Data type: num The max. time for waiting for the other program tasks to reach the synchronization point. Time-out in seconds (resolution 0.001s). If this argument is not specified then the program task will wait for ever. If this time runs out before all program tasks have reached the synchronization poin then the error handler will be called, if there is one, with the error code ERR_WAITSYNCTASK. If there is no error handler then the execution will be stopped. Program execution The actual program task will wait at WaitSyncTask until the other program tasks in the TaskList have reached the same SyncID point. At that time the respective program task will continue to execute its next instruction. WaitSyncTask can be programmed between move instructions with corner zone in between. Depending on the timing balance between the program tasks at execution time, the system can: Continues on next page
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1.238 WaitSyncTask - Wait at synchronization point for other program tasks Continued at worst timing, only keep the corner zone for the program task that reaches the WaitSyncTask last. For the other program tasks it will result in stop points.

It is possible to exclude program tasks for testing purposes from FlexPendant Task Selection Panel. The following principles can be used: Principle 1) Exclude the program task cycle-permanent from Task Selection Panel before starting from main (after set of PP to main) - This disconnection will be valid during the whole program cycle. Principle 2) Exclude the program task temporarily from the Task Selection Panel between some WaitSyncTask instructions in the program cycle The system will only run the other connected tasks but will, with error message, force the user to connect the excluded program tasks before passing co-operated WaitSyncTask. Principle 3) If running according principle 2, it is possible to exclude some program tasks permanent cycle from Task Selection Panel for further running according to principle 1 by executing the service routine SkipTaskExec.

Note that the Task Selection Panel is locked when running the system in synchronized movements. More examples More examples of the instruction WaitSyncTask are illustrated below. Example 1 Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; ... WaitSyncTask \InPos, sync1, task_list \TimeOut := 60; ... ERROR IF ERRNO = ERR_WAITSYNCTASK THEN RETRY; ENDIF

The program task T_ROB1 waits in instruction WaitSyncTask until its mechanical units are in position and after that it waits for the program task T_ROB2 to reach its synchronization point with the same identity. After waiting for 60 s, the error handler is called with ERRNO equal to ERR_WAITSYNCTASK. Then the instruction WaitSyncTask is called again for an additional 60 s. Error handling If a time-out occurs because WaitSyncTask not ready in time then the system variable ERRNO is set to ERR_WAITSYNCTASK. This error can be handled in the ERROR handler.

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1.238 WaitSyncTask - Wait at synchronization point for other program tasks Continued Limitation If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. WaitSyncTask \InPos cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop,Restart, or Step. Syntax
WaitSyncTask [\ InPos ,] [ SyncID := ] < variable (VAR) of syncident> , [ TaskList := ] < persistent array {*} (PERS) of tasks> [ \ TimeOut := < expression (IN) of num > ] ;

Related information
For information about See

Specify cooperated program tasks tasks - RAPID program tasks on page 1267 Identity for synchronization point syncident - Identity for synchronization point on page 1263

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1.239 WaitTestAndSet - Wait until variable unset - then set

1.239 WaitTestAndSet - Wait until variable unset - then set

Usage WaitTestAndSet instruction waits for a specified bool persistent variable value to become FALSE. When the variable value becomes FALSE, the instruction will set value to TRUE and continue the execution. The persistent variable can be used as a binary semaphore for synchronization and mutual exclusion. This instruction has the same underlying functionality as the TestAndSet function, but the WaitTestAndSet is waiting as long as the bool is FALSE while the TestAndSet instruction terminates immediately. It is not recommended to use WaitTestAndSet instruction in a TRAP routine, UNDO handler, or event routines. Examples of resources that can need protection from access at the same time: Basic examples Basic examples of the instruction WaitTestAndSet are illustrated below. See also More examples on page 724. Example 1 MAIN program task:
PERS bool tproutine_inuse := FALSE; ... WaitTestAndSet tproutine_inuse; TPWrite "First line from MAIN"; TPWrite "Second line from MAIN"; TPWrite "Third line from MAIN"; tproutine_inuse := FALSE;

Use of some RAPID routines with function problems when executed in parallel. Use of the FlexPendant - Operator Log.

BACK1 program task:

PERS bool tproutine_inuse := FALSE; ... WaitTestAndSet tproutine_inuse; TPWrite "First line from BACK1"; TPWrite "Second line from BACK1"; TPWrite "Third line from BACK1"; tproutine_inuse := FALSE;

To avoid mixing up the lines in the Operator Log (one from MAIN and one from BACK1) the use of the WaitTestAndSet function guarantees that all three lines from each task are not separated. If program task MAIN takes the semaphore WaitTestAndSet(tproutine_inuse) first then program task BACK1 must wait until the program task MAIN has left the semaphore.

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1.239 WaitTestAndSet - Wait until variable unset - then set Continued Arguments
WaitTestAndSet Object

Object Data type: bool User defined data object to be used as semaphore. The data object must be a persistent variable PERS. If WaitTestAndSet are used between different program tasks then the object must be a global PERS. Program execution This instruction will in one indivisible step check and set the user defined persistent variable like code example below: if it has the value FALSE, set it to TRUE if it has the value TRUE, wait until it become FALSE and then set it to TRUE
IF Object = FALSE THEN Object := TRUE; ELSE ! Wait until it become FALSE WaitUntil Object = FALSE; Object := TRUE; ENDIF

After that the instruction is ready. To avoid problems, because persistent variables keep their value if program pointer PP is moved to main, always set the semaphore object to FALSE in the START event routine. More examples More examples of the instruction WaitTestAndSet are illustrated below. Example 1
PERS bool semPers:= FALSE; ... PROC doit(...) WaitTestAndSet semPers; ... semPers := FALSE; ENDPROC

Note If program execution is stopped in the routine doit and the program pointer is moved to main then the variable semPers will not be reset. To avoid this, reset the variable semPers to FALSE in the START event routine. Syntax
WaitTestAndSet [ Object := ] < persistent (PERS) of bool> ;

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1.239 WaitTestAndSet - Wait until variable unset - then set Continued Related information
For information about See

Test variable and set if unset (type polled with TestAndSet - Test variable and set if unset WaitTime) on page 1073

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1.240 WaitTime - Waits a given amount of time

1.240 WaitTime - Waits a given amount of time

Usage WaitTime is used to wait a given amount of time. This instruction can also be used to wait until the robot and external axes have come to a standstill. Basic examples Basic examples of the instruction WaitTime are illustrated below. See also More examples below. Example 1
WaitTime 0.5;

Program execution waits 0.5 seconds. Arguments

WaitTime [\InPos] Time

[\InPos] In Position Data type: switch If this argument is used then the robot and external axes must have come to a standstill before the waiting time starts to be counted. This argument can only be used if the task controls mechanical units. Time Data type: num The time, expressed in seconds, that program execution is to wait. Min. value 0 s. Max. value no limit. Resolution 0.001 s. Program execution Program execution temporarily stops for the given amount of time. Interrupt handling and other similar functions, nevertheless, are still active. In manual mode, if waiting time is greater than 3 s then an alert box will pop up asking if you want to simulate the instruction. If you do not want the alert box to appear you can set the system parameter Controller/System Misc./ Simulate Menu to 0. More examples More examples of how to use the instruction WaitTime are illustrated below. Example 1
WaitTime \InPos,0;

Program execution waits until the robot and the external axes have come to a standstill. Limitations Argument \Inpos cannot be used together with SoftServo. Continues on next page
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1.240 WaitTime - Waits a given amount of time Continued If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. WaitTime \Inpos cannot be executed in a RAPID routine connected to any of following special system events: PowerOn, Stop, QStop, Restart, or Step. Syntax
WaitTime [\InPos,] [Time :=] <expression (IN) of num>;

Related information
For information about Waiting until a condition is met Waiting until an I/O is set/reset See WaitUntil - Waits until a condition is met on page 728 WaitDI - Waits until a digital input signal is set on page 701

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1.241 WaitUntil - Waits until a condition is met

1.241 WaitUntil - Waits until a condition is met

Usage WaitUntil is used to wait until a logical condition is met; for example, it can wait until one or several inputs have been set. Basic examples Basic examples of the instruction WaitUntil are illustrated below. See also More examples on page 729. Example 1
WaitUntil di4 = 1;

Program execution continues only after the di4 input has been set. Arguments
WaitUntil [\InPos] Cond [\MaxTime] [\TimeFlag] [\PollRate]

[\InPos] In Position Data type: switch If this argument is used then the robot and external axes must have reached the stop point (ToPoint of current move instruction) before the execution can continue. This argument can only be used if the task controls mechanical units. Cond Data type:bool The logical expression that is to be waited for. [\MaxTime] Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the condition is set then the error handler will be called, if there is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler then the execution will be stopped. [\TimeFlag] Timeout Flag Data type: bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the condition is met. If this parameter is included in the instruction then it is not considered to be an error if the max. time runs out. This argument is ignored if the MaxTime argument is not included in the instruction. [\PollRate] Polling Rate Data type: num

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1.241 WaitUntil - Waits until a condition is met Continued The polling rate in seconds for checking if the condition in argument Cond is TRUE. This means that WaitUntil first check the condition at once, and if not TRUE then every specified second until TRUE. Min. polling rate value 0.01 s. If this argument is not used then the default polling rate is set to 0.1 s. Program execution If the programmed condition is not met on execution of a WaitUntil instruction then condition is checked again every 100 ms (or according value specified in argument Cond). When the robot is waiting the time is supervised, and if it exceeds the max time value then the program will continue if a TimeFlag is specified or raise an error if its not. If a TimeFlag is specified then this will be set to TRUE if the time is exceeded. Otherwise it will be set to false. In manual mode, after waiting more than 3 s, an alert box will pop up asking if you want to simulate the instruction. If you dont want the alert box to appear then you can set system parameter SimMenu to NO (Technical reference manual - System parameters, section Controller - System Misc). More examples More examples of how to use the instruction WaitUntil are illustrated below. Example 1
VAR bool timeout; WaitUntil start_input = 1 AND grip_status = 1\MaxTime := 60 \TimeFlag := timeout; IF timeout THEN TPWrite "No start order received within expected time"; ELSE start_next_cycle; ENDIF

If the two input conditions are not met within 60 seconds then an error message will be written on the display of the FlexPendant. Example 2
WaitUntil \Inpos, di4 = 1;

Program execution waits until the robot has come to a standstill and the di4 input has been set. Example 3
WaitUntil di4 = 1 \MaxTime:=5; .. ERROR IF ERRNO = ERR_NORUNUNIT THEN TPWrite "The I/O unit is not running"; TRYNEXT; ELSEIF ERRNO = ERR_WAIT_MAX THEN RAISE; ELSE Stop;

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1.241 WaitUntil - Waits until a condition is met Continued
ENDIF

Program execution waits until the di4 input has been set. If the I/O unit has been disabled, or the waiting time expires, the execution continues in the error handler. Error handling If there is a time-out (parameter \MaxTime) before the condition has changed to the right value, the system variable ERRNO is set to ERR_WAIT_MAXTIME and the execution continues in the error handler. If there is a signal used in the condition, and there is no contact with the I/O unit, the system variable ERRNO is set to ERR_NORUNUNIT and the execution continues in the error handler. These situations can then be dealt with by the error handler. Limitation Argument \Inpos can not be used together with SoftServo. If this instruction is preceded by a move instruction then that move instruction must be programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after power failure will not be possible. WaitUntil \Inpos cannot be executed in a RAPID routine connected to any of the following special system events: PowerOn, Stop, QStop, Restart, or Step. WaitUntil \Inpos cannot be used together with StopMove to detect if the movement has been stopped. The WaitUntil instruction can be hanging forever in that case. It does not detect that the movement has stopped, it detects that the robot and external axes has reached the last programmed ToPoint (MoveX, SearchX, TriggX). Syntax
WaitUntil [\InPos,] [Cond :=] <expression (IN) of bool> [\MaxTime :=<expression (IN) of num>] [\TimeFlag :=<variable (VAR) of bool>] [\PollRate :=<expression (IN) of num>];

Related information
For information about Waiting until an input is set/reset Waiting a given amount of time Expressions See WaitDI - Waits until a digital input signal is set on page 701 WaitTime - Waits a given amount of time on page 726 Technical reference manual - RAPID overview

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1 Instructions
1.242 WaitWObj - Wait for work object on conveyor

1.242 WaitWObj - Wait for work object on conveyor

Usage WaitWObj (Wait Work Object) connects to a work object in the start window on the conveyor mechanical unit. Basic examples Basic examples of the instruction WaitWObj are illustrated below. See also More examples on page 732. Example 1
WaitWObj wobj_on_cnv1;

The program connects to the first object in the object queue that is within the start window on the conveyor. If there is no object in the start window then execution waits for an object. Arguments
WaitWObj WObj [ \RelDist ][\MaxTime][\TimeFlag]

WObj Work Object Data type: wobjdata The moving work object (coordinate system) to which the robot position in the instruction is related. The mechanical unit conveyor is to be specified by the ufmec in the work object. [ \RelDist ] Relative Distance Data type: num Waits for an object to enter the start window and go beyond the distance specified by the argument. If the work object is already connected then execution waits until the object passes the given distance. If the object has already gone past the \RelDist then execution continues. [\MaxTime] Maximum Time Data type: num The maximum period of waiting time permitted, expressed in seconds. If this time runs out before the object connection or \Reldist reached then the error handler will be called, if there is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler then the execution will be stopped. [\TimeFlag] Timeout Flag Data type: bool The output parameter that contains the value TRUE if the maximum permitted waiting time runs out before the object connection or \Reldist is reached. If this Continues on next page
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1 Instructions
1.242 WaitWObj - Wait for work object on conveyor Continued parameter is included in the instruction then it is not considered to be an error if the max. time runs out. This argument is ignored if the MaxTime argument is not included in the instruction. Program execution If there is no object in the start window then program execution waits. If an object is present then the work object is connected to the conveyor and execution continues. If a second WaitWObj instruction is issued while connected then an error is returned unless the \RelDist optional argument is used. More examples More examples of the instruction WaitWObj are illustrated below. Example 1
WaitWObj wobj_on_cnv1\RelDist:=500.0;

If not connected then wait for the object to enter the start window and then wait for the object to pass the 500 mm point on the conveyor. If already connected to the object then wait for the object to pass 500 mm. If not connected then wait for an object in the start window. Example 2
WaitWObj wobj_on_cnv1\RelDist:=0.0;

If already connected then continue execution as the object has already gone past 0.0 mm. Example 3
WaitWObj wobj_on_cnv1; WaitWObj wobj_on_cnv1\RelDist:=0.0;

The first WaitWObj connects to the object in the start window. The second WaitWObj will return immediately if the object is still connected. But it will wait for the next object if the previous object had moved past the maximum distance or was dropped. Example 4
WaitWObj wobj_on_cnv1\RelDist:=500.0\MaxTime:=0.1 \Timeflag:=flag1;

The WaitWobj will return immediately if the object has passed 500 mm but otherwise will wait 0.1 sec for an object. If no object passes 500 mm during this 0.1 sec the instruction will return with flag1 =TRUE. Limitations It requires 50 ms to connect to the first object in the start window. Once connected, a second WaitWObj with \RelDist optional argument will take only normal RAPID instruction execution time.

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1 Instructions
1.242 WaitWObj - Wait for work object on conveyor Continued Error handling If the following errors occur during execution of the WaitWobj instruction then the system variable ERRNO will be set. These errors can then be handled in the error handler.
ERR_CNV_NOT_ACT ERR_CNV_CONNECT ERR_CNV_DROPPED The conveyor is not activated. The WaitWobj instruction is already connected. The object that the instruction WaitWobj was waiting for has been dropped by another task. (DSQC 354Revision 2: an object had passed the start window) The object did not come in time and there is no Timeflag

ERR_WAIT_MAXTIME

Syntax
WaitWObj [ WObj :=]< persistent (PERS) of wobjdata> ; [ \ RelDist := < expression (IN) of num > ] [\MaxTime :=<expression (IN) of num>] [\TimeFlag :=<variable (VAR) of bool>] ;

Related information
For information about Drop workobject on conveyor Conveyor tracking See DropWObj - Drop work object on conveyor on page 95 Application manual - Conveyor tracking

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1 Instructions
1.243 WarmStart - Restart the controller

1.243 WarmStart - Restart the controller

Usage WarmStartis used to restart the controller. The system parameters can be changed from RAPID with the instruction WriteCfgData. You must restart the controller in order for a change to have effect on some of the system parameters. The restart can be done with this instruction WarmStart. Basic examples Basic examples of the instruction WarmStart are illustrated below. Example 1
WriteCfgData "/MOC/MOTOR_CALIB/rob1_1","cal_offset",offset1; WarmStart;

Writes the value of the num variable offset1 as calibration offset for axis 1 on rob1 and generates a restart of the controller. Program execution Warmstart takes effect at once and the program pointer is set to the next instruction. Syntax
WarmStart ;

Related information
For information about Write attribute of a system parameter Configuration See WriteCfgData - Writes attribute of a system parameter on page 749 Technical reference manual - System parameters

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1 Instructions
1.244 WHILE - Repeats as long as ...

1.244 WHILE - Repeats as long as ...

Usage WHILEis used when a number of instructions are to be repeated as long as a given condition expression evaluates to a TRUE value. Basic examples Basic examples of the instruction WHILE are illustrated below. Example 1
WHILE reg1 < reg2 DO ... reg1 := reg1 + 1; ENDWHILE

Repeats the instructions in the WHILE-block as long as reg1 < reg2. Arguments
WHILE Condition DO ... ENDWHILE

Condition Data type: bool The condition that must be evaluated to a TRUE value for the instructions in the WHILE-block to be executed. Program execution 1 The condition expression is evaluated. If the expression evaluates to a TRUE value then the instructions in the WHILE-block are executed. 2 The condition expression is then evaluated again, and if the result of this evaluation is TRUE then the instructions in the WHILE-block are executed again. 3 This process continues until the result of the expression evaluation becomes FALSE. The iteration is then terminated and the program execution continues from the instruction after the WHILE-block. If the result of the expression evaluation is FALSE at the very outset then the instructions in the WHILE-block are not executed at all, and the program control transfers immediately to the instruction that follows after the WHILE-block. Remarks If it is possible to determine the number of repetitions then the FOR instruction can be used. Syntax
(EBNF) WHILE <conditional expression> DO <instruction list> ENDWHILE

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1 Instructions
1.244 WHILE - Repeats as long as ... Continued Related information
For information about Expressions Repeats a given number of times See Technical reference manual - RAPID overview, section Basic characteristics - Expressions FOR - Repeats a given number of times on page 116

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1 Instructions
1.245 WorldAccLim - Control acceleration in world coordinate system

1.245 WorldAccLim - Control acceleration in world coordinate system

Usage WorldAccLim (World Acceleration Limitation) is used to limit the acceleration/deceleration of the tool (and payload) in the world coordinate system. Only implemented for robot type IRB5400-04, IRB6600, and IRB7600 with track motion. The limitation will be achieved all together in the gravity center point of the actual tool, actual payload (if present), and the mounting flange of the robot. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the instruction WorldAccLim are illustrated below. Example 1
WorldAccLim \On := 3.5;

Acceleration is limited to 3.5 m/s2. Example 2

WorldAccLim \Off;

The acceleration is reset to maximum (default). Arguments

WorldAccLim [\On]|[\Off]

[ \On ] Data type: num The absolute value of the acceleration limitation in m/s2. [ \Off ] Data type: switch Maximum acceleration (default). Program execution The acceleration limitations applies for the next executed robot segment and is valid until a new WorldAccLim instruction is executed. The maximum acceleration (WorldAccLim \Off) is automatically set at a cold start-up. when a new program is loaded. when starting program execution from the beginning.

It is recommended to use just one type of limitation of the acceleration. If a combination of instructions WorldAccLim, AccSet, and PathAccLim are done then the system reduces the acceleration/deceleration in the following order: according WorldAccLim according AccSet Continues on next page
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1 Instructions
1.245 WorldAccLim - Control acceleration in world coordinate system Continued Limitations The minimum acceleration allowed is 1 m/s2. Error handling If the argument On is set to a value that is too low then the system variable ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler. Syntax
WorldAccLim [\On := <expression (IN) of num>] | [\Off ];

according PathAccLim

Related information
For information about Positioning instructions Motion settings data Reduction of acceleration See Technical reference manual - RAPID overview motsetdata - Motion settings data on page 1202 AccSet - Reduces the acceleration on page 17

Limitation of acceleration along the path PathAccLim - Reduce TCP acceleration along the path on page 310

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1 Instructions
1.246 Write - Writes to a character-based file or serial channel

1.246 Write - Writes to a character-based file or serial channel

Usage Write is used to write to a character-based file or serial channel. The value of certain data can be written as well as text. Basic examples Basic examples of the instruction Write are illustrated below. See also More examples on page 740. Example 1
Write logfile, "Execution started";

The text Execution started is written to the file with reference name logfile. Example 2
VAR num reg1:=5; ... Write logfile, "No of produced parts="\Num:=reg1;

The text No of produced parts=5, is written to the file with the reference name logfile. Arguments
Write IODevice String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum] [\NoNewLine]

IODevice Data type: iodev The name (reference) of the current file or serial channel. String Data type: string The text to be written. [\Num] Numeric Data type: num The data whose numeric values are to be written after the text string. [\Bool] Boolean Data type: bool The data whose logical values are to be written after the text string. [\Pos] Position Data type: pos The data whose position is to be written after the text string.

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1 Instructions
1.246 Write - Writes to a character-based file or serial channel Continued [\Orient] Orientation Data type: orient The data whose orientation is to be written after the text string. [\Dnum] Numeric Data type: dnum The data whose numeric values are to be written after the text string. [\NoNewLine] Data type: switch Omits the line-feed character that normally indicates the end of the text, i.e. next write instruction will continue on the same line. Program execution The text string is written to a specified file or serial channel. A line-feed character (LF) is also written, but can be omitted if the argument \NoNewLine is used. If one of the arguments \Num, \Bool, \Pos, or \Orient is used then its value is first converted to a text string before being added to the first string. The conversion from value to text string takes place as follows:
Argument \Num \Num \Bool \Pos \Orient \Dnum Value 23 1.141367 TRUE [1817.3,905.17,879.11] [0.96593,0,0.25882,0] 4294967295 Text string 23 1.14137 TRUE "[1817.3,905.17,879.11]" [0.96593,0,0.25882,0]" "4294967295"

The value is converted to a string with standard RAPID format. This means in principle 6 significant digits. If the decimal part is less than 0.000005 or greater than 0.999995, the number is rounded to an integer. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. More examples More examples of the instruction Write are illustrated below. Example 1
VAR iodev printer; VAR num reg1:=0 VAR num stopprod_value:=0 ... Open "com2:", printer\Write; stopprod_value:=stopprod;

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1 Instructions
1.246 Write - Writes to a character-based file or serial channel Continued
WHILE stopprod_value = 0 DO produce_part; reg1:=reg1+1; Write printer, "Produced part="\Num:=reg1\NoNewLine; Write printer, " "\NoNewLine; Write printer, CTime(); stopprod_value:=stopprod; ENDWHILE Close printer;

A line, including the number of the produced part and the time, is outputed to a printer each cycle. The printer is connected to serial channel com2:. The printed message could look like this:
Produced part=473 09:47:15

Limitations The arguments \Num, \Dnum, \Bool, \Pos, and \Orient are mutually exclusive and thus cannot be used simultaneously in the same instruction. This instruction can only be used for files or serial channels that have been opened for writing. Error handling If an error occurs during writing then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
Write [IODevice:=] <variable (VAR) of iodev>, [String:=] <expression (IN) of string> [\Num:= <expression (IN) of num> ] | [\Bool:= <expression (IN) of bool> ] | [\Pos:= <expression (IN) of pos> ] | [\Orient:= <expression (IN) of orient> ] | [\Dnum:= <expression (IN) of dnum> ] [\NoNewLine];

Related information
For information about Opening a file or serial channel File and serial channel handling See Technical reference manual - RAPID overview Application manual - Robot communication and I/O control

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1 Instructions
1.247 WriteAnyBin - Writes data to a binary serial channel or file

1.247 WriteAnyBin - Writes data to a binary serial channel or file

Usage WriteAnyBin (Write Any Binary) is used to write any type of data to a binary serial channel or file. Basic examples Basic examples of the instruction WriteAnyBin are illustrated below. See also More examples on page 743. Example 1
VAR iodev channel2; VAR orient quat1 := [1, 0, 0, 0]; ... Open "com2:", channel2 \Bin; WriteAnyBin channel2, quat1;

The orient data quat1 is written to the channel referred to by channel2. Arguments
WriteAnyBin IODevice Data

IODevice Data type: iodev The name (reference) of the binary serial channel or file for the writing operation. Data Data type: ANYTYPE Data to be written. Program execution As many bytes as required for the specified data are written to the specified binary serial channel or file. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Limitations This instruction can only be used for serial channels or files that have been opened for binary writing. The data to be written by this instruction WriteAnyBin must be value data type such as num, bool, or string. Record, record component, array, or array element of these value data types can also be used. Entire data or partial data with semi-value or non-value data types cannot be used. Error handling If an error occurs during writing then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler.

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1 Instructions
1.247 WriteAnyBin - Writes data to a binary serial channel or file Continued More examples More examples of the instruction WriteAnyBin are illustrated below. Example 1
VAR iodev channel; VAR num input; VAR robtarget cur_robt; Open "com2:", channel\Bin; ! Send the control character enq WriteStrBin channel, "\05"; ! Wait for the control character ack input := ReadBin (channel \Time:= 0.1); IF input = 6 THEN ! Send current robot position cur_robt := CRobT(\Tool:= tool1\WObj:= wobj1); WriteAnyBin channel, cur_robt; ENDIF Close channel;

The current position of the robot is written to a binary serial channel. Limitations Because WriteAnyBin-ReadAnyBin is designed to only send internal controller data between IRC5 control systems, no data protocol is released and the data cannot be interpreted on any PC. Control software development can break the compatibility, and therefore it is not possible to use WriteAnyBin-ReadAnyBin between different software versions of RobotWare. If a WriteAnyBin to file is done with RobotWare version 5.07, the file cannot be read by instruction ReadAnyBin with RobotWare version 5.08. And the opposite case, if a WriteAnyBin to file is done with RobotWare version 5.08, the file cannot be read by instruction ReadAnyBin with RobotWare version 5.07. Version 0 for IRC5 controller software equal or less than RW5.07 Version 1 for IRC5 controller software equal or greater than RW5.08 Always compatible within all revisions of any software versions. Syntax
WriteAnyBin [IODevice:=] <variable (VAR) of iodev>, [Data:=] <expression (IN) of ANYTYPE>;

Related information
For information about Opening, etc. of serial channels or files See Technical reference manual - RAPID overview

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1 Instructions
1.247 WriteAnyBin - Writes data to a binary serial channel or file Continued
For information about See

Read data from a binary serial channel or file ReadAnyBin - Read data from a binary serial channel or file on page 355 File and serial channel handling Application manual - Robot communication and I/O control

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1 Instructions
1.248 WriteBin - Writes to a binary serial channel

1.248 WriteBin - Writes to a binary serial channel

Usage WriteBin is used to write a number of bytes to a binary serial channel. Basic examples Basic examples of the instruction WriteBin are illustrated below. See also More examples on page 746. Example 1
WriteBin channel2, text_buffer, 10;

10 characters from the text_buffer list are written to the channel referred to by channel2. Arguments
WriteBin IODevice Buffer NChar

IODevice Data type: iodev Name (reference) of the current serial channel. Buffer Data type: array of num The list (array) containing the numbers (characters) to be written. NChar Number of Characters Data type: num The number of characters to be written from the Buffer. Program execution The specified number of numbers (characters) in the list is written to the serial channel. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Limitations This instruction can only be used for serial channels that have been opened for binary writing. Error handling If an error occurs during writing then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler.

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1 Instructions
1.248 WriteBin - Writes to a binary serial channel Continued More examples More examples of how to use the instruction WriteBin are illustrated below. Example 1
VAR iodev channel; VAR num out_buffer{20}; VAR num input; VAR num nchar; Open "com2:", channel\Bin; out_buffer{1} := 5;!( enq ) WriteBin channel, out_buffer, 1; input := ReadBin (channel \Time:= 0.1); IF input = 6 THEN !( ack ) out_buffer{1} := 2;!( stx ) out_buffer{2} := 72;!( H ) out_buffer{3} := 101;!( e ) out_buffer{4} := 108;!( l ) out_buffer{5} := 108;!( l ) out_buffer{6} := 111;!( o ) out_buffer{7} := 32;!( ) out_buffer{8} := StrToByte("w"\Char);!( w ) out_buffer{9} := StrToByte("o"\Char);!( o ) out_buffer{10} := StrToByte("r"\Char);!( r ) out_buffer{11} := StrToByte("l"\Char);!( l ) out_buffer{12} := StrToByte("d"\Char);!( d ) out_buffer{13} := 3;!( etx ) WriteBin channel, out_buffer, 13; ENDIF

After a handshake (enq,ack) the text string Hello world (with associated control characters) is written to a serial channel. The function StrToByte is used in the same cases to convert a string into a byte (num) data. Syntax
WriteBin [IODevice:=] <variable (VAR) of iodev>, [Buffer:=] <array {*} (IN) of num>, [NChar:=] <expression (IN) of num>;

Related information
For information about Opening, etc. of serial channels Convert a string to a byte data Byte data File and serial channel handling See Technical reference manual - RAPID overview StrToByte - Converts a string to a byte data on page 1064 byte - Integer values 0 - 255 on page 1151 Application manual - Robot communication and I/O control

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1 Instructions
1.249 WriteBlock - write block of data to device

1.249 WriteBlock - write block of data to device

Usage WriteBlock is used to write a block of data to a device connected to the serial sensor interface. The data is fetched from a file. The sensor interface communicates with sensors over serial channels using the RTP1 transport protocol. This is an example of a sensor channel configuration. COM_PHY_CHANNEL: Basic examples Basic example of the instruction WriteBlock are illustrated below. Example 1
CONST string SensorPar := "flp1:senpar.cfg"; CONST num ParBlock:= 1; ! Connect to the sensor device "sen1:" (defined in sio.cfg). SenDevice "sen1:"; ! Write sensor parameters from flp1:senpar.cfg ! to sensor datablock 1. WriteBlock "sen1:", ParBlock, SensorPar;

Name COM1: Connector COM1 Baudrate 19200 Name sen1: Type RTP1 PhyChannel COM1

COM_TRP:

Arguments
WriteBlock device BlockNo FileName [ \TaskName ]

device Data type: string The I/O device name configured in sio.cfg for the sensor used. BlockNo Data type: num The argument BlockNo is used to select the data block in the sensor block to be written. FileName Data type: string

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1 Instructions
1.249 WriteBlock - write block of data to device Continued The argument FileName is used to select a file from which data is written to the data block in the sensor selected by the BlockNo argument. [ \TaskName ] Data type: string The argument TaskName makes it possible to access devices in other RAPID tasks. Fault management
Error constant (ERRNO value) SEN_NO_MEAS SEN_NOREADY SEN_GENERRO SEN_BUSY SEN_UNKNOWN SEN_EXALARM SEN_CAALARM SEN_TEMP SEN_VALUE SEN_CAMCHECK SEN_TIMEOUT Description Measurement failure Sensor unable to handle command General sensor error Sensor bus Unknown sensor External sensor error Internal sensor error Sensor temperature error Illegal communication value Sensor check failure Communication error

Syntax
WriteBlock [ device := ] < expression(IN) of string>, [ BlockNo := ] < expression (IN) of num > , [ FileName := ] < expression (IN) of string > , [ \ TaskName := < expression (IN) of string > ] ;

Related information
For information about Connect to a sensor device Write a sensor variable Read a sensor data block See SenDevice - connect to a sensor device on page 442 WriteVar - write variable on page 757 ReadBlock - read a block of data from device on page 358

Configuration of sensor commu- Technical reference manual - System parameters nication

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1 Instructions
1.250 WriteCfgData - Writes attribute of a system parameter

1.250 WriteCfgData - Writes attribute of a system parameter

Usage WriteCfgData is used to write one attribute of a system parameter (configuration data). Besides writing named parameters, it is also possible to search and update unnamed parameters Basic examples Basic examples of the instruction WriteCfgData are illustrated below. Both of these examples show how to write named parameter data. Example 1
VAR num offset1 := 1.2; ... WriteCfgData "/MOC/MOTOR_CALIB/rob1_1","cal_offset",offset1;

Written in the num variable offset1, the calibration offset for axis 1 on rob_1. Example 2
VAR string io_unit := "my_unit"; ... WriteCfgData "/EIO/EIO_SIGNAL/process_error","Unit",io_unit;

Written in the string variable io_unit, the name of the I/O unit where the signal process_error is defined. Arguments
WriteCfgData InstancePath Attribute CfgData [\ListNo]

InstancePath Data type: string Specifies the path to the parameter to be accessed. For named parameters, the format of this string is /DOMAIN/TYPE/ParameterName. For unnamed parameters, the format of this string is /DOMAIN/TYPE/Attribute/AttributeValue. Attribute Data type: string The name of the attribute of the parameter to be written. CfgData Data type: anytype The data object from which the new data to store is read. Depending on the attribute type, valid types are bool, num, or string. [\ListNo] Data type: num Variable holding the instance number of the Attribute + AttributeValue to be found and updated. Continues on next page
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1 Instructions
1.250 WriteCfgData - Writes attribute of a system parameter Continued First occurrence of the Attribute + AttributeValue has instance number 0. If there are more instances to search for then the returned value in \ListNo will be incremented with 1. Otherwise if there are no more instance then the returned value will be -1. The predefined constant END_OF_LIST can be used for check if there are more instances to search for. Program execution The value of the attribute specified by the Attribute argument is set according to the value of the data object specified by the CfgData argument. If using format /DOMAIN/TYPE/ParameterName in InstancePath then only named parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME. For unnamed parameters, use the optional parameter \ListNo to specify which instance to write the attribute value to. It is updated after each successful write to the next available instance to write to. More examples More examples of the instruction WriteCfgdata are illustrated below. Both of these examples show how to write to unnamed parameters. Example 1
VAR num read_index; VAR num write_index; VAR string read_str; ... read_index:=0; write_index:=0; ReadCfgData "/EIO/EIO_CROSS/Act1/do_13", "Res", read_str, \ListNo:=read_index; WriteCfgData "/EIO/EIO_CROSS/Act1/do_13", "Res", "my"+read_str, \ListNo:=write_index;

Reads the resultant signal for the unnamed digital actor signal do_13 and places the name in the string variable read_str. Then update the name to di_13 with prefix "my". In this example, domain EIO has the following cfg code: EIO_CROSS: -Res "di_1" -Act1 "do_2" -Res "di_2" -Act1 "do_2" -Res "di_13" -Act1 "do_13" Example 2
VAR num read_index; VAR num write_index; VAR string read_str; ... read_index:=0; write_index:=0;

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1 Instructions
1.250 WriteCfgData - Writes attribute of a system parameter Continued
WHILE read_index <> END_OF_LIST DO ReadCfgData "/EIO/EIO_SIGNAL/Unit/USERIO", "Name", read_str, \ListNo:=read_index; IF read_index <> END_OF_LIST THEN WriteCfgData "/EIO/EIO_SIGNAL/Unit/USERIO", "Name", "my"+read_str, \ListNo:=write_index; ENDIF ENDWHILE

Read the names of all signals defined for the I/O unit USERIO. Change the names on the signals to the read name with the prefix "my". In this example, domain EIO has the following cfg code:
EIO_SIGNAL: -Name "USERDO1" -SignalType "DO" -Unit "USERIO" -UnitMap "0" -Name "USERDO2" -SignalType "DO" -Unit "USERIO" -UnitMap "1" -Name "USERDO3" -SignalType "DO" -Unit "USERIO" -UnitMap "2"

Error handling If it is not possible to find the data specified with InstancePath + Attribute in the configuration database then the system variable ERRNO is set to ERR_CFG_NOTFND. If the data type for parameter CfgData is not equal to the real data type for the found data specified withInstancePath + Attribute in the configuration database then the system variable ERRNO is set to ERR_CFG_ILLTYPE. If the data for parameter CfgData is outside limits (max./min. value) then the system variable ERRNO is set to ERR_CFG_LIMIT. If trying to write internally written protected data then the system variable ERRNO is set to ERR_CFG_INTERNAL. If variable in argument \ListNo has a value outside range of available instances (0 ... n) when executing the instruction then ERRNO is set to ERR_CFG_OUTOFBOUNDS. These errors can then be handled in the error handler. Limitations The conversion from RAPID program units (mm, degree, second etc.) to system parameter units (m, radian, second etc.) for CfgData of data type num must be done by the user in the RAPID program. You must manually restart the controller or execute the instruction WarmStart in order for the change to have effect. If using format /DOMAIN/TYPE/ParameterName in InstancePath then only named parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME. RAPID strings are limited to 80 characters. In some cases, this can be in theory too small for the definition of InstancePath, Attribute, or CfgData. Predefined data The predefined constant END_OF_LIST with value -1 can be used to stop writing when no more instances can be found. Continues on next page
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1.250 WriteCfgData - Writes attribute of a system parameter Continued Syntax
WriteCfgData [ InstancePath ':=' ] < expression (IN) of string > ',' [ Attribute ':=' ] < expression (IN) of string > ',' [ CfgData ':=' ] < expression (IN) of anytype > [ '\' ListNo ':=' < variable (VAR) of num >] ';'

Related information
For information about Definition of string Read attribute of a system parameter Get robot name in current task Configuration Warm start of the system See string - Strings on page 1258 ReadCfgData - Reads attribute of a system parameter on page 360 RobName - Get the TCP robot name on page 1022 Technical reference manual - System parameters WarmStart - Restart the controller on page 734

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1.251 WriteRawBytes - Write rawbytes data

1.251 WriteRawBytes - Write rawbytes data

Usage WriteRawBytes is used to write data of type rawbytes to a device opened with Open\Bin. Basic examples Basic examples of the instruction WriteRawBytes are illustrated below. Example 1
VAR VAR VAR VAR VAR iodev io_device; rawbytes raw_data_out; rawbytes raw_data_in; num float := 0.2; string answer;

ClearRawBytes raw_data_out; PackDNHeader "10", "20 1D 24 01 30 64", raw_data_out; PackRawBytes float, raw_data_out, (RawBytesLen(raw_data_out)+1) \Float4; Open "/FCI1:/dsqc328_1", io_device \Bin; WriteRawBytes io_device, raw_data_out; ReadRawBytes io_device, raw_data_in \Time:=1; Close io_device; UnpackRawBytes raw_data_in, 1, answer \ASCII:=10;

In this example raw_data_out is cleared and then packed with DeviceNet header and a float with value 0.2. A device, "/FCI1/:dsqc328_1", is opened and the current valid data in raw_data_out is written to the device. Then the program waits for at most 1 second to read from the device, which is stored in the raw_data_in. After having closed the device /FCI1/:dsqc328_1, then the read data is unpacked as a string of 10characters and stored in answer. Arguments
WriteRawBytes IODevice RawData [\NoOfBytes]

IODevice Data type: iodev IODevice is the identifier of the device to which RawData shall be written. RawData Data type: rawbytes RawData is the data container to be written to IODevice. [\NoOfBytes] Data type: num Continues on next page
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1.251 WriteRawBytes - Write rawbytes data Continued \NoOfBytes tells how many bytes of RawData should be written to IODevice, starting at index 1. If \NoOfBytes is not present then the current length of valid bytes in the variable RawData is written to device IODevice. Program execution During program execution, data is written to the device indicated by IODevice. If using WriteRawBytes for field bus commands, such as DeviceNet, then the field bus always sends an answer. The answer must be handle in RAPID with the ReadRawBytes instruction. The current length of valid bytes in the RawData variable is not changed. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Error handling If an error occurs during writing then the system variable ERRNO is set to ERR_FILEACC. This error can then be dealt with by the error handler. Syntax
WriteRawBytes [IODevice := ] < variable (VAR) of iodev> , [RawData := ] < variable (VAR) of rawbytes> [\NoOfBytes := < expression (IN) of num>];

Related information
For information about rawbytes data Get the length of rawbytes data Clear the contents of rawbytes data Copy the contents of rawbytes data Pack DeviceNet header into rawbytes data Pack data into rawbytes data Read rawbytes data Unpack data from rawbytes data File and serial channel handling See rawbytes - Raw data on page 1227 RawBytesLen - Get the length of rawbytes data on page 997 ClearRawBytes - Clear the contents of rawbytes data on page 57 CopyRawBytes - Copy the contents of rawbytes data on page 75 PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 PackRawBytes - Pack data into rawbytes data on page 306 ReadRawBytes - Read rawbytes data on page367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Application manual - Robot communication and I/O control

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1.252 WriteStrBin - Writes a string to a binary serial channel

1.252 WriteStrBin - Writes a string to a binary serial channel

Usage WriteStrBin (Write String Binary) is used to write a string to a binary serial channel or binary file. Basic examples Basic examples of the instruction WriteStrBin are illustrated below. See also More examples on page 755. Example 1
WriteStrBin channel2, "Hello World\0A";

The string "Hello World\0A"is written to the channel referred to by channel2. The string is in this case ended with new line \0A. All characters and hexadecimal values written with WriteStrBin will be unchanged by the system. Arguments
WriteStrBin IODevice Str

IODevice Data type: iodev Name (reference) of the current serial channel. Str String Data type: string The text to be written. Program execution The text string is written to the specified serial channel or file. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Limitations This instruction can only be used for serial channels or files that have been opened for binary reading and writing. Error handling If an error occurs during writing then the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. More examples More examples of how to use the instruction WriteStrBin are illustrated below. Example 1
VAR iodev channel; VAR num input; Open "com2:", channel\Bin;

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1.252 WriteStrBin - Writes a string to a binary serial channel Continued

! Send the control character enq WriteStrBin channel, "\05"; ! Wait for the control character ack input := ReadBin (channel \Time:= 0.1); IF input = 6 THEN ! Send a text starting with control character stx and ending with etx WriteStrBin channel, "\02Hello world\03"; ENDIF Close channel;

After a handshake the text string Hello world (with associated control characters in hexadecimal) is written to a binary serial channel. Syntax
WriteStrBin [IODevice:=] <variable (VAR) of iodev>, [Str:=] <expression (IN) of string>;

Related information
For information about Opening, etc. of serial channels Read binary sting File and serial channel handling See Technical reference manual - RAPID overview ReadStrBin - Reads a string from a binary serial channel or file on page 1013 Application manual - Robot communication and I/O control

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1.253 WriteVar - write variable

1.253 WriteVar - write variable

Usage WriteVar is used to write a variable to a device connected to the serial sensor interface. The sensor interface communicates with sensors over serial channels using the RTP1 transport protocol. This is an example of a sensor channel configuration. COM_PHY_CHANNEL: Basic examples Basic examples of the instruction WriteVar are illustrated below. Example 1
! Define variable numbers CONST num SensorOn := 6; CONST num XCoord := 8; CONST num YCoord := 9; CONST num ZCoord := 10; VAR pos SensorPos; ! Connect to the sensor device sen1: (defined in sio.cfg). SenDevice "sen1:"; ! Request start of sensor meassurements WriteVar "sen1:", SensorOn, 1; ! Read a cartesian position from the sensor. SensorPos.x := ReadVar "sen1:", XCoord; SensorPos.y := ReadVar "sen1:", YCoord; SensorPos.z := ReadVar "sen1:", ZCoord; ! Stop sensor WriteVar "sen1:", SensorOn, 0;

Name COM1: Connector COM1 Baudrate 19200 Name sen1: Type RTP1 PhyChannel COM1

COM_TRP:

Arguments
WriteVar device VarNo VarData [ \TaskName ]

device Data type: string The I/O device name configured in sio.cfg for the sensor used. VarNo Data type: num Continues on next page
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1.253 WriteVar - write variable Continued The argument VarNo is used to select the sensor variable. VarData Data type: num The argument VarData defines the data which is to be written to the variable selected by the VarNo argument. [ \TaskName ] Data type: string The argument TaskName makes it possible to access devices in other RAPID tasks. Fault management
Error constant (ERRNO) value SEN_NO_MEAS SEN_NOREADY SEN_GENERRO SEN_BUSY SEN_UNKNOWN SEN_EXALARM SEN_CAALARM SEN_TEMP SEN_VALUE SEN_CAMCHECK SEN_TIMEOUT Description Measurement failure Sensor unable to handle command General sensor error Sensor busy Unknown sensor External sensor error Internal sensor error Sensor temperature error Illegal communication value Sensor check failure Communication error

Syntax
WriteVar [ device := ] < expression (IN) of string> , [ VarNo := ] < expression (IN) of num > , [ VarData := ] < expression (IN) of num > , [ \ TaskName := < expression (IN) of string > ] ;

Related information
For information about Connect to a sensor device Read a sensor variable Write a sensor data block Read a sensor data block See SenDevice - connect to a sensor device on page 442 ReadVar - Read variable from a device on page 1015 WriteBlock - write block of data to device on page 747 ReadBlock - read a block of data from device on page 358

Configuration of sensor commu- Technical reference manual - System parameters nication

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1.254 WZBoxDef - Define a box-shaped world zone

1.254 WZBoxDef - Define a box-shaped world zone

Usage WZBoxDef (World Zone Box Definition) is used to define a world zone that has the shape of a straight box with all its sides parallel to the axes of the World Coordinate System. Basic examples Basic examples of the instruction WZBoxDef are illustrated below. Example 1

xx0500002205

VAR shapedata volume; CONST pos corner1:=[200,100,100]; CONST pos corner2:=[600,400,400]; ... WZBoxDef \Inside, volume, corner1, corner2;

Define a straight box with coordinates parallel to the axes of the world coordinate system and defined by the opposite corners corner1 and corner2. Arguments
WZBoxDef [\Inside] | [\Outside] Shape LowPoint HighPoint

[\Inside] Data type: switch Define the volume inside the box. [\Outside] Data type: switch Define the volume outside the box (inverse volume). One of the arguments \Inside or \Outside must be specified. Shape Data type: shapedata Variable for storage of the defined volume (private data for the system). LowPoint Data type: pos Continues on next page
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1.254 WZBoxDef - Define a box-shaped world zone Continued Position (x,y,z) in mm defining one lower corner of the box. HighPoint Data type: pos Position (x,y,z) in mm defining the corner diagonally opposite to the previous one. Program execution The definition of the box is stored in the variable of type shapedata (argument Shape), for future use in WZLimSup or WZDOSet instructions. Limitations The LowPoint and HighPoint positions must be valid for opposite corners (with different x, y, and z coordinate values). If the robot is used to point out the LowPoint or HighPoint then work object wobj0 must be active (use of component trans in robtarget e.g. p1.trans as argument). Syntax
WZBoxDef [[\Inside] | [\Outside],] [LowPoint:=]<expression (IN) of pos>, [Shape:=]<variable (VAR) of shapedata>, [HighPoint:=]<expression (IN) of pos>;

Related information
For information about World Zones World zone shape Define sphere-shaped world zone Define cylinder-shaped world zone Define a world zone for home joints Define a world zone for limit joints See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 WZSphDef - Define a sphere-shaped world zone on page 784 WZCylDef - Define a cylinder-shaped world zone on page 761 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimJointDef - Define a world zone for limitation in joints on page 777

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone digital output set WZDOSet - Activate world zone to set digital output on page 766

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1.255 WZCylDef - Define a cylinder-shaped world zone

1.255 WZCylDef - Define a cylinder-shaped world zone

Usage WZCylDef (World Zone Cylinder Definition) is used to define a world zone that has the shape of a cylinder with the cylinder axis parallel to the z-axis of the World Coordinate System. Basic examples Basic examples of the instruction WZCylDef are illustrated below. Example 1

xx0500002206

VAR shapedata volume; CONST pos C2:=[300,200,200]; CONST num R2:=100; CONST num H2:=200; ... WZCylDef \Inside, volume, C2, R2, H2;

Define a cylinder with the center of the bottom circle in C2, radius R2, and height H2. Arguments
WZCylDef [\Inside] | [\Outside] Shape CentrePoint Radius Height

[\Inside] Data type: switch Define the volume inside the cylinder. [\Outside] Data type: switch Define the volume outside the cylinder (inverse volume). One of the arguments \Inside or \Outside must be specified. Continues on next page
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1.255 WZCylDef - Define a cylinder-shaped world zone Continued Shape Data type: shapedata Variable for storage of the defined volume (private data for the system). CentrePoint Data type: pos Position (x,y,z) in mm defining the center of one circular end of the cylinder. Radius Data type: num The radius of the cylinder in mm. Height Data type: num The height of the cylinder in mm. If it is positive (+z direction), the CentrePoint argument is the center of the lower end of the cylinder (as in the above example). If it is negative (-z direction) then the CentrePoint argument is the center of the upper end of the cylinder. Program execution The definition of the cylinder is stored in the variable of type shapedata (argument Shape) for future use in WZLimSup or WZDOSet instructions. Limitations If the robot is used to point out the CentrePoint then the work object wobj0 must be active (use of component trans in robtarget e.g. p1.trans as argument). Syntax
WZCylDef [\Inside] | [\Outside], [Shape:=]<variable (VAR) of shapedata>, [centerPoint:=]<expression (IN) of pos>, [Radius:=]<expression (IN) of num>, [Height:=]<expression (IN) of num>;

Related information
For information about World Zones World zone shape Define box-shaped world zone Define sphere-shaped world zone Define a world zone for home joints Define a world zone for limit joints See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 WZBoxDef - Define a box-shaped world zone on page 759 WZSphDef - Define a sphere-shaped world zone on page 784 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimJointDef - Define a world zone for limitation in joints on page 777

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1.255 WZCylDef - Define a cylinder-shaped world zone Continued
For information about Activate world zone limit supervision Activate world zone digital output set See WZLimSup - Activate world zone limit supervision on page 781 WZDOSet - Activate world zone to set digital output on page 766

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1.256 WZDisable - Deactivate temporary world zone supervision

1.256 WZDisable - Deactivate temporary world zone supervision

Usage WZDisable (World Zone Disable) is used to deactivate the supervision of a temporary world zone previously defined either to stop the movement or to set an output. Basic examples Basic examples of the instruction WZDisable are illustrated below. Example 1
VAR wztemporary wzone; ... PROC... WZLimSup \Temp, wzone, volume; MoveL p_pick, v500, z40, tool1; WZDisable wzone; MoveL p_place, v200, z30, tool1; ENDPROC

When moving to p_pick, the position of the robots TCP is checked so that it will not go inside the specified volume wzone. This supervision is not performed when going to p_place. Arguments
WZDisable WorldZone

WorldZone Data type: wztemporary Variable or persistent variable of type wztemporary, which contains the identity of the world zone to be deactivated. Program execution The temporary world zone is deactivated. This means that the supervision of the robots TCP, relative to the corresponding volume, is temporarily stopped. It can be re-activated via the WZEnable instruction. Limitations Only a temporary world zone can be deactivated. A stationary world zone is always active. Syntax
WZDisable [WorldZone:=]<variable or persistent (INOUT) of wztemporary>;

Related information
For information about World Zones See Technical reference manual - RAPID overview

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1.256 WZDisable - Deactivate temporary world zone supervision Continued
For information about World zone shape Temporary world zone data See shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone set digital output WZDOSet - Activate world zone to set digital output on page 766 Activate world zone Erase world zone WZEnable - Activate temporary world zone supervision on page 770 WZFree - Erase temporary world zone supervision on page 772

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1.257 WZDOSet - Activate world zone to set digital output

1.257 WZDOSet - Activate world zone to set digital output

Usage WZDOSet (World Zone Digital Output Set) is used to define the action and to activate a world zone for supervision of the robot movements. After this instruction is executed, when the robots TCP or the robot/external axes (zone in joints) is inside the defined world zone or is approaching close to it, a digital output signal is set to the specified value. Basic examples Basic examples of the instruction WZDOSet are illustrated below. See also More examples on page 767. Example 1
VAR wztemporary service; PROC zone_output() VAR shapedata volume; CONST pos p_service:=[500,500,700]; ... WZSphDef \Inside, volume, p_service, 50; WZDOSet \Temp, service \Inside, volume, do_service, 1; ENDPROC

Definition of temporary world zone service in the application program that sets the signal do_service when the robots TCP is inside the defined sphere during program execution or when jogging. Arguments
WZDOSet [\Temp] | [\Stat] WorldZone [\Inside] | [\Before] Shape Signal SetValue

[\Temp] Temporary Data type: switch The world zone to define is a temporary world zone. [\Stat] Stationary Data type: switch The world zone to define is a stationary world zone. One of the arguments \Temp or \Stat must be specified. WorldZone Data type: wztemporary or wzstationary Variable or persistent variable, that will be updated with the identity (numeric value) of the world zone.

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1.257 WZDOSet - Activate world zone to set digital output Continued If using the switch \Temp, the data type must be wztemporary. If using the switch \Stat, the data type must be wzstationary. [\Inside] Data type: switch The digital output signal will be set when the robots TCP or specified axes are inside the defined volume. [\Before] Data type: switch The digital output signal will be set before the robots TCP or specified axes reaches the defined volume (as soon as possible before the volume). One of the arguments \Inside or \Before must be specified. Shape Data type: shapedata The variable that defines the volume of the world zone. Signal Data type: signaldo The name of the digital output signal that will be changed. If a stationary worldzone is used then the signal must be written as protected for access from the user (RAPID, FP). Set Access Level for the signal in System Parameters or specified axes. SetValue Data type: dionum Desired value of the signal (0 or 1) when the robots TCP is inside the volume or just before it enters the volume. When outside or just outside the volume then the signal is set to the opposite value. Program execution The defined world zone is activated. From this moment the robots TCP position (or robot/external joint position) is supervised, and the output will be set when the robots TCP position (or robot/external joint position) is inside the volume (\Inside) or comes close to the border of the volume (\Before). If using WZHomeJointDef or WZLimJointDef together with WZDOSet then the digital output signal is set only if all active axes with joint space supervision are before or inside the joint space. More examples More examples of how to use the instruction WZDOSet are illustrated below. Example 1
VAR wztemporary home; VAR wztemporary service; PERS wztemporary equip1:=[0];

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1.257 WZDOSet - Activate world zone to set digital output Continued
PROC main() ... ! Definition of all temporary world zones zone_output; ... ! equip1 in robot work area WZEnable equip1; ... ! equip1 out of robot work area WZDisable equip1; ... ! No use for equip1 any more WZFree equip1; ... ENDPROC PROC zone_output() VAR shapedata volume; CONST pos p_home:=[800,0,800]; CONST pos p_service:=[800,800,800]; CONST pos p_equip1:=[-800,-800,0]; ... WZSphDef \Inside, volume, p_home, 50; WZDOSet \Temp, home \Inside, volume, do_home, 1; WZSphDef \Inside, volume, p_service, 50; WZDOSet \Temp, service \Inside, volume, do_service, 1; WZCylDef \Inside, volume, p_equip1, 300, 1000; WZLimSup \Temp, equip1, volume; ! equip1 not in robot work area WZDisable equip1; ENDPROC

Definition of temporary world zones home and service in the application program, that sets the signals do_home and do_service, when the robot is inside the sphere home or service respectively during program execution or when jogging. Also, definition of a temporary world zone equip1, which is active only in the part of the robot program when equip1 is inside the working area for the robot. At that time the robot stops before entering the equip1 volume, both during program execution and manual jogging. equip1 can be disabled or enabled from other program tasks by using the persistent variable equip1 value. Limitations A world zone cannot be redefined by using the same variable in the argument WorldZone. A stationary world zone cannot be deactivated, activated again, or erased in the RAPID program. A temporary world zone can be deactivated (WZDisable), activated again (WZEnable), or erased (WZFree) in the RAPID program.

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1 Instructions
1.257 WZDOSet - Activate world zone to set digital output Continued Syntax
WZDOSet [[\Temp] | [\Stat],] [WorldZone:=]<variable or persistent (INOUT) of wztemporary> [\Inside] | [\Before] , [Shape:=]<variable (VAR) of shapedata>, [Signal:=]<variable (VAR) of signaldo>, [SetValue:=]<expression (IN) of dionum>;

Related information
For information about World Zones World zone shape Temporary world zone Stationary world zone See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296 wzstationary - Stationary world zone data on page 1294

Define straight box-shaped world zone WZBoxDef - Define a box-shaped world zone on page 759 Define sphere-shaped world zone Define cylinder-shaped world zone Define a world zone for home joints Activate world zone limit supervision Signal access level WZSphDef - Define a sphere-shaped world zone on page 784 WZCylDef - Define a cylinder-shaped world zone on page 761 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimSup - Activate world zone limit supervision on page 781 Technical reference manual - System parameters

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1.258 WZEnable - Activate temporary world zone supervision

1.258 WZEnable - Activate temporary world zone supervision

Usage WZEnable (World Zone Enable) is used to re-activate the supervision of a temporary world zone, previously defined either to stop the movement or to set an output. Basic examples Basic examples of the instruction WZEnable are illustrated. Example 1
VAR wztemporary wzone; ... PROC ... WZLimSup \Temp, wzone, volume; MoveL p_pick, v500, z40, tool1; WZDisable wzone; MoveL p_place, v200, z30, tool1; WZEnable wzone; MoveL p_home, v200, z30, tool1; ENDPROC

When moving to p_pick, the position of the robots TCP is checked so that it will not go inside the specified volume wzone. This supervision is not performed when going to p_place but is reactivated before going to p_home. Arguments
WZEnable WorldZone

WorldZone Data type: wztemporary Variable or persistent variable of the type wztemporary, which contains the identity of the world zone to be activated. Program execution The temporary world zone is re-activated. Please note that a world zone is automatically activated when it is created. It need only be re-activated when it has previously been deactivated by WZDisable. Limitations Only a temporary world zone can be deactivated and reactivated. A stationary world zone is always active. Syntax
WZEnable [WorldZone:=]<variable or persistent (INOUT) of wztemporary>;

Related information
For information about World Zones See Technical reference manual - RAPID overview

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1.258 WZEnable - Activate temporary world zone supervision Continued
For information about World zone shape Temporary world zone data See shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone set digital output WZDOSet - Activate world zone to set digital output on page 766 Deactivate world zone Erase world zone WZDisable - Deactivate temporary world zone supervision on page 764 WZFree - Erase temporary world zone supervision on page 772

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1.259 WZFree - Erase temporary world zone supervision

1.259 WZFree - Erase temporary world zone supervision

Usage WZFree (World Zone Free) is used to erase the definition of a temporary world zone, previously defined either to stop the movement or to set an output. Basic examples Basic examples of the instruction WZFree are illustrated below. Example 1
VAR wztemporary wzone; ... PROC ... WZLimSup \Temp, wzone, volume; MoveL p_pick, v500, z40, tool1; WZDisable wzone; MoveL p_place, v200, z30, tool1; WZEnable wzone; MoveL p_home, v200, z30, tool1; WZFree wzone; ENDPROC

When moving to p_pick, the position of the robots TCP is checked so that it will not go inside a specified volume wzone. This supervision is not performed when going to p_place but is reactivated before going to p_home. When this position is reached then the world zone definition is erased. Arguments
WZFree WorldZone

WorldZone Data type: wztemporary Variable or persistent variable of the type wztemporary, which contains the identity of the world zone to be erased. Program execution The temporary world zone is first deactivated and then its definition is erased. Once erased, a temporary world zone cannot be re-activated or deactivated. Limitations Only a temporary world zone can be deactivated, reactivated, or erased. A stationary world zone is always active. Syntax
WZFree [WorldZone:=]<variable or persistent (INOUT) of wztemporary>;

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1 Instructions
1.259 WZFree - Erase temporary world zone supervision Continued Related information
For information about World Zones World zone shape Temporary world zone data See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone set digital output WZDOSet - Activate world zone to set digital output on page 766 Deactivate world zone Activate world zone WZDisable - Deactivate temporary world zone supervision on page 764 WZEnable - Activate temporary world zone supervision on page 770

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1.260 WZHomeJointDef - Define a world zone for home joints

1.260 WZHomeJointDef - Define a world zone for home joints

Usage WZHomeJointDef (World Zone Home Joint Definition) is used to define a world zone in joints coordinates for both the robot and external axes to be used as a HOME or SERVICE position. Basic examples Basic examples of the instruction WZHomeJointDef are illustrated below. Example 1
VAR wzstationary home; ... PROC power_on() VAR shapedata joint_space; CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 0, -45], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ]; CONST jointtarget delta_pos := [ [ 2, 2, 2, 2, 2, 2], [ 5, 9E9, 9E9, 9E9, 9E9, 9E9] ]; ... WZHomeJointDef \Inside, joint_space, home_pos, delta_pos; WZDOSet \Stat, home \Inside, joint_space, do_home, 1; ENDPROC

Definition and activation of stationary world zone home, that sets the signal do_home to 1, when all robot axes and the external axis extax.eax_a are at the joint position home_pos (within +/- delta_pos for each axis) during program execution and jogging. The variable joint_space of data type shapedata are used to transfer data from the instruction WZHomeJointDef to the instruction WZDOSet. Arguments
WZHomeJointDef [\Inside] | [\Outside] Shape MiddleJointVal DeltaJointVal

[\Inside] Data type: switch Define the joint space inside the MiddleJointVal +/- DeltaJointVal. [\Outside] Data type: switch Define the joint space outside the MiddleJointVal +/- DeltaJointVal (inverse joint space). Shape Data type: shapedata Variable for storage of the defined joint space (private data for the system). MiddleJointVal Data type: jointtarget

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1 Instructions
1.260 WZHomeJointDef - Define a world zone for home joints Continued The position in joint coordinates for the center of the joint space to define. Specifies for each robot axis and external axis (degrees for rotational axes and mm for linear axes). Specifies in absolute joints (not in offset coordinate system EOffsSet-EOffsOn for external axes). Value 9E9 for some axis means that the axis should not be supervised. Non-active external axis also gives 9E9 at programming time. DeltaJointVal Data type: jointtarget The +/- delta position in joint coordinates from the center of the joint space. The value must be greater than 0 for all axes to supervise. The following figure shows the definition of joint space for rotational axis.

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The following figure shows the definition of joint space for linear axis.

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Program execution The definition of the joint space is stored in the variable of type shapedata (argument Shape) for future use in WZLimSup or WZDOSet instructions. If use of WZHomeJointDef together with WZDOSet then the digital output signal is set but only if all active axes with joint space supervision are before or inside the joint space. If use of WZHomeJointDef with outside joint space (argument \Outside) together with WZLimSup then the robot is stopped as soon as one active axes with joint space supervision reach the joint space. If use of WZHomeJointDef with inside joint space (argument \Inside) together with WZLimSup then the robot is stopped as soon as the last active axes with joint space supervision reach the joint space. That means that one or several axes, but not all active and supervised axes, can be inside the joint space at the same time. Continues on next page
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1 Instructions
1.260 WZHomeJointDef - Define a world zone for home joints Continued At execution of the instruction ActUnit or DeactUnit for activation or deactivation of mechanical units, the supervision status for HOME position or work area limitation will be updated. Limitations

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Only active mechanical units and their active axes at activation time of the world zone (with instruction WZDOSet respectively WZLimSup), are included in the supervision of the HOME position respectively to the limitation of the working area. Besides that, the mechanical unit and its axes must still be active at the program movement or jogging to be supervised. For example, if one axis with supervision is outside its HOME joint position but is deactivated then it does not prevent the digital output signal for the HOME joint position to be set if all other active axes with joint space supervision are inside the HOME joint position. At activation of that axis again it will be included in the supervision and the robot system will then be outside the HOME joint position and the digital output will be reset. Syntax
WZHomeJointDef [[\Inside] | [\Outside],] [Shape:=]<variable (VAR) of shapedata>, [MiddleJointVal :=]<expression (IN) of jointtarget>, [DeltaJointVal :=]<expression (IN) of jointtarget>;

Related information
For information about World Zones World zone shape Define box-shaped world zone Define cylinder-shaped world zone Define sphere-shaped world zone Define a world zone for limit joints Activate world zone limit supervision Activate world zone digital output set See Technical reference manual - RAPID overview shapedata - World zone shape data on page1242 WZBoxDef - Define a box-shaped world zone on page 759 WZCylDef - Define a cylinder-shaped world zone on page 761 WZSphDef - Define a sphere-shaped world zone on page 784 WZLimJointDef - Define a world zone for limitation in joints on page 777 WZLimSup - Activate world zone limit supervision on page 781 WZDOSet - Activate world zone to set digital output on page 766

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1 Instructions
1.261 WZLimJointDef - Define a world zone for limitation in joints

1.261 WZLimJointDef - Define a world zone for limitation in joints

Usage WZLimJointDef (World Zone Limit Joint Definition) is used to define a world zone in joints coordinates for both the robot and external axes, to be used for limitation of the working area. With WZLimJointDef it is possible to limit the working area for each robot and external axes in the RAPID program, besides the limitation that can be done with system parameters Motion - Arm - robx_y - Upper Joint Bound ... Lower Joint Bound. Basic examples Basic examples of the instruction WZLimJointDef are illustrated below. Example 1
VAR wzstationary work_limit; ... PROC power_on() VAR shapedata joint_space; CONST jointtarget low_pos:= [ [ -90, 9E9, 9E9, 9E9, 9E9, 9E9], [ -1000, 9E9, 9E9, 9E9, 9E9, 9E9]]; CONST jointtarget high_pos := [ [ 90, 9E9, 9E9, 9E9,9E9, 9E9], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ]; ... WZLimJointDef \Outside, joint_space, low_pos, high_pos; WZLimSup \Stat, work_limit, joint_space; ENDPROC

Definition and activation of stationary world zone work_limit, that limit the working area for robot axis 1 to -90 and +90 degrees and the external axis extax.eax_a to -1000 mm during program execution and jogging. The variable joint_space of data type shapedata are used to transfer data from the instruction WZLimJointDef to the instruction WZLimSup. Arguments
WZLimJointDef [\Inside] | [\Outside] Shape LowJointVal HighJointVal

[\Inside] Data type: switch Define the joint space inside the LowJointVal ... HighJointVal. [\Outside] Data type: switch Define the joint space outside the LowJointVal ... HighJointVal (inverse joint space). Shape Data type: shapedata Variable for storage of the defined joint space (private data for the system). Continues on next page
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1 Instructions
1.261 WZLimJointDef - Define a world zone for limitation in joints Continued LowJointVal Data type: jointtarget The position in joint coordinates for the low limit of the joint space to define. Specifies for each robot axes and external axes (degrees for rotational axes and mm for linear axes). Specifies in absolute joints (not in offset coordinate system EOffsSet or EOffsOn for external axes). Value 9E9 for some axis means that the axis should not be supervised for low limit. Non-active external axis also gives 9E9 at programming time. HighJointVal Data type: jointtarget The position in joint coordinates for the high limit of the joint space to define. Specifies for each robot axes and external axes (degrees for rotational axes and mm for linear axes). Specifies in absolute joints (not in offset coordinate system EOffsSet or EOffsOn for external axes). Value 9E9 for an axis means that the axis should not be supervised for high limit. Non-active external axis also gives 9E9 at programming time. HighJointVal minus LowJointVal for each axis must be greater than 0 for all axes to supervise. The figure below shows definition of joint space for rotating axis.

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The figure below shows definition of joint space for linear axis.

xx0100000002

Program execution The definition of the joint space is stored in the variable of type shapedata (argument Shape) for future use in WZLimSup or WZDOSet instructions. If using WZLimJointDef together with WZDOSet then the digital output signal is set, only if all active axes with joint space supervision are before or inside the joint space. If using WZLimJointDef with outside joint space (argument \Outside) together with WZLimSup then the robot is stopped as soon as one active axes with joint space supervision reaches the joint space. Continues on next page
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1 Instructions
1.261 WZLimJointDef - Define a world zone for limitation in joints Continued If using WZLimJointDef with inside joint space (argument \Inside) together with WZLimSup then the robot is stopped as soon as the last active axes with joint space supervision reaches the joint space. That means that one or several axes but not all active and supervised axes can be inside the joint space at the same time. At execution of the instruction ActUnit or DeactUnit the supervision status will be updated. Limitations

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WARNING! Only active mechanical units and its active axes at activation time of the world zone (with instruction WZDOSet respective to WZLimSup), are included in the supervision of the HOME position respectively the limitation of the working area. Besides that, the mechanical unit and its axes must still be active at the program movement or jogging to be supervised. For example, if one axis with supervision is outside its HOME joint position but is deactivated then it does not prevent the digital output signal for the HOME joint position to be set if all other active axes with joint space supervision are inside the HOME joint position. At activation of that axis again, it will be included in the supervision and the robot system will the be outside the HOME joint position and the digital output will be reset. Syntax
WZLimJointDef [[\Inside] | [\Outside],] [Shape:=]<variable (VAR) of shapedata>, [LowJointVal:=]<expression (IN) of jointtarget>, [HighJointVal:=]<expression (IN) of jointtarget>;

Related information
For information about World Zones World zone shape Define box-shaped world zone Define cylinder-shaped world zone Define sphere-shaped world zone Define a world zone for home joints Activate world zone limit supervision See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 WZBoxDef - Define a box-shaped world zone on page 759 WZCylDef - Define a cylinder-shaped world zone on page 761 WZSphDef - Define a sphere-shaped world zone on page 784 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimSup - Activate world zone limit supervision on page 781

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1 Instructions
1.261 WZLimJointDef - Define a world zone for limitation in joints Continued
For information about Activate world zone digital output set See WZDOSet - Activate world zone to set digital output on page 766

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1 Instructions
1.262 WZLimSup - Activate world zone limit supervision

1.262 WZLimSup - Activate world zone limit supervision

Usage WZLimSup (World Zone Limit Supervision) is used to define the action and to activate a world zone for supervision of the working area of the robot or external axes. After this instruction is executed, when the robots TCP reaches the defined world zone or when the robot/external axes reaches the defined world zone in joints, then the movement is stopped both during program execution and when jogging. Basic examples Basic examples of the instruction WZLimSup are illustrated below. See also More examples on page 782. Example 1
VAR wzstationary max_workarea; ... PROC POWER_ON() VAR shapedata volume; ... WZBoxDef \Outside, volume, corner1, corner2; WZLimSup \Stat, max_workarea, volume; ENDPROC

Definition and activation of stationary world zone max_workarea, with the shape of the area outside a box (temporarily stored in volume) and the action work-area supervision. The robot stops with an error message before entering the area outside the box. Arguments
WZLimSup [\Temp] | [\Stat] WorldZone Shape

[\Temp] Temporary Data type: switch The world zone to define is a temporary world zone. [\Stat] Stationary Data type: switch The world zone to define is a stationary world zone. One of the arguments \Temp or \Stat must be specified. WorldZone Data type: wztemporary or wzstationary Variable or persistent variable that will be updated with the identity (numeric value) of the world zone.

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1 Instructions
1.262 WZLimSup - Activate world zone limit supervision Continued If using switch \Temp, the data type must be wztemporary. If using switch \Stat, the data type must be wzstationary. Shape Data type: shapedata The variable that defines the volume of the world zone. Program execution The defined world zone is activated. From this moment the robots TCP position or the robot/external axes joint position are supervised. If it reaches the defined area then the movement is stopped. If using WZLimJointDef or WZHomeJointDef with outside joint space (argument \Outside) together with WZLimSup then the robot is stopped as soon as one active axes with joint space supervision reaches the joint space. If using WZLimJointDef or WZHomeJointDef with inside joint space (argument \Inside) together with WZLimSup then the robot is stopped as soon as the last active axes with joint space supervision reaches the joint space. That means that one or several axes but not all active and supervised axes can be inside the joint space at the same time. At execution of the instruction ActUnit or DeactUnit the supervision status will be updated. More examples More examples of how to use the instruction WZLimSup are illustrated below. Example 1
VAR wzstationary box1_invers; VAR wzstationary box2; PROC wzone_power_on() VAR shapedata volume; CONST pos box1_c1:=[500,-500,0]; CONST pos box1_c2:=[-500,500,500]; CONST pos box2_c1:=[500,-500,0]; CONST pos box2_c2:=[200,-200,300]; ... WZBoxDef \Outside, volume, box1_c1, box1_c2; WZLimSup \Stat, box1_invers, volume; WZBoxDef \Inside, volume, box2_c1, box2_c2; WZLimSup \Stat, box2, volume; ENDPROC

Limitation of work area for the robot with the following stationary world zones: Outside working area when outside box1_invers Outside working area when inside box2

If this routine is connected to the system event POWER ON then these world zones will always be active in the system, both for program movements and manual jogging. Continues on next page
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1 Instructions
1.262 WZLimSup - Activate world zone limit supervision Continued Limitations A world zone cannot be redefined using the same variable in argument WorldZone. A stationary world zone cannot be deactivated, activated again, or erased in the RAPID program. A temporary world zone can be deactivated (WZDisable), activated again (WZEnable), or erased (WZFree) in the RAPID program. Syntax
WZLimSup [[\Temp] | [\Stat],] [WorldZone:=]<variable or persistent (INOUT) of wztemporary>, [Shape:=]<variable (VAR) of shapedata>;

Related information
For information about World Zones World zone shape Temporary world zone Stationary world zone See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296 wzstationary - Stationary world zone data on page 1294

Define straight box-shaped world zone WZBoxDef - Define a box-shaped world zone on page 759 Define sphere-shaped world zone Define cylinder-shaped world zone Define a world zone for home joints Define a world zone for limit joints Activate world zone digital output set WZSphDef - Define a sphere-shaped world zone on page 784 WZCylDef - Define a cylinder-shaped world zone on page 761 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimJointDef - Define a world zone for limitation in joints on page 777 WZDOSet - Activate world zone to set digital output on page 766

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1.263 WZSphDef - Define a sphere-shaped world zone

1.263 WZSphDef - Define a sphere-shaped world zone

Usage WZSphDef (World Zone Sphere Definition) is used to define a world zone that has the shape of a sphere. Basic examples Basic examples of the instruction WZSphDef are illustrated below. Example 1

xx0500002207

kfjglkjfglkwejlrkgj lwfljgwelkg VAR shapedata volume; CONST pos C1:=[300,300,200]; CONST num R1:=200; ... WZSphDef \Inside, volume, C1, R1;

Define a sphere named volume by its center C1 and its radius R1. Arguments
WZSphDef [\Inside] | [\Outside] Shape CentrePoint Radius

[\Inside] Data type: switch Define the volume inside the sphere. [\Outside] Data type: switch Define the volume outside the sphere (inverse volume). One of the arguments \Inside or \Outside must be specified. Shape Data type: shapedata Variable for storage of the defined volume (private data for the system).

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1 Instructions
1.263 WZSphDef - Define a sphere-shaped world zone Continued CentrePoint Data type: pos Position (x,y,z) in mm defining the center of the sphere. Radius Data type: num The radius of the sphere in mm. Program execution The definition of the sphere is stored in the variable of type shapedata (argument Shape), for future use in WZLimSup or WZDOSet instructions. Limitations If the robot is used to point out the CentrePoint then the work object wobj0 must be active (use of component trans in robtarget e.g. p1.trans as argument). Syntax
WZSphDef [[\Inside] | [\Outside],] [Shape:=]<variable (VAR) of shapedata>, [CentrePoint:=]<expression (IN) of pos>, [Radius:=]<expression (IN) of num>;

Related information
For information about World Zones World zone shape Define box-shaped world zone Define cylinder-shaped world zone Define a world zone for home joints Define a world zone for limit joints See Technical reference manual - RAPID overview shapedata - World zone shape data on page 1242 WZBoxDef - Define a box-shaped world zone on page 759 WZCylDef - Define a cylinder-shaped world zone on page 761 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimJointDef - Define a world zone for limitation in joints on page 777

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone digital output set WZDOSet - Activate world zone to set digital output on page 766

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2 Functions
2.1 Abs - Gets the absolute value

2 Functions
2.1 Abs - Gets the absolute value
Usage Abs is used to get the absolute value, i.e. a positive value of numeric data. Basic examples Basic examples of the function Abs are illustrated below. See also More examples on page 787. Example 1
reg1 := Abs(reg2);

Reg1 is assigned the absolute value of reg2. Return value Data type: num The absolute value, i.e. a positive numeric value, e.g.:
Input value 3 -3 -2.53 Returned value 3 3 2.53

Arguments
Abs (Value)

Value Data type: num The input value. More examples More examples of the function Abs are illustrated below. Example 1
TPReadNum no_of_parts, "How many parts should be produced? "; no_of_parts := Abs(no_of_parts);

The operator is asked to input the number of parts to be produced. To ensure that the value is greater than zero, the value given by the operator is made positive. Syntax
Abs ( [ Value := ] < expression (IN) of num >)

A function with a return value of the data type num.

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2 Functions
2.1 Abs - Gets the absolute value Continued Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview

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2 Functions
2.2 AbsDnum - Gets the absolute value of a dnum

2.2 AbsDnum - Gets the absolute value of a dnum

Usage AbsDnum is used to get the absolute value, that is, a positive value of a dnum numeric value. Basic examples Basic examples of the function AbsDnum is illustrated below. See also More examples on page 789. Example 1
VAR dnum value1; VAR dnum value2:=-20000000; value1 := AbsDnum(value2);

Value1 is assigned the absolute value of value2. Return value Data type: dnum The absolute value, that is, a positive numeric value, for example:
Input value 3 -3 -2.53 -4503599627370496 Returned value 3 -3 2.53 4503599627370496

Arguments
AbsDnum (Value)

Value Data type: dnum The input value. More examples More examples of the function AbsDnum are illustrated below. Example 1
TPReadDnum no_of_parts, "How many parts should be produced? "; no_of_parts := AbsDnum(no_of_parts);

The operator is asked to input the number of parts to be produced. To ensure that the value is greater than zero, the value given by the operator is made positive. Syntax
AbsDnum '(' [ Value ':=' ] < expression (IN) of dnum > ')'

A function with a return value of the data type dnum.

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2 Functions
2.2 AbsDnum - Gets the absolute value of a dnum Continued Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

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2 Functions
2.3 ACos - Calculates the arc cosine value

2.3 ACos - Calculates the arc cosine value

Usage ACos (Arc Cosine) is used to calculate the arc cosine value. Basic examples Basic examples of the function ACos are illustrated below. Example 1
VAR num angle; VAR num value; ... ... angle := ACos(value);

angle will get the arc cosine value of value. Return value Data type: num The arc cosine value, expressed in degrees, range [0, 180]. Arguments
ACos (Value)

Value Data type: num The argument value must be in range [-1, 1]. Limitations The execution of the function Acos(x) will give an error if x is outside the range [-1, 1]. Syntax
Acos( [Value :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

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2 Functions
2.4 AOutput - Reads the value of an analog output signal

2.4 AOutput - Reads the value of an analog output signal

Usage AOutput is used to read the current value of an analog output signal. Basic examples Basic examples of the function AOutput are illustrated below. Example 1
IF AOutput(ao4) > 5 THEN ...

If the current value of the signal ao4 is greater than 5, then ... Return value Data type: num The current value of the signal. The current value is scaled (in accordance with the system parameters) before it is read by the RAPID program. A diagram of how analog signal values are scaled is shown in the figure below.

xx0500002408

Arguments
AOutput (Signal)

Signal Data type: signalao The name of the analog output to be read. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed.

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2 Functions
2.4 AOutput - Reads the value of an analog output signal Continued Syntax
AOutput ( [ Signal := ] < variable (VAR) of signalao > )

A function with a return value of data type num. Related information

For information about Set an analog output signal Input/Output instructions See SetAO - Changes the value of an analog output signal on page 448 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O principles Configuration of I/O Technical reference manual - System parameters

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2 Functions
2.5 ArgName - Gets argument name

2.5 ArgName - Gets argument name

Usage ArgName (Argument Name) is used to get the name of the original data object for the current argument or the current data. Basic examples Basic examples of the function ArgName are illustrated below. See also More examples on page 795. Example 1
VAR num chales :=5; ... proc1 chales; PROC proc1 (num par1) VAR string name; ... name:=ArgName(par1); TPWrite "Argument name "+name+" with value "\Num:=par1; ENDPROC

The variable name is assigned the string value "chales" and on FlexPendant the following string is written: "Argument name chales with value 5". Return value Data type: string The original data object name. Arguments
ArgName (Parameter [\ErrorNumber])

Parameter Data type: anytype The formal parameter identifier (for the routine in which ArgName is located) or the data identity. All types of data with structure atomic, record, record component, array, or array element can be used. ErrorNumber Data type: errnum A variable (before used it is set to 0 by the system) that will hold the error code when the argument is an expression value, argument is not present or argument is of type switch. If this optional variable is omitted then the error handler will be executed. Program execution The function returns the original data object name for an entire object of the type constant, variable, or persistent. The original data object can be global, local in the program module, or local in a routine (normal RAPID scope rules). Continues on next page
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2 Functions
2.5 ArgName - Gets argument name Continued If it is a part of a data object then the name of the whole data object is returned. More examples More examples of the function ArgName are illustrated below. Convert from identifier to string This function can also be used to convert from identifier to string, by specifying the identifier in the argument Parameter for any data object with global, local in module, or local in routine scope:
VAR num chales :=5; ... proc1; PROC proc1 () VAR string name; ... name:=ArgName(chales); TPWrite "Global data object "+name+" has value "\Num:=chales; ENDPROC

The variable name is assigned the string value "chales" and on FlexPendant the following string is written: "Global data object chales has value 5". Routine call in several steps Note that the function returns the original data object name:
VAR num chales :=5; ... proc1 chales; ... PROC proc1 (num parameter1) ... proc2 parameter1; ... ENDPROC PROC proc2 (num par1) VAR string name; ... name:=ArgName(par1); TPWrite "Original data object name "+name+" with value" \Num:=par1; ENDPROC

The variable name is assigned the string value "chales" and on FlexPendant the following string is written: "Original data object name chales with value 5". Supress execution in error handler
PROC main() VAR string mystring:="DUMMY"; proc1 mystring; proc1 "This is a test"; ...

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2 Functions
2.5 ArgName - Gets argument name Continued
ENDPROC PROC proc1 (string par1) VAR string name; VAR errnum myerrnum; name := ArgName(par1 \ErrorNumber:=myerrnum); IF myerrnum=ERR_ARGNAME THEN TPWrite "The argument par1 is an expression value"; TPWrite "The name of the argument can not be evaluated"; ELSE TPWrite "The name on the argument is "+name; ENDIF ENDPROC

The variable name is assigned the string value "mystring" when the first call to proc1 is done. When the second call to proc1 is done, an empty string is assign to name. On the FlexPendant the following string is written: "The argument par1 is an expression value" and "The name of the argument can not be evaluated". Error handling If one of the following errors occurs then the system variable ERRNO is set to ERR_ARGNAME: Argument is expression value Argument is not present Argument is of type switch

This error can then be handled in the error handler. Syntax

ArgName ( [ Parameter:= ] < reference (REF) of any type> [\ErrorNumber:= <var or pers (INOUT) of errnum>] )

A function with a return value of the data type string. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview string - Strings on page 1258 Technical reference manual - RAPID overview

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2 Functions
2.6 ASin - Calculates the arc sine value

2.6 ASin - Calculates the arc sine value

Usage ASin (Arc Sine) is used to calculate the arc sine value. Basic examples Basic examples of the function ASin are illustrated below. Example 1
VAR num angle; VAR num value; ... ... angle := ASin(value); angle will get the arc sine value of value

Return value Data type: num The arc sine value, expressed in degrees, range [-90, 90]. Arguments
ASin (Value)

Value Data type: num The argument value must be in range [-1, 1]. Limitations The execution of the function ASin(x) will give an error if x is outside the range [1, -1]. Syntax
ASin( [Value :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

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2 Functions
2.7 ATan - Calculates the arc tangent value

2.7 ATan - Calculates the arc tangent value

Usage ATan (Arc Tangent) is used to calculate the arc tangent value. Basic examples Basic examples of the function ATan are illustrated below. Example 1
VAR num angle; VAR num value; ... ... angle := ATan(value);

angle will get the arc tangent value of value. Return value Data type: num The arc tangent value, expressed in degrees, range [-90, 90]. Arguments
ATan (Value)

Value Data type: num The argument value. Syntax

ATan( [Value :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

Arc tangent with a return value in the range ATan2 - Calculates the arc tangent2 value on [-180, 180] page 799

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2.8 ATan2 - Calculates the arc tangent2 value

2.8 ATan2 - Calculates the arc tangent2 value

Usage ATan2 (Arc Tangent2) is used to calculate the arc tangent2 value. Basic examples Basic examples of the function ATan2 are illustrated below. Example 1
VAR num angle; VAR num x_value; VAR num y_value; ... ... angle := ATan2(y_value, x_value);

angle will get the arc tangent value of y_value/x_value. Return value Data type: num The arc tangent value, expressed in degrees, range [-180, 180]. The value will be equal to ATan(y/x) but in the range of [-180, 180] since the function uses the sign of both arguments to determine the quadrant of the return value. Arguments
ATan2 (Y X)

Y Data type: num The numerator argument value. X Data type: num The denominator argument value. Syntax
ATan2( [Y :=] <expression (IN) of num> , [X :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview Arc tangent with only one argument ATan - Calculates the arc tangent value on page 798

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2.9 BitAnd - Logical bitwise AND - operation on byte data

2.9 BitAnd - Logical bitwise AND - operation on byte data

Usage BitAnd is used to execute a logical bitwise AND - operation on data types byte. Basic examples Basic examples of the function BitAnd are illustrated below. Example 1
VAR byte data1 := 38; VAR byte data2 := 34; VAR byte data3; data3 := BitAnd(data1, data2);

The logical bitwise AND - operation (see figure below) will be executed on the data1 and data2. The result will be returned to data3 (integer representation).

xx0500002454

Return value Data type: byte The result of the logical bitwise AND - operation in integer representation. Arguments
BitAnd (BitData1 BitData2)

BitData1 Data type: byte The bit data 1, in integer representation. BitData2 Data type: byte The bit data 2, in integer representation.

Continues on next page

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2.9 BitAnd - Logical bitwise AND - operation on byte data Continued Limitations The range for a data type byte is 0 - 255. Syntax
BitAnd( [BitData1 :=] <expression (IN) of byte> , [BitData2 :=] <expression (IN) of byte> )

A function with a return value of the data type byte. Related information
For information about Logical bitwise OR - operation on byte data See BitOr - Logical bitwise OR - operation on byte data on page 817

Logical bitwise XOR - operation on byte data BitXOr - Logical bitwise XOR - operation on byte data on page 825 Logical bitwise NEGATION - operation on byte BitNeg - Logical bitwise NEGATION - operadata tion on byte data on page 813 Other bit functions Technical reference manual - RAPID overview

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2.10 BitAndDnum - Logical bitwise AND - operation on dnum data

2.10 BitAndDnum - Logical bitwise AND - operation on dnum data

Usage BitAndDnum is used to execute a logical bitwise AND - operation on data types dnum. Basic examples Basic examples of the function BitAndDnum are illustrated below. Example 1
VAR dnum data1 := 38; VAR dnum data2 := 35; VAR dnum data3; data3 := BitAndDnum(data1, data2);

The logical bitwise AND - operation (see figure below) will be executed on the data1 and data2. The result will be returned to data3 (integer representation).

BitPos 52

BitPos 1 data1 : 38

AND
data2 : 35

data3 : 34

xx1200000007

Return value Data type: dnum The result of the logical bitwise AND - operation in integer representation. Arguments
BitAndDnum (Value1 Value2)

Value1 Data type: dnum The first bit data value, in integer representation. Value2 Data type: dnum The second bit data value, in integer representation.

Continues on next page

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2.10 BitAndDnum - Logical bitwise AND - operation on dnum data Continued Limitations The range for a data type dnum is 0 - 4503599627370495. Syntax
BitAndDnum( [Value1 :=] <expression (IN) of dnum> , [Value2 :=] <expression (IN) of dnum> )

A function with a return value of the data type dnum. Related information
For information about See

Logical bitwise AND - operation on byte data BitAnd - Logical bitwise AND - operation on byte data on page 800 Data type dnum dnum - Double numeric values on page 1164

Logical bitwise OR - operation on dnum data BitOrDnum - Logical bitwise OR - operation on dnum data on page 819 Logical bitwise XOR - operation on dnum data BitXOrDnum - Logical bitwise XOR - operation on dnum data on page 827 Logical bitwise NEGATION - operation on dnum data Other bit functions BitNegDnum - Logical bitwise NEGATION operation on dnum data on page 815 Technical reference manual - RAPID overview

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2.11 BitCheck - Check if a specified bit in a byte data is set

2.11 BitCheck - Check if a specified bit in a byte data is set

Usage BitCheck is used to check if a specified bit in a defined byte data is set to 1. Basic examples Basic examples of the function BitCheck are illustrated below. Example 1
CONST num parity_bit := 8; VAR byte data1 := 130; IF BitCheck(data1, parity_bit) = TRUE THEN ... ELSE ... ENDIF

Bit number 8 (parity_bit) in the variable data1 will be checked, e.g. if the specified bit is set to 1 in the variable data1 then this function will return to TRUE. Bit check of data type byte is illustrated in the figure below.

xx0500002442

Return value Data type: bool TRUE if the specified bit is set to 1, FALSE if the specified bit is set to 0. Arguments
BitCheck (BitData BitPos)

BitData Data type: byte The bit data, in integer representation, to be checked.

Continues on next page

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2.11 BitCheck - Check if a specified bit in a byte data is set Continued BitPos Bit Position Data type: num The bit position (1-8) in the BitData to be checked. Limitations The range for a data type byte is 0 - 255 decimal. The bit position is valid from 1 - 8. Syntax
BitCheck( [BitData :=] <expression (IN) of byte> , [BitPos :=] <expression (IN) of num> )

A function with a return value of the data type bool. Related information
For information about Set a specified bit in a byte data Clear a specified bit in a byte data Other bit functions See BitSet - Set a specified bit in a byte or dnum data on page 33 BitClear - Clear a specified bit in a byte or dnum data on page 30 Technical reference manual - RAPID overview

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2.12 BitCheckDnum - Check if a specified bit in a dnum data is set

2.12 BitCheckDnum - Check if a specified bit in a dnum data is set

Usage BitCheckDnum is used to check if a specified bit in a defined dnum data is set to 1. Basic examples Basic examples of the function BitCheckDnum are illustrated below. Example 1
CONST num check_bit := 50; VAR dnum data1 := 1688849860263956; IF BitCheckDnum(data1, parity_bit) = TRUE THEN ... ELSE ... ENDIF

Bit number 50 (check_bit) in the variable data1 will be checked, e.g. if the specified bit is 1 in the variable data1 then this function will return to TRUE. Bit check of data type dnum is illustrated in the figure below.
BitPos 52

BitPos 1 data1 : 1688849860263956 Bit position 50 has value 1. Return value is TRUE.

xx1200000016

Return value Data type: bool TRUE if the specified bit is set to 1, FALSE if the specified bit is set to 0. Arguments
BitCheckDnum (Value BitPos)

Value Data type: dnum The bit data, in integer representation, to be checked. BitPos Bit Position Data type: num Continues on next page
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2.12 BitCheckDnum - Check if a specified bit in a dnum data is set Continued The bit position (1-52) in Value to be checked. Limitations The range for a data type dnum is 0 - 4503599627370495 decimal. The bit position is valid from 1 - 52. Syntax
BitCheckDnum( [Value :=] <expression (IN) of dnum> , [BitPos :=] <expression (IN) of num> )

A function with a return value of the data type bool. Related information
For information about See

Check if a specified bit in a byte data BitCheck - Check if a specified bit in a byte data is is set set on page 804 Data type dnum dnum - Double numeric values on page 1164

Set a specified bit in a byte or dnum BitSet - Set a specified bit in a byte or dnum data on page 33 data Clear a specified bit in a byte or dnum BitClear - Clear a specified bit in a byte or dnum data on page 30 data Other bit functions Technical reference manual - RAPID overview

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2.13 BitLSh - Logical bitwise LEFT SHIFT - operation on byte

2.13 BitLSh - Logical bitwise LEFT SHIFT - operation on byte

Usage BitLSh (Bit Left Shift) is used to execute a logical bitwise LEFT SHIFT-operation on data types byte. Basic examples Basic examples of the function BitLSh are illustrated below. Example 1
VAR num left_shift := 3; VAR byte data1 := 38; VAR byte data2; data2 := BitLSh(data1, left_shift);

The logical bitwise LEFT SHIFT- operation will be executed on the data1 with 3 (left_shift) steps of left shift, and the result will be returned to data2 (integer representation). The following figure shows logical bitwise LEFT SHIFT-operation.

xx0500002457

Return value Data type: byte The result of the logical bitwise LEFT SHIFT-operation in integer representation. The right bit cells will be filled up with 0-bits. Arguments
BitLSh (BitData ShiftSteps)

BitData Data type: byte The bit data, in integer representation, to be shifted. ShiftSteps Data type: num Number of the logical shifts (1 - 8) to be executed.

Continues on next page

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2.13 BitLSh - Logical bitwise LEFT SHIFT - operation on byte Continued Limitations The range for a data type byte is 0 - 255. The ShiftSteps argument is valid from 1 - 8 according to one byte. Syntax
BitLSh( [BitData :=] <expression (IN) of byte> , [ShiftSteps :=] <expression (IN) of num> )

A function with a return value of the data type byte. Related information
For information about See

Logical bitwise RIGHT SHIFT-operation BitRSh - Logical bitwise RIGHT SHIFT - operation on byte data on byte on page 821 Other bit functions Technical reference manual - RAPID overview, section RAPID summary - Mathematics - Bitfunctions

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2.14 BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum

2.14 BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum

Usage BitLShDnum (Bit Left Shift dnum) is used to execute a logical bitwise LEFT SHIFT-operation on data types dnum. Basic examples Basic examples of the function BitLShDnum are illustrated below. See also More examples on page 811 Example 1
VAR num left_shift := 2; VAR dnum data1 := 2533274790395910; VAR dnum data2; data2 := BitLShDnum(data1, left_shift);

The logical bitwise LEFT SHIFT- operation will be executed on the data1 with 2 (left_shift) steps of left shift, and the result will be returned to data2 (integer representation). The following figure shows logical bitwise LEFT SHIFT-operation.
BitPos 52

BitPos 1 data1 : 2533274790395910 ShiftSteps : 2 data2 : 1125899906842648

xx1200000008

Return value Data type: dnum The result of the logical bitwise LEFT SHIFT-operation in integer representation. The right bit cells will be filled up with 0-bits. Arguments
BitLShDnum (Value ShiftSteps [\Size])

Value Data type: dnum The bit data, in integer representation, to be shifted.

Continues on next page

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2.14 BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum Continued ShiftSteps Data type: num Number of the logical shifts (1 - 52) to be executed. Size Data type: num The size (number of bits) that should be considered when doing the logical bitwise LEFT SHIFT-operation on argument Value. The size is valid from 1 - 52. Limitations The range for a data type dnum is 0 - 4503599627370495. The ShiftSteps argument is valid from 1 - 52 since one dnum is 52 bits. More examples More examples of the function BitLshDnum are illustrated below. Example 1
VAR dnum result; VAR dnum data1:=221; ! Only consider the 8 lowest bits result := BitLshDnum(data1, 4 \Size:=8); TPWrite "" \Dnum:=result; ! Consider all 52 bits in the dnum datatype result := BitLshDnum(data1, 4); TPWrite "" \Dnum:=result;

The logical bitwise LEFT SHIFT- operation will be executed on the data1, and the result will be returned to result (integer representation). The first value to be written on the FlexPendant is 208. The second value to be written on the FlexPendant is 3536. Syntax
BitLShDnum( [Value :=] <expression (IN) of dnum> , [ShiftSteps :=] <expression (IN) of num> ['\'Size ':=' < expression (IN) of num>] )

A function with a return value of the data type dnum. Related information
For information about See

Logical bitwise LEFT SHIFT-operation on BitLSh - Logical bitwise LEFT SHIFT - operation byte data on byte on page 808 Data type dnum dnum - Double numeric values on page 1164

Logical bitwise RIGHT SHIFT-operation BitRShDnum - Logical bitwise RIGHT SHIFT on dnum data operation on dnum on page 823

Continues on next page

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2.14 BitLShDnum - Logical bitwise LEFT SHIFT - operation on dnum Continued
For information about Other bit functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics - Bitfunctions

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2.15 BitNeg - Logical bitwise NEGATION - operation on byte data

2.15 BitNeg - Logical bitwise NEGATION - operation on byte data

Usage BitNeg (Bit Negation) is used to execute a logical bitwise NEGATION - operation (onescomplement) on data types byte. Basic examples Basic examples of the function BitNeg are illustrated below. Example 1
VAR byte data1 := 38; VAR byte data2; data2 := BitNeg(data1);

The logical bitwise NEGATION - operation (see figure below) will be executed on the data1, and the result will be returned to data2 (integer representation).

xx0500002456

Return value Data type: byte The result of the logical bitwise NEGATION - operation in integer representation. Arguments
BitNeg (BitData)

BitData Data type: byte The byte data, in integer representation. Limitations The range for a data type byte is 0 - 255. Syntax
BitNeg( [BitData :=] <expression (IN) of byte> )

A function with a return value of the data type byte.

Continues on next page

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2.15 BitNeg - Logical bitwise NEGATION - operation on byte data Continued Related information
For information about See

Logical bitwise AND - operation on byte data BitAnd - Logical bitwise AND - operation on byte data on page 800 Logical bitwise OR - operation on byte data BitOr - Logical bitwise OR - operation on byte data on page 817

Logical bitwise XOR - operation on byte data BitXOr - Logical bitwise XOR - operation on byte data on page 825 Other bit functions Technical reference manual - RAPID overview

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2.16 BitNegDnum - Logical bitwise NEGATION - operation on dnum data

2.16 BitNegDnum - Logical bitwise NEGATION - operation on dnum data

Usage BitNegDnum (Bit Negation dnum) is used to execute a logical bitwise NEGATION - operation (ones complement) on data types dnum. Basic examples Basic examples of the function BitNegDnum are illustrated below. See also More examples on page 816. Example 1
VAR dnum data1 := 4; VAR dnum data2; data2 := BitNegDnum(data1);

The logical bitwise NEGATION - operation (see figure below) will be executed on the data1, and the result will be returned to data2 (integer representation).
BitPos 52

BitPos 1 data1 : 4

NEG

data2 : 4503599627370491

xx1200000012

Return value Data type: dnum The result of the logical bitwise NEGATION - operation in integer representation. Arguments
BitNegDnum (Value [\Size])

Value Data type: dnum The dnum data, in integer representation. Size Data type: num The size (number of bits) that should be considered when doing the logical bitwise NEGATION-operation on argument Value. The size is valid from 1 - 52.

Continues on next page

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2.16 BitNegDnum - Logical bitwise NEGATION - operation on dnum data Continued Limitations The range for a data type dnum is 0 - 4503599627370495. More examples More examples of the function BitNegDnum are illustrated below. Example 1
VAR dnum result; VAR dnum data1:=38; ! Only consider the 16 lowest bits result := BitNegDnum(data1 \Size:=16); TPWrite "" \Dnum:=result; ! Consider all 52 bits in the dnum datatype result := BitNegDnum(data1); TPWrite "" \Dnum:=result;

The logical bitwise NEGATION - operation will be executed on the data1, and the result will be returned to result (integer representation). The first value to be written on the FlexPendant is 65497. The second value to be written on the FlexPendant is 4503599627370457. Syntax
BitNegDnum( [Value :=] <expression (IN) of dnum> ['\'Size ':=' < expression (IN) of num>] )

A function with a return value of the data type dnum. Related information
For information about See

Logical bitwise NEGATION - operation on byte BitNeg - Logical bitwise NEGATION - operadata tion on byte data on page 813 Data type dnum dnum - Double numeric values on page 1164

Logical bitwise AND - operation on dnum data BitAndDnum - Logical bitwise AND - operation on dnum data on page 802 Logical bitwise OR - operation on dnum data BitOrDnum - Logical bitwise OR - operation on dnum data on page 819 Logical bitwise XOR - operation on dnum data BitXOrDnum - Logical bitwise XOR - operation on dnum data on page 827 Other bit functions Technical reference manual - RAPID overview

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2.17 BitOr - Logical bitwise OR - operation on byte data

2.17 BitOr - Logical bitwise OR - operation on byte data

Usage BitOr (Bit inclusive Or) is used to execute a logical bitwise OR-operation on data types byte. Basic examples Basic examples of the function BitOr are illustrated below. Example 1
VAR byte data1 := 39; VAR byte data2 := 162; VAR byte data3; data3 := BitOr(data1, data2);

The logical bitwise OR-operation will be executed on the data1 and data2, and the result will be returned to data3 (integer representation). The following figure shows logical bitwise OR-operation.

xx0500002458

Return value Data type: byte The result of the logical bitwise OR-operation in integer representation. Arguments
BitOr (BitData1 BitData2)

BitData1 Data type: byte The bit data 1, in integer representation. BitData2 Data type: byte Continues on next page
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2.17 BitOr - Logical bitwise OR - operation on byte data Continued The bit data 2, in integer representation. Limitations The range for a data type byte is 0 - 255. Syntax
BitOr( [BitData1 :=] <expression (IN) of byte> , [BitData2 :=] <expression (IN) of byte> )

A function with a return value of the data type byte. Related information
For information about Logical bitwise AND - operation on byte data Logical bitwise XOR - operation on byte data See BitAnd - Logical bitwise AND - operation on byte data on page 800 BitXOr - Logical bitwise XOR - operation on byte data on page 825

Logical bitwise NEGATION - operation on BitNeg - Logical bitwise NEGATION - operation byte data on byte data on page 813 Other bit functions Technical reference manual - RAPID overview

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2.18 BitOrDnum - Logical bitwise OR - operation on dnum data

2.18 BitOrDnum - Logical bitwise OR - operation on dnum data

Usage BitOrDnum (Bit inclusive Or dnum) is used to execute a logical bitwise OR-operation on data types dnum. Basic examples Basic examples of the function BitOrDnum are illustrated below. Example 1
VAR dnum data1 := 39; VAR dnum data2 := 162; VAR dnum data3; data3 := BitOrDnum(data1, data2);

The logical bitwise OR-operation will be executed on the data1 and data2, and the result will be returned to data3 (integer representation). The following figure shows logical bitwise OR-operation.

BitPos 52

BitPos 1 data1 : 39

OR
data2 : 162

data3 : 167

xx1200000011

Return value Data type: dnum The result of the logical bitwise OR-operation in integer representation. Arguments
BitOrDnum (Value1 Value2)

Value1 Data type: dnum The first bit data value, in integer representation. Value2 Data type: dnum The second bit data value, in integer representation. Continues on next page
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2.18 BitOrDnum - Logical bitwise OR - operation on dnum data Continued Limitations The range for a data type dnum is 0 - 4503599627370495. Syntax
BitOrDnum( [Value1 :=] <expression (IN) of dnum> , [Value2 :=] <expression (IN) of dnum> )

A function with a return value of the data type dnum. Related information
For information about Logical bitwise OR - operation on byte data Data type dnum See BitOr - Logical bitwise OR - operation on byte data on page 817 dnum - Double numeric values on page 1164

Logical bitwise AND - operation on dnum BitAndDnum - Logical bitwise AND - operation data on dnum data on page 802 Logical bitwise XOR - operation on dnum BitXOrDnum - Logical bitwise XOR - operation data on dnum data on page 827 Logical bitwise NEGATION - operation on BitNegDnum - Logical bitwise NEGATION - opdnum data eration on dnum data on page 815 Other bit functions Technical reference manual - RAPID overview

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2.19 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte

2.19 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte

Usage BitRSh (Bit Right Shift) is used to execute a logical bitwise RIGHT SHIFT-operation on data types byte. Basic examples Basic examples of the function BitRSh are illustrated below. Example 1
VAR num right_shift := 3; VAR byte data1 := 38; VAR byte data2; data2 := BitRSh(data1, right_shift);

The logical bitwise RIGHT SHIFT-operation will be executed on the data1 with 3 (right_shift) steps of right shift, and the result will be returned to data2 (integerrepresentation) The following figure shows logical bitwise RIGHT SHIFT-operation.

xx0500002455

Return value Data type: byte The result of the logical bitwise RIGHT SHIFT-operation in integer representation. The left bit cells will be filled up with 0-bits. Arguments
BitRSh (BitData ShiftSteps)

BitData Data type: byte The bit data, in integer representation, to be shifted. ShiftSteps Data type: num Number of the logical shifts (1 - 8) to be executed.

Continues on next page

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2.19 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte Continued Limitations The range for a data type byte is 0 - 255. The ShiftSteps argument is valid from 1 - 8 according to one byte. Syntax
BitRSh( [BitData :=] <expression (IN) of byte>, [ShiftSteps:=] <expression (IN) of num> )

A function with a return value of the data type byte. Related information
For information about See

Logical bitwise LEFT SHIFT-operation on BitLSh - Logical bitwise LEFT SHIFT - operation byte data on byte on page 808 Other bit functions Technical reference manual - RAPID overview

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2.20 BitRShDnum - Logical bitwise RIGHT SHIFT - operation on dnum

2.20 BitRShDnum - Logical bitwise RIGHT SHIFT - operation on dnum

Usage BitRShDnum (Bit Right Shift dnum) is used to execute a logical bitwise RIGHT SHIFT-operation on data types dnum. Basic examples Basic examples of the function BitRShDnum are illustrated below. Example 1
VAR num right_shift := 3; VAR dnum data1 := 2251799813685304; VAR dnum data2; data2 := BitRShDnum(data1, right_shift);

The logical bitwise RIGHT SHIFT-operation will be executed on the data1 with 3 (right_shift) steps of right shift, and the result will be returned to data2 (integer representation) The following figure shows logical bitwise RIGHT SHIFT-operation.
BitPos 52

BitPos 1 data1 : 2251799813685304 ShiftSteps : 3 data2 : 281474976710663

xx1200000009

Return value Data type: dnum The result of the logical bitwise RIGHT SHIFT-operation in integer representation. The left bit cells will be filled up with 0-bits. Arguments
BitRShDnum (Value ShiftSteps)

Value Data type: dnum The bit data, in integer representation, to be shifted. ShiftSteps Data type: num Continues on next page
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2.20 BitRShDnum - Logical bitwise RIGHT SHIFT - operation on dnum Continued Number of the logical shifts (1 - 52) to be executed. Limitations The range for a data type dnum is 0 - 4503599627370495. The ShiftSteps argument is valid from 1 - 52 since one dnum is 52 bits. Syntax
BitRShDnum( [Value :=] <expression (IN) of dnum>, [ShiftSteps:=] <expression (IN) of num> )

A function with a return value of the data type dnum. Related information
For information about Logical bitwise RIGHT SHIFT-operation on byte data Data type dnum See BitRSh - Logical bitwise RIGHT SHIFT - operation on byte on page 821 dnum - Double numeric values on page 1164

Logical bitwise LEFT SHIFT-operation on BitLShDnum - Logical bitwise LEFT SHIFT dnum data operation on dnum on page 810 Other bit functions Technical reference manual - RAPID overview

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2.21 BitXOr - Logical bitwise XOR - operation on byte data

2.21 BitXOr - Logical bitwise XOR - operation on byte data

Usage BitXOr (Bit eXclusive Or) is used to execute a logical bitwise XOR-operation on data types byte. Basic examples Basic examples of the function BitXOr are illustrated below. Example 1
VAR byte data1 := 39; VAR byte data2 := 162; VAR byte data3; data3 := BitXOr(data1, data2);

The logical bitwise XOR -operation will be executed on the data1 and data2, and the result will be returned to data3 (integer representation). The following figure shows logical bitwise XOR-operation.

xx0500002459

Return value Data type: byte The result of the logical bitwise XOR-operation in integer representation. Arguments
BitXOr (BitData1 BitData2)

BitData1 Data type: byte The bit data 1, in integer representation. BitData2 Data type: byte Continues on next page
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2.21 BitXOr - Logical bitwise XOR - operation on byte data Continued The bit data 2, in integer representation. Limitations The range for a data type byte is 0 - 255. Syntax
BitXOr( [BitData1 :=] <expression (IN) of byte> , [BitData2 :=] <expression (IN) of byte> )

A function with a return value of the data type byte. Related information
For information about See

Logical bitwise AND - operation on byte BitAnd - Logical bitwise AND - operation on byte data data on page 800 Logical bitwise OR - operation on byte data BitOr - Logical bitwise OR - operation on byte data on page 817

Logical bitwise NEGATION - operation on BitNeg - Logical bitwise NEGATION - operation byte data on byte data on page 813 Other bit functions Technical reference manual - RAPID overview

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2.22 BitXOrDnum - Logical bitwise XOR - operation on dnum data

2.22 BitXOrDnum - Logical bitwise XOR - operation on dnum data

Usage BitXOrDnum (Bit eXclusive Or dnum) is used to execute a logical bitwise XOR-operation on data types dnum. Basic examples Basic examples of the function BitXOrDnum are illustrated below. Example 1
VAR dnum data1 := 39; VAR dnum data2 := 162; VAR dnum data3; data3 := BitXOrDnum(data1, data2);

The logical bitwise XOR -operation will be executed on the data1 and data2, and the result will be returned to data3 (integer representation). The following figure shows logical bitwise XOR-operation.

BitPos 52

BitPos 1 data1 : 39

XOR
data2 : 162

data3 : 133

xx1200000010

Return value Data type: dnum The result of the logical bitwise XOR-operation in integer representation. Arguments
BitXOrDnum (Value1 Value2)

Value1 Data type: dnum The first bit data value, in integer representation. Value2 Data type: dnum Continues on next page
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2 Functions
2.22 BitXOrDnum - Logical bitwise XOR - operation on dnum data Continued The second bit data value, in integer representation. Limitations The range for a data type dnum is 0 - 4503599627370495. Syntax
BitXOrDnum( [Value1 :=] <expression (IN) of dnum> , [Value2 :=] <expression (IN) of dnum> )

A function with a return value of the data type dnum. Related information
For information about See

Logical bitwise XOR - operation on byte BitXOr - Logical bitwise XOR - operation on byte data data on page 825 Data type dnum dnum - Double numeric values on page 1164

Logical bitwise AND - operation on dnum BitAndDnum - Logical bitwise AND - operation data on dnum data on page 802 Logical bitwise OR - operation on dnum BitOrDnum - Logical bitwise OR - operation on data dnum data on page 819 Logical bitwise NEGATION - operation on BitNegDnum - Logical bitwise NEGATION - operdnum data ation on dnum data on page 815 Other bit functions Technical reference manual - RAPID overview

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2 Functions
2.23 ByteToStr - Converts a byte to a string data

2.23 ByteToStr - Converts a byte to a string data

Usage ByteToStr (Byte To String) is used to convert a byte into a string data with a defined byte data format. Basic examples Basic examples of the function ByteToStr are illustrated below. Example 1
VAR string con_data_buffer{5}; VAR byte data1 := 122; con_data_buffer{1} := ByteToStr(data1);

The content of the array component con_data_buffer{1} will be "122" after the ByteToStr ... function.
con_data_buffer{2} := ByteToStr(data1\Hex);

The content of the array component con_data_buffer{2} will be "7A" after the ByteToStr ... function.
con_data_buffer{3} := ByteToStr(data1\Okt);

The content of the array component con_data_buffer{3} will be "172" after the ByteToStr ... function.
con_data_buffer{4} := ByteToStr(data1\Bin);

The content of the array component con_data_buffer{4} will be "01111010"after the ByteToStr ... function.
con_data_buffer{5} := ByteToStr(data1\Char);

The content of the array component con_data_buffer{5} will be "z" after the ByteToStr ... function. Return value Data type: string The result of the conversion operation with the following format:
Format Dec .....: Hex .....: Okt ......: Bin ......: Char ....: Characters 0 - 9 0 - 9, A -F 0 - 7 0 - 1 Any ASCII char (*) String length 1-3 2 3 8 1 Range "0" - "255" "00" - "FF" "000" - "377" "00000000" - "11111111" One ASCII char

(*) If it is a non-writable ASCII character then the return format will be RAPID character code format (e.g. \07 for BEL control character). Arguments
ByteToStr (BitData [\Hex] | [\Okt] | [\Bin] | [\Char])

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2 Functions
2.23 ByteToStr - Converts a byte to a string data Continued BitData Data type: byte The bit data to be converted. If the optional switch argument is omitted then the data will be converted in decimal (Dec) format. [\Hex] Hexadecimal Data type: switch The data will be converted in hexadecimal format. [\Okt] Octal Data type: switch The data will be converted in octal format. [\Bin] Binary Data type: switch The data will be converted in binary format. [\Char] Character Data type: switch The data will be converted in ASCII character format. Limitations The range for a data type byte is 0 to 255 decimal. Syntax
ByteToStr( [BitData :=] <expression (IN) of byte> [\ Hex ] | [\ Okt] | [\ Bin] | [\ Char] )

A function with a return value of the data type string. Related information
For information about Convert a string to a byte data Other bit (byte) functions Other string functions See StrToByte - Converts a string to a byte data on page 1064 Technical reference manual - RAPID overview Technical reference manual - RAPID overview

830 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.24 CalcJointT - Calculates joint angles from robtarget

2.24 CalcJointT - Calculates joint angles from robtarget

Usage CalcJointT (Calculate Joint Target) is used to calculate joint angles of the robot axes and external axes from a specified robtarget data. The input robtarget data should be specified in the same coordinate system as specified in argument for Tool, WObj, and at execution time active program displacement (ProgDisp) and external axes offset (EOffs). The returned jointtarget data is expressed in the calibration coordinate system. If MultiMove application type semicoordinated or synchronized coordinated mode with the coordinated workobject is moved by some mechanical unit located in another program task then the function CalcJointT can be used if: It is appropriate that the current position of the coordinated work object moved by the mechanical unit is used in the calculation (current user frame). All other data will be fetched from the RAPID program. The mechanical unit located in another program task is standing still. The argument \UseCurWObjPos is used.

Basic examples

Basic examples of the function CalcJointT are illustrated below. Example 1

VAR jointtarget jointpos1; CONST robtarget p1 := [...]; jointpos1 := CalcJointT(p1, tool1 \WObj:=wobj1);

The jointtarget value corresponding to the robtarget value p1 is stored in jointpos1. The tool tool1 and work object wobj1 are used for calculating the joint angles jointpos1. Example 2
VAR jointtarget jointpos2; CONST robtarget p2 := [...]; jointpos2 := CalcJointT(\UseCurWObjPos, p2, tool2 \WObj:=orb1);

The jointtarget value corresponding to the robtarget value p2 is stored in jointpos2. The tool tool2 and work object orb1 are used for calculating the joint angles jointpos2. The current position of the standing still manipulator orb1 is not located in the same program task as the TCP robot but is used for the calculation. Example 3
VAR jointtarget jointpos3; CONST robtarget p3 := [...]; VAR errnum myerrnum; jointpos3 := CalcJointT(p3, tool2 \WObj:=orb1 \ErrorNumber:=myerrnum); IF myerrnum = ERR_ROBLIMIT THEN TPWrite "Joint jointpos3 can not be reached."; TPWrite "jointpos3.robax.rax_1: "+ValToStr(jointpos3.robax.rax_1);

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2 Functions
2.24 CalcJointT - Calculates joint angles from robtarget Continued
.. .. TPWrite "jointpos3.extax.eax_f"+ValToStr(jointpos3.extax.eax_f); ELSE MoveAbsJ jointpos3, v100, fine, tool2 \WObj:=orb1; ENDIF

The jointtarget value corresponding to the robtarget value p3 is stored in jointpos3. If the position can be reached, it is used, otherwise the jointtarget value is written on the FlexPendant. Return value Data type: jointtarget The angles in degrees for the axes of the robot on the arm side. The values for the external axes, in mm for linear axes, in degrees for rotational axes. The returned values are always related to the calibration position. Arguments
CalcJointT ( [\UseCurWObjPos] Rob_target Tool [\WObj] [\ErrorNumber])

[\UseCurWObjPos] Data type: switch Use current position of the coordinated work object moved by the mechanical unit in another task for the calculation (current user frame). All other data is fetched from the RAPID program. Rob_target Data type: robtarget The position of the robot and external axes in the outermost coordinate system, related to the specified tool and work object and at execution time active program displacement (ProgDisp) and/or external axes offset (EOffs). Tool Data type: tooldata The tool used for calculation of the robot joint angles. [\WObj] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position is related. If this argument is omitted then the work object wobj0 is used. This argument must be specified when using stationary tool, coordinated external axes, or conveyor. [\ErrorNumber] Error number Data type: errnum Continues on next page
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2 Functions
2.24 CalcJointT - Calculates joint angles from robtarget Continued A variable (VAR or PERS) that will hold the error constant ERR_ROBLIMIT if at least one axis is outside the working area or the limits are exceeded for at least one coupled joint. If this optional argument is used and the variable is set to ERR_ROBLIMIT after the execution of the function, the return value will be a jointtarget value corresponding to the used robtarget. If this optional variable is omitted then the error handler will be executed and the jointarget returned will not be updated if an axis is outside the working area or the limits are exceeded. Program execution The returned jointtarget is calculated from the input robtarget. If use of the argument \UseCurWObjPos also the current position of the mechanical unit that controls the user frame is used. To calculate the robot joint angles, the specified Tool, WObj (including coordinated user frame), and the ProgDisp active at execution time are taken into consideration. To calculate the external axes position at the execution time, active EOffs is taken into consideration. The calculation always selects the robot configuration according to the specified configuration data in the input robtarget data. Instructions ConfL and ConfJ do not affect this calculation principle. When wrist singularity is used, robot axis 4 will be set to 0 degrees. If there is any active program displacement (ProgDisp) and/or external axis offset (EOffs) at the time the robtarget is stored then the same program displacement and/or external axis offset must be active when CalcJointT is executed. Limitation If a coordinate frame is used then the coordinated unit has to be activated before using CalcJointT. The mechanical unit that controls the user frame in the work object must normally be available in the same program task as the TCP robot which executes CalcJointT. Normally CalcJointT uses robtarget, tooldata, and wobjdata from the RAPID program to calculate jointtarget. For coordinated workobjects, the position of the mechanical unit is given as external axes position in the robtarget. That is not the case if the mechanical unit is controlled by another program task (MultiMove system) or the mechanical unit is not controlled by the control system (Conveyor). For the MultiMove System but not for the conveyor it is possible to use the argument \UseCurWObjPos if the mechanical unit is standing still at the execution time of CalCJointT. Error handling If at least one axis is outside the working area or the limits are exceeded for at least one coupled joint then the system variable ERRNO is set to ERR_ROBLIMIT and the execution continues in the error handler. If the mechanical unit that controls the work object (user frame) isnt standing still at execution time of CalJointT \UseCurWobjPos then the system variable ERRNO is set to ERR_WOBJ_MOVING and the execution continues in the error handler. Continues on next page
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2 Functions
2.24 CalcJointT - Calculates joint angles from robtarget Continued The error handler can then deal with the situations. Syntax
CalcJointT '(' [ '\'UseCurWObjPos ','] [ Rob_target ':='] <expression (IN) of robtarget> ',' [ Tool ':=' ] <persistent (PERS) of tooldata> [ '\' WObj ':=' <persistent (PERS) of wobjdata>] [ '\' ErrorNumber ':=' <variable or persistent (INOUT) of errnum>] ')'

A function with a return value of the data type jointtarget. Related information
For information about Calculate robtarget from jointtarget Definition of position Definition of joint position Definition of tools Definition of work objects Coordinate systems Program displacement coordinate system External axis offset coordinate system See CalcRobT - Calculates robtarget from jointtarget on page 835 robtarget - Position data on page 1239 jointtarget - Joint position data on page 1189 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview PDispOn - Activates program displacement on page 332 EOffsOn - Activates an offset for external axes on page 97

834 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.25 CalcRobT - Calculates robtarget from jointtarget

2.25 CalcRobT - Calculates robtarget from jointtarget

Usage CalcRobT (Calculate Robot Target) is used to calculate a robtarget data from a given jointtarget data. This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot axes configuration, and external axes position. The input jointtarget data should be specified in the calibration coordinate system. The returned robtarget data is expressed in the outermost coordinate system. It takes the specified tool, work object, and at execution time active program displacement (ProgDisp) and external axis offset (EOffs) into consideration. Basic examples Basic examples of the function CalcRobT are illustrated below. Example 1
VAR robtarget p1; CONST jointtarget jointpos1 := [...]; p1 := CalcRobT(jointpos1, tool1 \WObj:=wobj1);

The robtarget value corresponding to the jointtarget value jointpos1 is stored in p1. The tool tool1 and work object wobj1 are used for calculating the position of p1. Return value Data type: robtarget The robot and external axes position is returned in data type robtarget and expressed in the outermost coordinate system. It takes the specified tool, work object, and at execution time active program displacement (ProgDisp) and external axes offset (EOffs) into consideration. If there is no active ProgDisp then the robot position is expressed in the object coordinate system. If there are no active EOffs then the external axis position is expressed in the calibration coordinate system. Arguments
CalcRobT( Joint_target Tool [\WObj] )

Joint_target Data type: jointtarget The joint position for the robot axes and external axes related to the calibration coordinate system. Tool Data type: tooldata The tool used for calculation of the robot position. Continues on next page
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2 Functions
2.25 CalcRobT - Calculates robtarget from jointtarget Continued [\WObj] Work Object Data type: wobjdata The work object (coordinate system) to which the robot position returned by the function is related. If this argument is omitted the work object wobj0 is used. This argument must be specified when using stationary tool, coordinated external axes, or conveyor. Program execution The returned robtarget is calculated from the input jointtarget. To calculate the cartesian robot position the specified Tool, WObj (including coordinated user frame), and at the execution time active ProgDisp, are taken into consideration. To calculate the external axes position, the EOffs active at execution time is also taken into consideration. Limitation If a coordinate frame is used then the coordinated unit has to be activated before using CalcRobT. The coordinated unit also has to be situated in the same task as the robot. Syntax
CalcRobT( [Joint_target := ] <expression (IN) of jointtarget>, [Tool := ] <persistent (PERS) of tooldata> [\WObj := <persistent (PERS) of wobjdata>] )

A function with a return value of the data type robtarget. Related information
For information about Calculate jointtarget from robtarget Definition of position Definition of joint position Definition of tools Definition of work objects Coordinate systems See CalcJointT - Calculates joint angles from robtarget on page 831 robtarget - Position data on page 1239 jointtarget - Joint position data on page 1189 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview

Program displacement coordinate system PDispOn - Activates program displacement on page 332 External axes offset coordinate system EOffsOn - Activates an offset for external axes on page 97

836 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.26 CalcRotAxFrameZ - Calculate a rotational axis frame

2.26 CalcRotAxFrameZ - Calculate a rotational axis frame

Usage CalcRotAxFrameZ (Calculate Rotational Axis Frame with positive Z-point) is used to calculate the user coordinate system of a rotational axis type mechanical unit. This function is to be used when the master robot and the external axis are located in different RAPID tasks. If they are in the same task then the function CalcRotAxisFrame should be used. Description The definition of a user frame for a rotational external axis requires that the turntable (or similar mechanical structure) on the external axis has a marked reference point. Moreover, the TCP robots base frame and TCP must be calibrated. The calibration procedure consists of a number of positions for the robots TCP on the reference point when the turntable is rotated to different angles. A positioning of the robots TCP in the positive z direction is also needed. For definition of points for a rotational axis, see the figure below.

xx0500002468

The user coordinate system for the rotational axis has its origin in the center of the turntable. The z direction coincides with the axis of rotation and the x axis goes through the reference point.

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2 Functions
2.26 CalcRotAxFrameZ - Calculate a rotational axis frame Continued The figure below shows the user coordinate system for two different positions of the turntable (turntable seen from above).

xx0500002469

Basic examples Basic examples of the function CalcRotAxFrameZ are illustrated below. Example 1
CONST robtarget pos1 := [...]; CONST robtarget pos2 := [...]; CONST robtarget pos3 := [...]; CONST robtarget pos4 := [...]; CONST robtarget zpos; VAR robtarget targetlist{10}; VAR num max_err := 0; VAR num mean_err := 0; VAR pose resFr:=[...]; PERS tooldata tMyTool:= [...]; ! Instructions for creating/ModPos pos1 - pos4 with TCP pointing at the turntable. MoveJ pos1, v10, fine, tMyTool; MoveJ pos2, v10, fine, tMyTool; MoveJ pos3, v10, fine, tMyTool; MoveJ pos4, v10, fine, tMyTool; !Instruction for creating/ModPos zpos with TCP pointing at a point in positive z direction MoveJ zpos, v10, fine, tMyTool; ! Add the targets to the array targetlist{1}:= pos1; targetlist{2}:= pos2; targetlist{3}:= pos3; targetlist{4}:= pos4; resFr:=CalcRotAxFrameZ(targetlist, 4, zpos, max_err, mean_err); ! Update the system parameters.

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2 Functions
2.26 CalcRotAxFrameZ - Calculate a rotational axis frame Continued
IF (max_err < 1.0) AND (mean_err < 0.5) THEN WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_x",resFr.trans.x/1000; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_y",resFr.trans.y/1000; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_z",resFr.trans.z/1000; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u0",resFr.rot.q1; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u1",resFr.rot.q2; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u2",resFr.rot.q3; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u3",resFr.rot.q4; TPReadFK reg1,"Warmstart required for calibration to take effect." ,stEmpty,stEmpty,stEmpty, stEmpty,"OK"; WarmStart; ENDIF

Four positions, pos1 - pos4, are created/modposed so that the robots tool tMyTool points to the same reference point on the external axis STN_1 but with different external axis rotations. Position, zpos, is created/modposed so that the robots tool tMyTool points in the positive z direction according to the definition of the positive z-direction of an external rotational mechanical unit. Using the definition of the positive z-direction of an external rotational mechanical unit, see Description on page 837. The points are then used for calculating the external axis base frame, resFr, in relation to the world coordinate system. Finally, the frame is written to the configuration file and a warmstart is made to let the change take effect.

xx0500002472

Note Definition of the positive z-direction of an external rotational mechanical unit: Let the right hands fingers coincide with the positive rotation axis of the rotational axis. The direction of the thumb then defines the positive z-direction. See the figure above. Return value Data type: pose Continues on next page
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2 Functions
2.26 CalcRotAxFrameZ - Calculate a rotational axis frame Continued The calculated frame. Arguments
CalcRotAxFrameZ (TargetList TargetsInList PositiveZPoint MaxErrMeanErr)

TargetList Data type: robtarget Array of robtargets holding the positions defined by pointing out the turntable. Minimum number of robtargets is 4, maximum 10. TargetsInList Data type: num Number of robtargets in an array. PositiveZPoint Data type: robtarget robtarget holding the position defined by pointing out a point in the positive z direction. Using the definition of the positive z-direction of an external rotational mechanical unit, see Description on page 837. MaxErr Maximum Error Data type: num The estimated maximum error in mm. MeanErr Mean Error Data type: num The estimated mean error in mm. Error handling If the positions dont have the required relation or are not specified with enough accuracy then the system variable ERRNO is set to ERR_FRAME. This error can then be handled in an error handler. Syntax
CalcRotAxFrameZ( [TargetList :=] <array {*} (IN) of robtarget> , [TargetsInList :=] <expression (IN) of num> , [PositiveZPoint :=] <expression (IN) of robtarget> , [MaxErr :=] <variable (VAR) of num> , [MeanErr :=] <variable (VAR) of num>)

A function with a return value of the data type pose. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

840 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.27 CalcRotAxisFrame - Calculate a rotational axis frame

2.27 CalcRotAxisFrame - Calculate a rotational axis frame

Usage CalcRotAxisFrame (Calculate Rotational Axis Frame) is used to calculate the user coordinate system of a rotational axis type mechanical unit. This function is to be used when the master robot and the external axis are located in the same RAPID task. If they are in different tasks the function CalcRotAxFrameZ should be used. Description The definition of a user frame for a rotational external axis requires that the turntable (or similar mechanical structure) on the external axis has a marked reference point. Moreover, the master robots base frame and TCP must be calibrated. The calibration procedure consists of a number of positions for the robots TCP on the reference point when the turntable is rotated to different angles. Definition of points for a rotational axis is illustrated in the figure below.

xx0500002468

The user coordinate system for the rotational axis has its origin in the center of the turntable. The z direction coincides with the axis of rotation and the x axis goes through the reference point.

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2 Functions
2.27 CalcRotAxisFrame - Calculate a rotational axis frame Continued The figure below shows the user coordinate system for two different positions of the turntable (turntable seen from above).

xx0500002469

Basic examples Basic examples of the function CalcRotAxisFrame are illustrated below. Example 1
CONST robtarget pos1 := [...]; CONST robtarget pos2 := [...]; CONST robtarget pos3 := [...]; CONST robtarget pos4 := [...]; VAR robtarget targetlist{10}; VAR num max_err := 0; VAR num mean_err := 0; VAR pose resFr:=[...]; PERS tooldata tMyTool:= [...]; ! Instructions needed for creating/ModPos pos1 - pos4 with TCP pointing at the turntable. MoveJ pos1, v10, fine, tMyTool; MoveJ pos2, v10, fine, tMyTool; MoveJ pos3, v10, fine, tMyTool; MoveJ pos4, v10, fine, tMyTool; ! Add the targets to the array targetlist{1}:= pos1; targetlist{2}:= pos2; targetlist{3}:= pos3; targetlist{4}:= pos4; resFr:=CalcRotAxisFrame(STN_1 , targetlist, 4, max_err, mean_err); ! Update the system parameters. IF (max_err < 1.0) AND (mean_err < 0.5) THEN WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_x",resFr.trans.x/1000; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_y",resFr.trans.y/1000;

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2 Functions
2.27 CalcRotAxisFrame - Calculate a rotational axis frame Continued
WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_pos_z",resFr.trans.z/1000; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u0",resFr.rot.q1; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u1",resFr.rot.q2; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u2",resFr.rot.q3; WriteCfgData "/MOC/SINGLE/STN_1", "base_frame_orient_u3",resFr.rot.q4; TPReadFK reg1,"Warmstart required for calibration to take effect.",stEmpty,stEmpty,stEmpty,stEmpty,"OK"; WarmStart; ENDIF

Four positions, pos1 - pos4, are created/modposed so that the robots tool tMyTool points to the same reference point on the external axis STN_1 but with different external axis rotations. The points are then used for calculating the external axis base frame, resFr, in relation to the world coordinate system. Finally, the frame is written to the configuration file and a warmstart is made to let the change take effect. Return value Data type: pose The calculated frame. Arguments
CalcRotAxisFrame (MechUnit [\AxisNo] TargetList TargetsInList MaxErr MeanErr)

MechUnit Mechanical Unit Data type: mecunit Name of the mechanical unit to be calibrated. [\AxisNo] Data type: num Optional argument defining the axis number for which a frame should be determined. Default value is 1 applying to single rotational axis. For mechanical units with several axes, the axis number should be supplied with this argument. TargetList Data type: robtarget Array of robtargets holding the positions defined by pointing out the turntable. Minimum number of robtargets is 4, maximum is 10. TargetsInList Data type: num Number of robtargets in an array.

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2 Functions
2.27 CalcRotAxisFrame - Calculate a rotational axis frame Continued MaxErr Maximum Error Data type: num The estimated maximum error in mm. MeanErr Mean Error Data type: num The estimated mean error in mm. Error handling If the positions dont have the required relation or are not specified with enough accuracy then the system variable ERRNO is set to ERR_FRAME. This error can then be handled in an error handler. Syntax
CalcRotAxisFrame( [MechUnit :=] <variable (VAR) of mecunit> [\AxisNo := <expression (IN) of num> ], [TargetList:=] <array {*} (IN) of robtarget> , [TargetsInList:=] <expression (IN) of num> , [MaxErr :=] <variable (VAR) of num> , [MeanErr :=] <variable (VAR) of num>)

A function with a return value of the data type pose. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview

844 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.28 CDate - Reads the current date as a string

2.28 CDate - Reads the current date as a string

Usage CDate (Current Date) is used to read the current system date. This function can be used to present the current date to the operator on the FlexPendant display or to paste the current date into a text file that the program writes to. Basic examples Basic examples of the function CDate are illustrated below. See also More examples on page 845. Example 1
VAR string date; date := CDate();

The current date is stored in the variable date. Return value Data type: string The current date in a string. The standard date format is year-month-day, e.g. 1998-01-29. More examples More examples of the function CDate are illustrated below. Example 1
VAR string date; date := CDate(); TPWrite "The current date is: "+date; Write logfile, date;

The current date is written to the FlexPendant display and into a text file. Syntax
CDate ( )

A function with a return value of the type string. Related information

For information about Time instructions Setting the system clock See Technical reference manual - RAPID overview Operating manual - IRC5 with FlexPendant

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.29 CJointT - Reads the current joint angles

2.29 CJointT - Reads the current joint angles

Usage CJointT (Current Joint Target) is used to read the current angles of the robot axes and external axes. Basic examples Basic examples of the function CJointT are illustrated below. See also More examples on page 846. Example 1
VAR jointtarget joints; joints := CJointT();

The current angles of the axes for a robot and external axes are stored in joints. Return value Data type: jointtarget The current angles in degrees for the axes of the robot on the arm side. The current values for the external axes, in mm for linear axes, in degrees for rotational axes. The returned values are related to the calibration position. Arguments
CJointT ([\TaskRef]|[\TaskName])

[\TaskRef] Task Reference Data type: taskid The program task identity from which the jointtarget should be read. For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task, and the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name from which the jointtarget should be read. If none of the arguments \TaskRef or \TaskName are specified then the current task is used. More examples More examples of the function CJointT are illustrated below. Example 1
! In task T_ROB1 VAR jointtarget joints; joints := CJointT(\TaskRef:=T_ROB2Id);

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2 Functions
2.29 CJointT - Reads the current joint angles Continued The current position of the robot and external axes in task T_ROB2 are stored in joints in task T_ROB1. Note that the robot in task T_ROB2 may be moving when the position is read. To make sure the robot stands still, a stop point fine in the preceding movement instruction in task T_ROB2 could be programmed and instruction WaitSyncTask could be used to synchronize the instructions in task T_ROB1. Example 2
! In task T_ROB1 VAR jointtarget joints; joints := CJointT(\TaskName:="T_ROB2");

The same effect as Example 1 above. Error handling If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO is set to ERR_NOT_MOVETASK. This error can be handled in the error handler. But no error will be generated if argument \TaskRef or \TaskName specifies the non-motion task that executes this function CJointT (reference to my own non-motion task). The position will then be fetched from the connected motion task. Syntax
CJointT( [\ TaskRef := <variable (VAR) of taskid>] |[\ TaskName := <expression (IN) of string>])

A function with a return value of the data type jointtarget. Related information
For information about Definition of joint Reading the current motor angle See jointtarget - Joint position data on page 1189 ReadMotor - Reads the current motor angles on page 1004

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2 Functions
2.30 ClkRead - Reads a clock used for timing

2.30 ClkRead - Reads a clock used for timing

Usage ClkReadis used to read a clock that functions as a stop-watch used for timing. Basic examples Basic examples of the instruction ClkRead are illustrated below. Example 1
reg1:=ClkRead(clock1);

The clock clock1 is read and the time in seconds is stored in the variable reg1. Example 2
reg1:=ClkRead(clock1 \HighRes);

The clock clock1 is read and the time in seconds is stored with high resolution in the variable reg1. Return value Data type: num The time in seconds stored in the clock. Resolution is normally 0.001 seconds. If using HighRes switch it is possible to get a resolution of 0.000001 seconds. Argument
ClkRead (Clock \HighRes)

Clock Data type: clock The name of the clock to read. [ \HighRes ] High Resolution Data type: switch Specifies that the time should be read with a higher resolution. If this switch is used it is possible to read the time with resolution 0.000001. Due to the precision of the data type num, you can only get the micro second resolution as long as the read value is less than 1 second. Program execution A clock can be read when it is stopped or running. Once a clock is read it can be read again, started again, stopped, or reset. Error handling If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) then it becomes overflowed and the system variable ERRNO is set to ERR_OVERFLOW. The error can be handled in the error handler.

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2 Functions
2.30 ClkRead - Reads a clock used for timing Continued If using the HighRes switch, then the error ERR_OVERFLOW can not occur, but the clock will wrap around after approximately 49700 days. Syntax
ClkRead ( [ Clock := ] < variable (VAR) of clock > [ '\' HighRes] ')'

A function with a return value of the type num. Related information

For information about Clock instructions More examples See Technical reference manual - RAPID overview ClkStart - Starts a clock used for timing on page 60

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2 Functions
2.31 CorrRead - Reads the current total offsets

2.31 CorrRead - Reads the current total offsets

Usage CorrRead is used to read the total corrections delivered by all connected correction generators. CorrRead can be used to: Basic examples Basic examples of the function CorrRead are illustrated below. See also More examples on page 850. Example 1
VAR pos offset; ... offset := CorrRead();

find out how much the current path differs from the original path. take actions to reduce the difference.

The current offsets delivered by all connected correction generators are available in the variable offset. Return value Data type: pos The total absolute offsets delivered from all connected correction generators so far. More examples For more examples of the function CorrRead, see instruction CorrCon. Syntax
CorrRead ( )

A function with a return value of the data type pos. Related information
For information about Connects to a correction generator Disconnects from a correction generator Writes to a correction generator Removes all correction generators Correction descriptor See CorrCon - Connects to a correction generator on page 78 CorrDiscon - Disconnects from a correction generator on page 83 CorrWrite - Writes to a correction generator on page 84 CorrClear - Removes all correction generators on page 77 corrdescr - Correction generator descriptor on page 1159

850 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.32 Cos - Calculates the cosine value

2.32 Cos - Calculates the cosine value

Usage Cos (Cosine) is used to calculate the cosine value from an angle value. Basic examples Basic examples of the function Cos are illustrated below. Example 1
VAR num angle; VAR num value; ... ... value := Cos(angle);

value will get the cosine value of angle. Return value Data type: num The cosine value, range = [-1, 1] . Arguments
Cos (Angle)

Angle Data type: num The angle value, expressed in degrees. Syntax
Cos( [Angle :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview

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2 Functions
2.33 CPos - Reads the current position (pos) data

2.33 CPos - Reads the current position (pos) data

Usage CPos (Current Position) is used to read the current position of the robot. This function returns the x, y, and z values of the robot TCP as data of type pos. If the complete robot position (robtarget) is to be read then use the function CRobT instead. Basic examples Basic examples of the function CPos are illustrated below. See also More examples on page 853.
VAR pos pos1; MoveL *, v500, fine \Inpos := inpos50, tool1; pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot TCP is stored in variable pos1. The tool tool1 and work object wobj0 are used for calculating the position. Note that the robot is standing still before the position is read and calculated. This is achieved by using the stop point fine within position accuracy inpos50 in the preceding movement instruction. Return value Data type: pos The current position (pos) of the robot with x, y, and z in the outermost coordinate system, taking the specified tool, work object, and active ProgDisp coordinate system into consideration. Arguments
CPos([\Tool] [\WObj])

[\Tool] Data type: tooldata The tool used for calculation of the current robot position. If this argument is omitted then the current active tool is used. [\WObj] Work Object Data type: wobjdata The work object (coordinate system) to which the current robot position returned by the function is related. If this argument is omitted then the current active work object is used.

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2 Functions
2.33 CPos - Reads the current position (pos) data Continued

WARNING It is advised to always specify the arguments \Tool and \WObj during programming. The function will then always return the wanted position even if another tool or work object are activated. Program execution The coordinates returned represent the TCP position in the ProgDisp coordinate system. More examples More examples of the function CPos are illustrated below.
VAR pos pos2; VAR pos pos3; VAR pos pos4; pos2 := CPos(\Tool:=grip3 \WObj:=fixture); ... pos3 := CPos(\Tool:=grip3 \WObj:=fixture); pos4 := pos3-pos2;

The x, y, and z position of the robot is captured at two places within the program using the CPos function. The tool grip3 and work object fixture are used for calculating the position. The x, y, and z distances travelled between these positions are then calculated and stored in variable pos4. Syntax
CPos ( [\Tool := <persistent (PERS) of tooldata>] [\WObj := <persistent (PERS) of wobjdata>] )

A function with a return value of the data type pos. Related information
For information about Definition of position Definition of tools Definition of work objects ProgDisp coordinate system Coordinate systems See pos - Positions (only X, Y and Z) on page 1222 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 PDispOn - Activates program displacement on page 332 Technical reference manual - RAPID overview

Reading the current robtarget CRobT - Reads the current position (robtarget) data on page 854

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2 Functions
2.34 CRobT - Reads the current position (robtarget) data

2.34 CRobT - Reads the current position (robtarget) data

Usage CRobT(Current Robot Target) is used to read the current position of a robot and external axes. This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot axes configuration, and external axes position. If only the x, y, and z values of the robot TCP (pos) are to be read then use the function CPos instead. Basic examples Basic examples of the function CRobT are illustrated below. See also More examples on page 855. Example 1
VAR robtarget p1; MoveL *, v500, fine \Inpos := inpos50, tool1; p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);

The current position of the robot and external axes is stored in p1. The tool tool1 and work object wobj0 are used for calculating the position. Note that the robot is standing still before the position is read and calculated. This is achieved by using the stop point fine within position accuracy inpos50 in the preceding movement instruction. Return value Data type: robtarget The current position of a robot and external axes in the outermost coordinate system, taking the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into consideration. Arguments
CRobT ([\TaskRef]|[\TaskName] [\Tool] [\WObj])

[\TaskRef] Task Reference Data type: taskid The program task identity from which the robtarget should be read. For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name from which the robtarget should be read. If none of the arguments \TaskRef or \TaskName are specified then the current task is used.

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2 Functions
2.34 CRobT - Reads the current position (robtarget) data Continued [\Tool] Data type: tooldata The persistent variable for the tool used to calculate the current robot position. If this argument is omitted then the current active tool is used. [\WObj] Work Object Data type: wobjdata The persistent variable for the work object (coordinate system) to which the current robot position returned by the function is related. If this argument is omitted then the current active work object is used. WARNING It is advised to always specify the arguments \Tool and \WObj during programming. The function will then always return the wanted position even if another tool or work object are activated. Program execution The coordinates returned represent the TCP position in the ProgDisp coordinate system. External axes are represented in the ExtOffs coordinate system. If one of the arguments \TaskRef or \TaskName are used but arguments Tool and WObj are not used then the current tool and work object in the specified task will be used. More examples More examples of the function CRobT are illustrated below. Example 1
VAR robtarget p2; p2 := ORobT( CRobT(\Tool:=grip3 \WObj:=fixture) );

The current position in the object coordinate system (without any ProgDisp or ExtOffs) of the robot and external axes is stored in p2. The tool grip3 and work object fixture are used for calculating the position. Example 2
! In task T_ROB1 VAR robtarget p3; p3 := CRobT(\TaskRef:=T_ROB2Id \Tool:=tool1 \WObj:=wobj0);

The current position of the robot and external axes in task T_ROB2 are stored in p3 in task T_ROB1. The tool tool1 and work object wobj0 are used for calculating the position. Note that the robot in task T_ROB2 may be moving when the position is read and calculated. To make sure the robot stands still, a stop point fine in the preceding movement instruction in task T_ROB2 could be programmed and instruction WaitSyncTask could be used to synchronize the instructions in task T_ROB1.

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2 Functions
2.34 CRobT - Reads the current position (robtarget) data Continued Example 3
! In task T_ROB1 VAR robtarget p4; p4 := CRobT(\TaskName:="T_ROB2");

The current position of the robot and external axes in task T_ROB2 are stored in p4 in task T_ROB1. The current tool and work object in task T_ROB2 are used for calculating the position. Error handling If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO is set to ERR_NOT_MOVETASK. This error can be handled in the error handler. But no error will be generated if the arguments \TaskRef or \TaskName specify the non-motion task that executes this function CRobT (reference to my own non-motion task). The position will then be fetched from the connected motion task. Syntax
CRobT( [\ TaskRef := <variable (VAR) of taskid>] |[\ TaskName := <expression (IN) of string>] [\Tool := <persistent (PERS) of tooldata>] [\WObj := <persistent (PERS) of wobjdata>] )

A function with a return value of the data type robtarget. Related information
For information about Definition of position Definition of tools Definition of work objects Coordinate systems ProgDisp coordinate system ExtOffs coordinate system Reading the current pos (x, y, z only) See robtarget - Position data on page 1239 tooldata - Tool data on page 1270 wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview PDispOn - Activates program displacement on page 332 EOffsOn - Activates an offset for external axes on page 97 CPos - Reads the current position (pos) data on page 852

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2 Functions
2.35 CSpeedOverride - Reads the current override speed

2.35 CSpeedOverride - Reads the current override speed

Usage CSpeedOverride is used to read the speed override set by the operator from the FlexPendant. The return value is displayed as a percentage where 100% corresponds to the programmed speed. In applications with instruction SpeedRefresh, this function can also be used to read current speed override value for this or connected motion program tasks. Note! Must not be mixed up with the argument Override in the RAPID instruction VelSet. Basic examples Basic examples of the function CSpeedOverride are illustrated below. Example 1
VAR num myspeed; myspeed := CSpeedOverride();

The current override speed will be stored in the variable myspeed. E.g. if the value is 100 then this is equivalent to 100%. Return value Data type: num The override speed value in percent of the programmed speed. This will be a numeric value in the range of 0 - 100. Arguments
CSpeedOverride ( [\CTask] )

[\CTask] Data type: switch Get current speed override value for this or connected motion program task. Used together with the instruction SpeedRefresh. If this argument is not used then the function returns current speed override for the whole system (all motion program tasks). Meaning the manual speed override, set from Teach Pendant. Syntax
CSpeedOverride( [\ CTask ] )

A function with a return value of the data type num. Related information
For information about Changing the Override Speed See Operating manual - IRC5 with FlexPendant, section Programming and Testing Production Running Quickset menu, Speed

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2 Functions
2.35 CSpeedOverride - Reads the current override speed Continued
For information about Update speed override from RAPID See SpeedRefresh - Update speed override for ongoing movement on page 502

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2 Functions
2.36 CTime - Reads the current time as a string

2.36 CTime - Reads the current time as a string

Usage CTime is used to read the current system time. This function can be used to present the current time to the operator on the FlexPendant display or to paste the current time into a text file that the program writes to. Basic examples Basic examples of the function CTime are illustrated below. Example 1 VAR string time; time := CTime(); The current time is stored in the variable time. Return value Data type: string The current time in a string. The standard time format is "hours:minutes:seconds", e.g. "18:20:46". More example More examples of the function CTime are illustrated below. Example 1
VAR string time; time := CTime(); TPWrite "The current time is: "+time; Write logfile, time;

The current time is written to the FlexPendant display and written into a text file. Syntax
CTime ( )

A function with a return value of the type string. Related information

For information about Time and date instructions Setting the system clock See Technical reference manual - RAPID overview, section RAPID summary - System & Time Operating manual - IRC5 with FlexPendant, section Changing FlexPendant settings

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2 Functions
2.37 CTool - Reads the current tool data

2.37 CTool - Reads the current tool data

Usage CTool (Current Tool) is used to read the data of the current tool. Basic examples Basic examples of the function CTool are illustrated below: Example 1
PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ]; temp_tool := CTool();

The value of the current tool is stored in the variable temp_tool. Return value Data type: tooldata This function returns a tooldata value holding the value of the current tool, i.e. the tool last used in a movement instruction. The value returned represents the TCP position and orientation in the wrist centre coordinate system. See tooldata. Arguments
CTool ([\TaskRef]|[\TaskName])

[\TaskRef] Task Reference Data type: taskid The program task identity from which the data of the current tool should be read. For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name from which the data of the current tool should be read. If none of the arguments \TaskRef or \TaskName are specified then the current task is used. Error handling If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO is set to ERR_NOT_MOVETASK. This error can be handled in the error handler. But no error will be generated if the arguments \TaskRef or \TaskName specify the non-motion task that executes this function CTool (reference to my own non-motion task). The tool data will then be fetched from the connected motion task. Continues on next page
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2 Functions
2.37 CTool - Reads the current tool data Continued Syntax
CTool( [\ TaskRef := <variable (VAR) of taskid>] |[\ TaskName := <expression (IN) of string>] )

A function with a return value of the data type tooldata. Related information
For information about Definition of tools Coordinate systems See tooldata - Tool data on page 1270 Technical reference manual - RAPID overview, section Motion and I/O principles - Coordinate Systems

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2 Functions
2.38 CWObj - Reads the current work object data

2.38 CWObj - Reads the current work object data

Usage CWObj (Current Work Object) is used to read the data of the current work object. Basic examples Basic examples of the function CWObj are illustrated below. Example 1
PERS wobjdata temp_wobj:= [FALSE, TRUE, "", [[0,0,0], [1,0,0,0]], [[0,0,0], [1,0,0,0]]]; temp_wobj := CWObj();

The value of the current work object is stored in the variable temp_wobj. Return value Data type: wobjdata This function returns a wobjdata value holding the value of the current work object, i.e. the work object last used in a movement instruction. The value returned represents the work object position and orientation in the world coordinate system. See wobjdata. Arguments
CWobj ([\TaskRef]|[\TaskName])

[\TaskRef] Task Reference Data type: taskid The program task identity from which the data of the current work object should be read. For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id. [\TaskName] Data type: string The program task name from which the data of the current work object should be read. If none of the arguments \TaskRef or \TaskName are specified then the current task is used. Error handling If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO is set to ERR_NOT_MOVETASK. This error can be handled in the error handler. But no error will be generated if the arguments \TaskRef or \TaskName specify the non-motion task that executes this function CWobj (reference to my own Continues on next page
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2 Functions
2.38 CWObj - Reads the current work object data Continued non-motion task). The work object data will then be fetched from the connected motion task. Syntax
CWobj( [\ TaskRef := <variable (VAR) of taskid>] |[\ TaskName := <expression (IN) of string>] )

A function with a return value of the data type wobjdata. Related information
For information about Definition of work objects Coordinate systems See wobjdata - Work object data on page 1290 Technical reference manual - RAPID overview, section Motion and I/O Principles - Coordinate Systems

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2 Functions
2.39 DecToHex - Convert from decimal to hexadecimal

2.39 DecToHex - Convert from decimal to hexadecimal

Usage DecToHex is used to convert a number specified in a readable string in the base 10 to the base16. The resulting string is constructed from the character set [0-9,A-F,a-f]. This routine handle numbers from 0 up to 9223372036854775807dec or 7FFFFFFFFFFFFFFF hex. Basic examples Basic examples of the function DecToHex are illustrated below. Example 1
VAR string str; str := DecToHex("99999999");

The variable str is given the value "5F5E0FF". Return value Data type: string The string converted to a hexadecimal representation of the given number in the inparameter string. Arguments
DecToHex ( Str )

Str String Data type: string The string to convert. Syntax

DecToHex( [ Str := ] <expression (IN) of string> )

A function with a return value of the data type string. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2 Functions
2.40 DefAccFrame - Define an accurate frame

2.40 DefAccFrame - Define an accurate frame

Usage DefAccFrame (Define Accurate Frame) is used to define a framed from three to ten original positions and the same number of displaced positions. Description A frame can be defined when a set of targets are known at two different locations. Thus, the same physical positions are used but expressed differently. Consider it in two different approaches: 1 The same physical positions are expressed in relation to different coordinate systems. For example, a number of positions are retrieved from a CAD drawing, thus the positions are expressed in a CAD local coordinate system. The same positions are then expressed in robot world coordinate system. From these two sets of positions the frame between CAD coordinate system and robot world coordinate system is calculated. 2 A number of positions are related to an object in an original position. After a displacement of the object, the positions are determined again (often searched for). From these two sets of positions (old positions, new positions) the displacement frame is calculated. Three targets are enough to define a frame, but to improve accuracy several points should be used. Basic examples Basic examples of the function DefAccFrame are illustrated below. Example 1

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CONST CONST CONST CONST CONST

robtarget robtarget robtarget robtarget robtarget

p1 p2 p3 p4 p5

:= := := := :=

[...]; [...]; [...]; [...]; [...];

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2 Functions
2.40 DefAccFrame - Define an accurate frame Continued

VAR VAR VAR VAR VAR VAR VAR

robtarget robtarget robtarget robtarget robtarget robtarget robtarget

p6 := [...]; p7 := [...]; p8 := [...]; p9 := [...]; p10 := [...]; pWCS{5}; pCAD{5};

VAR pose frame1; VAR num max_err; VAR num mean_err; ! Add positions to robtarget arrays pCAD{1}:=p1; ... pCAD{5}:=p5; pWCS{1}:=p6; ... pWCS{5}:=p10; frame1 := DefAccFrame (pCAD, pWCS, 5, max_err, mean_err);

Five positions p1- p5 related to an object have been stored. The five positions are also stored in relation to world coordinate system as p6-p10. From these 10 positions the frame, frame1, between the object and the world coordinate system is calculated. The frame will be the CAD frame expressed in the world coordinate system. If the input order of the targetlists is exchanged, i.e. DefAccFrame (pWCS, pCAD....) then the world frame will be expressed in the CAD coordinate system. Return value Data type: pose The calculated TargetListOne frame expressed in the TargetListTwo coordinate system. Arguments
DefAccFrame (TargetListOne TargetListTwo TargetsInList MaxErrMeanErr)

TargetListOne Data type: robtarget Array of robtargets holding the positions defined in coordinate system one. Minimum number of robtargets is 3, maximum is 10. TargetListTwo Data type: robtarget Array of robtargets holding the positions defined in coordinate system two. Minimum number of robtargets is 3, maximum is 10.

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2 Functions
2.40 DefAccFrame - Define an accurate frame Continued TargetsInList Data type: num Number of robtargets in an array. MaxErr Data type: num The estimated maximum error in mm. MeanErr Data type: num The estimated mean error in mm. Error handling If the positions dont have the required relation or are not specified with enough accuracy then the system variable ERRNO is set to ERR_FRAME. This error can then be handled in an error handler. Syntax
DefAccFrame( [TargetListOne:=] <array {*} (IN) of robtarget> , [TargetListTwo :=] <array {*} (IN) of robtarget> , [TargetsInList:=] <expression (IN) of num> , [MaxErr:=] <variable (VAR) of num> , [MeanErr:=] <variable (VAR) of num>)

A function with a return value of the data type pose. Related information
For information about Calculating a frame from three positions Calculate a frame from 6 positions See DefFrame - Define a frame on page 871 DefDFrame - Define a displacement frame on page 868

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2.41 DefDFrame - Define a displacement frame

2.41 DefDFrame - Define a displacement frame

Usage DefDFrame(Define Displacement Frame) is used to calculate a displacement frame from three original positions and three displaced positions. Basic examples Basic examples of the function DefDFrame are illustrated below. Example 1

xx0500002177

CONST robtarget p1 := [...]; CONST robtarget p2 := [...]; CONST robtarget p3 := [...]; VAR robtarget p4; VAR robtarget p5; VAR robtarget p6; VAR pose frame1; ... !Search for the new positions SearchL sen1, p4, *, v50, tool1; ... SearchL sen1, p5, *, v50, tool1; ... SearchL sen1, p6, *, v50, tool1; frame1 := DefDframe (p1, p2, p3, p4, p5, p6); ... !Activation of the displacement defined by frame1 PDispSet frame1;

Three positions p1-p3 related to an object in an original position have been stored. After a displacement of the object, three new positions are searched for and stored as p4-p6. The displacement frame is calculated from these six positions. Then the calculated frame is used to displace all the stored positions in the program. Return value Data type: pose The displacement frame. Continues on next page
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2 Functions
2.41 DefDFrame - Define a displacement frame Continued Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)

OldP1 Data type: robtarget The first original position. OldP2 Data type: robtarget The second original position. OldP3 Data type: robtarget The third original position. NewP1 Data type: robtarget The first displaced position. The difference between OldP1 and NewP1 will define the translation part of the frame and must be measured and determined with great accuracy. NewP2 Data type: robtarget The second displaced position. The line NewP1 ... NewP2 will define the rotation of the old line OldP1 ... OldP2. NewP3 Data type: robtarget The third displaced position. This position will define the rotation of the plane, e.g. it should be placed on the new plane of NewP1, NewP2, and NewP3. Error handling If it is not possible to calculate the frame because of bad accuracy in the positions then the system variable ERRNO is set to ERR_FRAME. This error can then be handled in the error handler. Syntax
DefDFrame( [OldP1 :=] [OldP2 :=] [OldP3 :=] [NewP1 :=] [NewP2 :=] [NewP3 :=] <expression <expression <expression <expression <expression <expression (IN) (IN) (IN) (IN) (IN) (IN) of of of of of of robtarget> , robtarget> , robtarget> , robtarget> , robtarget> , robtarget> )

A function with a return value of the data type pose.

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2 Functions
2.41 DefDFrame - Define a displacement frame Continued Related information
For information about Activation of displacement frame See PDispSet - Activates program displacement using known frame on page 336

Manual definition of displacement frame Operating manual - IRC5 with FlexPendant, section Calibrating

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2 Functions
2.42 DefFrame - Define a frame

2.42 DefFrame - Define a frame

Usage DefFrame (Define Frame) is used to calculate a frame, from three positions defining the frame. Basic examples Basic examples of the function DefFrame are illustrated below. Example 1

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Three positions, p1- p3 related to the object coordinate system are used to define the new coordinate system, frame1. The first position, p1, is defining the origin of the new coordinate system. The second position, p2, is defining the direction of the x-axis. The third position, p3, is defining the location of the xy-plane. The defined frame1 may be used as a displacement frame, as shown in the example below:
CONST robtarget p1 CONST robtarget p2 CONST robtarget p3 VAR pose frame1; ... ... frame1 := DefFrame ... ... !Activation of the PDispSet frame1; := [...]; := [...]; := [...];

(p1, p2, p3);

displacement defined by frame1

Return value Data type: pose The calculated frame. The calculation is related to the active object coordinate system.

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2.42 DefFrame - Define a frame Continued Arguments
DefFrame (NewP1 NewP2 NewP3 [\Origin])

NewP1 Data type: robtarget The first position, which will define the origin of the new coordinate system. NewP2 Data type: robtarget The second position, which will define the direction of the x-axis of the new coordinate frame. NewP3 Data type: robtarget The third position, which will define the xy-plane of the new coordinate system. The position of point 3 will be on the positive y side, see the figure above. [\Origin] Data type: num Optional argument, which will define how the origin of the new coordinate system will be placed. Origin = 1 means that the origin is placed in NewP1, i.e. the same as if this argument is omitted. Origin = 2 means that the origin is placed in NewP2. See the figure below.

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Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2 and so that NewP3 will be placed on the y axis. See the figure below.

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Other values, or if Origin is omitted, will place the origin in NewP1. Continues on next page
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2 Functions
2.42 DefFrame - Define a frame Continued Error handling If the frame cannot be calculated because of the below limitations then the system variable ERRNO is set to ERR_FRAME. This error can then be handled in the error handler. Limitations The three positions p1 - p3, defining the frame, must define a well shaped triangle. The most well shaped triangle is the one with all sides of equal length.

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The triangle is not considered to be well shaped if the angle is too small. The angle is too small if: |cos | < 1 - 10-4 The triangle p1, p2, p3 must not be too small, i.e. the positions cannot be too close. The distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm. Syntax
DefFrame( [NewP1 :=] <expression (IN) of robtarget> , [NewP2 :=] <expression (IN) of robtarget> , [NewP3 :=] <expression (IN) of robtarget> [\Origin:= <expression (IN) of num >])

A function with a return value of the data type pose. Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview, section RAPID summary - Mathematics Activation of displacement frame PDispSet - Activates program displacement using known frame on page 336

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2.43 Dim - Obtains the size of an array

2.43 Dim - Obtains the size of an array

Usage Dim (Dimension) is used to obtain the number of elements in an array. Basic examples Basic examples of the function Dim are illustrated below. See also More examples on page 874. Example 1
PROC arrmul(VAR num array{*}, num factor) FOR index FROM 1 TO Dim(array, 1) DO array{index} := array{index} * factor; ENDFOR ENDPROC

All elements of a num array are multiplied by a factor. This procedure can take any one-dimensional array of data type num as an input. Return value Data type: num The number of array elements of the specified dimension. Arguments
Dim (ArrPar DimNo)

ArrPar Array Parameter Data type: Any type The name of the array. DimNo Dimension Number Data type: num The desired array dimension: 1 = first dimension 2 = second dimension 3 = third dimension More examples More examples of how to use the function Dim are illustrated below. Example 1
PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})

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2.43 Dim - Obtains the size of an array Continued

IF Dim(array1,1) <> Dim(array2,1) OR Dim(array1,2) <> Dim(array2,2) OR Dim(array1,3) <> Dim(array2,3) THEN TPWrite "The size of the matrices are not the same"; Stop; ELSE FOR i1 FROM 1 TO Dim(array1, 1) DO FOR i2 FROM 1 TO Dim(array1, 2) DO FOR i3 FROM 1 TO Dim(array1, 3) DO array1{i1,i2,i3} := array1{i1,i2,i3} + array2{i1,i2,i3}; ENDFOR ENDFOR ENDFOR ENDIF RETURN; ENDPROC

Two matrices are added. If the size of the matrices differs then the program stops and an error message appears. This procedure can take any three-dimensional array of data type num as an input. Syntax
Dim ( [ArrPar:=] <reference (REF) of any type> , [DimNo:=] <expression (IN) of num> )

A REF parameter requires that the corresponding argument be either a constant, a variable, or an entire persistent. The argument could also be an IN parameter, a VAR parameter, or an entire PERS parameter. A function with a return value of the data type num. Related information
For information about Array parameters Array declaration See Technical reference manual - RAPID overview, section Basic characteristics - Routines Technical reference manual - RAPID overview, section Basic characteristics - Data

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2.44 Distance - Distance between two points

2.44 Distance - Distance between two points

Usage Distance is used to calculate the distance between two points in the space. Basic examples Basic examples of the function Distance are illustrated below. Example 1

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VAR num dist; CONST pos p1 := [4,0,4]; CONST pos p2 := [-4,4,4]; ... dist := Distance(p1, p2);

The distance in space between the points p1 and p2 is calculated and stored in the variable dist. Return value Data type: num The distance (always positive) in mm between the points. Arguments
Distance (Point1 Point2)

Point1 Data type: pos The first point described by the pos data type. Point2 Data type: pos The second point described by the pos data type.

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2.44 Distance - Distance between two points Continued Program execution Calculation of the distance between the two points:

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Syntax
Distance( [Point1 :=] <expression (IN) of pos> , [Point2 :=] <expression (IN) of pos> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions Definition of pos See Technical reference manual - RAPID overview, section RAPID Summary - Mathematics pos - Positions (only X, Y and Z) on page 1222

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2 Functions
2.45 DnumToNum - Converts dnum to num

2.45 DnumToNum - Converts dnum to num

Usage DnumToNum converts a dnum to a num if possible, otherwise it generates a recoverable error. Basic examples A basic example of the function DnumToNum is illustrated below. Example 1
VAR num mynum:=0; VAR dnum mydnum:=8388607; VAR dnum testFloat:=8388609; VAR dnum anotherdnum:=4294967295; ! Works OK mynum:=DnumToNum(mydnum); ! Accept floating point value mynum:=DnumToNum(testFloat); ! Cause error recovery error mynum:=DnumToNum(anotherdnum \Integer);

The dnum value 8388607 is returned by the function as the num value 8388607. The dnum value 8388609 is returned by the function as the num value 8.38861E+06. The dnum value 4294967295 generates the recoverable error ERR_ARGVALERR. Return value Data type: num The input dnum value can be in the range -8388607 to 8388608 and return the same value as a num. If the \Integer switch is not used, the input dnum value can be in the range -3.40282347E+38 to 3.40282347E+38 and the return value might become a floating point value. Arguments
DnumToNum (Value [\Integer])

Value Data type: dnum The numeric value to be converted. [\Integer] Data type: switch Only integer values If switch \Integer is not used, an down cast is made even if the value becomes a floating point value. If it is not used, a check is made whether the value is an integer between -8388607 to 8388608. If it is not, a recoverable error is generated.

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2 Functions
2.45 DnumToNum - Converts dnum to num Continued Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to:
Error code ERR_ARGVALERR ERR_NUM_LIMIT ERR_INT_NOTVAL Description Value is above 8388608 or below -8388607 or not an integer (if optional argument Integer is used) Value is above 3.40282347E+38 or below -3.40282347E+38 Value is not an integer

Syntax
DnumToNum '(' [ Value := ] < expression (IN) of dnum > [\ Integer )

A function with a return value of the data type num. Related information
For information about Dnum data type Num data type See dnum - Double numeric values on page 1164. num - Numeric values on page 1207.

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2.46 DnumToStr - Converts numeric value to string

2.46 DnumToStr - Converts numeric value to string

Usage DnumToStr (Numeric To String) is used to convert a numeric value to a string. Basic examples Basic examples of the function DnumToStr are illustrated below. Example 1
VAR string str; str := DnumToStr(0.3852138754655357,3);

The variable str is given the value "0.385". Example 2

VAR dnum val; val:= 0.3852138754655357; str := DnumToStr(val, 2\Exp);

The variable str is given the value "3.85E-01". Example 3

VAR dnum val; val := 0.3852138754655357; str := DnumToStr(val, 15);

The variable str is given the value "0.385213875465536". Example 4

VAR dnum val; val:=4294967295.385215; str := DnumToStr(val, 4);

The variable str is given the value "4294967295.3852". Return value Data type: str The numeric value converted to a string with the specified number of decimals, with exponent if so requested. The numeric value is rounded if necessary. The decimal point is suppressed if no decimals are included. Arguments
DnumToStr (Val Dec [\Exp])

Val Value Data type: dnum The numeric value to be converted. Dec Decimals Data type: num

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2 Functions
2.46 DnumToStr - Converts numeric value to string Continued Number of decimals. The number of decimals must not be negative or greater than the available precision for numeric values. Max number of decimals that can be used is 15. [\Exp] Exponent Data type: switch To use exponent in return value. Syntax
DnumToStr( [ Val := ] <expression (IN) of dnum> [ Dec := ] <expression (IN) of num> [\ Exp )

A function with a return value of the data type string. Related information
For information about String functions See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements NumToStr - Converts numeric value to string on page 960

Definition of string String values

Convert a num numeric value to a string

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2 Functions
2.47 DotProd - Dot product of two pos vectors

2.47 DotProd - Dot product of two pos vectors

Usage DotProd (Dot Product) is used to calculate the dot (or scalar) product of two pos vectors. The typical use is to calculate the projection of one vector upon the other or to calculate the angle between the two vectors. Basic examples Basic examples of the function DotProd are illustrated below. Example 1

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The dot or scalar product of two vectors A and B is a scalar, which equals the products of the magnitudes of A and B and the cosine of the angle between them.
A B = j A j j B j cos AB

The dot product: is less than or equal to the product of their magnitudes. can be either a positive or a negative quantity, depending on whether the angle between them is smaller or larger then 90 degrees. is equal to the product of the magnitude of one vector and the projection of the other vector upon the first one. is zero when the vectors are perpendicular to each other.

The vectors are described by the data type pos and the dot product by the data type num:
VAR num VAR pos VAR pos ... ... vector1 vector2 dotprod dotprod; vector1; vector2;

:= [1,1,1]; := [1,2,3]; := DotProd(vector1, vector2);

Return value Data type: num The value of the dot product of the two vectors. Continues on next page
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2.47 DotProd - Dot product of two pos vectors Continued Arguments
DotProd (Vector1 Vector2)

Vector1 Data type: pos The first vector described by the pos data type. Vector2 Data type: pos The second vector described by the pos data type. Syntax
DotProd '(' [Vector1 ':='] <expression (IN) of pos>',' [Vector2 ':='] <expression (IN) of pos> ')'

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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2.48 DOutput - Reads the value of a digital output signal

2.48 DOutput - Reads the value of a digital output signal

Usage DOutput is used to read the current value of a digital output signal. Basic examples Basic examples of the function DOutput are illustrated below. See also More examples on page 884. Example 1
IF DOutput(do2) = 1 THEN...

If the current value of the signal do2 is equal to 1, then... Return value Data type: dionum The current value of the signal (0 or 1). Arguments
DOutput (Signal)

Signal Data type: signaldo The name of the signal to be read. Program execution The value read depends on the configuration of the signal. If the signal is inverted in the system parameters then the value returned by this function is the opposite of the true value of the physical channel. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. More examples More examples of the function DOutput are illustrated below. Example 1
IF DOutput(auto_on) <> active THEN . . .

If the current value of the system signal auto_on is not active then ..., i.e. if the robot is in the manual operating mode, then ... Note The signal must first be defined as a system output in the system parameters.

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2.48 DOutput - Reads the value of a digital output signal Continued Syntax
DOutput '(' [ Signal := ] < variable (VAR) of signaldo > )

A function with a return value of the data type dionum. Related information
For information about Set a digital output signal Input/Output instructions See SetDO - Changes the value of a digital output signal on page 457 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O Principles Configuration of I/O Technical reference manual - System parameters

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2.49 EulerZYX - Gets euler angles from orient

2.49 EulerZYX - Gets euler angles from orient

Usage EulerZYX (Euler ZYX rotations) is used to get an Euler angle component from an orient type variable. Basic examples Basic examples of the function EulerZYX are illustrated below. Example 1
VAR num anglex; VAR num angley; VAR num anglez; VAR pose object; ... ... anglex := EulerZYX(\X, object.rot); angley := EulerZYX(\Y, object.rot); anglez := EulerZYX(\Z, object.rot);

Return value Data type: num The corresponding Euler angle, expressed in degrees, range from [-180, 180]. Arguments
EulerZYX ([\X] | [\Y] | [\Z] Rotation)

[\X] Data type: switch Gets the rotation around the X axis. [\Y] Data type: switch Gets the rotation around the Y axis. [\Z] Data type: switch Gets the rotation around the Z axis. Note! The arguments \X, \Y, and \Z are mutually exclusive. If none of these are specified then a run-time error is generated. Rotation Data type: orient The rotation in its quaternion representation.

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2.49 EulerZYX - Gets euler angles from orient Continued Syntax
EulerZYX '(' ['\'X ,] | ['\'Y ,] | ['\'Z,] [Rotation:=] <expression (IN) of orient> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics

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2.50 EventType - Get current event type inside any event routine

2.50 EventType - Get current event type inside any event routine
Usage EventType can be used in any event routine and then returns the current executed event type. If EventType is called from any program task routine then EventType always returns 0 meaning EVENT_NONE. Basic examples Basic examples of the function EventType are illustrated below. Example 1
TEST EventType() CASE EVENT_NONE: ! Not executing any event CASE EVENT_POWERON: ! Executing POWER ON event CASE EVENT_START: ! Executing START event CASE EVENT_STOP: ! Executing STOP event CASE EVENT_QSTOP: ! Executing QSTOP event CASE EVENT_RESTART: ! Executing RESTART event CASE EVENT_RESET: ! Executing RESET event CASE EVENT_STEP: ! Executing STEP event ENDTEST

Use of function EventType inside any event routine to find out which system event, if any, is executing now. Return value Data type: event_type The current executed event type 1 ... 7, or 0 if no event routine is executed. Predefined data The following predefined symbolic constants of type event_type can be used to check the return value:
CONST CONST CONST CONST CONST CONST CONST CONST event_type event_type event_type event_type event_type event_type event_type event_type EVENT_NONE := 0; EVENT_POWERON := 1; EVENT_START := 2; EVENT_STOP := 3; EVENT_QSTOP:= 4; EVENT_RESTART := 5; EVENT_RESET := 6; EVENT_STEP := 7;

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2.50 EventType - Get current event type inside any event routine Continued Syntax
EventType( )

A function with a return value of the data type event_type. Related information
For information about Event routines in general See Technical reference manual - System parameters, section Controller - Event Routine

Data type event_type, predefined constants event_type - Event routine type on page 1176

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2.51 ExecHandler - Get type of execution handler

2.51 ExecHandler - Get type of execution handler

Usage ExecHandler can be used to find out if the actual RAPID code is executed in any RAPID program routine handler. Basic examples Basic example of the function ExecHandler is illustrated below. Example 1
TEST ExecHandler() CASE HANDLER_NONE: ! Not executing in any CASE HANDLER_BWD: ! Executing in routine CASE HANDLER_ERR: ! Executing in routine CASE HANDLER_UNDO: ! Executing in routine ENDTEST

routine handler BACKWARD handler ERROR handler UNDO handler

Use of function ExecHandler to find out if the code is executing in some type of routine handler or not. HANDLER_ERR will be returned even if the call is executed in a submethod to the error handler. Return value Data type: handler_type The current executed handler type 1 ... 3, or 0 if not executing in any routine handler. Predefined data The following predefined symbolic constants of type handler_type can be used to check the return value:
CONST CONST CONST CONST handler_type handler_type handler_type handler_type HANDLER_NONE := 0; HANDLER_BWD := 1; HANDLER_ERR := 2; HANDLER_UNDO := 3;

Syntax
ExecHandler( )

A function with a return value of the data type handler_type. Related information
For information about Type of execution handler See handler_type - Type of execution handler on page 1180

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2.52 ExecLevel - Get execution level

2.52 ExecLevel - Get execution level

Usage ExecLevel can be used to find out current execution level for the RAPID code that currently is executed. Basic examples Basic example of the function ExecLevel is illustrated below. Example 1
TEST ExecLevel() CASE LEVEL_NORMAL: ! Execute on base level CASE LEVEL_TRAP: ! Execute in TRAP routine CASE LEVEL_SERVICE: ! Execute in service, event or system input interrupt routine ENDTEST

Use of function ExecLevel to find out the current execution level. Return value Data type: exec_level The current execution level 0... 2. Predefined data The following predefined symbolic constants of type event_level can be used to check the return value:
CONST exec_level LEVEL_NORMAL := 0; CONST exec_level LEVEL_TRAP := 1; CONST exec_level LEVEL_SERVICE := 2;

Syntax
ExecLevel( )

A function with a return value of the data type exec_level. Related information
For information about Data type for execution level See exec_level - Execution level on page 1177

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2.53 Exp - Calculates the exponential value

2.53 Exp - Calculates the exponential value

Usage Exp (Exponential) is used to calculate the exponential value, ex. Basic examples Basic examples of the function Exp are illustrated below. Example 1
VAR num x; VAR num value; ... value:= Exp( x);

value will get the exponential value of x. Return value Data type: num The exponential value ex. Arguments
Exp (Exponent)

Exponent Data type: num The exponent argument value. Syntax

Exp '(' [Exponent :=] <expression (IN) of num>)

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID Summary - Mathematics

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2 Functions
2.54 FileSize - Retrieve the size of a file

2.54 FileSize - Retrieve the size of a file

Usage FileSize is used to retrieve the size of the specified file. Basic examples Basic examples of the function FileSize are illustrated below. See also More examples on page 893. Example 1
PROC listfile(string filename) VAR num size; size := FileSize(filename); TPWrite filename+" size: "+NumToStr(size,0)+" Bytes"; ENDPROC

This procedure prints out the name of specified file together with a size specification. Return value Data type: num The size in bytes. Arguments
FileSize (Path)

Path Data type: string The file name specified with full or relative path. Program execution This function returns a numeric that specifies the size in bytes of the specified file. It is also possible to get the same information about a directory. More examples Basic examples of the function are illustrated below. Example 1 This example lists all files bigger than 1 KByte under the "HOME:" directory structure, including all subdirectories.
PROC searchdir(string dirname, string actionproc) VAR dir directory; VAR string filename; IF IsFile(dirname \Directory) THEN OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO ! .. and . is the parent and resp. this directory IF filename <> ".." AND filename <> "." THEN searchdir dirname+"/"+filename, actionproc; ENDIF

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2 Functions
2.54 FileSize - Retrieve the size of a file Continued
ENDWHILE CloseDir directory; ELSE %actionproc% dirname; ENDIF ERROR RAISE; ENDPROC PROC listfile(string filename) IF FileSize(filename) > 1024 THEN TPWrite filename; ENDIF ENDPROC PROC main() ! Execute the listfile routine for all files found under the ! tree of HOME: searchdir "HOME:","listfile"; ENDPROC

This program traverses the directory structure under "HOME:" and for each file found it calls the listfile procedure. The searchdir is a generic part that knows nothing about the start of the search or which routine should be called for each file. It uses IsFile to check whether it has found a subdirectory or a file and it uses the late binding mechanism to call the procedure specified in actionproc for all files found. The actionproc routine listfile checks whether the file is bigger than 1KBytes. Error handling If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
FileSize '(' [ Path := ] < expression (IN) of string> )

A function with a return value of the data type num. Related information
For information about Make a directory Remove a directory Rename a file Remove a file Copy a file Check file type Check file system size See MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73 IsFile - Check the type of a file on page 933 FSSize - Retrieve the size of a file system on page 899

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2 Functions
2.54 FileSize - Retrieve the size of a file Continued
For information about See

File and serial channel handling Application manual - Robot communication and I/O control

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2.55 FileTime - Retrieve time information about a file

2.55 FileTime - Retrieve time information about a file

Usage FileTime is used to retrieve the last time for modification, access or file status change of a file. The time is measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num and optionally also in a stringdig. Basic example Basic examples of the function FileTime are illustrated below. See also More examples on page 897. Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime) > ModTime ("mymod") THEN UnLoad "HOME:mymod.mod"; Load \Dynamic, "HOME:mymod.mod"; ENDIF

This program reloads a module if the source file is newer. It uses the ModTime to retrieve the latest modification time for the specified module, and to compare it to the FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and loads the module again. Limitation in this example: The data type num cannot handle positive integers above 8388608 seconds with exact representation. To get better dissolution, see example in function StrDigCmp. Return value Data type: num The time measured in seconds since 00:00:00 GMT, Jan. 1 1970. Arguments
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime] [\StrDig])

Path Data type: string The file specified with a full or relative path. [\ModifyTime] Data type: switch Last modification time. [\AccessTime] Data type: switch Time of last access (read, execute of modify). [\StatCTime] Data type: switch Last file status (access qualification) change time. Continues on next page
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2.55 FileTime - Retrieve time information about a file Continued [\StrDig] String Digit Data type: stringdig To get the file time in a stringdig representation. Further use in StrDigCmp can handle positive integers above 8388608 with exact representation. Program execution This function returns a numeric that specifies the time since the last: Modification Access File status change

of the specified file. It is also possible to get the same information about a directory. More examples More examples of the function FileTime are illustrated below. This is a complete example that implements an alert service for maximum 10 files.
LOCAL RECORD falert string filename; num ftime; ENDRECORD LOCAL VAR falert myfiles[10]; LOCAL VAR num currentpos:=0; LOCAL VAR intnum timeint; PROC alertInit(num freq) currentpos:=0; CONNECT timeint WITH mytrap; ITimer freq,timeint; ENDPROC LOCAL TRAP mytrap VAR num pos:=1; WHILE pos <= currentpos DO IF FileTime(myfiles{pos}.filename \ModifyTime) > myfiles{pos}.ftime THEN TPWrite "The file "+myfiles{pos}.filename+" is changed"; ENDIF pos := pos+1; ENDWHILE ENDTRAP PROC alertNew(string filename) currentpos := currentpos+1;

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2 Functions
2.55 FileTime - Retrieve time information about a file Continued
IF currentpos <= 10 THEN myfiles{currentpos}.filename := filename; myfiles{currentpos}.ftime := FileTime (filename \ModifyTime); ENDIF ENDPROC PROC alertFree() IDelete timeint; ENDPROC

Error handling If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
FileTime '(' [ Path ':=' ] < expression (IN) of string> [ '\' ModifyTime] | [ '\' AccessTime] | [ '\' StatCTime] [ '\' StrDig ':=' < variable (VAR) of stringdig> ] ')'

A function with a return value of the data type num. Related information
For information about Last modify time of a loaded module String with only digits Compare two strings with only digits See ModTime - Get file modify time for the loaded module on page 951 stringdig - String with only digits on page 1260 StrDigCmp - Compare two strings with only digits on page 1047

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2 Functions
2.56 FSSize - Retrieve the size of a file system

2.56 FSSize - Retrieve the size of a file system

Usage FSSize (File System Size) is used to retrieve the size of the file system in which a specified file resides. The size in bytes, kilo bytes or mega bytes are returned as a num. Basic example Basic examples of the function FSSize are illustrated below. See also More examples on page 900. Example 1
PROC main() VAR num totalfsyssize; VAR num freefsyssize; freefsyssize := FSSize("HOME:/spy.log" \Free); totalfsyssize := FSSize("HOME:/spy.log" \Total); TPWrite NumToStr(((totalfsyssize freefsyssize)/totalfsyssize)*100,0) +" percent used"; ENDPROC

This procedure prints out the amount of disk space used on the HOME: file system (flash disk /hd0a/) as a percentage. Return value Data type: num The size in bytes. Arguments
FSSize (Name [\Total] | [\Free] [\Kbyte] [\Mbyte])

Name Data type: string The name of a file in the file system, specified with full or relative path. [ \Total ] Data type: switch Retrieves the total amount of space in the file system. [ \Free ] Data type: switch Retrieves the amount of free space in the file system. [ \Kbyte ] Data type: switch Convert the number of bytes read to kilobytes, e.g divide the size with 1024.

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2.56 FSSize - Retrieve the size of a file system Continued [ \Mbyte ] Data type: switch Convert the number of bytes read to megabytes, e.g divide the size with 1048576 (1024*1024). Program execution This function returns a numeric that specifies the size of the file system in which the specified file resides. More examples More examples of the function FSSize are illustrated below. Example 1
LOCAL VAR intnum timeint; LOCAL TRAP mytrap IF FSSize("HOME:/spy.log" \Free)/FSSize("HOME:/spy.log" \Total) <= 0.1 THEN TPWrite "The disk is almost full"; alertFree; ENDIF ENDTRAP PROC alertInit(num freq) CONNECT timeint WITH mytrap; ITimer freq,timeint; ENDPROC PROC alertFree() IDelete timeint; ENDPROC

This is a complete example for implementing an alert service that prints a warning on the FlexPendant when the remaining free space in the "HOME:" file system is less than 10%. Error handling The following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_FILEACC ERR_FILESIZE The file system does not exist The size exceeds the max integer value for a num, 8388608

Syntax
FSSize '(' [ Name := ] < expression (IN) of string> [ \Total ] | [ \Free ] [ \Kbyte ] [ \Mbyte ])

A function with a return value of the data type num. Continues on next page
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2.56 FSSize - Retrieve the size of a file system Continued Related information
For information about Make a directory Remove a directory Rename a file Remove a file Copy a file Check file type Check file size File and serial channel handling See MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73 IsFile - Check the type of a file on page 933 FileSize - Retrieve the size of a file on page 893 Application manual - Robot communication and I/O control

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2 Functions
2.57 GetMecUnitName - Get the name of the mechanical unit

2.57 GetMecUnitName - Get the name of the mechanical unit

Usage GetMecUnitName is used to get the name of a mechanical unit with one of the installed mechanical units as the argument. This function returns the mechanical units name as a string. Basic examples Basic examples of the function GetMecUnitName are illustrated below. Example 1
VAR string mecname; mecname:= GetMecUnitName(T_ROB1);

mecname will get the value "T_ROB1"as a string. All mechanical units (data type mecunit) such as T_ROB1 are predefined in the system. Return value Data type: string The return value will be the mechanical unit name as a string. Arguments
GetMecUnitName ( MechUnit )

MechUnit Mechanical Unit Data type: mecunit MechUnit takes one of the predefined mechanical units found in the configuration. Syntax
GetMecUnitName '(' [ MechUnit := ] < variable (VAR) of mecunit > )

A function with a return value of the data type string. Related information
For information about Mechanical unit See mecunit - Mechanical unit on page 1200

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2 Functions
2.58 GetModalPayLoadMode - Get the ModalPayLoadMode value

2.58 GetModalPayLoadMode - Get the ModalPayLoadMode value

Usage GetModalPayLoadMode is used to get the ModalPayLoadMode value. Basic examples Basic example of GetModalPayloadMode is illustrated below. Example 1
IF GetModalPayloadMode() = 1 THEN GripLoad piece1; MoveL p1, v1000, fine, gripper; ELSE MoveL p1, v1000, fine, tool2 \TLoad:=gripperpiece1; ENDIF

Read the ModalPayLoadMode value from the system and depending on value, use different code to specify the load used in the movement instruction. Return value Data type: num The return value will be the ModalPayLoadMode setting as a num. Syntax
GetModalPayloadMode ( )

A function with a return value of the data type num. Related information
For information about See

System parameter ModalPayLoadTechnical reference manual - System parameters Mode for activating and deactivating payload. (Topic Controller, Type System Misc, Action values, ModalPayLoadMode) Using payload in motion instructions. MoveL - Moves the robot linearly on page 275

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2.59 GetNextMechUnit - Get name and data for mechanical units

2.59 GetNextMechUnit - Get name and data for mechanical units

Usage GetNextMechUnit (Get Next Mechanical Unit) is used for retrieving the name of mechanical units in the robot system. Besides the mechanical unit name, several optional properties of the mechanical unit can be retrieved. Basic examples Basic examples of the function GetNextMechUnit are illustrated below. See also More examples on page 905. Example 1
VAR num listno := 0; VAR string name := ""; TPWrite "List of mechanical units:"; WHILE GetNextMechUnit(listno, name) DO TPWrite name; ! listno := listno + 1 is done by GetNextMechUnit ENDWHILE

The name of all mechanical units available in the system, will be displayed on the FlexPendant. Return Value Data type: bool TRUE if a mechanical unit was found, otherwise FALSE. Arguments
GetNextMechUnit( ListNumber UnitName [\MecRef] [\TCPRob] [\NoOfAxes] [\MecTaskNo] [\MotPlanNo] [\Active] [\DriveModule] [\OKToDeact])

ListNumber Data type: num This specifies which items in the system internal list of mechanical units are to be retrieved. At return, this variable is always incremented by one by the system to make it easy to access the next unit in the list. The first mechanical unit in the list has index 0. UnitName Data type: string The name of the mechanical unit. [\MecRef] Data type: mecunit The system reference to the mechanical unit. [\TCPRob] Data type: bool Continues on next page
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2 Functions
2.59 GetNextMechUnit - Get name and data for mechanical units Continued TRUE if the mechanical unit is a TCP robot, otherwise FALSE. [\NoOfAxes] Data type: num Number of axes for the mechanical unit. Integer value. [\MecTaskNo] Data type: num The program task number that controls the mechanical unit. Integer value in range 1-20. If not controlling by any program task, -1 is returned. This actual connection is defined in the system parameters domain controller (can in some application be redefined at runtime). [\MotPlanNo] Data type: num The motion planner number that controls the mechanical unit. Integer value in range 1-6. If not controlling by any motion planner, -1 is returned. This connection is defined in the system parameters domain controller. [\Active] Data type: bool TRUE if the mechanical unit is active, otherwise FALSE. [\DriveModule] Data type: num The Drive Module number 1 - 4 used by this mechanical unit. [\OKToDeact] Data type: bool Return TRUE, if allowed to deactivate the mechanical unit from RAPID program. More examples More examples of the instruction GetNextMechUnit are illustrated below. Example 1
VAR num listno := 4; VAR string name := ""; VAR bool found := FALSE; found := GetNextMechUnit (listno, name);

If found is set to TRUE, the name of mechanical unit number 4 will be in the variable name, else name contains only an empty string. Syntax
GetNextMechUnit '(' [ ListNumber ':=' [ UnitName ':=' ] [ '\' MecRef ':=' [ '\' TCPRob ':=' ] < < < < variable (VAR) of num> ',' variable (VAR) of string> ',' variable (VAR) of mecunit> ] variable (VAR) of bool> ]

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2 Functions
2.59 GetNextMechUnit - Get name and data for mechanical units Continued
[ '\' [ '\' [ '\' [ '\' [ '\' [ '\' ) NoOfAxes ':=' < variable (VAR) of num> ] MecTaskNo ':=' < variable (VAR) of num> ] MotPlanNo ':=' < variable (VAR) of num> ] Active ':=' < variable (VAR) of bool>] DriveModule ':=' < variable (VAR) of num>] OKToDeact ':=' < variable (VAR) of bool>]

A function with a return value of the data type bool. Related information
For information about Mechanical unit Activating/Deactivating mechanical units See mecunit - Mechanical unit on page 1200 ActUnit - Activates a mechanical unit on page 21 DeactUnit - Deactivates a mechanical unit on page 88 Technical reference manual - RAPID overview, section Basic Characteristics - Data types

Characteristics of non-value data types

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2 Functions
2.60 GetNextSym - Get next matching symbol

2.60 GetNextSym - Get next matching symbol

Usage GetNextSym (Get Next Symbol) is used together with SetDataSearch to retrieve data objects from the system. Basic examples Basic examples of the function GetNextSym are illustrated below. Example 1
VAR datapos block; VAR string name; VAR bool truevar:=TRUE; ... SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym; WHILE GetNextSym(name,block) DO SetDataVal name\Block:=block,truevar; ENDWHILE

This session will set all local bool data objects that begin with my in the module mymod to TRUE. Return value Data type: bool TRUE if a new object has been retrieved, the object name and its enclosed block is then returned in its arguments. FALSE if no more objects match. Arguments
GetNextSym (Object Block [\Recursive])

Object Data type: string Variable (VAR or PERS) to store the name of the data object that will be retrieved. Block Data type: datapos The enclosed block to the object. [ \Recursive ] Data type: switch This will force the search to enter the block below, e.g. if the search session has begun at the task level, it will also search modules and routines below the task. Syntax
GetNextSym ( [ Object := ] < variable or persistent (INOUT) of string > , [ Block :=] <variable (VAR) of datapos> [\Recursive ] )

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2 Functions
2.60 GetNextSym - Get next matching symbol Continued A function with a return value of the data type bool. Related information
For information about Define a symbol set in a search session Get the value of a data object Set the value of a data object See SetDataSearch - Define the symbol set in a search sequence on page 450 GetDataVal - Get the value of a data object on page 118 SetDataVal - Set the value of a data object on page 454

Set the value of many data objects SetAllDataVal - Set a value to all data objects in a defined set on page 446 The related data type datapos datapos - Enclosing block for a data object on page 1161

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2 Functions
2.61 GetServiceInfo - Get service information from the system

2.61 GetServiceInfo - Get service information from the system

Usage GetServiceInfo is used to read service information from the system. This function returns the service information as a string. Basic examples Basic example of the function GetServiceInfo is illustrated below. See also More examples on page 398. Example 1
VAR string mystring; VAR num mynum; IF TaskRunRob() THEN mystring:=GetServiceInfo(ROB_ID \DutyTimeCnt); IF StrToVal(mystring, mynum) = FALSE THEN TPWrite "Conversion failed!"; Stop; ENDIF ENDIF

If the task controls a robot, use the predefined variable ROB_ID to read the duty time counter. Then convert the string value to a numeric value. Return value Data type: string The value of the service information for the specified mechanical unit. Read more about the return values in Arguments below. Arguments
GetServiceInfo (MechUnit [\DutyTimeCnt])

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit to get information for. [\DutyTimeCnt] Duty Time Counter Data type: switch Returns the duty time counter for the mechanical unit used in argument MechUnit. A string with "0" is returned if this option is used in the Virtual Controller. The duty time counter is the value in hours that the mechanical unit has been in motors on and brakes have been released. Program execution Service information is read for the used optional parameter.

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2 Functions
2.61 GetServiceInfo - Get service information from the system Continued More examples More examples of how to use the function GetServiceInfo are illustrated below. Example 1
VAR string mystring; mystring:=GetServiceInfo(ROB_1 \DutyTimeCnt); TPWrite "DutyTimeCnt for ROB_1: " + mystring; mystring:=GetServiceInfo(ROB_2 \DutyTimeCnt); TPWrite "DutyTimeCnt for ROB_2: " + mystring; mystring:=GetServiceInfo(INTERCH \DutyTimeCnt); TPWrite "DutyTimeCnt for INTERCH: " + mystring; mystring:=GetServiceInfo(STN_1 \DutyTimeCnt); TPWrite "DutyTimeCnt for STN_1: " + mystring; mystring:=GetServiceInfo(STN_2 \DutyTimeCnt); TPWrite "DutyTimeCnt for STN_2: " + mystring;

Get information about the duty time counter for all mechanical units in a multimove system, and write the values on the FlexPendant. Syntax
GetServiceInfo( [MechUnit := ] <variable (VAR) of mecunit>, [\ DutyTimeCnt])

A function with a return value of the data type string. Related information
For information about Mechanical unit See mecunit - Mechanical unit on page 1200.

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2 Functions
2.62 GetSysInfo - Get information about the system

2.62 GetSysInfo - Get information about the system

Usage GetSysInfois used to read information about the system. Available information includes Serial Number, SoftWare Version, Robot Type, Controller ID or Lan ip address. Basic examples Basic examples of the function GetSysInfo are illustrated below. Example 1
VAR string serial; VAR string version; VAR string rtype; VAR string cid; VAR string lanip; VAR string clang; serial := GetSysInfo(\SerialNo); version := GetSysInfo(\SWVersion); rtype := GetSysInfo(\RobotType); cid := GetSysInfo(\CtrlId); lanip := GetSysInfo(\LanIp); clang := GetSysInfo(\CtrlLang);

The serial number will be stored in the variable serial, the version number will be stored in the variable version, the robot number will be stored in the variable rtype, the controller ID number will be stored in the variable cid, the LAN ip address will be stored in the variable lanip and the controller language will be stored in the variable clang. Examples of returned strings: Serial Number: 14-21858 Software Version: ROBOTWARE_5.08.134 Robot Type: 2400/16 Type A Controller ID: 44-1267 LAN ip address: 192.168.8.103 Language: en Return value Data type: string One of Serial Number, SoftWare Version, Robot Type, Controller ID, LAN ip address or Controller Language. Read more about the return values in Arguments below. Arguments
GetSysInfo ([\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId] | [\LanIp] | [\CtrlLang])

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2.62 GetSysInfo - Get information about the system Continued One of the arguments SerialNo, SWVersion, RobotType , CtrlId, LanIp or CtrlLang must be present. [ \SerialNo ] Serial Number Data type: switch Returns the serial number. [ \SWVersion ] Software Version Data type: switch Returns the software version. [ \RobotType ] Data type: switch Returns the robot type in the current or connected task. If the mechanical unit is not a TCP-robot, a "-" is returned. [ \CtrlId ] Controller ID Data type: switch Returns the controller ID. Returns an empty string if no Controller ID is specified. A string with "VC" is returned if this option is used in the Virtual Controller. [ \LanIp ] Lan Ip address Data type: switch Returns the LAN ip address for the controller. A string with "VC" is returned if this option is used in the Virtual Controller. An empty string is returned if no LAN ip address is configured in the system. [ \CtrlLang ] Controller Language Data type: switch Returns the language used on the controller.
Return value cs zh da nl en fi fr de hu Language Czech Chinese (simplified Chinese, mainland Chinese) Danish Dutch English Finnish French German Hungarian

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2 Functions
2.62 GetSysInfo - Get information about the system Continued
Return value it ja ko pl pt ro ru es sv tr Language Italian Japanese Korean Polish Portuguese (Brazilian Portuguese) Romanian Russian Spanish Swedish Turkish

Syntax
GetSysInfo( [\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId] | [\LanIp] | [\CtrlLang])

A function with a return value of the data type string. Related information
For information about Test the identity of the system See IsSysId - Test system identity on page 945

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2.63 GetTaskName - Gets the name and number of current task

2.63 GetTaskName - Gets the name and number of current task

Usage GetTaskName is used to get the identity of the current program task, with its name and number. It is also possible from some Non Motion Task to get the name and number of its connected Motion Task. For MultiMove System the system parameter Controller/Tasks/Use Mechanical Unit Group define the connected Motion Task and in a base system the main task is always the connected Motion Task from any other task. Basic examples Basic examples of the function GetTaskName are illustrated below. Example 1
VAR string taskname; ... taskname := GetTaskName();

The current task name is returned in the variable taskname. Example 2

VAR string taskname; VAR num taskno; ... taskname := GetTaskName(\TaskNo:=taskno);

The current task name is returned in the variable taskname. The integer identity of the task is stored in the variable taskno. Example 3
VAR string taskname; VAR num taskno; ... taskname := GetTaskName(\MecTaskNo:=taskno);

If current task is a Non Motion Task task, the name of the connected motion task is returned in the variable taskname. The numerical identity of the connected motion task is stored in the variable taskno. If current task controls some mechanical units, current task name is returned in the variable taskname. The numerical identity of the task is stored in the variable taskno. Return value Data type: string The name of the task in which the function is executed or the name of the connected motion task. Arguments
GetTaskName ( [\TaskNo] | [\MecTaskNo] )

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2 Functions
2.63 GetTaskName - Gets the name and number of current task Continued [\TaskNo] Data type: num Return current task name (same functionality if none of the switch \TaskNo or \MecTaskNo is used). Also get the identity of the current task represented as a integer value. The numbers returned will be in the range 1-20. [\MecTaskNo] Data type: num Return connected motion task name or current motion task name. Also get the identity of connected or current motion task represented as a integer value. The numbers returned will be in the range 1-20. Syntax
GetTaskName( [ \TaskNo := ] < variable (VAR) of num > [ \MecTaskNo:= ] < variable (VAR) of num > )

A function with a return value of the data type string. Related information
For information about Multitasking See Technical reference manual - RAPID overview, sectionRAPID Overview - RAPID summary Multitasking Technical reference manual - RAPID overview, sectionBasic characteristics - Multitasking

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2.64 GetTime - Reads the current time as a numeric value

2.64 GetTime - Reads the current time as a numeric value

Usage GetTime is used to read a specified component of the current system time as a numeric value. GetTime can be used to: Basic examples Basic examples of the function GetTime are illustrated below. Example 1
hour := GetTime(\Hour);

have the program perform an action at a certain time perform certain activities on a weekday abstain from performing certain activities on the weekend respond to errors differently depending on the time of day.

The current hour is stored in the variable hour. Return value Data type: num One of the four time components specified below. Argument
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )

[\WDay] Data type: switch Return the current weekday. Range: 1 to 7 (Monday to Sunday). [\Hour] Data type: switch Return the current hour. Range: 0 to 23. [\Min] Data type: switch Return the current minute. Range: 0 to 59. [\Sec] Data type: switch Return the current second. Range: 0 to 59. One of the arguments must be specified, otherwise program execution stops with an error message.

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2 Functions
2.64 GetTime - Reads the current time as a numeric value Continued More examples More examples of the function GetTime are illustrated below. Example 1
weekday := GetTime(\WDay); hour := GetTime(\Hour); IF weekday < 6 AND hour >6 AND hour < 16 THEN production; ELSE maintenance; ENDIF

If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At all other times, the robot is in the maintenance mode. Syntax
GetTime ( [\ WDay ] | [ \ Hour ] | [ \ Min ] | [ \ Sec ] )

A function with a return value of the type num. Related information

For information about Time and date instructions Setting the system clock See Technical reference manual - RAPID overview, section RAPID summary - System & time Operating manual - IRC5 with FlexPendant, section Changing FlexPendant settings

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2.65 GInputDnum - Read value of group input signal

2.65 GInputDnum - Read value of group input signal

Usage GInputDnum is used to read the current value of a group of digital input signals. Basic examples Basic examples of the function GInputDnum are illustrated below. Example 1
IF GInputDnum(gi2) = 55 THEN ...

If the current value of the signal gi2 is equal to 55, then ... Example 2
IF GInputDnum(gi2) = 4294967295 THEN ...

If the current value of the signal gi2 is equal to 4294967295, then ... Return value Data type: dnum The current value of the signal (a positive integer). The values of each signal in the group are read and interpreted as an unsigned binary number. This binary number is then converted to an integer. The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Allowed value 0-1 0-3 0-7 0-15 0-31 0-63 0-127 0-255 0-511 0-1023 0-2047 0-4095 0-8191 0-16383 0-32767 0-65535 0-131071 0-262143

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2 Functions
2.65 GInputDnum - Read value of group input signal Continued
Number of signals 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Allowed value 0-524287 0-1048575 0-2097151 0-4194303 0-8388607 0-16777215 0-33554431 0-67108863 0-134217727 0-268435455 0-536870911 0-1073741823 0-2147483647 0-4294967295

Arguments
GInputDnum (Signal)

Signal Data type: signalgi The name of the signal group to be read. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
GInputDnum ( [ Signal := ] < variable (VAR) of signalgi > )

A function with a return value of data type dnum. Related information

For information about Input/Output instructions See Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals Technical reference manual - RAPID overview, section Motion and I/O Principles Technical reference manual - System parameters

Input/Output functionality in general Configuration of I/O

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2.66 GOutput - Reads the value of a group of digital output signals

2.66 GOutput - Reads the value of a group of digital output signals

Usage GOutput is used to read the current value of a group of digital output signals. Basic examples Basic example of the function GOutput is illustrated below. Example 1
IF GOutput(go2) = 5 THEN ...

If the current value of the signal go2 is equal to 5, then ... Return value Data type: num The current value of the signal (a positive integer). The values of each signal in the group are read and interpreted as an unsigned binary number. This binary number is then converted to an integer. The value returned lies within a range that is dependent on the number of signals in the group.
No. of signals 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 Permitted value 0-1 0-3 0-7 0-15 0-31 0-63 0-127 0-255 0-511 0-1023 0-2047 0-4095 0-8191 0-16383 0-32767 0-65535 0-131071 0-262143 0-524287 0-1048575 0-2097151

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2 Functions
2.66 GOutput - Reads the value of a group of digital output signals Continued
No. of signals 22 23 Permitted value 0-4194303 0-8388607

Arguments
GOutput (Signal)

Signal Data type: signalgo The name of the signal group to be read. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
GOutput ( [ Signal := ] < variable (VAR) of signalgo > )

A function with a return value of data type num. Related information

For information about Set an output signal group Read a group of output signals Read a group of input signals Input/Output instructions See SetGO - Changes the value of a group of digital output signals on page 459 GOutputDnum - Read value of group output signal on page 922 GInputDnum - Read value of group input signal on page 918 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O Principles Configuration of I/O Technical reference manual - System parameters

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2.67 GOutputDnum - Read value of group output signal

2.67 GOutputDnum - Read value of group output signal

Usage GOutputDnum is used to read the current value of a group of digital output signals. Basic examples Basic examples of the function GOutputDnum are illustrated below. Example 1
IF GOutputDnum(go2) = 55 THEN ...

If the current value of the signal go2 is equal to 55, then ... Example 2
IF GOutputDnum(go2) = 4294967295 THEN ...

If the current value of the signal go2 is equal to 4294967295, then ... Return value Data type: dnum The current value of the signal (a positive integer). The values of each signal in the group are read and interpreted as an unsigned binary number. This binary number is then converted to an integer. The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 Allowed value 0-1 0-3 0-7 0-15 0-31 0-63 0-127 0-255 0-511 0-1023 0-2047 0-4095 0-8191 0-16383 0-32767 0-65535 0-131071 0-262143

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2 Functions
2.67 GOutputDnum - Read value of group output signal Continued
Number of signals 19 20 21 22 23 24 25 26 27 28 29 30 31 32 Allowed value 0-524287 0-1048575 0-2097151 0-4194303 0-8388607 0-16777215 0-33554431 0-67108863 0-134217727 0-268435455 0-536870911 0-1073741823 0-2147483647 0-4294967295

Arguments
GOutputDnum (Signal)

Signal Data type: signalgo The name of the signal group to be read. Error handling The following recoverable errors can be generated. The errors can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the I/O unit. ERR_SIG_NOT_VALID if the I/O signal cannot be accessed. Syntax
GOutputDnum ( [ Signal := ] < variable (VAR) of signalgo > )

A function with a return value of data type dnum. Related information

For information about Set an output signal group Input/Output instructions See SetGO - Changes the value of a group of digital output signals on page 459I Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals Technical reference manual - RAPID overview, section Motion and I/O Principles

Input/Output functionality in general

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2.67 GOutputDnum - Read value of group output signal Continued
For information about Configuration of I/O See Technical reference manual - System parameters

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2 Functions
2.68 HexToDec - Convert from hexadecimal to decimal

2.68 HexToDec - Convert from hexadecimal to decimal

Usage HexToDec is used to convert a number specified in a readable string in the base 16 to the base10. The input string should be constructed from the character set [0-9,A-F,a-f]. This routine handle numbers from 0 up to 9223372036854775807dec or 7FFFFFFFFFFFFFFF hex. Basic examples Basic examples of the function HexToDec are illustrated below. Example 1
VAR string str; str := HexToDec("5F5E0FF");

The variable str is given the value "99999999". Return value Data type: string The string converted to a decimal representation of the given number in the inparameter string. Arguments
HexToDec ( Str )

Str String Data type: string The string to convert. Syntax

HexToDec( [ Str := ] <expression (IN) of string> )

A function with a return value of the data type string. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.69 IndInpos - Independent axis in position status

2.69 IndInpos - Independent axis in position status

Usage IndInpos is used to test whether an independent axis has reached the selected position. Basic examples Basic examples of the function IndInpos are illustrated below Example 1
IndAMove Station_A,1\ToAbsNum:=90,20; WaitUntil IndInpos(Station_A,1) = TRUE; WaitTime 0.2;

Wait until axis 1 of Station_A is in the 90 degrees position. Return value Data type: bool The table describes the return values from IndInpos:
Return value TRUE FALSE Axis status In position and has zero speed. Not in position and/or has not zero speed.

Arguments
IndInpos ( MecUnit Axis )

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). Limitations An independent axis executed with the instruction IndCMove always returns the value FALSE, even when the speed is set to zero. A wait period of 0.2 seconds should be added after the instruction, to ensure that the correct status has been achieved. This time period should be longer for external axes with poor performance. Error handling If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT. If the axis is not in independent mode, the system variable ERRNO will be set to ERR_AXIS_IND. These errors can then be handled in the error handler. Continues on next page
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2 Functions
2.69 IndInpos - Independent axis in position status Continued Syntax
IndInpos ( [ MecUnit:= ] < variable (VAR) of mecunit>, [ Axis:= ] < expression (IN) of num>)

A function with a return value of the data type bool. Related information
For information about Independent axes in general See Technical reference manual - RAPID overview, section Motion and I/O Principles - Positioning during program execution Technical reference manual - RAPID overview, section RAPID summary - Motion

Other independent instruction and functions

Check the speed status for inde- IndSpeed - Independent speed status on page 928 pendent axes Defining independent joints Technical reference manual - System parameters, section Motion - Arm

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2.70 IndSpeed - Independent speed status

2.70 IndSpeed - Independent speed status

Usage IndSpeed is used to test whether an independent axis has reached the selected speed. Basic examples Basic examples of the function IndSpeed are illustrated below. Example 1
IndCMove Station_A, 2, 3.4; WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE; WaitTime 0.2;

Wait until axis 2 of Station_A has reached the speed 3.4 degrees/s. Return value Data type: bool The table describes the return values from IndSpeed \IndSpeed:
Return value TRUE FALSE Axis status Has reached the selected speed. Has not reached the selected speed.

The table describes the return values from IndSpeed \ZeroSpeed:

Return value TRUE FALSE Axis status Zero speed. Not zero speed

Arguments
IndSpeed ( MecUnit Axis [ \InSpeed ] | [ \ZeroSpeed ] )

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Axis Data type: num The number of the current axis for the mechanical unit (1-6). [ \InSpeed ] Data type: switch IndSpeed returns value TRUE if the axis has reached the selected speed otherwise FALSE. [ \ZeroSpeed ] Data type: switch Continues on next page
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2 Functions
2.70 IndSpeed - Independent speed status Continued IndSpeed returns value TRUE if the axis has zero speed otherwise FALSE. If both the arguments \InSpeed and \ZeroSpeed are omitted, an error message will be displayed. Limitation The function IndSpeed\InSpeed will always return the value FALSE in the following situations: The robot is in manual mode with reduced speed. The speed is reduced using the VelSet instruction. The speed is reduced from the production window.

A wait period of 0.2 seconds should be added after the instruction to ensure that the correct status is obtained. This time period should be longer for external axes with poor performance. Error handling If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT. If the axis is not in independent mode, the system variable ERRNO will be set to ERR_AXIS_IND. These errors can then be handled in the error handler. Syntax
IndSpeed ( [ MecUnit:= ] < variable (VAR) of mecunit>, [ Axis:= ] < expression (IN) of num> [ \ InSpeed ] | [ \ ZeroSpeed ] )

A function with a return value of the data type bool. Related information
For information about Independent axes in general See Technical reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution Technical reference manual - RAPID overview, section RAPID summary - Motion IndCMove - Independent continuous movement on page 146 IndInpos - Independent axis in position status on page 926 Technical reference manual - System parameters, section Motion - Arm

Other independent instruction and functions More examples Check the position status for independent axes Defining independent joints

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2.71 IOUnitState - Get current state of I/O unit

2.71 IOUnitState - Get current state of I/O unit

Usage IOUnitState is used to find out the current state of an I/O unit. It is physical state and logical state define the status for an I/O unit. Basic examples Basic examples of the instruction IOUnitState are illustrated below. Example 1
IF (IOUnitState("UNIT1" \Phys)=IOUNIT_PHYS_STATE_RUNNING) THEN ! Possible to access some signal on the I/O unit ELSE ! Read/Write some signal on the I/O unit result in error ENDIF

Test is done to see if the I/O unit UNIT1 is up and running. Example 2
IF (IOUnitState("UNIT1" \Logic)=IOUNIT_LOG_STATE_DISABLED) THEN ! Unit is disabled by user from RAPID or FlexPendant ELSE ! Unit is enabled. ENDIF

Test is done to see if the I/O unit UNIT1 is disabled. Return value Data type: iounit_state The return value has different values depending on if the optional arguments \Logic or \Phys or no optional argument at all is used. The I/O unit logical states describes the state a user can order the I/O unit into.The state of the I/O unit as defined in the table below when using optional argument \Logic.
Return value 10 Symbolic constant IOUNIT_LOG_STATE_DISABLED Comment I/O unit is disabled by user from RAPID, FlexPendant or System Parameters. I/O unit is enabled by user from RAPID, FlexPendant or System Parameters. Default after startup.

11

IOUNIT_LOG_STATE_ENABLED

When the I/O unit is logically enabled by the user and the fieldbus driver intends to take an I/O unit into physical state IOUNIT_PHYS_STATE_RUNNING, the I/O unit could get into other states for various reasons (see table below).

Continues on next page

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2 Functions
2.71 IOUnitState - Get current state of I/O unit Continued The state of the I/O unit as defined in the table below when using optional argument \Phys.
Return value 20 21 22 23 Symbolic constant IOUNIT_PHYS_STATE_DEACTIVATED IOUNIT_PHYS_STATE_RUNNING IOUNIT_PHYS_STATE_ERROR IOUNIT_PHYS_STATE_UNCONNECTED Comment I/O unit is not running, disabled by user I/O unit is running I/O unit is not working because of some runtime error I/O unit is configured but not connected to the I/O bus or the I/O bus is stopped

24 25 26

IOUNIT_PHYS_STATE_UNCONFIGURED I/O unit is not configured but connected to the I/O bus. 1) IOUNIT_PHYS_STATE_STARTUP IOUNIT_PHYS_STATE_INIT I/O unit is in start up mode. 1) I/O unit is created. 1)

Note For RobotWare 5.08 and earlier versions it is not possible to use the instruction IOUnitState with optional arguments \Phys or \Logic. From RobotWare 5.09 it is recommended to use the optional arguments \Phys or \Logic. The state of the I/O unit is defined in the table below when not using any of the optional arguments \Phys or \Logic.
Return value 1 2 3 4
1) Not

Symbolic constant IOUNIT_RUNNING IOUNIT_RUNERROR IOUNIT_DISABLE IOUNIT_OTHERERR

Comment I/O unit is up and running I/O unit is not working because of some runtime error I/O unit is disabled by user from RAPID or FlexPendant Other configuration or startup errors

possible to get this state in the RAPID program with current version of RobotWare - OS. Arguments
IOUnitState (UnitName [\Phys] | [\Logic])

UnitName Data type: string The name of the I/O unit to be checked (with same name as configured). [\Phys] Physical Data type: switch If using this parameter the physical state of the I/O unit is read. Continues on next page
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2 Functions
2.71 IOUnitState - Get current state of I/O unit Continued [\Logic] Logical Data type: switch If using this parameter the logical state of the I/O unit is read. Syntax
IOUnitState ( [ UnitName := ] < expression (IN) of string > [ \ Phys] | [ \ Logic] )

A function with a return value of the data type iounit_state. Related information
For information about State of I/O unit Enable an I/O unit Disabling an I/O unit Input/Output instructions See iounit_state - State of I/O unit on page 1188 IOEnable - Enable I/O unit on page 171 IODisable - Disable I/O unit on page 168 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O Principles Configuration of I/O Technical reference manual - System parameters

932 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.72 IsFile - Check the type of a file

2.72 IsFile - Check the type of a file

Usage The IsFile function obtains information about the named file or directory and checks whether it is the same as the specified type. If no type is specified, only an existence check is performed. The path argument specifies the file. Read, write or execute permission for the named file is not required, but all directories listed in the path name leading to the file must be searchable. Basic examples Basic examples of the function IsFile are illustrated below. See also More examples on page 934. Example 1
PROC printFT(string filename) IF IsFile(filename \Directory) THEN TPWrite filename+" is a directory"; RETURN; ENDIF IF IsFile(filename \Fifo) THEN TPWrite filename+" is a fifo file"; RETURN; ENDIF IF IsFile(filename \RegFile) THEN TPWrite filename+" is a regular file"; RETURN; ENDIF IF IsFile(filename \BlockSpec) THEN TPWrite filename+" is a block special file"; RETURN; ENDIF IF IsFile(filename \CharSpec) THEN TPWrite filename+" is a character special file"; RETURN; ENDIF ENDPROC

This example prints out the filename and the type of the specified file on the FlexPendant. Return value Data type: bool The function will return TRUE if the specified type and actual type match, otherwise FALSE. When no type is specified, it returns TRUE if the file exists and otherwise FALSE.

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2 Functions
2.72 IsFile - Check the type of a file Continued Arguments
IsFile (Path [\Directory] [\Fifo] [\RegFile] [\BlockSpec] [\CharSpec])

Path Data type: string The file specified with a full or relative path. [ \Directory ] Data type: switch Is the file a directory. [ \Fifo ] Data type: switch Is the file a fifo file. [ \RegFile ] Data type: switch Is the file a regular file, i.e. a normal binary or ASCII file. [ \BlockSpec ] Data type: switch Is the file a block special file. [ \CharSpec ] Data type: switch Is the file a character special file. Program execution This function returns a bool that specifies match or not. More examples More examples of the function IsFile are illustrated below. Example 1 This example implements a generic traverse of a directory structure function.
PROC searchdir(string dirname, string actionproc) VAR dir directory; VAR string filename; IF IsFile(dirname \Directory) THEN OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO ! .. and . is the parent and resp. this directory IF filename <> ".." AND filename <> "." THEN searchdir dirname+"/"+filename, actionproc; ENDIF ENDWHILE CloseDir directory; ELSE %actionproc% dirname;

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2 Functions
2.72 IsFile - Check the type of a file Continued
ENDIF ERROR RAISE; ENDPROC PROC listfile(string filename) TPWrite filename; ENDPROC PROC main() ! Execute the listfile routine for all files found under the ! tree of HOME: searchdir "HOME:","listfile"; ENDPROC

This program traverses the directory structure under the "HOME:" and for each file found, it calls the listfile procedure. The searchdir is the generic part that knows nothing about the start of the search or which routine should be called for each file. It uses IsFile to check whether it has found a subdirectory or a file and it uses the late binding mechanism to call the procedure specified in actionproc for all files found. The actionproc routine should be a procedure with one parameter of the type string. Error handling If the file does not exist and there is a type specified, the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Limitations This function is not possible to use against serial channels or field buses. If using against FTP or NFS mounted discs, the file existance or type information is not always updated. To get correct information an explicit order may be needed against the search path (with instruction Open) before using IsFile. Syntax
Isfile ( [ Path:= ] < expression (IN) of string> [ \Directory ] | [ \Fifo ] | [ \RegFile ] | [ \BlockSpec ] | [ \CharSpec ] )

A function with a return value of the data type bool. Related information
For information about Directory Open a directory See dir - File directory structure on page 1163 OpenDir - Open a directory on page 301

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2 Functions
2.72 IsFile - Check the type of a file Continued
For information about Close a directory Read a directory Make a directory Remove a directory Rename a file Remove a file Copy a file Check file size Check file system size See CloseDir - Close a directory on page 64 ReadDir - Read next entry in a directory on page 1001 MakeDir - Create a new directory on page 224 RemoveDir - Delete a directory on page 370 RenameFile - Rename a file on page 373 RemoveFile - Delete a file on page 372 CopyFile - Copy a file on page 73 FileSize - Retrieve the size of a file on page 893 FSSize - Retrieve the size of a file system on page 899

File and serial channel handling Application manual - Robot communication and I/O control

936 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.73 IsMechUnitActive - Is mechanical unit active

2.73 IsMechUnitActive - Is mechanical unit active

Usage IsMechUnitActive (Is Mechanical Unit Active) is used to check whether a mechanical unit is activated or not. Basic examples Basic examples of the function IsMechUnitActive are illustrated below. Example 1 IF IsMechUnitActive(SpotWeldGun) CloseGun SpotWeldGun; If the mechanical unit SpotWeldGun is active, the routine CloseGun will be invoked in which the gun is closed. Return value Data type: bool The function returns: Arguments
IsMechUnitActive ( MechUnit )

TRUE, if the mechanical unit is active FALSE, if the mechanical unit is deactive

MechUnit Mechanical Unit Data type: mecunit The name of the mechanical unit. Syntax
IsMechUnitActive ( [MechUnit:=] < variable (VAR) of mecunit> ,

A function with a return value of the data type bool. Related information
For information about Activating mechanical units Deactivating mechanical units Mechanical units See ActUnit - Activates a mechanical unit on page 21 DeactUnit - Deactivates a mechanical unit on page 88 mecunit - Mechanical unit on page 1200

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2 Functions
2.74 IsPers - Is persistent

2.74 IsPers - Is persistent

Usage IsPers is used to test if a data object is a persistent variable or not. Basic examples Basic examples of the function IsPers are illustrated below. Example 1
PROC procedure1 (INOUT num parameter1) IF IsVar(parameter1) THEN ! For this call reference to a variable ... ELSEIF IsPers(parameter1) THEN ! For this call reference to a persistent variable ... ELSE ! Should not happen EXIT; ENDIF ENDPROC

The procedure procedure1 will take different actions depending on whether the actual parameter parameter1 is a variable or a persistent variable. Return value Data type: bool TRUE if the tested actual INOUT parameter is a persistent variable. FALSE if the tested actual INOUT parameter is not a persistent variable. Arguments
IsPers (DatObj)

DatObj() Data Object Data type: any type The name of the formal INOUT parameter. Syntax
IsPers( [ DatObj := ] < var or pers (INOUT) of any type > )

A function with a return value of the data type bool. Related information
For information about Test if variable Types of parameters (access modes) See IsVar - Is variable on page 946 Technical reference manual - RAPID overview, section Basic characteristics - Routines

938 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.75 IsStopMoveAct - Is stop move flags active

2.75 IsStopMoveAct - Is stop move flags active

Usage IsStopMoveAct is used to get the status of the stop move flags for a current or connected motion task. Basic examples Basic examples of the function IsStopMoveAct are illustrated below. Example 1
stopflag2:= IsStopMoveAct(\FromNonMoveTask);

stopflag2 will be TRUE if the stop move flag from non-motion tasks is set in current or connected motion task, else it will be FALSE. Example 2
IF IsStopMoveAct(\FromMoveTask) THEN StartMove; ENDIF

If the stop move flag from motion task is set in the current motion task, it will be reset by the StartMove instruction. Return value Data type: bool The return value will be TRUE if the selected stop move flag is set, else the return value will be FALSE. Arguments
IsStopMoveAct ( [\FromMoveTask] | [\FromNonMoveTask] )

[\FromMoveTask] Data type: switch FromMoveTask is used to get the status of the stop move flag of type private motion task. This type of stop move flag can only be set by: The motion task itself with instruction StopMove After leaving the RestoPath level in the program At execution in an asynchronous error handler for process- or motion errors before any StorePath and after any RestoPath

[\FromNonMoveTask] Data type: switch FromNonMoveTask is used to get the status of the stop move flag of type any non-motion tasks. This type of stop move flag can only be set by any non-motion task in connected or all motion tasks with the instruction StopMove.

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2 Functions
2.75 IsStopMoveAct - Is stop move flags active Continued Syntax
IsStopMoveAct( [\ FromMoveTask] | [\ FromNonMoveTask] )

A function with a return value of the data type bool. Related information
For information about Stop robot movement Restart robot movement See StopMove - Stops robot movement on page 542 StartMove - Restarts robot movement on page 513

940 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.76 IsStopStateEvent - Test whether moved program pointer

2.76 IsStopStateEvent - Test whether moved program pointer

Usage IsStopStateEvent returns information about the movement of the Program Pointer (PP) in current program task. Basic examples Basic examples of the function IsStopStateEvent are illustrated below. Example 1
IF IsStopStateEvent (\PPMoved) = TRUE THEN ! PP has been moved during the last program stop ELSE ! PP has not been moved during the last program stop ENDIF IF IsStopStateEvent (\PPToMain) THEN ! PP has been moved to main routine during the last program stop ENDIF

Return value Data type: bool Status if and how PP has been moved during the last stop state. TRUE if PP has been moved during the last stop. FALSE if PP has not been moved during the last stop. If PP has been moved to the main routine, both \PPMoved and \PPToMain will return TRUE. If PP has been moved to a routine, both \PPMoved and \PPToMain will return TRUE. If PP has been moved within a list of a routine, \PPMoved will return TRUE and \PPToMain will return FALSE. After calling a service routine (keep execution context in main program sequence) \PPMove will return FALSE and \PPToMain will return FALSE. Arguments
IsStopStateEvent ([\PPMoved] | [\PPToMain])

[ \PPMoved ] Data type: switch Test whether PP has been moved. [ \PPToMain ] Data type: switch Test whether PP has been moved to main or to a routine.

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2 Functions
2.76 IsStopStateEvent - Test whether moved program pointer Continued Limitations This function in most cases cannot be used during forward or backward execution because the system is in stop state between every single step. Syntax
IsStopStateEvent( [\ PPMoved] | [\ PPToMain] )

A function with a return value of the data type bool. Related information
For information about Making own instructions See Technical reference manual - RAPID overview, section - Programming off-line - Making your own instructions

942 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.77 IsSyncMoveOn - Test if in synchronized movement mode

2.77 IsSyncMoveOn - Test if in synchronized movement mode

Usage IsSyncMoveOn is used to test if the current program task of type Motion Task is in synchronized movement mode or not. It is also possible from some Non Motion Task to test if the connected Motion Task is in synchronized movement mode or not. The system parameter Controller/Tasks/Use Mechanical Unit Group define the connected Motion Task. When the Motion Task is executing at StorePath level IsSyncMoveOn will test if the task is in synchronized mode on that level, independently of the synchronized mode on the original level. The instruction IsSyncMoveOn is usually used in a MultiMove system with option Coordinated Robots but can be used in any system and in any program task. Basic examples Basic examples of the function IsSyncMoveOn are illustrated below. Example 1 Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; VAR syncident sync2; VAR syncident sync3; PROC main() ... MoveL p_zone, vmax, z50, tcp1; WaitSyncTask sync1, task_list; MoveL p_fine, v1000, fine, tcp1; syncmove; ... ENDPROC PROC syncmove() SyncMoveOn sync2, task_list; MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj; MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj; SyncMoveOff sync3; UNDO SyncMoveUndo; ENDPROC

Program example in task BCK1

PROC main() ... IF IsSyncMoveOn() THEN ! Connected Motion Task is in synchronized movement mode ELSE ! Connected Motion Task is in independent mode

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2 Functions
2.77 IsSyncMoveOn - Test if in synchronized movement mode Continued
ENDIF ... ENDPROC

At the execution time of IsSyncMoveOn, in the background task BCK1, we test if the connected motion task at that moment is in synchronized movement mode or not. Return value Data type: bool TRUE if current or connected program task is in synchronized movement mode at the moment, otherwise FALSE. Program execution Test if current or connected program task is in synchronized movement mode at the moment or not. If the MotionTask is executing at StorePath level, the SyncMoveOn will test if the task is in synchronized movement on the StorePath level, not on the original level. Syntax
IsSyncMoveOn ( )

A function with a return value of the data type bool. Related information
For information about Specify cooperated program tasks Identity for synchronization point See tasks - RAPID program tasks on page 1267 syncident - Identity for synchronization point on page 1263

Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561 End coordinated synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555 Set independent movements Store path and execute on new level SyncMoveUndo - Set independent movements on page 571 StorePath - Stores the path when an interrupt occurs on page 548

944 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.78 IsSysId - Test system identity

2.78 IsSysId - Test system identity

Usage IsSysId (System Identity) can be used to test the system identity using the system serial number. Basic examples Basic examples of the function IsSysId are illustrated below. Example 1
IF NOT IsSysId("6400-1234") THEN ErrWrite "System identity fault","Faulty system identity for this program"; EXIT; ENDIF

The program is made for a special robot system with serial number 6400-1234 and cannot be used by another robot system. Return value Data type: bool TRUE = The robot system serial number is the same as specified in the test. FALSE = The robot system serial number is not the same as specified in the test. Arguments
IsSysId ( SystemId)

SystemId Data type: string The robot system serial number, marking the system identity. Syntax
IsSysId ( [ SystemId:= ] < expression (IN) of string> )

A function with a return value of the data type bool. Related information
For information about Read system information See GetSysInfo - Get information about the system on page 911

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2 Functions
2.79 IsVar - Is variable

2.79 IsVar - Is variable

Usage IsVar is used to test whether a data object is a variable or not. Basic examples Basic examples of the function IsVar are illustrated below. Example 1
PROC procedure1 (INOUT num parameter1) IF IsVAR(parameter1) THEN ! For this call reference to a variable ... ELSEIF IsPers(parameter1) THEN ! For this call reference to a persistent variable ... ELSE ! Should not happen EXIT; ENDIF ENDPROC

The procedure procedure1 will take different actions, depending on whether the actual parameter parameter1 is a variable or a persistent variable. Return value Data type: bool TRUE if the tested actual INOUT parameter is a variable. FALSE if the tested actual INOUT parameter is not a variable. Arguments
IsVar (DatObj)

DatObj Data Object Data type: any type The name of the formal INOUT parameter. Syntax
IsVar( [ DatObj := ] < var or pers (INOUT) of any type > )

A function with a return value of the data type bool. Related information
For information about Test if persistent Types of parameters (access modes) See IsPers - Is persistent on page 938 Technical reference manual - RAPID overview, section Basic characteristics - Routines

946 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.80 MaxRobSpeed - Maximum robot speed

2.80 MaxRobSpeed - Maximum robot speed

Usage MaxRobSpeed (Maximum Robot Speed) returns the maximum TCP speed for the used robot type. Basic examples Basic examples of the function MaxRobSpeed are illustrated below. Example 1
TPWrite "Max. TCP speed in mm/s for my robot="\Num:=MaxRobSpeed();

The message Max. TCP speed in mm/s for my robot = 5000 is written on the FlexPendant. Return value Data type: num Return the max. TCP speed in mm/s for the used robot type and normal practical TCP values. If extremely large TCP values are used in the tool frame, one should create his own speeddata with bigger TCP speed than returned by MaxRobSpeed. Syntax
MaxRobSpeed ( )

A function with a return value of the data type num. Related information
For information about Definition of velocity Definition of maximum velocity See speeddata - Speed data on page 1248 VelSet - Changes the programmed velocity on page 693

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2 Functions
2.81 MirPos - Mirroring of a position

2.81 MirPos - Mirroring of a position

Usage MirPos (Mirror Position) is used to mirror the translation and rotation parts of a position. Basic examples Basic examples of the function MirPos are illustrated below.
CONST robtarget p1:= [...]; VAR robtarget p2; PERS wobjdata mirror:= [...]; ... p2 := MirPos(p1, mirror);

p1 is a robtarget storing a position of the robot and an orientation of the tool. This position is mirrored in the xy-plane of the frame defined by mirror, relative to the world coordinate system. The result is new robtarget data, which is stored in p2. Return value Data type: robtarget The new position which is the mirrored position of the input position. Arguments
MirPos (Point MirPlane [\WObj] [\MirY])

Point Data type: robtarget The input robot position. The orientation part of this position defines the current orientation of the tool coordinate system. MirPlane Mirror Plane Data type: wobjdata The work object data defining the mirror plane. The mirror plane is the xy-plane of the object frame defined in MirPlane. The location of the object frame is defined relative to the user frame (also defined in MirPlane) which in turn is defined relative to the world frame. [\WObj] Work Object Data type: wobjdata The work object data defining the object frame and user frame relative to which the input position Point is defined. If this argument is left out the position is defined relative to the World coordinate system. NOTE! If the position is created with an active work object, this work object must be referred to in the argument. Continues on next page
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2 Functions
2.81 MirPos - Mirroring of a position Continued [\MirY] Mirror Y Data type: switch If this switch is left out, which is the default behavior, the tool frame will be mirrored with regards to the x-axis and the z-axis. If the switch is specified the tool frame will be mirrored with regards to the y-axis and the z-axis. Limitations No recalculation is done of the robot configuration part of the input robtarget data. If a coordinate frame is used, the coordinated unit has to be situated in the same task as the robot. Syntax
MirPos( [ Point := ] < expression (IN) of robtarget>, [MirPlane :=] <expression (IN) of wobjdata>, [\WObj := <expression (IN) of wobjdata> ] [\MirY ])

A function with a return value of the data type robtarget. Related information
For information about Mathematical instructions and functions Position data Work object data See Technical reference manual - RAPID overview, section RAPID Summary - Mathematics robtarget - Position data on page 1239 wobjdata - Work object data on page 1290

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2.82 ModExist - Check if program module exist

2.82 ModExist - Check if program module exist

Usage ModExist (Module Exist) is used to check whether a given module exists or not in the program task. Searching is first done for loaded modules and afterward, if none is found, for installed modules. Basic examples Basic examples of the function ModExist are illustrated below. Example 1
VAR bool mod_exist; mod_exist:=ModExist ("MyModule");

If module MyModule exists within the task, the function will return TRUE. If not, the function will return FALSE. Return value Data type: bool TRUE if the module was found, FALSE if not. Arguments
ModExist (ModuleName)

ModuleName Data type: string Name of the module to search for. Syntax
ModExist ( [ ModuleName := ] < expression (IN) of string > )

A function with a return value of the data type bool. Related information
For information about Find modify time for loaded module See ModTime - Get file modify time for the loaded module on page 951

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2.83 ModTime - Get file modify time for the loaded module

2.83 ModTime - Get file modify time for the loaded module
Usage ModTime (Modify Time) is used to retrieve the last file modification time for the loaded module. The module is specified by its name and must be in the task memory. The time is measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num and optionally also as a stringdig. Basic examples Basic examples of the function ModTime are illustrated below. See also More examples on page 952. Example 1
MODULE mymod VAR num mytime; PROC printMyTime() mytime := ModTime("mymod"); TPWrite "My time is "+NumToStr(mytime,0); ENDPROC ENDMODULE

Return value Data type: num The time measured in seconds since 00:00:00 GMT, Jan. 1 1970. Arguments
ModTime ( Object [\StrDig] )

Object Data type: string The name of the module. [\StrDig] String Digit Data type: stringdig To get the mod loading time in a stringdig representation. Further use in StrDigCmp can handle positive integers above 8388608 with exact representation. Program execution This function returns a numeric value that specifies the last time a file was modified before it was loaded as a program module in the system.

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2.83 ModTime - Get file modify time for the loaded module Continued More examples More examples of the function ModTime are illustrated below. Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime) > ModTime ("mymod") THEN UnLoad "HOME:/mymod.mod"; Load \Dynamic, "HOME:/mymod.mod"; ENDIF

This program reloads a module if the source file is newer. It uses the ModTime to retrieve the latest modify time for the specified module, and compares it to the FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and loads the module again. Limitation in this example: The data type num cant handle positive integers above 8388608 seconds with exact representation. To get better dissolution, see example in function StrDigCmp. Error handling If no module with specified name is in the program task, the system variable ERRNO is set to ERR_MOD_NOT_LOADED. This error can then be handled in the error handler. Limitations This function will always return 0 if used on a module that is encoded or installed shared. Syntax
ModTime ( [ Object := ] < expression (IN) of string> [ '\' StrDig := < variable (VAR) of stringdig> ] )

A function with a return value of the data type num. Related information
For information about Retrieve time information about a file String with only digits Compare two strings with only digits See FileTime - Retrieve time information about a file on page 896 stringdig - String with only digits on page 1260 StrDigCmp - Compare two strings with only digits on page 1047

952 Copyright 2004-2012 ABB. All rights reserved.

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2.84 MotionPlannerNo - Get connected motion planner number

2.84 MotionPlannerNo - Get connected motion planner number

Usage MotionPlannerNoreturns the connected motion planner number. If executing MotionPlannerNo in a motion task, it returns its planner number. Else if executing MotionPlannerNo in a non-motion task it returns the connected motion planner number according to the setup in the system parameters. Basic examples Basic examples of the function MotionPlannerNo are illustrated below. Example 1
!Motion task T_ROB1 PERS string buffer{6} := ["", "", "", "", "", ""]; VAR num motion_planner; PROC main() ... MoveL point, v1000, fine, tcp1; motion_planner := MotionPlannerNo(); buffer{motion_planner} := "READY"; ... ENDPROC !Background task BCK1 PERS string buffer{6}; VAR num motion_planner; VAR string status; PROC main() ... motion_planner := MotionPlannerNo(); status := buffer{motion_planner}; ... ENDPROC !Motion T_ROB2 PERS string buffer{6}; VAR num motion_planner; PROC main() ... MoveL point, v1000, fine, tcp1; motion_planner := MotionPlannerNo(); buffer{motion_planner} := "READY"; ... ENDPROC !Background task BCK2 PERS string buffer{6}; VAR num motion_planner; VAR string status;

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2.84 MotionPlannerNo - Get connected motion planner number Continued
PROC main() ... motion_planner := MotionPlannerNo(); status := buffer{motion_planner}; ... ENDPROC

Use the function MotionPlannerNo to find out which motion planner number is connected to the task. The exact same code can by implemented in all motion tasks and background tasks. Then each background task can check the status for their connected motion task. Return value Data type:num The number of the connected motion planner. For non-motion tasks, the motion planner number of the associated mechanical unit will be returned. The return value range is 1 ... 6. Syntax
MotionPlannerNo( )

A function with a return value of the data type num. Related information
For information about Specify cooperated program tasks See Technical reference manual - System parameters, section Controller - Task

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2.85 NonMotionMode - Read the Non-Motion execution mode

2.85 NonMotionMode - Read the Non-Motion execution mode

Usage NonMotionMode (Non-Motion Execution Mode) is used to read the current Non-Motion execution mode of the program task. Non-motion execution mode is selected or removed from the FlexPendant under the menu ABB\Control Panel\Supervision. Basic examples Basic examples of the function NonMotionMode are illustrated below. Example 1
IF NonMotionMode() =TRUE THEN ... ENDIF

The program section is executed only if the robot is in Non-Motion execution mode. Return value Data type: bool The current Non-motion mode as defined in the table below.
Return value 0 1 Symbolic constant FALSE TRUE Comment Non-Motion execution is not used Non-Motion execution is used

Arguments
NonMotionMode ( [ \Main] )

[ \Main ] Data type: switch Return current running mode for connected motion task. Used in a multi-tasking system to get the current running mode for the actual task, if it is a motion task or connected motion task, if function NonMotionMode is executed in a nonmotion task. If this argument is omitted, the return value always mirrors the current running mode for the program task that executes the function NonMotionMode. Note that the execution mode is connected to the system and not any task. This means that all tasks in a system will give the same return value from NonMotionMode. Syntax
NonMotionMode ( [\Main])

A function with a return value of the data type bool.

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2 Functions
2.85 NonMotionMode - Read the Non-Motion execution mode Continued Related information
For information about Reading operating mode See OpMode - Read the operating mode on page 964

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2.86 NOrient - Normalize orientation

2.86 NOrient - Normalize orientation

Usage NOrient (Normalize Orientation) is used to normalize un-normalized orientation (quaternion). Description An orientation must be normalized, i.e. the sum of the squares must equal 1:

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If the orientation is slightly un-normalized, it is possible to normalize it. The normalization error is the absolute value of the sum of the squares of the orientation components. The orientation is considered to be slightly un-normalized if the normalization error is greater then 0.00001 and less then 0.1. If the normalization error is greater then 0.1 the orient is unusable.

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normerr > 0.1Unusable normerr > 0.00001 AND normerr <= 0.1Slightly un-normalized normerr <= 0.00001Normalized Basic examples Basic examples of the function NOrient are illustrated below. Example 1 We have a slightly un-normalized position (0.707170, 0, 0, 0.707170)

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VAR orient unnormorient := [0.707170, 0, 0, 0.707170]; VAR orient normorient; ... ... normorient := NOrient(unnormorient);

The normalization of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes (0.707107, 0, 0, 0.707107). Return value Data type: orient The normalized orientation. Continues on next page
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2 Functions
2.86 NOrient - Normalize orientation Continued Arguments
NOrient (Rotation)

Rotation Data type: orient The orientation to be normalized. Syntax

NOrient( [Rotation :=] <expression (IN) of orient> )

A function with a return value of the data type orient. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics

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2.87 NumToDnum - Converts num to dnum

2.87 NumToDnum - Converts num to dnum

Usage NumToDnum converts a num to a dnum. Basic examples A basic example of the function NumToDnum is illustrated below. Example 1
VAR num mynum:=55; VAR dnum mydnum:=0; mydnum:=NumToDnum(mynum);

The num value 55 is returned by the function as the dnum value 55. Return value Data type: dnum The return value of type dnum will have the same value as the input value of type num. Arguments
NumToDnum (Value)

Value Data type: num The numeric value to be converted. Syntax

NumToDnum( [ Value := ] < expression (IN) of num > )

A function with a return value of the data type dnum. Related information
For information about Num data type Dnum data type See num - Numeric values on page 1207 dnum - Double numeric values on page 1164

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2.88 NumToStr - Converts numeric value to string

2.88 NumToStr - Converts numeric value to string

Usage NumToStr (Numeric To String) is used to convert a numeric value to a string. Basic examples Basic examples of the function NumToStr are illustrated below. Example 1
VAR string str; str := NumToStr(0.38521,3);

The variable str is given the value "0.385". Example 2

reg1 := 0.38521; str := NumToStr(reg1, 2\Exp);

The variable str is given the value "3.85E-01". Return value Data type: string The numeric value converted to a string with the specified number of decimals, with exponent if so requested. The numeric value is rounded if necessary. The decimal point is suppressed if no decimals are included. Arguments
NumToStr (Val Dec [\Exp])

Val Value Data type: num The numeric value to be converted. Dec Decimals Data type: num Number of decimals. The number of decimals must not be negative or greater than the available precision for numeric values. [\Exp] Exponent Data type: switch To use exponent in return value. Syntax
NumToStr( [ Val := ] <expression (IN) of num> [ Dec := ] <expression (IN) of num> [\ Exp

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2 Functions
2.88 NumToStr - Converts numeric value to string Continued
)

A function with a return value of the data type string. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

Convert a dnum numeric value to DnumToStr - Converts numeric value to string on a string page 880

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2.89 Offs - Displaces a robot position

2.89 Offs - Displaces a robot position

Usage Offs is used to add an offset in the object coordinate system to a robot position. Basic examples Basic examples of the function Offs are illustrated below. See also More examples on page 962.
MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;

The robot is moved to a point 10 mm from the position p2 (in the z-direction).
p1 := Offs (p1, 5, 10, 15);

The robot position p1 is displaced 5 mm in the x-direction, 10 mm in the y-direction and 15 mm in the z-direction. Return value Data type: robtarget The displaced position data. Arguments
Offs (Point XOffset YOffset ZOffset)

Point Data type: robtarget The position data to be displaced. XOffset Data type: num The displacement in the x-direction, in the object coordinate system. YOffset Data type: num The displacement in the y-direction, in the object coordinate system. ZOffset Data type: num The displacement in the z-direction, in the object coordinate system. More examples More examples of the function Offs are illustrated below. Example 1
PROC pallet (num row, num column, num distance, PERS tooldata tool, PERS wobjdata wobj) VAR robtarget palletpos:=[[0, 0, 0], [1, 0, 0, 0], [0, 0, 0, 0], [9E9, 9E9, 9E9, 9E9, 9E9, 9E9]]; palettpos := Offs (palettpos, (row-1)*distance, (column-1)*distance, 0); MoveL palettpos, v100, fine, tool\WObj:=wobj;

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2 Functions
2.89 Offs - Displaces a robot position Continued
ENDPROC

A routine for picking parts from a pallet is made. Each pallet is defined as a work object (see figure below). The part to be picked (row and column) and the distance between the parts are given as input parameters. Incrementing the row and column index is performed outside the routine. The figure shows the position and orientation of the pallet is specified by defining a work object.

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Syntax
Offs ( [Point :=] <expression (IN) of robtarget> , [XOffset :=] <expression (IN) of num> , [YOffset :=] <expression (IN) of num> , [ZOffset :=] <expression (IN) of num> )

A function with a return value of the data type robtarget. Related information
For information about Position data Mathematical instructions and functions Positioning instructions See robtarget - Position data on page 1239 Technical reference manual - RAPID overview, section RAPID Summary - Mathematics Technical reference manual - RAPID overview, section RAPID summary - Motion

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2.90 OpMode - Read the operating mode

2.90 OpMode - Read the operating mode

Usage OpMode(Operating Mode) is used to read the current operating mode of the system. Basic examples Basic examples of the function OpMode are illustrated below. Example 1
TEST OpMode() CASE OP_AUTO: ... CASE OP_MAN_PROG: ... CASE OP_MAN_TEST: ... DEFAULT: ... ENDTEST

Different program sections are executed depending on the current operating mode. Return value Data type: symnum The current operating mode as defined in the table below.
Return value 0 1 2 3 Symbolic constant OP_UNDEF OP_AUTO OP_MAN_PROG OP_MAN_TEST Comment Undefined operating mode Automatic operating mode Manual operating mode max. 250 mm/s Manual operating mode full speed, 100 %

Syntax
OpMode( )

A function with a return value of the data type symnum. Related information
For information about Different operating modes Reading running mode See Operating manual - IRC5 with FlexPendant RunMode - Read the running mode on page 1029

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2.91 OrientZYX - Builds an orient from euler angles

2.91 OrientZYX - Builds an orient from euler angles

Usage OrientZYX (Orient from Euler ZYX angles) is used to build an orient type variable out of Euler angles. Basic examples Basic examples of the function OrientZYX are illustrated below. Example 1
VAR num anglex; VAR num angley; VAR num anglez; VAR pose object; ... object.rot := OrientZYX(anglez, angley, anglex)

Return value Data type: orient The orientation made from the Euler angles. The rotations will be performed in the following order: Arguments
OrientZYX (ZAngle YAngle XAngle)

rotation around the z axis, rotation around the new y axis, rotation around the new x axis.

ZAngle Data type: num The rotation, in degrees, around the Z axis. YAngle Data type: num The rotation, in degrees, around the Y axis. XAngle Data type: num The rotation, in degrees, around the X axis. The rotations will be performed in the following order: Syntax
OrientZYX( [ZAngle:=] <expression (IN) of num> ,

rotation around the z axis, rotation around the new y axis, rotation around the new x axis.

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2.91 OrientZYX - Builds an orient from euler angles Continued
[YAngle :=] <expression (IN) of num> , [XAngle:=] <expression (IN) of num> )

A function with a return value of the data type orient. Related information
For information about Mathematical instructions and functions See Operating manual - IRC5 with FlexPendant, sectionRAPID summary - Mathematics

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2.92 ORobT - Removes the program displacement from a position

2.92 ORobT - Removes the program displacement from a position

Usage ORobT (Object Robot Target) is used to transform a robot position from the program displacement coordinate system to the object coordinate system and/or to remove an offset for the external axes. Basic examples Basic examples of the function ORobT are illustrated below. See also More examples on page 968. Example 1
VAR robtarget p10; VAR robtarget p11; VAR num wobj_diameter; p10 := CRobT(\Tool:=tool1 \WObj:=wobj_diameter); p11 := ORobT(p10);

The current positions of the robot and the external axes are stored in p10 and p11. The values stored in p10 are related to the ProgDisp/ExtOffs coordinate system. The values stored in p11 are related to the object coordinate system without any program displacement and any offset on the external axes. Return value Data type: robtarget The transformed position data. Arguments
ORobT (OrgPoint [\InPDisp] | [\InEOffs])

OrgPoint Original Point Data type: robtarget The original point to be transformed. [\InPDisp] In Program Displacement Data type: switch Returns the TCP position in the ProgDisp coordinate system, i.e. removes external axes offset only. [\InEOffs] In External Offset Data type: switch Returns the external axes in the offset coordinate system, i.e. removes program displacement for the robot only.

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2.92 ORobT - Removes the program displacement from a position Continued More examples More examples of how to use the function ORobT are illustrated below. Example 1
p10 := ORobT(p10 \InEOffs );

The ORobT function will remove any program displacement that is active, leaving the TCP position relative to the object coordinate system. The external axes will remain in the offset coordinate system. Example 2
p10 := ORobT(p10 \InPDisp );

The ORobT function will remove any offset of the external axes. The TCP position will remain in the ProgDisp coordinate system. Syntax
ORobT ( [ OrgPoint := ] < expression (IN) of robtarget> [\InPDisp] | [\InEOffs])

A function with a return value of the data type robtarget. Related information
For information about See

Definition of program displacement PDispOn - Activates program displacement on page 332 for the robot PDispSet - Activates program displacement using known frame on page 336 Definition of offset for external axes EOffsOn - Activates an offset for external axes on page 97 EOffsSet - Activates an offset for external axes using known values on page 99 Coordinate systems Operating manual - IRC5 with FlexPendant, section Motion and I/O principles - Coordinate systems

968 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.93 ParIdPosValid - Valid robot position for parameter identification

2.93 ParIdPosValid - Valid robot position for parameter identification

Usage ParIdPosValid (Parameter Identification Position Valid) checks whether the robot position is valid for the current parameter identification, such as load identification of tool or payload. This instruction can only be used in the main task or, if in a MultiMove system, in motion tasks. Basic examples Basic examples of the function ParIdPosValid are illustrated below. Example 1
VAR jointtarget joints; VAR bool valid_joints{12}; ! Read the current joint angles joints := CJointT(); ! Check if valid robot position IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE THEN ! Valid position for load identification ! Continue with LoadId ... ELSE ! Not valid position for one or several axes for load ! identification ! Move the robot to the output data given in variable joints ! and do ParIdPosValid once again ... ENDIF

Check whether robot position is valid before doing load identification of tool. Return value Data type: bool TRUE if robot position is valid for current parameter identification. FALSE if robot position is not valid for current parameter identification. Arguments
ParIdPosValid (ParIdType Pos AxValid [\ConfAngle])

ParIdType Data type: paridnum Type of parameter identification as defined in table below
Value 1 2 3 Symbolic constant TOOL_LOAD_ID PAY_LOAD_ID IRBP_K Comment Identify tool load Identify payload (Ref. instruction GripLoad) Identify External Manipulator IRBP K load

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2.93 ParIdPosValid - Valid robot position for parameter identification Continued
Value 4 4 4 4 5 6 6 6 Symbolic constant IRBP_L IRBP_C IRBP_C_INDEX IRBP_T IRBP_R IRBP_A IRBP_B IRBP_D Comment Identify External Manipulator IRBP L load Identify External Manipulator IRBP C load Identify External Manipulator IRBP C_INDEX load Identify External Manipulator IRBP T load Identify External Manipulator IRBP R load Identify External Manipulator IRBP A load Identify External Manipulator IRBP B load Identify External Manipulator IRBP D load

Pos Data type: jointtarget Variable specifies the actual joint angles for all robot and external axes. The variable is updated by ParIdPosValid according to the table below.
Input axis joint value Valid Not valid Output axis joint value Not changed Changed to suitable value

AxValid Data type: bool Array variable with 12 elements corresponding to 6 robot and 6 external axes. The variable is updated by ParIdPosValid according to the table below.
Input axis joint value in Pos Valid Not valid Output status in AxValid TRUE FALSE

[ \ConfAngle ] Data type: num Option argument for specification of specific configuration angle +/- degrees to be used for parameter identification.

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2 Functions
2.93 ParIdPosValid - Valid robot position for parameter identification Continued Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or - 90 degrees. Error handling If an error occurs, the system variable ERRNO is set to ERR_PID_RAISE_PP. This error can then be handled in the error handler. Syntax
ParIdPosValid( [ ParIdType := ] <expression (IN) of paridnum> , [ Pos := ] <variable (VAR) of jointtarget> , [ AxValid := ] <array variable {*} (VAR) of bool> [ \ ConfAngle := <expression (IN) of num> ] )

A function with a return value of the data type bool. Related information
For information about Type of parameter identification Valid robot type Load identification of tool or payload Load identification of positioners (IRBP) See paridnum - Type of parameter identification on page 1216 ParIdRobValid - Valid robot type for parameter identification on page 972 LoadId - Load identification of tool or payload on page 219 ManLoadIdProc - Load identification of IRBP manipulators on page 225

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2.94 ParIdRobValid - Valid robot type for parameter identification

2.94 ParIdRobValid - Valid robot type for parameter identification

Usage ParIdRobValid (Parameter Identification Robot Valid) checks whether the robot or manipulator type is valid for the current parameter identification, such as load identification of tool or payload. This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Basic examples Basic examples of the function ParIdRobValue are illustrated below. Example 1
TEST ParIdRobValid (TOOL_LOAD_ID) CASE ROB_LOAD_VAL: ! Possible to do load identification of tool in actual robot type ... CASE ROB_LM1_LOAD_VAL: ! Only possible to do load identification of tool with ! IRB 6400FHD if actual load < 200 kg ... CASE ROB_NOT_LOAD_VAL: ! Not possible to do load identification of tool in actual robot type ... ENDTEST

Return value Data type: paridvalidnum Whether the specified parameter identification can be performed with the current robot or manipulator type, as defined in the table below.
Value 10 11 12 Symbolic constant ROB_LOAD_VAL Comment Valid robot or manipulator type for the actual parameter identification

ROB_NOT_LOAD_VAL Not valid type for the actual parameter identification ROB_LM1_LOAD_VAL Valid robot type IRB 6400FHD for the actual parameter identification if actual load < 200kg

Arguments
ParIdRobValid(ParIdType [\MechUnit] [\AxisNo])

ParIdType Data type: paridnum Type of parameter identification as defined in table below.
Value 1 Symbolic constant TOOL_LOAD_ID Comment Identify robot tool load

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2 Functions
2.94 ParIdRobValid - Valid robot type for parameter identification Continued
Value 2 3 4 4 4 4 5 6 6 6 Symbolic constant PAY_LOAD_ID IRBP_K IRBP_L IRBP_C IRBP_C_INDEX IRBP_T IRBP_R IRBP_A IRBP_B IRBP_D Comment Identify robot payload (Ref. instruction GripLoad) Identify External Manipulator IRBP K load Identify External Manipulator IRBP L load Identify External Manipulator IRBP C load Identify External Manipulator IRBP C_INDEX load Identify External Manipulator IRBP T load Identify External Manipulator IRBP R load Identify External Manipulator IRBP A load Identify External Manipulator IRBP B load Identify External Manipulator IRBP D load

[ \MechUnit ] Mechanical Unit Data type: mecunit Mechanical Unit used for the load identification. Only to be specified for external manipulator. If this argument is omitted the TCP-robot in the task is used. [ \AxisNo ] Axis number Data type: num Axis number within the mechanical unit which holds the load to be identified. Only to be specified for external manipulator. When the argument \MechUnit is used, then \AxisNo must be used. The argument \AxisNo can not be used without \MechUnit. Error handling If an error occurs, the system variable ERRNO is set to ERR_PID_RAISE_PP. This error can then be handled in the error handler. Syntax
ParIdRobValid( [ParIdType :=] <expression (IN) of paridnum> [\ MechUnit := <variable (VAR) of mecunit>] [\ AxisNo := <expression (IN) of num>] )

A function with a return value of the data type paridvalidnum. Related information
For information about Type of parameter identification Mechanical unit to be identified Result of this function See paridnum - Type of parameter identification on page 1216 mecunit - Mechanical unit on page 1200 paridvalidnum - Result of ParIdRobValid on page 1218

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2.94 ParIdRobValid - Valid robot type for parameter identification Continued
For information about Valid robot position See ParIdPosValid - Valid robot position for parameter identification on page 969

Load identification of robot tool load or pay- LoadId - Load identification of tool or payload load on page 219 Load identification of positioner loads ManLoadIdProc - Load identification of IRBP manipulators on page 225

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2 Functions
2.95 PathLevel - Get current path level

2.95 PathLevel - Get current path level

Usage PathLevel is used to get the current path level. This function will show whether the task is executing on the original level or if the original movement path has been stored and a new temporary movement is executing. Read more about Path Recovery in Application manual - Motion functions and event. Basic examples Basic example of the function PathLevel is illustrated below. See also More examples on page 975. Example 1
VAR num level; level:= PathLevel();

Variable level will be 1 if executed in an original movement path or 2 if executed in a temporary new movement path. Return value Data type: num There are two possible return values.
Return value 1 2 Description Executing in original movement path. Executing in StorePath level, a temporary new movement path.

More examples One more example of how to use the function PathLevel is illustrated below. Example 1
... MoveL p100, v100, z10, tool1; StopMove; StorePath; p:= CRobT(\Tool:=tool1); !New temporary movement MoveL p1, v100, fine, tool1; ... level:= PathLevel(); ... MoveL p, v100, fine, tool1; RestoPath; StartMove; ...

Variable level will be 2.

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2.95 PathLevel - Get current path level Continued Limitations RobotWare option Path Recovery must be installed to be able to use function PathLevel at path level 2 Syntax
PathLevel()

A function with a return value of the data type num. Related information
For information about Path recovery. Store and restore path. See Application manual - Motion functions and events StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 StartMove - Restarts robot movement on page 513 StopMove - Stops robot movement on page 542

Stop and start move.

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2.96 PathRecValidBwd - Is there a valid backward path recorded

2.96 PathRecValidBwd - Is there a valid backward path recorded

Usage PathRecValidBwd is used to check if the path recorder is active and if a recorded backward path is available. Basic examples Basic examples of the function PathRecValidBwd are illustrated below. See also More examples on page 978. Example 1
VAR bool bwd_path; VAR pathrecid fixture_id; bwd_path := PathRecValidBwd (\ID:=fixture_id);

The variable bwd_path is set to TRUE if it is possible to back-up to the position with identifier fixture_id. If not, bwd_path is set to FALSE. Return value Data type: bool The return value of the function can be determined from following flow chart:

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2.96 PathRecValidBwd - Is there a valid backward path recorded Continued Arguments
PathRecValidBwd ([\ID])

[\ID] Identifier Data type: pathrecid Variable that specifies the name of the recording start position. Data type pathrecid is a non-value type, only used as an identifier for naming the recording position. Program execution Before the path recorder is ordered to move backwards with PathRecMoveBwd it is possible to check whether a valid recorded path is present with PathRecValidBwd. More examples More examples of how to use the function PathRecValidBwd are illustrated below. Example 1
PathRecStart id1; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; bwd_path := PathRecValidBwd (\ID := id1);

The path recorder is started and two move instructions are executed. PathRecValidBwd will return TRUE and the available backup path will be: p2 -> p1 -> Start postion. Example 2
PathRecStart id1; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1; PathRecStop \Clear; bwd_path:= PathRecValidBwd (\ID := id1);

The path recorder is started and two move instructions are executed. Then the path recorder is stopped and cleared. PathRecValidBwd will return FALSE. Example 3
PathRecStart id1; MoveL p1, vmax, z50, tool1; PathRecStart id2; MoveL p2, vmax, z50, tool1; bwd_path := PathRecValidBwd ();

The path recorder is started and one move instruction is executed. Then, an additional path identifier is started followed by a move instruction. PathRecValidBwd will return TRUE and the backup path will be: p2 -> p1. Example 4
PathRecStart id1; MoveL p1, vmax, z50, tool1;

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2.96 PathRecValidBwd - Is there a valid backward path recorded Continued
WaitSyncTask sync101, tasklist_r1o1; MoveL p2, vmax, z50, tool1; bwd_path1 := PathRecValidBwd (); bwd_path2 := PathRecValidBwd (\ID := id1);

Executing above program will result in that the boolean variable bwd_path1 will be assigned TRUE since a valid backwards path to the WaitSyncTask statement exists. The boolean variable bwd_path2 will be assigned FALSE since it isnt possible to back up above a WaitSyncTask statement. Syntax
PathRecValidBwd ( [\ ID := < variable (VAR) of pathrecid >] )

A function with a return value of the data type bool. Related information
For information about Path Recorder Identifiers Start - stop the path recorder See pathrecid - Path recorder identifier on page 1220 PathRecStart - Start the path recorder on page 323 PathRecStop - Stop the path recorder on page 326 PathRecMoveBwd - Move path recorder backwards on page 314 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveFwd - Move path recorder forward on page 320 Technical reference manual - RAPID overview, section Motion and I/O principles

Play the path recorder backward Check if a valid forward path exists Play the path recorder forward Motion in general

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2.97 PathRecValidFwd - Is there a valid forward path recorded

2.97 PathRecValidFwd - Is there a valid forward path recorded

Usage PathRecValidFwd is used to check if the path recorder can be used to move forward. The ability to move forward with the path recorder implies that the path recorder must have been ordered to move backwards earlier. Basic examples Basic examples of the function PathRecValidFwd are illustrated below. See also More examples on page 981. Example 1
VAR bool fwd_path; VAR pathrecid fixture_id; fwd_path:= PathRecValidFwd (\ID:=fixture_id);

The variable fwd_path is set to TRUE if it is possible to move forward to the position with the with identifier fixture_id. If not, fwd_path is set to FALSE. Return Value Data type: bool The return value of PathRecValidFwd without specified \ID is: TRUE if: The path recorder has moved the robot backwards, using PathRecMoveBwd. The robot has not moved away from the path executed by PathRecMoveBwd. The above stated conditions are not met.

FALSE if: The return value of PathRecValidFwdwith specified \ID is: TRUE if: Arguments
PathRecValidFwd ([\ID])

The path recorder has moved the robot backwards, using PathRecMoveBwd. The robot has not moved away from the path executed by PathRecMoveBwd. The specified \ID was passed during the backward motion. The above stated conditions are not met.

FALSE if:

[\ID] Identifier Data type: pathrecid Variable that specifies the name of the recording start position. Data type pathrecid is a non-value type, only used as an identifier for naming the recording position. Continues on next page
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2.97 PathRecValidFwd - Is there a valid forward path recorded Continued Program execution After the path recorder has been ordered to move backwards using PathRecMoveBwd it is possible to check if a valid recorded path to move the robot forward exists. If the identifier \ID is omitted PathRevValidFwd returns if it is possible to move forward to the position where the backwards movement was initiated. More examples More examples of how to use the function PathRecValidFwd are illustrated below. Example 1
VAR pathrecid id1; VAR pathrecid id2; VAR pathrecid id3; PathRecStart id1; MoveL p1, vmax, z50, tool1; PathRecStart id2; MoveL p2, vmax, z50, tool1; PathRecStart id3; !See figures 1 and 8 in tbe following table. MoveL p3, vmax, z50, tool1; ERROR StorePath; IF PathRecValidBwd(\ID:=id3) THEN !See figure 2 in the following table. PathRecMoveBwd \ID:=id3; ! Do some other operation ENDIF IF PathRecValidBwd(\ID:=id2) THEN !See figure 3 in the following table. PathRecMoveBwd \ID:=id2; ! Do some other operation ENDIF !See figure 4 in the following table. PathRecMoveBwd; ! Do final service action IF PathRecValidFwd(\ID:=id2) THEN !See figure 5 in the following table. PathRecMoveFwd \ID:=id2; ! Do some other operation ENDIF IF PathRecValidFwd(\ID:=id3) THEN !See figure 6 in the following table. PathRecMoveFwd \ID:=id3; ! Do some other operation ENDIF !See figure 7 in the following table. PathRecMoveFwd; RestoPath;

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2.97 PathRecValidFwd - Is there a valid forward path recorded Continued
StartMove; RETRY; 1

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The example above will start the path recorder and add identifiers at three different locations along the executed path. The picture above references the example code and describes how the robot will move in the case of an error while executing Continues on next page
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2.97 PathRecValidFwd - Is there a valid forward path recorded Continued towards point p3. The PathRecValidBwd and PathRecValidFwd are used respectively as it is not possible in advance to determine where in the program a possible error occurs. Syntax
PathRecValidFwd ( [\ ID:= < variable (VAR) of pathrecid >] )

A function with a return value of the data type bool. Related information
For information about Path Recorder Identifiers Start - stop the path recorder Check if valid backward path exists Play the path recorder backward Play the path recorder forward Motion in general See pathrecid - Path recorder identifier on page 1220 PathRecStart - Start the path recorder on page 323 PathRecStop - Stop the path recorder on page 326 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecMoveBwd - Move path recorder backwards on page 314 PathRecMoveFwd - Move path recorder forward on page 320 Technical reference manual - RAPID overview, section Motion and I/O principles

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2.98 PFRestart - Check interrupted path after power failure

2.98 PFRestart - Check interrupted path after power failure

Usage PFRestart (Power Failure Restart) is used to check if the path has been interrupted at power failure. If so it might be necessary to make some specific actions. The function checks the path on current level, base level or on interrupt level. Basic examples Basic examples of the function PFRestart are illustrated below. Example 1
IF PFRestart() = TRUE THEN

It is checked, if an interrupted path exists on the current level. If so the function will return TRUE. Return value Data type: bool TRUE if an interrupted path exists on the specified path level, otherwise FALSE. Arguments
PFRestart([\Base] | [\Irpt])

[ \Base ] Base Level Data type: switch Returns TRUE if an interrupted path exists on base level. [ \Irpt ] Interrupt Level Data type: switch Returns TRUE if an interrupted path exists on StorePath level. If no argument is given, the function will return TRUE if an interrupted path exists on current level. Syntax
PFRestart( [\Base] | [\Irpt])

A function with a return value of the data type bool.

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2.99 PoseInv - Inverts pose data

2.99 PoseInv - Inverts pose data

Usage PoseInv (Pose Invert) calculates the reverse transformation of a pose. Basic examples Basic examples of the function PoseInv are illustrated below. Example 1

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Pose1 represents the coordinates system 1 related to the coordinate system 0. The transformation giving the coordinate system 0 related to the coordinate system 1 is obtained by the reverse transformation, stored in pose2.
VAR pose pose1; VAR pose pose2; ... pose2 := PoseInv(pose1);

Return value Data type: pose The value of the reverse pose. Arguments
PoseInv (Pose)

Pose Data type: pose The pose to invert. Syntax

PoseInv( [Pose :=] <expression (IN) of pose> )

A function with a return value of the data type pose.

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2.99 PoseInv - Inverts pose data Continued Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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2.100 PoseMult - Multiplies pose data

2.100 PoseMult - Multiplies pose data

Usage PoseMult (Pose Multiply) is used to calculate the product of two pose transformations. A typical use is to calculate a new pose as the result of a displacement acting on an original pose. Basic examples Basic examples of the function PoseMult are illustrated below. Example 1

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pose1 represents the coordinate system 1 related to the coordinate system 0. pose2 represents the coordinate system 2 related to the coordinate system 1. The transformation giving pose3, the coordinate system 2 related to the coordinate system 0, is obtained by the product of the two transformations:
VAR pose VAR pose VAR pose ... pose3 := pose1; pose2; pose3; PoseMult(pose1, pose2);

Return value Data type: pose The value of the product of the two poses. Arguments
PoseMult (Pose1 Pose2)

Pose1 Data type: pose The first pose. Pose2 Data type: pose The second pose. Continues on next page
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2.100 PoseMult - Multiplies pose data Continued Syntax
PoseMult( [Pose1 :=] <expression (IN) of pose>, [Pose2 :=] <expression (IN) of pose> )

A function with a return value of the data type pose. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics

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2.101 PoseVect - Applies a transformation to a vector

2.101 PoseVect - Applies a transformation to a vector

Usage PoseVect (Pose Vector) is used to calculate the product of a pose and a vector. It is typically used to calculate a vector as the result of the effect of a displacement on an original vector. Basic examples Basic examples of the function PoseVect are illustrated below. Example 1

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pose1 represents the coordinates system 1 related to the coordinate system 0. pos1 is a vector related to coordinate system 1. The corresponding vector related to coordinate system 0 is obtained by the product;
VAR pose pose1; VAR pos pos1; VAR pos pos2; ... ... pos2:= PoseVect(pose1, pos1);

Return value Data type: pos The value of the product of the pose and the original pos. Arguments
PoseVect (Pose Pos)

Pose Data type: pose The transformation to be applied.

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2.101 PoseVect - Applies a transformation to a vector Continued Pos Data type: pos The pos to be transformed. Syntax
PoseVect( [Pose :=] <expression (IN) of pose>, [Pos :=] <expression (IN) of pos> )

A function with a return value of the data type pos. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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2.102 Pow - Calculates the power of a value

2.102 Pow - Calculates the power of a value

Usage Pow (Power) is used to calculate the exponential value in any base. Basic examples Basic examples of the function Pow are illustrated below. Example 1
VAR num x; VAR num y VAR num reg1; ... reg1:= Pow(x, y);

reg1 is assigned the value xy. Return value Data type: num The value of the Base raised to the power of the Exponent, i.e. BaseExponent. Arguments
Pow (Base Exponent)

Base Data type: num The base argument value. Exponent Data type: num The exponent argument value. Limitations The execution of the function xy will give an error if: Syntax
Pow( [Base :=] <expression (IN) of num>, [Exponent :=] <expression (IN) of num> )

x < 0 and y is not an integer; x = 0 and y 0.

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics

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2.103 PowDnum - Calculates the power of a value

2.103 PowDnum - Calculates the power of a value

Usage PowDnum (Power Dnum) is used to calculate the exponential value in any base. Basic examples Basic examples of the function PowDnum are illustrated below. Example 1
VAR dnum x; VAR num y VAR dnum value; ... value:= PowDnum(x, y);

value is assigned the value xy. Return value Data type: dnum The value of the Base raised to the power of the Exponent, that is, BaseExponent. Arguments
PowDnum (Base Exponent)

Base Data type: dnum The base argument value. Exponent Data type: num The exponent argument value. Limitations The execution of the function xy will give an error if: Syntax
PowDnum( [Base :=] <expression (IN) of dnum>, [Exponent :=] <expression (IN) of num> )

x < 0 and y is not an integer; x = 0 and y 0.

A function with a return value of the data type dnum. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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2.104 PPMovedInManMode - Test whether the program pointer is moved in manual mode

2.104 PPMovedInManMode - Test whether the program pointer is moved in manual mode
Usage PPMovedInManMode returns TRUE if the user has moved the program pointer while the controller is in manual mode - that is, operator key is at Man Reduced Speed or Man Full Speed. The program pointer moved state is reset when the key is switched from Auto to Man, or when using the instruction ResetPPMoved. Basic examples Basic example of the function PPMovedInManMode is illustrated below. Example 1
IF PPMovedInManMode() THEN WarnUserOfPPMovement; DoJob; ELSE DoJob; ENDIF

Return value Data type: bool TRUE if the program pointer has been moved by the user while in manual mode. Program execution Test if the program pointer for the current program task has been moved in manual mode. Syntax
PPMovedInManMode()

A function with a return value of the data type bool. Related information
For information about Test whether program pointer has moved Reset state of moved program pointer in manual mode See IsStopStateEvent - Test whether moved program pointer on page 941 ResetPPMoved - Reset state for the program pointer moved in manual mode on page 376

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2.105 Present - Tests if an optional parameter is used

2.105 Present - Tests if an optional parameter is used

Usage Present is used to test if an optional argument has been used when calling a routine. An optional parameter may not be used if it was not specified when calling the routine. This function can be used to test if a parameter has been specified, in order to prevent errors from occurring. Basic examples Basic examples of the function Present are illustrated below. See also More examples on page 994. Example 1
PROC feeder (\switch on | switch off) IF Present (on) Set do1; IF Present (off) Reset do1; ENDPROC

The output do1, which controls a feeder, is set or reset depending on the argument used when calling the routine. Return value Data type: bool TRUE = The parameter value or a switch has been defined when calling the routine. FALSE = The parameter value or a switch has not been defined. Arguments
Present (OptPar)

OptPar Optional Parameter Data type: Any type The name of the optional parameter to be tested. More examples More examples of how to use the function Present are illustrated below. Example 1
PROC glue (\switch on, num glueflow, robtarget topoint, speeddata speed, zonedata zone, PERS tooldata tool, \PERS wobjdata wobj) IF Present (on) PulseDO glue_on; SetAO gluesignal, glueflow; IF Present (wobj) THEN MoveL topoint, speed, zone, tool \WObj:=wobj;

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2.105 Present - Tests if an optional parameter is used Continued
ELSE MoveL topoint, speed, zone, tool; ENDIF ENDPROC

A glue routine is made. If the argument \on is specified when calling the routine, a pulse is generated on the signal glue_on. The robot then sets an analog output gluesignal, which controls the glue gun, and moves to the end position. As the wobj parameter is optional, different MoveL instructions are used depending on whether this argument is used or not. Syntax
Present ( [OptPar:=] <reference (REF) of any type> )

A REF parameter requires, in this case, the optional parameter name. A function with a return value of the data type bool. Related information
For information about Routine parameters See Technical reference manual - RAPID overview, section Basic characteristics - Routines

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2.106 ProgMemFree - Get the size of free program memory

2.106 ProgMemFree - Get the size of free program memory

Usage ProgMemFree (Program Memory Free) is used to get the size of free program memory. Basic examples Basic examples of the function ProgMemFree are illustrated below. Example 1
FUNC num module_size(string file_path) VAR num pgmfree_before; VAR num pgmfree_after; pgmfree_before:=ProgMemFree(); Load \Dynamic, file_path; pgmfree_after:=ProgMemFree(); Unload file_path; RETURN (pgmfree_before-pgmfree_after); ENDFUNC

ProgMemFree is used in a function that returns the value for how much memory a module allocates in the program memory. Return value Data type: num The size of free program memory in bytes. Syntax
ProgMemFree( )

A function with a return value of the data type num. Related information
For information about Load a program module Unload a program module See Load - Load a program module during execution on page 215 UnLoad - UnLoad a program module during execution on page 686

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2.107 RawBytesLen - Get the length of rawbytes data

2.107 RawBytesLen - Get the length of rawbytes data

Usage RawBytesLen is used to get the current length of valid bytes in a rawbytes variable. Basic examples Basic examples of the instruction RawBytesLen are illustrated below. Example 1
VAR rawbytes from_raw_data; VAR rawbytes to_raw_data; VAR num integer := 8 VAR num float := 13.4; ClearRawBytes from_raw_data; PackRawBytes integer, from_raw_data, 1 \IntX := INT; PackRawBytes float, from_raw_data, (RawBytesLen(from_raw_data)+1) \Float4; CopyRawBytes from_raw_data, 1, to_raw_data, 3;

In this example the variable from_raw_data of type rawbytes is first cleared, i.e. all bytes set to 0 (same as default at declaration). Then the value of integer is placed in the first 2 bytes and with help of the function RawBytesLen the value of float is placed in the next 4 bytes (starting at index 3). After having filled from_raw_data with data, the contents (6 bytes) is copied to to_raw_data, starting at position 3. Return value Data type: num The current length of valid bytes in a variable of typerawbytes; range 0 ... 1024. In general, the current length of valid bytes in a rawbytes variable is updated by the system to be the last written byte in the rawbytes structure. For details, see data type rawbytes, instruction ClearRawBytes, CopyRawBytes, PackDNHeader, PackRawBytes and ReadRawBytes. Arguments
RawBytesLen (RawData)

RawData Data type: rawbytes RawData is the data container whose current length of valid bytes shall be returned. Program execution During program execution the current length of valid bytes is returned. Syntax
RawBytesLen ( [RawData := ] < variable (VAR) of rawbytes> )

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2.107 RawBytesLen - Get the length of rawbytes data Continued A function with a return value of the data type num. Related information
For information about rawbytes data Clear the contents of rawbytes data Copy the contents of rawbytes data See rawbytes - Raw data on page 1227 ClearRawBytes - Clear the contents of rawbytes data on page 57 CopyRawBytes - Copy the contents of rawbytes data on page 75

Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 Pack data into rawbytes data Read rawbytes data Unpack data from rawbytes data Write rawbytes data File and serial channel handling PackRawBytes - Pack data into rawbytes data on page 306 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 WriteRawBytes - Write rawbytes data on page 753 Application manual - Robot communication and I/O control

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2.108 ReadBin - Reads a byte from a file or serial channel

2.108 ReadBin - Reads a byte from a file or serial channel

Usage ReadBin (Read Binary) is used to read a byte (8 bits) from a file or serial channel. This function works on both binary and character-based files or serial channels. Basic examples Basic examples of the function ReadBin are illustrated below. See also More examples on page 1000. Example 1
VAR num character; VAR iodev inchannel; ... Open "com2:", inchannel\Bin; character := ReadBin(inchannel);

A byte is read from the binary serial channel inchannel. Return value Data type: num A byte (8 bits) is read from a specified file or serial channel. This byte is converted to the corresponding positive numeric value and returned as a num data type. If a file is empty (end of file), EOF_BIN (the number -1) is returned. Arguments
ReadBin (IODevice [\Time])

IODevice Data type: iodev The name (reference) of the file or serial channel to be read. [\Time] Data type: num The max. time for the reading operation (timeout) in seconds. If this argument is not specified, the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the reading operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped. The timeout function is in use also during program stop and will be noticed by the RAPID program at program start. Program execution Program execution waits until a byte (8 bits) can be read from the file or serial channel. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Continues on next page
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2.108 ReadBin - Reads a byte from a file or serial channel Continued More examples More examples of the function ReadBin are illustrated below. Example 1
VAR num bindata; VAR iodev file; Open "HOME:/myfile.bin", file \Read \Bin; bindata := ReadBin(file); WHILE bindata <> EOF_BIN DO TPWrite ByteToStr(bindata\Char); bindata := ReadBin(file); ENDWHILE

Read the contents of a binary file myfile.bin from the beginning to the end and displays the received binary data converted to chars on the FlexPendant (one char on each line). Limitations The function can only be used for files and serial channels that have been opened with read access (\Read for character based files, \Bin or \Append \Bin for binary files). Error handling If an error occurs during reading, the system variable ERRNO is set to ERR_FILEACC. If time out before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME. These errors can then be dealt with by the error handler. Predefined data The constant EOF_BIN can be used to stop reading at the end of the file.
CONST num EOF_BIN := -1;

Syntax
ReadBin( [IODevice :=] <variable (VAR) of iodev> [\Time:= <expression (IN) of num>])

A function with a return value of the type num. Related information

For information about See

Opening, etc. files or serial channels Technical reference manual - RAPID overview, section RAPID summary - Communication Convert a byte to a string data File and serial channel handling ByteToStr - Converts a byte to a string data on page 829 Application manual - Robot communication and I/O control

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2.109 ReadDir - Read next entry in a directory

2.109 ReadDir - Read next entry in a directory

Usage ReadDir is used to retrieve the name of the next file or subdirectory under a directory that has been opened with the instruction OpenDir. As long as the function returns TRUE, there can be more files or subdirectories to retrieve. Basic examples Basic examples of the function ReadDir are illustrated below. See also More examples on page 1002. Example 1
PROC lsdir(string dirname) VAR dir directory; VAR string filename; OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO TPWrite filename; ENDWHILE CloseDir directory; ENDPROC

This example prints out the names of all files or subdirectories under the specified directory. Return value Data type: bool The function will return TRUE if it has retrieved a name, otherwise FALSE. Arguments
ReadDir (Dev FileName)

Dev Data type: dir A variable with reference to the directory, fetched by instruction OpenDir. FileName Data type: string The retrieved file or subdirectory name. Program execution This function returns a bool that specifies if the retrieving of a name was successful or not.

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2.109 ReadDir - Read next entry in a directory Continued More examples More examples of the function ReadDir are illustrated below Example 1 This example implements a generic traverse of a directory structure function.
PROC searchdir(string dirname, string actionproc) VAR dir directory; VAR string filename; IF IsFile(dirname \Directory) THEN OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO ! .. and . is the parent and resp. this directory IF filename <> ".." AND filename <> "." THEN searchdir dirname+"/"+filename, actionproc; ENDIF ENDWHILE CloseDir directory; ELSE %actionproc% dirname; ENDIF ERROR RAISE; ENDPROC PROC listfile(string filename) TPWrite filename; ENDPROC PROC main() ! Execute the listfile routine for all files found under the ! tree in HOME: searchdir "HOME:","listfile"; ENDPROC

This program traverses the directory structure under "HOME:", and for each file found it calls the listfile procedure. The searchdir is the generic part that knows nothing about the start of the search or which routine should be called for each file. It uses IsFile to check whether it has found a subdirectory or a file and it uses the late binding mechanism to call the procedure specified in actionproc for all files found. The actionproc routine should be a procedure with one parameter of the type string. Error handling If the directory is not opened (see OpenDir), the system variable ERRNO is set to ERR_FILEACC. This error can then be handled in the error handler. Syntax
ReadDir ( [ Dev:= ] < variable (VAR) of dir>, [ FileName:= ] < var or pers (INOUT) of string>)

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2.109 ReadDir - Read next entry in a directory Continued A function with a return value of the data type bool. Related information
For information about Directory Make a directory Open a directory Close a directory Remove a directory Remove a file Rename a file See dir - File directory structure on page 1163 MakeDir - Create a new directory on page 224 OpenDir - Open a directory on page 301 CloseDir - Close a directory on page 64 RemoveDir - Delete a directory on page 370 RemoveFile - Delete a file on page 372 RenameFile - Rename a file on page 373

File and serial channel handling Application manual - Robot communication and I/O control

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2.110 ReadMotor - Reads the current motor angles

2.110 ReadMotor - Reads the current motor angles

Usage ReadMotor is used to read the current angles of the different motors of the robot and external axes. The primary use of this function is in the calibration procedure of the robot. Basic examples Basic example of the function ReadMotor is illustrated below. See also More examples on page 1004.
VAR num motor_angle2; motor_angle2 := ReadMotor(2);

The current motor angle of the second axis of the robot is stored inmotor_angle2. Return value Data type: num The current motor angle in radians of the stated axis of the robot or external axes. Arguments
ReadMotor [\MecUnit ] Axis

MecUnit Mechanical Unit Data type: mecunit The name of the mechanical unit for which an axis is to be read. If this argument is omitted, the axis for the connected robot is read. Axis Data type: num The number of the axis to be read (1 - 6). Program execution The motor angle returned represents the current position in radians for the motor without any calibration offset. The value is not related to a fix position of the robot, only to the resolver internal zero position, i.e. normally the resolver zero position closest to the calibration position (the difference between the resolver zero position and the calibration position is the calibration offset value). The value represents the full movement of each axis, although this may be several turns. More examples More examples of the function ReadMotor are illustrated below. Example 1
VAR num motor_angle3; motor_angle3 := ReadMotor(\MecUnit:=ROB_1, 3);

The current motor angle of the third axis of the robot ROB_1 is stored in motor_angle3. Continues on next page
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2 Functions
2.110 ReadMotor - Reads the current motor angles Continued Syntax
ReadMotor( [\MecUnit := < variable (VAR) of mecunit>,] [Axis := ] < expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about Reading the current joint angle See CJointT - Reads the current joint angles on page 846

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2 Functions
2.111 ReadNum - Reads a number from a file or serial channel

2.111 ReadNum - Reads a number from a file or serial channel

Usage ReadNum (Read Numeric) is used to read a number from a character-based file or serial channel. Basic examples Basic examples of the function ReadNum are illustrated below. See also More examples on page 1007. Example 1
VAR iodev infile; ... Open "HOME:/file.doc", infile\Read; reg1 := ReadNum(infile);

reg1 is assigned a number read from the file file.doc. Return value Data type: num The numeric value read from a specified file or serial channel. If the file is empty (end of file), the number EOF_NUM (9.998E36) is returned. Arguments
ReadNum (IODevice [\Delim] [\Time])

IODevice Data type: iodev The name (reference) of the file or serial channel to be read. [\Delim] Delimiters Data type: string A string containing the delimiters to use when parsing a line in the file or serial channel. By default (without \Delim), the file is read line by line and the line-feed character (\0A) is the only delimiter considered by the parsing. When the \Delim argument is used, any character in the specified string argument will be considered to determine the significant part of the line. When using the argument \Delim, the control system always adds the characters carriage return (\0D) and line-feed (\0A) to the delimiters specified by the user. To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal representation of the ASCII code of the character (example: TAB is specified by \09). [\Time] Data type: num

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2 Functions
2.111 ReadNum - Reads a number from a file or serial channel Continued The max. time for the reading operation (timeout) in seconds. If this argument is not specified, the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped. The timeout function is also in use during program stop and will be noticed by the RAPID program at program start. Program execution Starting at the current file position, the function reads and discards any heading delimiters. A heading delimiter without the argument \Delim is a line-feed character. Heading delimiters with the argument \Delim are any characters specified in the \Delim argument plus carriage return and line-feed characters. It then reads everything up to and including the next delimiter character (will be discarded), but not more than 80 characters. If the significant part exceeds 80 characters, the remainder of the characters will be read on the next reading. The string that is read is then converted to a numeric value; e.g. "234.4" is converted to the numeric value 234.4. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. More examples More examples of the function ReadNum are illustrated below.
reg1 := ReadNum(infile\Delim:="\09"); IF reg1 > EOF_NUM THEN TPWrite "The file is empty"; ...

Reads a number in a line where numbers are separated by TAB ("\09") or SPACE (" ") characters. Before using the number read from the file, a check is performed to make sure that the file is not empty. Limitations The function can only be used for character based files that have been opened for reading. Error handling If an access error occurs during reading, the system variable ERRNO is set to ERR_FILEACC. If there is an attempt to read non-numeric data, the system variable ERRNO is set to ERR_RCVDATA. If time out before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME. These errors can then be dealt with by the error handler.

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2 Functions
2.111 ReadNum - Reads a number from a file or serial channel Continued Predefined data The constant EOF_NUM can be used to stop reading, at the end of the file.
CONST num EOF_NUM := 9.998E36;

Syntax
ReadNum ( [IODevice :=]<variable (VAR) of iodev> [\Delim:=<expression (IN) of string>] [\Time:=<expression (IN) of num>])

A function with a return value of the type num. Related information

For information about Opening, etc. files or serial channels File and serial channel handling See Technical reference manual - RAPID overview, section RAPID summary - Communication Application manual - Robot communication and I/O control

1008 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.112 ReadStr - Reads a string from a file or serial channel

2.112 ReadStr - Reads a string from a file or serial channel

Usage ReadStr (Read String) is used to read a string from a character-based file or serial channel. Basic examples Basic examples of the function ReadStr are illustrated below. See also More examples on page 1010. Example 1
VAR string text; VAR iodev infile; ... Open "HOME:/file.doc", infile\Read; text := ReadStr(infile);

text is assigned a string read from the file file.doc. Return value Data type: string The string read from the specified file or serial channel. If the file is empty (end of file), the string "EOF" is returned. Arguments
ReadStr (IODevice [\Delim] [\RemoveCR] [\DiscardHeaders] [\Time])

IODevice Data type: iodev The name (reference) of the file or serial channel to be read. [\Delim] Delimiters Data type: string A string containing the delimiters to use when parsing a line in the file or serial channel. By default the file is read line by line and the line-feed character (\0A) is the only delimiter considered by the parsing. When the \Delim argument is used, any character in the specified string argument plus by default line-feed character will be considered to determine the significant part of the line. To specify non-alphanumeric characters, use \xx, where xx is the hexadecimal representation of the ASCII code of the character (example: TAB is specified by \09). [\RemoveCR] Data type: switch A switch used to remove the trailing carriage return character when reading PC files. In PC files, a new line is specified by carriage return and line feed (CRLF). When reading a line in such files, the carriage return character is by default read Continues on next page
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2 Functions
2.112 ReadStr - Reads a string from a file or serial channel Continued into the return string. When using this argument, the carriage return character will be read from the file but not included in the return string. [\DiscardHeaders] Data type: switch This argument specifies whether the heading delimiters (specified in \Delim plus default line-feed) are skipped or not before transferring data to the return string. By default, if the first character at the current file position is a delimiter, it is read but not transferred to the return string, the line parsing is stopped and the return will be an empty string. If this argument is used, all delimiters included in the line will be read from the file but discarded, and no return will be done until the return string will contain the data starting at the first non-delimiter character in the line. [\Time] Data type: num The max. time for the reading operation (timeout) in seconds. If this argument is not specified, the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped. The timeout function is in use also during program stop and will be noticed in the RAPID program at program start. Program execution Starting at the current file position, if the \DiscardHeaders argument is used, the function reads and discards any heading delimiters (line-feed characters and any character specified in the \Delim argument). In all cases, it then reads everything up to the next delimiter character, but not more than 80 characters. If the significant part exceeds 80 characters, the remainder of the characters will be read on the next reading. The delimiter that caused the parsing to stop is read from the file but not transferred to the return string. If the last character in the string is a carriage return character and the \RemoveCR argument is used, this character will be removed from the string. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. More examples More examples of the function ReadStr are illustrated below. Example 1
text := ReadStr(infile); IF text = EOF THEN TPWrite "The file is empty"; ...

Before using the string read from the file, a check is performed to make sure that the file is not empty. Continues on next page
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2 Functions
2.112 ReadStr - Reads a string from a file or serial channel Continued Example 2 Consider a file containing:
<LF><SPACE><TAB>Hello<SPACE><SPACE>World<CR><LF> text := ReadStr(infile);

text will be an empty string: the first character in the file is the default <LF> delimiter.
text := ReadStr(infile\DiscardHeaders);

text will contain <SPACE><TAB>Hello<SPACE><SPACE>World<CR>: the first character in the file, the default <LF> delimiter, is discarded.
text := ReadStr(infile\RemoveCR\DiscardHeaders);

text will contain <SPACE><TAB>Hello<SPACE><SPACE>World: the first character in the file, the default <LF> delimiter, is discarded; the final carriage return character is removed
text := ReadStr(infile\Delim:=" \09"\RemoveCR\DiscardHeaders);

text will contain "Hello": the first characters in the file that match either the default <LF> delimiter or the character set defined by \Delim (space and tab) are discarded. Data is then transferred up to the first delimiter that is read from the file but not transferred into the string. A new invocation of the same statement will return "World". Example 3 Consider a file containing:
<CR><LF>Hello<CR><LF> text := ReadStr(infile);

text will contain the <CR> (\0d) character: <CR> and <LF> characters are read from the file, but only <CR> is transferred to the string. A new invocation of the same statement will return "Hello\0d".
text := ReadStr(infile\RemoveCR);

text will contain an empty string: <CR> and <LF> characters are read from the file; <CR> is transferred but removed from the string. A new invocation of the same statement will return "Hello".
text := ReadStr(infile\Delim:="\0d");

text will contain an empty string: <CR> is read from the file but not transferred to the return string. A new invocation of the same instruction will return an empty string again: <LF> is read from the file but not transferred to the return string.
text := ReadStr(infile\Delim:="\0d"\DiscardHeaders);

text will contain "Hello". A new invocation of the same instruction will return "EOF" (end of file). Limitations The function can only be used for files or serial channels that have been opened for reading in a character-based mode. Error handling If an error occurs during reading, the system variable ERRNO is set to ERR_FILEACC.

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2 Functions
2.112 ReadStr - Reads a string from a file or serial channel Continued If timeout before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME. These errors can then be dealt with by the error handler. Predefined data The constant EOF can be used to check if the file was empty when trying to read from the file or to stop reading at the end of the file.
CONST string EOF := "EOF";

Syntax
ReadStr ( [IODevice :=] <variable (VAR) of iodev> [\Delim :=<expression (IN) of string>] [\RemoveCR] [\DiscardHeaders] [\Time:= <expression (IN) of num>])

A function with a return value of the type string. Related information

For information about Opening, etc. files or serial channels File and serial channel handling See Technical reference manual - RAPID overview, section RAPID summary - Communication Application manual - Robot communication and I/O control

1012 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.113 ReadStrBin - Reads a string from a binary serial channel or file

2.113 ReadStrBin - Reads a string from a binary serial channel or file

Usage ReadStrBin (Read String Binary) is used to read a string from a binary serial channel or file. Basic examples Basic examples of the function ReadStrBin are illustrated below. Example 1
VAR iodev channel2; VAR string text; ... Open "com2:", channel2 \Bin; text := ReadStrBin (channel2, 10); text := ReadStrBin(infile,20); IF text = EOF THEN

text is assigned a 10 characters text string read from the serial channel referred to by channel2 Before using the string read from the file, a check is performed to make sure that the file is not empty. Return value Data type: string The text string read from the specified serial channel or file. If the file is empty (end of file), the string "EOF" is returned. Arguments
ReadStrBin (IODevice NoOfChars [\Time])

IODevice Data type: iodev The name (reference) of the binary serial channel or file to be read. NoOfChars Number of Characters Data type: num The number of characters to be read from the binary serial channel or file. [\Time] Data type: num The max. time for the reading operation (timeout) in seconds. If this argument is not specified, the max. time is set to 60 seconds. To wait forever, use the predefined constant WAIT_MAX. If this time runs out before the read operation is finished, the error handler will be called with the error code ERR_DEV_MAXTIME. If there is no error handler, the execution will be stopped. Continues on next page
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2 Functions
2.113 ReadStrBin - Reads a string from a binary serial channel or file Continued The timeout function is in use also during program stop and will be noticed by the RAPID program at program start. Program execution The function reads the specified number of characters from the binary serial channel or file. At power fail restart, any open file or serial channel in the system will be closed and the I/O descriptor in the variable of type iodev will be reset. Limitations The function can only be used for serial channels or files that have been opened for reading in a binary mode. Error handling If an error occurs during reading, the system variable ERRNO is set to ERR_FILEACC. If timeout before the read operation is finished, the system variable ERRNO is set to ERR_DEV_MAXTIME. These errors can then be dealt with by the error handler. Predefined data The constant EOF can be used to check if the file was empty, when trying to read from the file or to stop reading at the end of the file.
CONST string EOF := "EOF";

Syntax
ReadStrBin ( [IODevice :=] <variable (VAR) of iodev>, [NoOfChars :=] <expression (IN) of num> [\Time := <expression (IN) of num>])

A function with a return value of the type string. Related information

For information about Opening, etc. serial channels or files Write binary string File and serial channel handling See Technical reference manual - RAPID overview, section RAPID summary - Communication WriteStrBin - Writes a string to a binary serial channel on page 755 Application manual - Robot communication and I/O control

1014 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.114 ReadVar - Read variable from a device

2.114 ReadVar - Read variable from a device

Usage ReadVar is used to read a variable from a device connected to the serial sensor interface. The sensor interface communicates with sensors over serial channels using the RTP1 transport protocol. This is an example of a sensor channel configuration. COM_PHY_CHANNEL: Basic examples Basic examples of the function ReadVar are illustrated below. Example 1
CONST num XCoord := 8; CONST num YCoord := 9; CONST num ZCoord := 10; VAR pos SensorPos; ! Connect to the sensor device "sen1:" (defined in sio.cfg). SenDevice "sen1:"; ! Read a cartesian position from the sensor. SensorPos.x := ReadVar ("sen1:", XCoord); SensorPos.y := ReadVar ("sen1:", YCoord); SensorPos.z := ReadVar ("sen1:", ZCoord);

Name COM1: Connector COM1 Baudrate 19200 Name sen1: Type RTP1 PhyChannel COM1

COM_TRP:

Arguments
ReadVar (device, VarNo, [ \TaskName ])

device Data type: string The I/O device name configured in sio.cfg for the sensor used. VarNo Data type: num The argument VarNo is used to select variable to be read.

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2 Functions
2.114 ReadVar - Read variable from a device Continued [ \TaskName ] Data type: string The argument TaskName makes it possible to access devices in other RAPID tasks. Fault management
Error constant (ERRNO value) SEN_NO_MEAS SEN_NOREADY SEN_GENERRO SEN_BUSY SEN_UNKNOWN SEN_EXALARM SEN_CAALARM SEN_TEMP SEN_VALUE SEN_CAMCHECK SEN_TIMEOUT Description Measurement failure Sensor unable to handle command General sensor error Sensor busy Unknown sensor External sensor error Internal sensor error Sensor temperature error Illegal communication value Sensor check failure Communication error

Syntax
ReadVar [ device := ] < expression(IN) of string>, [ VarNo := ] < expression (IN) of num > , [ \ TaskName := < expression (IN) of string > ] ;

A function with a return value of the data type num. Related information
For information about Connect to a sensor device Write a sensor variable Write a sensor data block Read a sensor data block Configuration of sensor communication See SenDevice - connect to a sensor device on page 442 WriteVar - write variable on page 757 WriteBlock - write block of data to device on page 747 ReadBlock - read a block of data from device on page 358 Technical reference manual - RAPID overview, section Communication

1016 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.115 RelTool - Make a displacement relative to the tool

2.115 RelTool - Make a displacement relative to the tool

Usage RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed in the active tool coordinate system, to a robot position. Basic examples Basic examples of the function RelTool are illustrated below. Example 1 MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1; The robot is moved to a position that is 100 mm from p1 in the z direction of the tool. Example 2 MoveL RelTool (p1, 0, 0, 0 \Rz:= 25), v100, fine, tool1; The tool is rotated 25 around its z-axis. Return value Data type: robtarget The new position with the addition of a displacement and/or a rotation, if any, relative to the active tool. Arguments
RelTool (Point Dx Dy Dz [\Rx] [\Ry] [\Rz])

Point Data type: robtarget The input robot position. The orientation part of this position defines the current orientation of the tool coordinate system. Dx Data type: num The displacement in mm in the x direction of the tool coordinate system. Dy Data type: num The displacement in mm in the y direction of the tool coordinate system. Dz Data type: num The displacement in mm in the z direction of the tool coordinate system. [\Rx] Data type: num The rotation in degrees around the x axis of the tool coordinate system.

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2 Functions
2.115 RelTool - Make a displacement relative to the tool Continued [\Ry] Data type: num The rotation in degrees around the y axis of the tool coordinate system. [\Rz] Data type: num The rotation in degrees around the z axis of the tool coordinate system. If two or three rotations are specified at the same time, these will be performed first around the x-axis, then around the new y-axis, and then around the new z-axis. Syntax
RelTool( [ Point := ] < expression (IN) of robtarget>, [Dx :=] <expression (IN) of num>, [Dy :=] <expression (IN) of num>, [Dz :=] <expression (IN) of num> [\Rx := <expression (IN) of num> ] [\Ry := <expression (IN) of num> ] [\Rz := <expression (IN) of num> ])

A function with a return value of the data type robtarget. Related information
For information about Position data Mathematical instructions and functions Positioning instructions See robtarget - Position data on page 1239 Technical reference manual - RAPID overview, section RAPID Summary - Mathematics Technical reference manual - RAPID overview, section RAPID Summary - Motion

1018 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.116 RemainingRetries - Remaining retries left to do

2.116 RemainingRetries - Remaining retries left to do

Usage RemainingRetries is used to find out how many RETRY that is left to do from the error handler in the program. The maximum number of retries is defined in the configuration. Basic examples Basic examples of the function RemainingRetries are illustrated below. Example 1
... ERROR IF RemainingRetries() > 0 THEN RETRY; ELSE TRYNEXT; ENDIF ...

This program will retry the instruction, in spite of the error, until the maximum number of retries is done and then try the next instruction. Return value Data type: num The return value shows how many of the maximum number of retries that is left to do. Syntax
RemainingRetries()

A function with a return value of the data type num. Related information
For information about Error handlers See Technical reference manual - RAPID overview, section Basic Characteristics - Error Recovery

Resume execution after an error RETRY - Resume execution after an error on page 380 Configure maximum number of retries Technical reference manual - System parameters, section System misc

Reset the number of retries coun- ResetRetryCount - Reset the number of retries on ted page 377

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2.117 RMQGetSlotName - Get the name of an RMQ client

2.117 RMQGetSlotName - Get the name of an RMQ client

Usage RMQGetSlotName (RAPID Mesasage Queue Get Slot Name) is used to get the slot name of an RMQ or a Robot Application Builder client from a given slot identity that is, from a given rmqslot. Basic examples Basic example of the function RMQGetSlotName is illustrated below. Example 1
VAR rmqslot slot; VAR string client_name; RMQFindSlot slot, "RMQ_T_ROB1"; ... client_name := RMQGetSlotName(slot); TPWrite "Name of the client: " + client_name;

The example illustrates how to get the name of a client using the identity of the client. Return value Data type: string The name of the client is returned. This can be an RMQ name, or the name of a Robot Application Builder client using the RMQ functionality. Arguments
RMQGetSlotName (Slot)

Slot Data type: rmqslot The identity slot number of the client to find the name. Program execution The instruction RMQGetSlotName is used to find the name of the client with the specified identity number specified in argument Slot. The client can be another RMQ, or a Robot Application Builder client. Error handling Following recoverable errors can be generated. The errors can be handled in an ERROR handler. The system variable ERRNO will be set to:
ERR_RMQ_INVALID The destination slot has not been connected or the destination slot is no longer available. If not connected, a call to RMQFindSlot must be done. If not available, the reason is that a remote client has been disconnected from the controller.

Syntax
RMQGetSlotName( [ Slot := ] < variable (VAR) of rmqslot >)

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2 Functions
2.117 RMQGetSlotName - Get the name of an RMQ client Continued A function with a return value of the data type string. Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent Send data to the queue of a RAPID task or Robot Application Builder client RMQSendMessage - Send an RMQ data message on page 401

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Extract the data from an rmqmessage Order and enable interrupts for a specific data type RMQ Slot RMQGetMsgData - Get the data part from an RMQ message on page 392 IRMQMessage - Orders RMQ interrupts for a data type on page 175 rmqslot - Identity number of an RMQ client on page 1237

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2 Functions
2.118 RobName - Get the TCP robot name

2.118 RobName - Get the TCP robot name

Usage RobName (Robot Name) is used to get the name of the TCP robot in some program task. If the task doesnt control any TCP robot, this function returns an empty string. Basic examples Basic examples of the function RobName are illustrated below. See also More examples on page 1022. Example 1
VAR string my_robot; ... my_robot := RobName(); IF my_robot="" THEN TPWrite "This task does not control any TCP robot"; ELSE TPWrite "This task controls TCP robot with name "+ my_robot; ENDIF

Write to FlexPendant the name of the TCP robot which is controlled from this program task. If no TCP robot is controlled, write that the task controls no robot. Return value Data type: string The mechanical unit name for the TCP robot that is controlled from this program task. Return empty string if no TCP robot is controlled. More examples More examples of how to use the instruction RobName are illustrated below. Example 1 VAR string my_robot; ... IF TaskRunRob() THEN
my_robot := RobName(); TPWrite "This task controls robot with name "+ my_robot;

ENDIF If this program task controls any TCP robot, write to FlexPendant the name of that TCP robot. Syntax
RobName ()

A function with a return value of the data type string.

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2 Functions
2.118 RobName - Get the TCP robot name Continued Related information
For information about Check if task run some TCP robot See TaskRunRob - Check if task controls some robot on page 1070

Check if task run some mechanical unit TaskRunMec - Check if task controls any mechanical unit on page 1069 Get the name of mechanical units in the GetNextMechUnit - Get name and data for mechsystem anical units on page 904 String functions Technical reference manual - RAPID Instructions, Functions and Data types, section RAPID summary - String functions string - Strings on page 1258

Definition of string

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2 Functions
2.119 RobOS - Check if execution is on RC or VC

2.119 RobOS - Check if execution is on RC or VC

Usage RobOS (Robot Operating System) can be used to check if the execution is performed on Robot Controller RC or Virtual Controller VC. Basic examples Basic examples of the function RobOS are illustrated below. Example 1
IF RobOS() THEN ! Execution statements in RC ELSE ! Execution statements in VC ENDIF

Return value Data type: bool TRUE if execution runs on Robot Controller RC, FALSE otherwise. Syntax
RobOS ()

A function with a return value of the data type bool.

1024 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.120 Round - Round a numeric value

2.120 Round - Round a numeric value

Usage Round is used to round a numeric value to a specified number of decimals or to an integer value. Basic examples Basic examples of the function Round are illustrated below. Example 1
VAR num val; val := Round(0.3852138\Dec:=3);

The variable val is given the value 0.385. Example 2

val := Round(0.3852138\Dec:=1);

The variable val is given the value 0.4. Example 3

val := Round(0.3852138);

The variable val is given the value 0. Example 4

val := Round(0.3852138\Dec:=6);

The variable val is given the value 0.385214. Return value Data type: num The numeric value rounded to the specified number of decimals. Arguments
Round ( Val [\Dec])

Val Value Data type: num The numeric value to be rounded. [\Dec] Decimals Data type: num Number of decimals. If the specified number of decimals is 0 or if the argument is omitted, the value is rounded to an integer. The number of decimals must not be negative or greater than the available precision for numeric values. Max number of decimals that can be used is 6.

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2 Functions
2.120 Round - Round a numeric value Continued Syntax
Round( [ Val := ] <expression (IN) of num> [ \Dec := <expression (IN) of num> ] )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions Truncating a value See Technical reference manual - RAPID overview, section RAPID summary - Mathematics Trunc - Truncates a numeric value on page 1085

1026 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.121 RoundDnum - Round a numeric value

2.121 RoundDnum - Round a numeric value

Usage RoundDnum is used to round a numeric value to a specified number of decimals or to an integer value. Basic examples Basic examples of the function RoundDnum are illustrated below. Example 1
VAR dnum val; val := RoundDnum(0.3852138754655357\Dec:=3);

The variable val is given the value 0.385. Example 2

val := RoundDnum(0.3852138754655357\Dec:=1);

The variable val is given the value 0.4. Example 3

val := RoundDnum(0.3852138754655357);

The variable val is given the value 0. Example 4

val := RoundDnum(0.3852138754655357\Dec:=15);

The variable val is given the value 0.385213875465536. Example 5

val := RoundDnum(1000.3852138754655357\Dec:=15);

The variable val is given the value 1000.38521387547. Return value Data type: dnum The numeric value rounded to the specified number of decimals. Arguments
RoundDnum ( Val [\Dec])

Val Value Data type: dnum The numeric value to be rounded. [\Dec] Decimals Data type: num Number of decimals. If the specified number of decimals is 0 or if the argument is omitted, the value is rounded to an integer. Continues on next page
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2.121 RoundDnum - Round a numeric value Continued The number of decimals must not be negative or greater than the available precision for numeric values. Max number of decimals that can be used is 15. Syntax
RoundDnum( [ Val := ] <expression (IN) of dnum> [ \Dec := <expression (IN) of num> ] )

A function with a return value of the data type dnum. Related information
For information about Mathematical instructions and functions Rounding a value Truncating a value Truncating a value See Technical reference manual - RAPID overview, section RAPID summary - Mathematics Round - Round a numeric value on page 1025 Trunc - Truncates a numeric value on page 1085 TruncDnum - Truncates a numeric value on page 1087

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2.122 RunMode - Read the running mode

2.122 RunMode - Read the running mode

Usage RunMode (Running Mode) is used to read the current running mode of the program task. Basic examples Basic examples of the function RunMode are illustrated below. Example 1
IF RunMode() = RUN_CONT_CYCLE THEN ... ENDIF

The program section is executed only for continuous or cycle running. Return value Data type: symnum The current running mode is defined as described in the table below.
Return value 0 1 2 3 4 5 Symbolic constant RUN_UNDEF RUN_CONT_CYCLE RUN_INSTR_FWD RUN_INSTR_BWD RUN_SIM RUN_STEP_MOVE Comment Undefined running mode Continuous or cycle running mode Instruction forward running mode Instruction backward running mode Simulated running mode. Not yet released. Move instructions in forward running mode and logical instructions in continuous running mode

Arguments
RunMode ( [ \Main] )

[ \Main ] Data type: switch Return current mode for the task if it is a motion task. If used in a non-motion task, it will return the current mode of the motion task that the non-motion task is connected to. If this argument is omitted, the return value always mirrors the current running mode for the program task which executes the function RunMode. Syntax
RunMode ( [\Main] )

A function with a return value of the data type symnum. Related information
For information about Reading operating mode See OpMode - Read the operating mode on page 964

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2.123 Sin - Calculates the sine value

2.123 Sin - Calculates the sine value

Usage Sin(Sine)is used to calculate the sine value from an angle value. Basic examples Basic examples of the function Sin are illustrated below. Example 1
VAR num angle; VAR num value; ... ... value := Sin(angle);

value will get the sine value of angle. Return value Data type: num The sine value, range [-1, 1] . Arguments
Sin (Angle)

Angle Data type: num The angle value, expressed in degrees. Syntax
Sin( [Angle:=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, sectionRAPID Summary - Mathematics

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2.124 SocketGetStatus - Get current socket state

2.124 SocketGetStatus - Get current socket state

Usage SocketGetStatus returns the current state of a socket. Basic examples Basic examples of the function SocketGetStatus are illustrated below. See also More examples on page 1031. Example 1
VAR socketdev socket1; VAR socketstatus state; ... SocketCreate socket1; state := SocketGetStatus( socket1 );

The socket status SOCKET_CREATED will be stored in the variable state. Return value Data type: socketstatus The current state of the socket. Only the predefined symbolic constants of type socketstatus can be used to check the state. Arguments
SocketGetStatus( Socket )

Socket Data type: socketdev The socket variable which state is of interest. Program execution The function returns one of the following predefined states of socketstatus: SOCKET_CREATED, SOCKET_CONNECTED, SOCKET_BOUND, SOCKET_LISTENING or SOCKET_CLOSED. More examples More examples of the function SocketGetStatus are illustrated below.
VAR socketstatus status; VAR socketdev my_socket; ... SocketCreate my_socket; SocketConnect my_socket, "192.168.0.1", 1025; ! A lot of RAPID code status := SocketGetStatus( my_socket ); !Check which instruction that was executed last, not the state of !the socket IF status = SOCKET_CREATED THEN TPWrite "Instruction SocketCreate has been executed";

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2.124 SocketGetStatus - Get current socket state Continued
ELSEIF status = SOCKET_CLOSED THEN TPWrite "Instruction SocketClose has been executed"; ELSEIF status = SOCKET_BOUND THEN TPWrite "Instruction SocketBind has been executed"; ELSEIF status = SOCKET_LISTENING THEN TPWrite "Instruction SocketListen or SocketAccept has been executed"; ELSEIF status = SOCKET_CONNECTED THEN TPWrite "Instruction SocketConnect, SocketReceive or SocketSend has been executed"; ELSE TPWrite "Unknown socket status"; ENDIF

A client socket is created and connected to a remote computer. Before the socket is used in a SocketSend instruction the state of the socket is checked so that it is still connected. Limitations The state of a socket can only be changed by executing RAPID socket instruction. E.g. if the socket is connected and later the connection is broken, this will not be reported by the SocketGetStatus function. Instead there will be an error returned when the socket is used in a SocketSend or SocketReceive instruction. Syntax
SocketGetStatus ( [ Socket := ] < variable (VAR) of socketdev > )

A function with a return value of the data type socketstatus. Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Connect to remote computer (only client) SocketConnect - Connect to a remote computer on page 474 Send data to remote computer Receive data from remote computer Close the socket Bind a socket (only server) Listening connections (only server) Accept connections (only server) SocketSend - Send data to remote computer on page 486 SocketReceive - Receive data from remote computer on page 481 SocketClose - Close a socket on page 472 SocketBind - Bind a socket to my IP-address and port on page 470 SocketListen - Listen for incoming connections on page 479 SocketAccept - Accept an incoming connection on page 467

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2.125 Sqrt - Calculates the square root value

2.125 Sqrt - Calculates the square root value

Usage Sqrt (Square root) is used to calculate the square root value. Basic examples Basic examples of the function Sqrt are illustrated below. Example 1
VAR num x_value; VAR num y_value; ... ... y_value := Sqrt( x_value);

y-value will get the square root value of x_value, i.e. (x_value). Return value Data type: num The square root value (). Arguments
Sqrt (Value)

Value Data type: num The argument value for square root, i.e. value. Value needs to be 0. Limitations The execution of the function Sqrt(x) will give an error if x < 0. Syntax
Sqrt( [Value:=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about See

Calculate the square root value of a dnum SqrtDnum - Calculates the square root value numeric value on page 1034 Mathematical instructions and functions Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics

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2.126 SqrtDnum - Calculates the square root value

2.126 SqrtDnum - Calculates the square root value

Usage SqrtDmum (Square root dnum) is used to calculate the square root value. Basic examples Basic examples of the function SqrtDnum are illustrated below. Example 1
VAR dnum x_value; VAR dnum y_value; ... ... y_value := SqrtDnum(x_value);

y_value will get the square root value of x_value, i.e. (x_value). Return value Data type: dnum The square root value (). Arguments
SqrtDnum (Value)

Value Data type: dnum The argument value for square root, i.e. value. Value needs to be 0. Limitations The execution of the function Sqrt(x) will give an error if x < 0. Syntax
SqrtDnum '(' [ Value ':=' ] < expression (IN) of dnum > ',' ')'

A function with a return value of the data type dnum. Related information
For information about See

Calculate the square root value of a num nu- Sqrt - Calculates the square root value on meric value page 1033 Mathematical instructions and functions Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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2.127 STCalcForce - Calculate the tip force for a Servo Tool

2.127 STCalcForce - Calculate the tip force for a Servo Tool

Usage STCalcForce is used to calculate the tip force for a Servo Tool. This function is used, for example, to find the max allowed tip force for a servo tool. Basic examples Basic examples of the function STCalcForce are illustrated below. Example 1
VAR num tip_force; tip_force := STCalcForce(gun1, 7);

Calculate the tip force when the desired motor torque is 7 Nm. Return Value Data type: num The calculated tip force [N]. Arguments
STCalcForce ToolName MotorTorque

ToolName Data type: string The name of the mechanical unit. MotorTorque Data type: num The desired motor torque [Nm]. Error handling If the specified servo tool name is not a configured servo tool, the system variable ERRNO is set to ERR_NO_SGUN. The error can be handled in a Rapid error handler. Syntax
STCalcForce [ ToolName := ] < expression (IN) of string > , [ MotorTorque := ] < expression (IN) of num > ;

A function with a return value of the data type num. Related information
For information about Open a servo tool Close a servo tool Calculate the motor torque See STOpen - Open a Servo Tool on page 540 STClose - Close a Servo Tool on page 523 STCalcTorque - Calc. the motor torque for a servo tool on page 1036

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2.128 STCalcTorque - Calc. the motor torque for a servo tool

2.128 STCalcTorque - Calc. the motor torque for a servo tool

Usage STCalcTorque is used to calculate the motor torque for a Servo Tool. This function is used, for example, when a force calibration is performed. Basic examples Basic examples of the function STCalcTorque are illustrated below. Example 1
VAR num curr_motortorque; curr_motortorque := STCalcTorque( gun1, 1000);

Calculate the motor torque when the desired tip force is 1000 N. Return value Data type: num The calculated motor torque [Nm]. Arguments
STCalcTorque ToolName TipForce

ToolName Data type: string The name of the mechanical unit. TipForce Data type: num The desired tip force [N]. Error handling If the specified servo tool name is not a configured servo tool, the system variable ERRNO is set to ERR_NO_SGUN. The error can be handled in a Rapid error handler. Syntax
STCalcTorque [ ToolName := ] < expression (IN) of string > , [ TipForce := ] < expression (IN) of num > ;

A function with a return value of the data type num. Related information
For information about Open a servo tool Close a servo tool Calculate the tip force See STOpen - Open a Servo Tool on page 540 STClose - Close a Servo Tool on page 523 STCalcForce - Calculate the tip force for a Servo Tool on page 1035

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2.129 STIsCalib - Tests if a servo tool is calibrated

2.129 STIsCalib - Tests if a servo tool is calibrated

Usage STIsCalib is used to test if a servo tool is calibrated - that is, check if the gun tips are calibrated or synchronized. Basic examples Basic examples of the function STIsCalib are illustrated below. Example 1
IF STIsCalib(gun1\sguninit) THEN ... ELSE !Start the gun calibration STCalib gun1\TipChg; ENDIF

Example 2
IF STIsCalib(gun1\sgunsynch) THEN ... ELSE !Start the gun calibration to synchronize the gun position with the revolution counter STCalib gun1\ToolChg; ENDIF

Return value Data type: bool TRUE if the tested tool is calibrated - that is, the distance between the tool tips is calibrated, or if the tested tool is synchronized - that is, the position of the tool tips is synchronized with the revolution counter of the tool. FALSE if the tested tool is not calibrated or synchronized. Arguments
STIsCalib ToolName [\sguninit] | [\sgunsynch]

ToolName Data type: string The name of the mechanical unit. [ \sguninit ] Data type: switch This argument is used to check if the gun position is initialized and calibrated. [ \sgunsynch ] Data type: switch This argument is used to check if the gun position is synchronized with the revolution counter.

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2.129 STIsCalib - Tests if a servo tool is calibrated Continued Syntax
STIsCalib( [ ToolName := ] < expression (IN) of string > [ \sguninit ] | [ \sgunsynch ] )

A function with a return value of the data type bool. Related information
For information about Calibrating a servo tool See STCalib - Calibrate a Servo Tool on page 519

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2.130 STIsClosed - Tests if a servo tool is closed

2.130 STIsClosed - Tests if a servo tool is closed

Usage STIsClosed is used to test if a servo tool is closed. Basic examples Basic examples of the instruction STIsClosed are illustrated below. Example 1
IF STIsClosed(gun1) THEN !Start the weld process Set weld_start; ELSE ... ENDIF

Check if the gun is closed or not. Example 2

STClose "sgun", 1000, 3 \Conc; WHILE NOT(STIsClosed("sgun"\RetThickness:=thickness)) DO WaitTime 0.1; ENDWHILE IF thickness > max_thickness THEN...

Start to close the gun named sgun. Continue immediately with the next instruction in which the program waits for the gun to be closed. Read the achieved thickness value when the instruction STIsClosed has returned TRUE. Example 3 Examples of non valid combinations:
STClose "sgun", 1000, 3 \RetThickness:=thickness \Conc; WHILE NOT(STIsClosed("sgun"\RetThickness:=thickness_2)) DO; ...

Close the gun. The parameter thickness will not hold any valid value since the \Conc switch is used. Wait until the gun is closed. When the gun is closed and STIsClosed returns TRUE, the parameter thickness_2 will hold a valid value since the \Conc switch was used for the STClose.
STClose "sgun", 1000, 3 \RetThickness:=thickness; WHILE NOT(STIsClosed("sgun"\RetThickness:=thickness_2)) DO; ...

Close the gun. The parameter thickness will hold a valid value when the gun has been closed since the \Conc switch is not used. The parameter thickness_2 will not hold any valid value since the \Conc switch was not used in the STClose instruction. Return value Data type: bool TRUE if the tested tool is closed, i.e. the desired tip force is achieved. Continues on next page
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2 Functions
2.130 STIsClosed - Tests if a servo tool is closed Continued FALSE if the tested tool is not closed. Arguments
STIsClosed ToolName [\RetThickness]

ToolName Data type: string The name of the mechanical unit. [\RetThickness] Data type: num The achieved thickness [mm]. NOTE! Only valid if \Conc has been used in a preceding STClose instruction. Syntax
STIsClosed( [ ToolName := ] < expression (IN) of string > ) [\ RetThickness := < variable or persistent (INOUT) of num > ]

A function with a return value of the data type bool. Related information
For information about Open a servo tool Close a servo tool Test if a servo tool is open See STOpen - Open a Servo Tool on page 540 STClose - Close a Servo Tool on page 523 STIsOpen - Tests if a servo tool is open on page 1042

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2.131 STIsIndGun - Tests if a servo tool is in independent mode

2.131 STIsIndGun - Tests if a servo tool is in independent mode

Usage STIsIndGun is used to test if a servo tool is in independent mode. Basic examples Basic example of the function STIsIndGun is illustrated below. Example 1
IF STIsIndGun(gun1) THEN Start the gun calibration STCalib gun1\???????; ELSE ... ENDIF

Return value Data type: bool TRUE if the tested tool is in independent mode - that is, the gun can be moved independently of the robot movements. FALSE if the tested tool is not in independent mode. Arguments
STIsIndGun ToolName

ToolName Data type: string The name of the mechanical unit. Syntax
STIsIndGun( [ ToolName := ] < expression (IN) of string > )

A function with a return value of the data type bool. Related information
For information about Calibrating a servo tool Setting the gun in independent mode Resetting the gun from independent mode See STCalib - Calibrate a Servo Tool on page 519 STIndGun - Sets the gun in independent mode on page 528 STIndGunReset - Resets the gun from independent mode on page 530

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2.132 STIsOpen - Tests if a servo tool is open

2.132 STIsOpen - Tests if a servo tool is open

Usage STIsOpen is used to test if a servo tool is open. Basic examples Basic examples of the instruction STIsOpen are illustrated below. Example 1
IF STIsOpen(gun1) THEN !Start the motion MoveL ... ELSE ... ENDIF

Check if the gun is open or not. Example 2

STCalib "sgun" \TipWear \Conc; WHILE NOT(STIsOpen("sgun") \RetTipWear:=tipwear \RetPosAdj:=posadj) DO; WaitTime 0.1; ENDWHILE

IF tipwear > 20... IF posadj > 25... Perform a tip wear calibration. Wait until the gun sgun is open. Read the tip wear and positional adjustment values. Example 3 Examples of non valid combinations:
STCalib "sgun" \TipWear \RetTipWear:=tipwear_1 \Conc; WHILE NOT(STIsOpen("sgun") \RetTipWear:=tipwear_2) DO; WaitTime 0.1; ENDWHILE

Start a tip wear calibration. The parameter tipwear_1 will not hold any valid value since the \Conc switch is used. When the calibration is ready and the STIsOpen returns TRUE, the parameter tipwear_2 will hold a valid value.
STCalib "sgun" \TipWear \RetTipWear:=tipwear_1; WHILE NOT(STIsOpen("sgun") \RetTipWear:=tipwear_2) DO; WaitTime 0.1; ENDWHILE

Perform a tip wear calibration. The parameter tipwear_1 will hold a valid value since the \Conc switch is not used. When STIsOpen returns TRUE, the parameter

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2 Functions
2.132 STIsOpen - Tests if a servo tool is open Continued tipwear_2 will not hold any valid value since the \Conc switch was not used in STCalib. Return value Data type: bool TRUE if the tested tool is open, i.e. the tool arm is in the programmed open position. FALSE if the tested tool is not open. Arguments
STIsOpen ToolName [\RetTipWear] [\RetPosAdj]

ToolName Data type: string The name of the mechanical unit. [\RetTipWear] Data type: num The achieved tip wear [mm]. NOTE! Only valid if \Conc has been used in a preceding STCalib instruction and if STIsOpen returns TRUE. [\RetPosAdj] Data type: num The positional adjustment since the last calibration [mm]. NOTE! Only valid if \Conc has been used in a preceding STCalib instruction and if STIsOpen returns TRUE. Syntax
STIsOpen( [ ToolName := ] < expression (IN) of string > ) [ \RetTipWear := < variable or persistent(INOUT) of num > ]; [ \RetPosAdj := < variable or persistent(INOUT) of num > ]

A function with a return value of the data type bool. Related information
For information about Open a servo tool Close a servo tool Test if a servo tool is closed See STOpen - Open a Servo Tool on page 540 STClose - Close a Servo Tool on page 523 STIsClosed - Tests if a servo tool is closed on page 1039

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2.133 StrDigCalc - Arithmetic operations with datatype stringdig

2.133 StrDigCalc - Arithmetic operations with datatype stringdig

Usage StrDigCalc is used to perform arithmetic operations (+, -, *, /, %) on two positive digit strings in the same way as numeric arithmetic operations on positive integer values. This function can handle positive integers above 8 388 608 with exact representation. Basic examples Basic examples of the function StrDigCalc are illustrated below. See also More examples on page 1045. Example 1
res := StrDigCalc(str1, OpAdd, str2);

res is assigned the result of the addition operation on the values represented by the digital strings str1 and str2. Return value Data type: stringdig stringdig is used to represent big positive integers in a string with only digits. This data type is introduced because the data type num cannot handle positive integers above 8 388 608 with exact representation. Arguments
StrDigCalc (StrDig1 Operation StrDig2)

StrDig1 String Digit 1 Data type: stringdig String representing a positive integer value. Operation Arithmetic operator Data type: opcalc Defines the arithmetic operation to perform on the two digit strings. Following arithmetic operatons of data type opcalc can be used; OpAdd, OpSub, OpMult, OpDiv and OpMod. StrDig2 String Digit 2 Data type: stringdig String representing a positive integer value.

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2.133 StrDigCalc - Arithmetic operations with datatype stringdig Continued Program execution This function will: More examples More examples of how to use the function StrDigCalc are illustrated below. Example 1
res := StrDigCalc(str1, OpSub, str2);

Check only digits 0...9 in StrDig1 and StrDig2 Convert the two digital strings to long integers Perform an arithmetic operation on the two long integers Convert the result from long integer to stringdig

res is assigned the result of the substration operation on the values represented by the digital strings str1 and str2. Example 2
res := StrDigCalc(str1, OpMult, str2);

res is assigned the result of the multiplication operartion on the values represented by the digital strings str1 and str2. Example 3
res := StrDigCalc(str1, OpDiv, str2);

res is assigned the result of the division operation on the values represented by the digital strings str1 and str2. Example 4
res := StrDigCalc(str1, OpMod, str2);

res is assigned the result of the modulus operation on the values represented by the digital strings str1 and str2. Error handling The following errors can be handled in a Rapid error handler.
Error code ERR_INT_NOTVAL ERR_INT_MAXVAL ERR_CALC_OVERFLOW ERR_CALC_NEG ERR_CALC_DIVZERO Description Input values not only digits or modulus by zero Input value above 4294967295 Result out of range 0...4294967295 Negative substraction i.e. StrDig2 > StrDig1 Division by zero

Limitations StrDigCalc only accepts strings that contain digits (characters 0...9). All other characters in stringdig will result in error. This function can only handle positive integers up to 4 294 967 295.

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2.133 StrDigCalc - Arithmetic operations with datatype stringdig Continued Syntax
StrDigCalc( [ StrDig1 := ] < expression (IN) of stringdig > , [ Operation := ] < expression (IN) of opcalc > , [ StrDig2 := ] < expression (IN) of stringdig > )

A function with a return value of the data type stringdig. Related information
For information about Strings with only digits. Arithmetic operators. See stringdig - String with only digits on page 1260 opcalc - Arithmetic Operator on page 1209

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2.134 StrDigCmp - Compare two strings with only digits

2.134 StrDigCmp - Compare two strings with only digits

Usage StrDigCmp is used to compare two positive digit strings in the same way as numeric compare of positive integers. This function can handle positive integers above 8 388 608 with exact representation. Basic examples Basic examples of the function StrDigCmp are illustrated below. Example 1
VAR stringdig digits1 := "1234"; VAR stringdig digits2 := "1256"; VAR bool is_equal; is_equal := StrDigCmp(digits1, EQ, digits2);

The variable is_equal will be set to FALSE, because the numeric value 1234 is not equal to 1256. Example 2
CONST string file_path := "..."; CONST string mod_name := "..."; VAR num num_file_time: VAR stringdig dig_file_time; VAR num num_mod_time; VAR stringdig dig_mod_time; ... num_file_time := FileTime(file_path, \ModifyTime, \StrDig:=dig_file_time); num_mod_time := ModTime(mod_name,\StrDig:=dig_mod_time); IF StrDigCmp(dig_file_time, GT, dig_mod_time) THEN ! Load the new program module ENDIF

Both FileTime and ModTime returns number of seconds since 00:00:00 GMT jan 1 1970 which cannot be represented with exact representation in a num variable. Because of this limitation, function StrDigCmp and data type stringdig are used. In variable dig_file_time, the last modified time of the module file on disk is stored. In variable dig_mod_time, the last modify time of the file for the same module before it was loaded into the program memory in the controller is stored. Compare of the two digit strings, show that the module on the disk is newer, so it should be loaded into the program memory. Return value Data type: bool TRUE if the given condition is met, FALSE if not.

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2 Functions
2.134 StrDigCmp - Compare two strings with only digits Continued Arguments
StrDigCmp (StrDig1 Relation StrDig2)

StrDig1 String Digit 1 Data type: stringdig The first string with only digits to be numerical compared. Relation Data type: opnum Defines how to compare the two digit strings. Following predefined constants of data type opnum can be used LT, LTEQ, EQ, NOTEQ, GTEQ or GT. StrDig2 String Digit 2 Data type: stringdig The second string with only digits to be numerical compared. Program execution This function will: Error handling The following errors can be handled in a Rapid error handler.
Error code ERR_INT_NOTVAL ERR_INT_MAXVAL Description Input values not only digits Value above 4294967295

Check that only digits 0...9 are used in StrDig1 and StrDig2 Convert the two digital strings to long integers Numerically compare the two long integers

Limitations StrDigCmp only accepts strings that contain digits (characters 0...9). All other characters in stringdig will result in error. This function can only handle positive integers up to 4 294 967 295. Syntax
StrDigCmp( [ StrDig1 := ] < expression (IN) of stringdig > , [ Relation := ] < expression (IN) of opnum > , [ StrDig2 := ] < expression (IN) of stringdig > )

A function with a return value of the data type bool. Related information
For information about String with only digits See stringdig - String with only digits on page 1260

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2.134 StrDigCmp - Compare two strings with only digits Continued
For information about Comparison operators File time information File modify time of the loaded module See opnum - Comparison operator on page 1210 FileTime - Retrieve time information about a file on page 896 ModTime - Get file modify time for the loaded module on page 951

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2.135 StrFind - Searches for a character in a string

2.135 StrFind - Searches for a character in a string

Usage StrFind (String Find) is used to search in a string, starting at a specified position, for a character that belongs to a specified set of characters. Basic examples Basic examples of the function StrFind are illustrated below. Example 1
VAR num found; found := StrFind("Robotics",1,"aeiou");

The variable found is given the value 2.

found := StrFind("Robotics",1,"aeiou"\NotInSet);

The variable found is given the value 1

found := StrFind("IRB 6400",1,STR_DIGIT);

The variable found is given the value 5.

found := StrFind("IRB 6400",1,STR_WHITE);

The variable found is given the value 4. Return value Data type: num The character position of the first character at or past the specified position that belongs to the specified set. If no such character is found, string length +1 is returned. Arguments
StrFind (Str ChPos Set [\NotInSet])

Str String Data type: string The string to search in. ChPos Character Position Data type: num Start character position. A runtime error is generated if the position is outside the string. Set Data type: string Set of characters to test against. See also Predefined data on page 1051. [\NotInSet] Data type: switch Search for a character not in the set of characters presented in Set. Continues on next page
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2.135 StrFind - Searches for a character in a string Continued Syntax
StrFind( [ Str := ] [ ChPos := [ Set := ] [\NotInSet ) <expression (IN) of string> , ] <expression (IN) of num> , <expression (IN) of string> ]

A function with a return value of the data type num. Predefined data A number of predefined string constants are available in the system and can be used together with string functions.
Name STR_DIGIT Character set <digit> ::= 0|1|2|3|4|5|6|7|8|9 <upper case letter> ::= A|B|C|D|E|F|G|H|I|J |K|L|M|N|O|P|Q|R|S|T |U|V|W|X|Y|Z|||| |||||||||| | | | 1)| | | | | | | | | | | | 2) | 3) <lower case letter> ::= a|b|c|d|e|f|g|h|i|j |k|l|m|n|o|p|q|r|s|t |u|v|w|x|y|z|||| |||||||||| | | | 1) | | | | | | | | | | | | 2) | 3) | | <blank character> ::=

STR_UPPER

STR_LOWER

STR_WHITE

Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.136 StrLen - Gets the string length

2.136 StrLen - Gets the string length

Usage StrLen (String Length) is used to find the current length of a string. Basic examples Basic examples of the function StrLen are illustrated below. Example 1
VAR num len; len := StrLen("Robotics");

The variable len is given the value 8. Return value Data type: num The number of characters in the string (>=0). Arguments
StrLen (Str)

Str String Data type: string The string in which the number of characters is to be counted. Syntax
StrLen( [ Str := ] <expression (IN) of string> )

A function with a return value of the data type num. Related information
For information about String functions See Technical reference manual - RAPID Instructions, Functions and Data types, section RAPID summary - String Functions string - Strings on page 1258 Technical reference manual - RAPID Instructions, Functions and Data types, section Basic characteristics - Basic elements

Definition of string String values

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2 Functions
2.137 StrMap - Maps a string

2.137 StrMap - Maps a string

Usage StrMap (String Mapping) is used to create a copy of a string in which all characters are translated according to a specified mapping. Basic examples Basic examples of the function StrMap are illustrated below. Example 1
VAR string str; str := StrMap("Robotics","aeiou","AEIOU");

The variable str is given the value "RObOtIcs". Example 2

str := StrMap("Robotics",STR_LOWER, STR_UPPER);

The variable str is given the value "ROBOTICS". Return value Data type: string The string created by translating the characters in the specified string, as specified by the "from" and "to" strings. Each character from the specified string that is found in the "from" string is replaced by the character at the corresponding position in the "to" string. Characters for which no mapping is defined are copied unchanged to the resulting string. Arguments
StrMap ( Str FromMap ToMap)

Str String Data type: string The string to translate. FromMap Data type: string Index part of mapping. See also Predefined data on page 1054. ToMap Data type: string Value part of mapping. See also Predefined data on page 1054. Syntax
StrMap( [ Str := ] <expression (IN) of string> , [ FromMap:= ] <expression (IN) of string> , [ ToMap:= ] <expression (IN) of string> )

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2.137 StrMap - Maps a string Continued A function with a return value of the data type string. Predefined data A number of predefined string constants are available in the system and can be used together with string functions.
Name STR_DIGIT Character set <digit> ::= 0|1|2|3|4|5|6|7|8|9 <upper case letter> ::= A|B|C|D|E|F|G|H|I|J |K|L|M|N|O|P|Q|R|S|T |U|V|W|X|Y|Z|||| |||||||||| | | | 1)| | | | | | | | | | | | 2) | 3) <lower case letter> ::= a|b|c|d|e|f|g|h|i|j |k|l|m|n|o|p|q|r|s|t |u|v|w|x|y|z|||| |||||||||| | | | 1) | | | | | | | | | | | | 2) | 3) | | <blank character> ::=

STR_UPPER

STR_LOWER

STR_WHITE

Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2 Functions
2.138 StrMatch - Search for pattern in string

2.138 StrMatch - Search for pattern in string

Usage StrMatch (String Match) is used to search in a string, starting at a specified position, for a specified pattern. Basic examples Basic examples of the function StrMatch are illustrated below. Example 1
VAR num found; found := StrMatch("Robotics",1,"bo");

The variable found is given the value 3. Return value Data type: num The character position of the first substring, at or past the specified position, that is equal to the specified pattern string. If no such substring is found, string length +1 is returned. Arguments
StrMatch (Str ChPos Pattern)

Str String Data type: string The string to search in. ChPos Character Position Data type: num Start character position. A runtime error is generated if the position is outside the string. Pattern Data type: string Pattern string to search for. Syntax
StrMatch( [ Str := ] <expression (IN) of string>, [ ChPos := ] <expression (IN) of num> , [ Pattern:= ] <expression (IN) of string> )

A function with a return value of the data type num.

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2 Functions
2.138 StrMatch - Search for pattern in string Continued Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.139 StrMemb - Checks if a character belongs to a set

2.139 StrMemb - Checks if a character belongs to a set

Usage StrMemb (String Member) is used to check whether a specified character in a string belongs to a specified set of characters. Basic examples Basic examples of the function StrMemb are illustrated below. Example 1
VAR bool memb; memb := StrMemb("Robotics",2,"aeiou");

The variable memb is given the value TRUE, as o is a member of the set "aeiou".
memb := StrMemb("Robotics",3,"aeiou");

The variable memb is given the value FALSE, as b is not a member of the set "aeiou".
memb := StrMemb("S-721 68 VSTERS",3,STR_DIGIT);

The variable memb is given the value TRUE, as 7 is a member of the set STR_DIGIT. Return value Data type: bool TRUE if the character at the specified position in the specified string belongs to the specified set of characters. Arguments
StrMemb (Str ChPos Set)

Str String Data type: string The string to check in. ChPos Character Position Data type: num The character position to check. A runtime error is generated if the position is outside the string. Set Data type: string Set of characters to test against. Syntax
StrMemb( [ Str := ] <expression (IN) of string> , [ ChPos := ] <expression (IN) of num> , [ Set := ] <expression (IN) of string>

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2 Functions
2.139 StrMemb - Checks if a character belongs to a set Continued
)

A function with a return value of the data type bool. Predefined data A number of predefined string constants are available in the system and can be used together with string functions.
Name STR_DIGIT Character set <digit> ::= 0|1|2|3|4|5|6|7|8|9 <upper case letter> ::= A|B|C|D|E|F|G|H|I|J |K|L|M|N|O|P|Q|R|S|T |U|V|W|X|Y|Z|||| | | | 1)| | | | | | | | | | | | 2) | 3) <lower case letter> ::= a|b|c|d|e|f|g|h|i|j |k|l|m|n|o|p|q|r|s|t |u|v|w|x|y|z|||| |||||||||| | | | 1) | | | | | | | | | | | | 2) | 3) | | <blank character> ::=

STR_UPPER

STR_LOWER

STR_WHITE

Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID Summary - String Functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2 Functions
2.140 StrOrder - Checks if strings are ordered

2.140 StrOrder - Checks if strings are ordered

Usage StrOrder (String Order) compares two strings (character by character ) and returns a boolean indicating whether the two strings are in order according to a specified character ordering sequence. Basic examples Basic examples of the function StrOrder are illustrated below. Example 1
VAR bool le; le := StrOrder("FIRST","SECOND",STR_UPPER);

The variable le is given the value TRUE, because "F" comes before "S" in the character ordering sequence STR_UPPER. Example 2
VAR bool le; le := StrOrder("FIRST","FIRSTB",STR_UPPER);

The variable le is given the value TRUE, because Str2"FIRSTB" has an additional character in the character ordering sequence (no character compared to "B"). Example 3
VAR bool le; le := StrOrder("FIRSTB","FIRST",STR_UPPER);

The variable le is given the value FALSE, because Str1"FIRSTB" has an additional character in the character ordering sequence ("B" compared to no character). Return value Data type: bool TRUE if the first string comes before the second string (Str1 <= Str2) when characters are ordered as specified. Characters that are not included in the defined ordering are all assumed to follow the present ones. Arguments
StrOrder ( Str1 Str2 Order)

Str1 String 1 Data type: string First string value.

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2 Functions
2.140 StrOrder - Checks if strings are ordered Continued Str2 String 2 Data type: string Second string value. Order Data type: string Sequence of characters that define the ordering. See also Predefined data on page 1060. Syntax
StrOrder( [ Str1 := ] <expression (IN) of string> , [ Str2 := ] <expression (IN) of string> , [ Order := ] <expression (IN) of string> )

A function with a return value of the data type bool. Predefined data A number of predefined string constants are available in the system and can be used together with string functions.
Name STR_DIGIT Character set <digit> ::= 0|1|2|3|4|5|6|7|8|9 <upper case letter> ::= A|B|C|D|E|F|G|H|I|J |K|L|M|N|O|P|Q|R|S|T |U|V|W|X|Y|Z|||| |||||||||| | | | 1)| | | | | | | | | | | | 2) | 3) <lower case letter> ::= a|b|c|d|e|f|g|h|i|j |k|l|m|n|o|p|q|r|s|t |u|v|w|x|y|z|||| |||||||||| | | | 1) | | | | | | | | | | | | 2) | 3) | | <blank character> ::=

STR_UPPER

STR_LOWER

STR_WHITE

Related information
For information about String functions Definition of string See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258

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2 Functions
2.140 StrOrder - Checks if strings are ordered Continued
For information about String values See Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.141 StrPart - Finds a part of a string

2.141 StrPart - Finds a part of a string

Usage StrPart (String Part) is used to find a part of a string, as a new string. Basic examples Basic examples of the function StrPart are illustrated below. Example 1
VAR string part; part := StrPart("Robotics",1,5);

The variable part is given the value "Robot". Return value Data type: string The substring of the specified string which has the specified length and starts at the specified character position. Arguments
StrPart (Str ChPos Len)

Str String Data type: string The string in which a part is to be found. ChPos Character Position Start character position. A runtime error is generated if the position is outside the string. Len Length Data type: num Length of string part. A runtime error is generated if the length is negative or greater than the length of the string, or if the substring is (partially) outside the string. Syntax
StrPart( [ Str := ] <expression (IN) of string> , [ ChPos := ] <expression (IN) of num> , [ Len := ] <expression (IN) of num> )

A function with a return value of the data type string.

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2 Functions
2.141 StrPart - Finds a part of a string Continued Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String Functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.142 StrToByte - Converts a string to a byte data

2.142 StrToByte - Converts a string to a byte data

Usage StrToByte (String To Byte) is used to convert a string with a defined byte data format into a byte data. Basic examples Basic examples of the function StrToByte are illustrated below. Example 1
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010", "A"]; VAR byte data_buffer{5}; data_buffer{1} := StrToByte(con_data_buffer{1});

The content of the array component data_buffer{1} will be 10 decimal after the StrToByte ... function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);

The content of the array component data_buffer{2} will be 174 decimal after the StrToByte ... function.
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);

The content of the array component data_buffer{3} will be 126 decimal after the StrToByte ... function.
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);

The content of the array component data_buffer{4} will be 10 decimal after the StrToByte ... function.
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);

The content of the array component data_buffer{5} will be 65 decimal after the StrToByte ... function. Return value Data type: byte The result of the conversion operation in decimal representation. Arguments
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])

ConStr Convert String Data type: string The string data to be converted. If the optional switch argument is omitted, the string to be converted has decimal (Dec) format. [\Hex] Hexadecimal Data type: switch Continues on next page
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2 Functions
2.142 StrToByte - Converts a string to a byte data Continued The string to be converted has hexadecimal format. [\Okt] Octal Data type: switch The string to be converted has octal format. [\Bin] Binary Data type: switch The string to be converted has binary format. [\Char] Character Data type: switch The string to be converted has ASCII character format. Limitations Depending on the format of the string to be converted, the following string data is valid:
Format Dec .....: 0 - 9 Hex .....: 0 - 9, a -f, A - F Okt ......: 0 - 7 Bin ......: 0 - 1 Char ....: Any ASCII character String length 3 2 3 8 1 Range "0" - "255" "0" - "FF" "0" - "377" "0" - "11111111" One ASCII char

RAPID character codes (e.g. \07 for BEL control character) can be used as arguments in ConStr. Syntax
StrToByte( [ConStr :=] <expression (IN) of string> [\ Hex ] | [\ Okt] | [\ Bin] | [\ Char] )

A function with a return value of the data type byte. Related information
For information about Convert a byte to a string data Other bit (byte) functions See ByteToStr - Converts a byte to a string data on page 829 Technical reference manual - RAPID overview, section RAPID summary - Mathematics - Bit functions Technical reference manual - RAPID overview, section RAPID summary - String functions

Other string functions

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2.143 StrToVal - Converts a string to a value

2.143 StrToVal - Converts a string to a value

Usage StrToVal (String To Value) is used to convert a string to a value of any data type. Basic examples Basic examples of the function StrToVal are illustrated below. See also More examples on page 1066. Example 1
VAR bool ok; VAR num nval; ok := StrToVal("3.85",nval);

The variable ok is given the value TRUE and nval is given the value 3.85. Return value Data type: bool TRUE if the requested conversion succeeded, FALSE otherwise. Arguments
StrToVal ( Str Val )

Str String Data type: string A string value containing literal data with format corresponding to the data type used in argument Val. Valid format as for RAPID literal aggregates. Val Value Data type: ANYTYPE Name of the variable or persistent of any data type for storage of the result from the conversion. All type of value data with structure atomic, record, record component, array or array element can be used. The data is unchanged if the requested conversion failed because the format dont correspond to the data used in argument Str. More examples More examples of the function StrToVal are illustrated below. Example 1
VAR string str15 := "[600, 500, 225.3]"; VAR bool ok; VAR pos pos15; ok := StrToVal(str15,pos15);

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2 Functions
2.143 StrToVal - Converts a string to a value Continued The variable ok is given the value TRUE and the variable pos15 is given the value that are specified in the string str15. Syntax
StrToVal( [ Str := ] <expression (IN) of string> , [ Val := ] <var or pers (INOUT) of ANYTYPE> )

A function with a return value of the data type bool. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.144 Tan - Calculates the tangent value

2.144 Tan - Calculates the tangent value

Usage Tan (Tangent) is used to calculate the tangent value from an angle value. Basic examples Basic examples of the function are illustrated below. Example 1
VAR num angle; VAR num value; ... ... value := Tan(angle);

value will get the tangent value of angle. Return value Data type: num The tangent value. Arguments
Tan (Angle)

Angle Data type: num The angle value, expressed in degrees. Syntax
Tan( [Angle :=] <expression (IN) of num> )

A function with a return value of the data type num. Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview, section RAPID Summary - Mathematics Arc tangent with return value in the range ATan2 - Calculates the arc tangent2 value on [-180,180] page 799

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2 Functions
2.145 TaskRunMec - Check if task controls any mechanical unit

2.145 TaskRunMec - Check if task controls any mechanical unit

Usage TaskRunMec is used to check if the program task controls any mechanical units (robot with TCP or manipulator without TCP). Basic examples Basic examples of the function TaskRunMec are illustrated below. Example 1
VAR bool flag; ... flag := TaskRunMec( );

If current task controls any mechanical unit flag will be TRUE, otherwise FALSE. Return value Data type: bool If current task controls any mechanical unit the return value will be TRUE, otherwise FALSE. Program execution Check if current program task controls any mechanical unit. Syntax
TaskRunMec( )

A function with a return value of the data type bool. Related information
For information about Check if task control some robot Activating/Deactivating mech. units Configuration of mechanical units See TaskRunRob - Check if task controls some robot on page 1070 ActUnit - Activates a mechanical unit on page 21 DeactUnit - Deactivates a mechanical unit on page 88 Technical reference manual - System parameters

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2.146 TaskRunRob - Check if task controls some robot

2.146 TaskRunRob - Check if task controls some robot

Usage TaskRunRob is used to check if the program task controls some robot (mechanical unit with TCP). Basic examples Basic examples of the function TaskRunRob are illustrated below. Example 1
VAR bool flag; ... flag := TaskRunRob( );

If current task controls some robot, flag will be set to TRUE, otherwise FALSE. Return value Data type: bool If current task controls some robot, the return value will be TRUE, otherwise FALSE. Program execution Check if current program task controls some robot. Syntax
TaskRunRob ( )

A function with a return value of the data type bool. Related information
For information about See

Check if task controls any mechanical TaskRunMec - Check if task controls any mechanunit ical unit on page 1069 Activating/Deactivating mechanical units Configuration of mechanical units ActUnit - Activates a mechanical unit on page 21 DeactUnit - Deactivates a mechanical unit on page 88 Technical reference manual - System parameters

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2.147 TasksInSync - Returns the number of synchronized tasks

2.147 TasksInSync - Returns the number of synchronized tasks

Usage TasksInSync is used to retrieve the number of synchronized tasks. Basic examples A basic example of the function TasksInSync is illustrated below. Example 1
VAR tasks tasksInSyncList{6}; ... PROC main () VAR num noOfSynchTasks; ... noOfSynchTasks:= TasksInSync (tasksInSyncList); TPWrite "No of synchronized tasks = "\Num:=noOfSynchTasks; ENDPROC

The variable noOfSynchTasks is assigned the number of synchronized tasks and the tasksInSyncList will contain the names of the synchronized tasks. In this example the task list is a variable but it can also be a persistent. Return value Data type: num The number of synchronized tasks. Arguments
TaskInSync (TaskList)

TaskList Data type: tasks Inout argument that in a task list (array) will present the name (string) of the program tasks that are synchronized. The task list can be either of type VAR or PERS. Program execution The function returns the number of synchronized tasks in the system. The names of the synchronized tasks are presented in the inout argument TaskList. In cases where there are no synchronized tasks, the list will only contain empty strings. Limitations Currently only one synch group is supported, so TasksInSync returns the number of tasks that are synchronized in that group. Syntax
TasksInSync [ TaskList := ] < var or pers array {*} (INOUT) of tasks> ,

A function with a return value of the data type num. Continues on next page
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2.147 TasksInSync - Returns the number of synchronized tasks Continued Related information
For information about Specify cooperated program tasks See tasks - RAPID program tasks on page 1267SyncMoveOn - Start coordinated synchronized movements on page 561

Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561

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2 Functions
2.148 TestAndSet - Test variable and set if unset

2.148 TestAndSet - Test variable and set if unset

Usage TestAndSet can be used together with a normal data object of the type bool, as a binary semaphore, to retrieve exclusive right to specific RAPID code areas or system resources. The function could be used both between different program tasks and different execution levels (TRAP or Event Routines) within the same program task. Example of resources that can need protection from access at the same time: Basic examples Basic examples of the function TestAndSet are illustrated below. See also More examples on page 1074. Example 1 MAIN program task:
PERS bool tproutine_inuse := FALSE; ... WaitUntil TestAndSet(tproutine_inuse); TPWrite "First line from MAIN"; TPWrite "Second line from MAIN"; TPWrite "Third line from MAIN"; tproutine_inuse := FALSE;

Use of some RAPID routines with function problems when executed in parallel. Use of the FlexPendant - Operator Log

BACK1 program task:

PERS bool tproutine_inuse := FALSE; ... WaitUntil TestAndSet(tproutine_inuse); TPWrite "First line from BACK1"; TPWrite" Second line from BACK1"; TPWrite "Third line from BACK1"; tproutine_inuse := FALSE;

To avoid mixing up the lines, in the Operator Log, one from MAIN and one from BACK1, the use of the TestAndSet function guarantees that all three lines from each task are not separated. If program task MAIN takes the semaphore TestAndSet(tproutine_inuse) first, then program task BACK1 must wait until the program task MAIN has left the semaphore. Return value Data type: bool TRUE if the semaphore has been taken by me (executor of TestAndSet function), otherwise FALSE.

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2.148 TestAndSet - Test variable and set if unset Continued Arguments
TestAndSet Object

Object Data type: bool User defined data object to be used as semaphore. The data object could be a variable VAR or a persistent variable PERS. If TestAndSet are used between different program tasks, the object must be a persistent variable PERS or an installed variable VAR (intertask objects). Program execution This function will in one indivisible step check the user defined variable and, if it is unset, will set it and return TRUE, otherwise it will return FALSE.
IF Object = FALSE THEN Object := TRUE; RETURN TRUE; ELSE RETURN FALSE; ENDIF

More examples More examples of the function TestAndSet are illustrated below. Example 1
LOCAL VAR bool doit_inuse := FALSE; ... PROC doit(...) WaitUntil TestAndSet (doit_inuse); ... doit_inuse := FALSE; ENDPROC

If a module is installed built-in and shared, it is possible to use a local module variable for protection of access from different program tasks at the same time. Note In this case with installed built-in modules and when using persistent variable as semaphore object: If program execution is stopped in the routine doit and the program pointer is moved to main, the variable doit_inuse will not be reset. To avoid this, reset the variable doit_inuse to FALSE in the START event routine. Syntax
TestAndSet ( [ Object := ] < variable or persistent (INOUT) of bool> )

A function with a return value of the data type bool.

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2 Functions
2.148 TestAndSet - Test variable and set if unset Continued Related information
For information about See

Wait until variable unset - then set (type wait WaitTestAndSet - Wait until variable unset with interrupt control) then set on page 723

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2.149 TestDI - Tests if a digital input is set

2.149 TestDI - Tests if a digital input is set

Usage TestDI is used to test whether a digital input is set. Basic examples Basic examples of the function TestDI are illustrated below. Example 1
IF TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 1, then . . .

IF NOT TestDI (di2) THEN . . .

If the current value of the signal di2 is equal to 0, then . . .

WaitUntil TestDI(di1) AND TestDI(di2);

Program execution continues only after both the di1 input and the di2 input have been set. Return value Data type: bool TRUE = The current value of the signal is equal to 1. FALSE = The current value of the signal is equal to 0. Arguments
TestDI (Signal)

Signal Data type: signaldi The name of the signal to be tested. Syntax
TestDI ( [ Signal := ] < variable (VAR) of signaldi > )

A function with a return value of the data type bool. Related information
For information about See

Reading the value of a digital input signal signalxx - Digital and analog signals on page 1244 Input/Output instructions Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

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2 Functions
2.150 TestSignRead - Read test signal value

2.150 TestSignRead - Read test signal value

Usage TestSignRead is used to read the actual test signal value. This function returns the momentary value or the mean value of the latest samples, depending on channel specification in instruction TestSignDefine. Basic examples Basic examples of the function TestSignRead are illustrated below. See also More examples on page 1078. Example 1
CONST num speed_channel:=1; VAR num speed_value; ... TestSignDefine speed_channel, speed, orbit, 1, 0; ... ! During some movements with orbits axis 1 speed_value := TestSignRead(speed_channel); ... TestSignReset;

speed_value is assigned the mean value of the latest 8 samples generated each 0.5 ms of the test signal speed on channel speed_channel defined as channel 1. The channel speed_channel measures the speed of axis 1 on the mechanical unit orbit. Return value Data type: num The numeric value in SI units on the motor side for the specified channel according to the definition in instruction TestSignDefine. Arguments
TestSignRead (Channel)

Channel Data type: num The channel number 1-12 for the test signal to be read. The same number must be used in the definition instruction TestSignDefine. Program execution Returns the momentary value or the mean value of the latest samples, depending on the channel specification in the instruction TestSignDefine. For predefined test signals with valid SI units for external manipulator axes, see data type testsignal.

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2 Functions
2.150 TestSignRead - Read test signal value Continued More examples More examples of the function TestSignRead are illustrated below. Example 1
CONST num torque_channel:=2; VAR num torque_value; VAR intnum timer_int; CONST jointtarget psync := [...]; ... PROC main() CONNECT timer_int WITH TorqueTrap; ITimer \Single, 0.05, timer_int; TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001; ... MoveAbsJ psync \NoEOffs, v5, fine, tool0; ... IDelete timer_int; TestSignReset; TRAP TorqueTrap IF (TestSignRead(torque_channel) > 6) THEN TPWrite "Torque pos = " + ValToStr(CJointT()); Stop; ELSE IDelete timer_int; CONNECT timer_int WITH TorqueTrap; ITimer \Single, 0.05, timer_int; ENDIF ENDTRAP

When the torque reference for manipulator IRBP_K axis 2 is for the first time greater than 6 Nm on the motor side during the slow movement to position psync, the joint position is displayed on the FlexPendant. Syntax
TestSignRead( [ Channel :=] <expression (IN) of num>)

A function with a return value of the type num. Related information

For information about Test signal Define test signal Reset test signals See testsignal - Test signal on page 1269 TestSignDefine - Define test signal on page 577 TestSignReset - Reset all test signal definitions on page 579

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2 Functions
2.151 TextGet - Get text from system text tables

2.151 TextGet - Get text from system text tables

Usage TextGet is used to get a text string from the system text tables. Basic examples Basic examples of the function TextGet are illustrated below. Example 1
VAR string text1; ... text1 := TextGet(14, 5);

The variable text1 is assigned the text stored in text resource 14 and index 5. Return value Data type: string Specified text from the system text tables. Arguments
TextGet ( Table Index )

Table Data type: num The text table number (positive integer). Index Data type: num The index number (positive integer) within the text table. Error handling If table or index is not valid, and no text string can be fetched from the system text tables, the system variable ERRNO is set to ERR_TXTNOEXIST. The execution continues in the error handler. Syntax
TextGet ( [ Table := ] < expression (IN) of num > , [ Index := ] < expression (IN) of num> )

A function with a return value of the data type string. Related information
For information about Get text table number Install text table Format text files See TextTabGet - Get text table number on page 1083 TextTabInstall - Installing a text table on page 580 Technical reference manual - RAPID kernel, section RAPID Kernel reference manual - Text files

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2 Functions
2.151 TextGet - Get text from system text tables Continued
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2 Functions
2.152 TextTabFreeToUse - Test whether text table is free

2.152 TextTabFreeToUse - Test whether text table is free

Usage TextTabFreeToUse should be used to test whether the text table name (text resource string) is free to use (not already installed in the system), i.e. whether it is possible to install the text table in the system or not. Basic examples Basic examples of the function TextTabFreeToUse are illustrated below. Example 1
! System Module with Event Routine to be executed at event ! POWER ON, RESET or START PROC install_text() IF TextTabFreeToUse("text_table_name") THEN TextTabInstall "HOME:/text_file.eng"; ENDIF ENDPROC

The first time the event routine install_text is executed, the function TextTabFreeToUse returns TRUE and the text file text_file.eng is installed in the system. After that the installed text strings can be fetched from the system to RAPID by the functions TextTabGet and TextGet. Next time the event routine install_text is executed, the function TextTabFreeToUse returns FALSE and the installation is not repeated. Return value Data type: bool This function returns: Arguments
TextTabFreeToUse ( TableName )

TRUE, if the text table is not already installed in the system FALSE, if the text table is already installed in the system

TableName Data type: string The text table name (a string with max. 80 characters). Refer to <text_resource>:: in RAPID Reference Manual - RAPID Kernel, section Text files. The string text_resource is the text table name. Limitations Limitations for installation of text tables (text resources) in the system: It is not possible to install the same text table more than once in the system It is not possible to uninstall (free) a single text table from the system. The only way to uninstall text tables from the system is to cold start the system. All text tables (both system and user defined) will then be uninstalled. Continues on next page
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2 Functions
2.152 TextTabFreeToUse - Test whether text table is free Continued Syntax
TextTabFreeToUse( [ TableName:= ] < expression (IN) of string > )

A function with a return value of the data type bool Related information
For information about Install text table Format of text files Get text table number Get text from system text tables String functions Definition of string See TextTabInstall - Installing a text table on page 580 Technical reference manual - RAPID kernel, section RAPID Kernel reference manual - Textfiles TextTabGet - Get text table number on page 1083 TextGet - Get text from system text tables on page1079 Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258

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2 Functions
2.153 TextTabGet - Get text table number

2.153 TextTabGet - Get text table number

Usage TextTabGet is used to get the text table number of a user defined text table during run time. Basic examples Basic examples of the function TextTabGet are illustrated below. A new text table named deburr_part1 for user defined texts. The new text table has the file name deburr.eng. # deburr.eng - USERS deburr_part1 english text description file # # DESCRIPTION: # Users text file for RAPID development # deburr_part1:: 0: RAPID S4: Users text table deburring part1 1: Part 1 is not in pos 2: Identity of worked part: XYZ 3: Part error in line 1 # # End of file Example 1
VAR num text_res_no; ... text_res_no := TextTabGet("deburr_part1");

The variable text_res_no is assigned the text table number for the defined text table deburr_part1. Example 2
ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);

A message is stored in the robot log. The message is also shown on the FlexPendant display. The messages will be taken from the text table deburr_part1 : Part 1 is not in pos Identity of worked part: XYZ Return value Data type: num Continues on next page
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2 Functions
2.153 TextTabGet - Get text table number Continued The text table number of the defined text table. Arguments
TextTabGet ( TableName )

TableName Data type: string The text table name. Syntax

TextTabGet ( [ TableName = ] < expression (IN) of string > ;)

A function with a return value of the data type num. Related information
For information about Get text from system text tables Install text table Format text files String functions Definition of string String values See TextGet - Get text from system text tables on page 1079 TextTabInstall - Installing a text table on page 580 Technical reference manual - RAPID kernel, section RAPID Kernel reference manual -Textfiles Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2 Functions
2.154 Trunc - Truncates a numeric value

2.154 Trunc - Truncates a numeric value

Usage Trunc (Truncate) is used to truncate a numeric value to a specified number of decimals or to an integer value. Basic examples Basic examples of the function Trunc are illustrated below. Example 1
VAR num val; val := Trunc(0.3852138\Dec:=3);

The variable val is given the value 0.385. Example 2

reg1 := 0.3852138; val := Trunc(reg1\Dec:=1);

The variable val is given the value 0.3. Example 3

val := Trunc(0.3852138);

The variable val is given the value 0. Example 4

val := Trunc(0.3852138\Dec:=6);

The variable val is given the value 0.385213. Return value Data type: num The numeric value truncated to the specified number of decimals. Arguments
Trunc ( Val [\Dec] )

Val Value Data type: num The numeric value to be truncated. [\Dec] Decimals Data type: num Number of decimals. If the specified number of decimals is 0 or if the argument is omitted, the value is truncated to an integer. The number of decimals must not be negative or greater than the available precision for numeric values. Max number of decimals that can be used is 6. Continues on next page
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2 Functions
2.154 Trunc - Truncates a numeric value Continued Syntax
Trunc( [ Val := ] <expression (IN) of num> [ \Dec := <expression (IN) of num> ] )

A function with a return value of the data type num. Related information
For information about See

Mathematical instructions and functions Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics Rounding a value Round - Round a numeric value on page 1025

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2 Functions
2.155 TruncDnum - Truncates a numeric value

2.155 TruncDnum - Truncates a numeric value

Usage TruncDnum (Truncate dnum) is used to truncate a numeric value to a specified number of decimals or to an integer value. Basic examples Basic examples of the function TruncDnum are illustrated below. Example 1
VAR dnum val; val := TruncDnum(0.3852138754655357\Dec:=3);

The variable val is given the value 0.385. Example 2

val := TruncDnum(0.3852138754655357\Dec:=1);

The variable val is given the value 0.3. Example 3

val := TruncDnum(0.3852138754655357);

The variable val is given the value 0. Example 4

val := TruncDnum(0.3852138754655357\Dec:=15);

The variable val is given the value 0.385213875465535. Example 5

val := TruncDnum(1000.3852138754655357\Dec:=15);

The variable val is given the value 1000.38521387547. Return value Data type: dnum The numeric value truncated to the specified number of decimals. Arguments
TruncDnum ( Val [\Dec] )

Val Value Data type: dnum The numeric value to be truncated. [\Dec] Decimals Data type: num Number of decimals. If the specified number of decimals is 0 or if the argument is omitted, the value is truncated to an integer. Continues on next page
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2 Functions
2.155 TruncDnum - Truncates a numeric value Continued The number of decimals must not be negative or greater than the available precision for numeric values. Max number of decimals that can be used is 15. Syntax
TruncDnum( [ Val := ] <expression (IN) of dnum> [ \Dec := <expression (IN) of num> ] )

A function with a return value of the data type dnum. Related information
For information about Mathematical instructions and functions Truncating a value Rounding a value Rounding a value See Technical reference manual - RAPID overview, sectionRAPID summary - Mathematics Trunc - Truncates a numeric value on page 1085 Round - Round a numeric value on page 1025 RoundDnum - Round a numeric value on page 1027

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2 Functions
2.156 Type - Get the data type name for a variable

2.156 Type - Get the data type name for a variable

Usage Type is used to get the data type name for the specified variable in argument Data. Basic examples Basic examples of the function Type are illustrated below. Example 1
VAR string rettype; VAR intnum intnumtype; ... PROC main() rettype := Type(intnumtype); TPWrite "Data type name: " + rettype;

The print out will be: "Data type name: intnum" Example 2
VAR string rettype; VAR intnum intnumtype; ... PROC main() rettype := Type(intnumtype \BaseName); TPWrite "Data type name: " + rettype;

The print out will be: "Data type name: num" Example 3
VAR string rettype; VAR num numtype; ... PROC main() rettype := Type(numtype); TPWrite "Data type name: " + rettype;

The print out will be: "Data type name: num" Return value Data type: string A string with the data type name for the specified variable in argument Data. Arguments
Type (Data [\BaseName])

Data Data object name Data type: anytype The name of the variable to get the data type name for. [\BaseName] Base data type Name Continues on next page
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2 Functions
2.156 Type - Get the data type name for a variable Continued Data type: switch If used, then the function returns the underlying data type name, when the specified Data is an ALIAS declared data type. Syntax
Type( [ Data := ] < reference (REF) of anytype > [ \ BaseName ] )

A function with a return value of the data type string. Related information
For information about Definition of Alias types. See Technical reference manual - RAPID kernel, section Lexical elements - Alias types

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2 Functions
2.157 UIAlphaEntry - User Alpha Entry

2.157 UIAlphaEntry - User Alpha Entry

Usage UIAlphaEntry (User Interaction Alpha Entry) is used to let the operator enter a string from the available user device, such as the FlexPendant. A message is written to the operator, who answers with a text string. The string is then transferred back to the program. Basic examples Basic examples of the instruction UIAlpaEntry are illustrated below. See More examples on page 1094. Example 1
VAR string answer; ... answer := UIAlphaEntry( \Header:= "UIAlphaEntry Header", \Message:= "Which procedure do You want to run?" \Icon:=iconInfo \InitString:= "default_proc"); %answer%;

xx0500002437

Above alpha message box with icon, header, message, and init string are written on the FlexPendant display. The user edit init string or write a new string with the supported Alpha Pad. Program execution waits until OK is pressed and then the

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2 Functions
2.157 UIAlphaEntry - User Alpha Entry Continued written string is returned in the variable answer. The program then calls the specified procedure with late binding. Return value Data type: string This functions returns the input string. If function breaks via \BreakFlag: If parameter \InitString is specified, this string is returned If parameter \InitString is not specified, empty string "" is returned.

If function breaks via ERROR handler, no return value will be returned at all. Arguments
UIAlphaEntry ([\Header] [\Message]|[\MsgArray] [\Wrap][\Icon][\InitString] [\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag])

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max 55 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 9 lines with 55 characters. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with single space between each individual strings and spread out on as few lines as possible. Default, each string in the argument \MsgArray will be on separate line on the display. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1094. Default no icon. [\InitString] Data type: string Continues on next page
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2 Functions
2.157 UIAlphaEntry - User Alpha Entry Continued An initial string to be display in the text entry box as default. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If the OK button is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1), the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum

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2 Functions
2.157 UIAlphaEntry - User Alpha Entry Continued A variable (before used set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The alpha message box with alpha pad, icon, header, message lines, and init string are displayed according to the programmed arguments. Program execution waits until the user edits or creates a new string and presses OK, or the message box is interrupted by time-out or signal action. The input string and interrupt reason are transferred back to the program. New message box on TRAP level takes focus from message box on basic level. Predefined data
!Icons: CONST CONST CONST CONST icondata icondata icondata icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

More examples More examples of the function UIAlphaEntry are illustrated below. Example 1
VAR errnum err_var; VAR string answer; VAR string logfile; ... answer := UIAlphaEntry (\Header:= "Log file name:" \Message:= "Enter the name of the log file to create?" \Icon:=iconInfo \InitString:= "signal.log" \MaxTime:=60 \DIBreak:=di5\BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME: CASE ERR_TP_DIBREAK: ! No operator answer logfile:="signal.log"; CASE 0: ! Operator answer logfile := answer; DEFAULT: ! No such case defined ENDTEST

The message box is displayed and the operator can enter a string and press OK. The message box can also be interrupted with time out or break by digital input signal. In the program it is possible to find out the reason and take the appropriate action. Continues on next page
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2 Functions
2.157 UIAlphaEntry - User Alpha Entry Continued Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. This situation can only be dealt with by the error handler: If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. Limitations Avoid using too small a value for the time-out parameter \MaxTime when UIAlphaEntry is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow response of the FlexPendant. Syntax
UIAlphaEntry '(' ['\' Header ':= <expression (IN) of string>] ['\' Message ':=' <expression (IN) of string>] | ['\' MsgArray ':='<array {*} (IN) of string>] ['\' Wrap] ['\' Icon ':=' <expression (IN) of icondata>] ['\' InitString ':='<expression (IN) of string>] ['\' MaxTime ':=' <expression (IN) of num>] ['\' DIBreak ':=' <variable (VAR) of signaldi>] ['\' DIPassive] ['\' DOBreak ':='<variable (VAR) of signaldo>] ['\' DOPassive] ['\' BreakFlag ':=' <var or pers (INOUT) of errnum>] ')'

A function with return value of the data type string. Related information
For information about Icon display data User Interaction Message Box type basic User Interaction Message Box type advanced See icondata - Icon display data on page 1181 UIMsgBox - User Message Dialog Box type basic on page 674 UIMessageBox - User Message Box type advanced on page 1117

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2 Functions
2.157 UIAlphaEntry - User Alpha Entry Continued
For information about User Interaction Number Entry User Interaction Number Tune User Interaction List View System connected to FlexPendant etc. Procedure call with Late binding See UINumEntry - User Number Entry on page 1124 UINumTune - User Number Tune on page 1130 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 Technical reference manual - RAPID overview, section Basic characteristics - Routines Procedure call TPErase - Erases text printed on the FlexPendant on page 582

Clean up the Operator window

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2 Functions
2.158 UIClientExist - Exist User Client

2.158 UIClientExist - Exist User Client

Usage UIClientExist (User Interaction Client Exist) is used to check if some User Device such as the FlexPendant is connected to the controller. Basic examples Basic examples of the function UIClientExist are illustrated below. Example 1
IF UIClientExist() THEN ! Possible to get answer from the operator ! The TPReadFK and UIMsgBox ... can be used ELSE ! Not possible to communicate with any operator ENDIF

The test is done if it is possible to get some answer from the operator of the system. Return value Data type: bool Returns TRUE if a FlexPendant is connected to the system, otherwise FALSE. Limitations UIClientExist returns TRUE up to 16 seconds. After that, the FlexPendant is removed. After that time, UIClientExist returns FALSE (i.e when network connection lost from FlexPendent is detected). Same limitation when the FlexPendant is connected again. Syntax
UIClientExist( )

A function with return value of the type bool. Related information

For information about User Interaction Message Box type basic See UIMsgBox - User Message Dialog Box type basic on page 674

User Interaction Message Box type advanced UIMessageBox - User Message Box type advanced on page 1117 User Interaction Number Entry User Interaction Number Tune User Interaction Alpha Entry User Interaction List View Clean up the Operator window UINumEntry - User Number Entry on page1124 UINumTune - User Number Tune on page1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 TPErase - Erases text printed on the FlexPendant on page 582

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2.159 UIDnumEntry - User Number Entry

2.159 UIDnumEntry - User Number Entry

Usage UIDnumEntry (User Interaction Number Entry) is used to let the operator enter a numeric value from the available user device, such as the FlexPendant. A message is written to the operator, who answers with a numeric value. The numeric value is then checked, approved and transferred back to the program. Basic examples Basic examples of the function UIDnumEntry are illustrated below. See also More examples on page 1101. Example 1
VAR dnum answer; ... answer := UIDnumEntry( \Header:="UIDnumEntry Header" \Message:="How many units should be produced?" \Icon:=iconInfo \InitValue:=50000000 \MinValue:=10000000 \MaxValue:=100000000 \AsInteger);

xx0900001064

Above, the numeric message box with icon, header, message, init-, max-, and minvalue written on the FlexPendant display. The message box checks that the Continues on next page
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2 Functions
2.159 UIDnumEntry - User Number Entry Continued operator selects an integer within the value range. Program execution waits until OK is pressed and then the selected numerical value is returned. Return value Data type: dnum This function returns the input numeric value. If function breaks via \BreakFlag: If parameter \InitValue is specified, this value is returned If parameter \InitValue is not specified, value 0 is returned.

If function breaks via ERROR handler there is no return value at all. Arguments
UIDnumEntry ( [\Header] [\Message] | [\MsgArray] [\Wrap][\Icon][\InitValue] [\MinValue] [\MaxValue] [\AsInteger][\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] \BreakFlag])

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max. 40 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 9 lines with 40 characters each. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with a single space between each individual string, and spread out on as few lines as possible. Default, each string in the argument \MsgArray will be on a separate line on the display. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1101. Default no icon.

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2 Functions
2.159 UIDnumEntry - User Number Entry Continued [\InitValue] Data type: dnum Initial value that is displayed in the entry box. [\MinValue] Data type: dnum The minimum value for the return value. [\MaxValue] Data type: dnum The maximum value for the return value. [\AsInteger] Data type: switch Eliminates the decimal point from the number pad to ensure that the return value is an integer. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If the OK button is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues Continues on next page
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2 Functions
2.159 UIDnumEntry - User Number Entry Continued to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The numeric message box with numeric pad, icon, header, message lines, init-, max-, and minvalue is displayed according to the programmed arguments. Program execution waits until the user has entered an approved numeric value and pressed OK or the message box is interrupted by timeout or signal action. The input numeric value and interrupt reason are transferred back to the program. New message box on TRAP level takes focus from message box on basic level. Predefined data
!Icons: CONST CONST CONST CONST icondata icondata icondata icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

More examples More examples of the function UIDnumEntry are illustrated below. Example 1
VAR errnum err_var; VAR dnum answer; VAR dnum distance; ... answer := UIDnumEntry (\Header:= "BWD move on path" \Message:="Enter the path overlap?" \Icon:=iconInfo \InitValue:=5 \MinValue:=0 \MaxValue:=10 \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME:

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2.159 UIDnumEntry - User Number Entry Continued
CASE ERR_TP_DIBREAK: ! No operator answer distance := 5; CASE 0 ! Operator answer distance := answer; DEFAULT: ! No such case defined ENDTEST

The message box is displayed and the operator can enter a numeric value and press OK. The message box can also be interrupted with a time out or break by digital input signal. In the program, it is possible to find out the reason and take the appropriate action. Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator then the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. If the initial value (parameter \InitValue) is not specified within the range of the minimum and maximum value (parameters \MinValue and \MaxValue) then the system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler. If the minimum value (parameter \MinValue) is greater then the maximum value (parameter \MaxValue) then the system variable ERRNO is set to ERR_UI_MAXMIN and the execution continues in the error handler. If the initial value (parameter \InitValue) is not an integer as specified in the parameter \AsInteger then the system variable ERRNO is set to ERR_UI_NOTINT and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small a value for the timeout parameter \MaxTime when UIDnumEntry is frequently executed, for example, in a loop. It can result in unpredictable behavior from the system performance, like the slow response of the FlexPendant.

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2.159 UIDnumEntry - User Number Entry Continued Syntax
UIDnumEntry( [\Header:= <expression (IN) of string>] [Message:= <expression (IN) of string> ] | [\MsgArray:=<array {*} (IN) of string>] [\Wrap] [\Icon:= <expression (IN) of icondata>] [\InitValue:=<expression (IN) of dnum>] [\MinValue:=<expression (IN) of dnum>] [\MaxValue:=<expression (IN) of dnum>] [\AsInteger] [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] )

A function with return value of the data type dnum. Related information
For information about Icon display data User Interaction Message Box type basic See icondata - Icon display data on page 1181 UIMsgBox - User Message Dialog Box type basic on page 674

User Interaction Message Box type advanced UIMessageBox - User Message Box type advanced on page 1117 User Interaction Number Entry User Interaction Number Tune User Interaction Number Tune User Interaction Alpha Entry User Interaction List View System connected to FlexPendant etc. Clean up the Operator window UINumEntry - User Number Entry on page1124 UIDnumTune - User Number Tune on page 1104 UINumTune - User Number Tune on page1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 TPErase - Erases text printed on the FlexPendant on page 582

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.160 UIDnumTune - User Number Tune

2.160 UIDnumTune - User Number Tune

Usage UIDnumTune (User Interaction Number Tune) is used to let the operator tune a numeric value from the available user device, such as the FlexPendant. A message is written to the operator, who tunes a numeric value. The tuned numeric value is then checked, approved and transferred back to the program. Basic examples Basic examples of the function UIDnumTune are illustrated below. See also More examples on page 1107. Example 1
VAR dnum flow; ... flow := UIDnumTune( \Header:="UIDnumTune Header" \Message:="Tune the flow?" \Icon:=iconInfo, 10000000, 1000000 \MinValue:=1000000 \MaxValue:=20000000);

xx0900001063

Above, the numeric tune message box with icon, header, message, init-, increment, max-, and minvalue written on the FlexPendant display. The message box checks that the operator tunes the flow value with step 1000000 from init value 10000000 Continues on next page
1104 Copyright 2004-2012 ABB. All rights reserved. 3HAC16581-1 Revision: N

2 Functions
2.160 UIDnumTune - User Number Tune Continued and is within the value range 1000000-20000000. Program execution waits until OK is pressed and then the selected numerical value is returned and stored in the variable flow. Return value Data type: dnum This function returns the tuned numeric value. If function breaks via \BreakFlag, the specified InitValue is returned. If function breaks via ERROR handler, no return value is returned at all. Arguments
UIDnumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap] [\Icon]InitValue Increment [\MinValue] [\MaxValue] [\MaxTime][\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag] )

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max. 40 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 11 lines with 40 characters each. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with a single space between each individual string and spread out on as few lines as possible. Default, each string in the argument \MsgArray will be on a separate line on the display. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1107. Default no icon. InitValue Initial Value Continues on next page
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2.160 UIDnumTune - User Number Tune Continued Data type: dnum Initial value that is displayed in the entry box. Increment Data type: dnum This parameter specifies how much the value should change when the plus or minus button is pressed. [\MinValue] Data type: dnum The minimum value for the return value. [\MaxValue] Data type: dnum The maximum value for the return value. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If the OK button is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues

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2 Functions
2.160 UIDnumTune - User Number Tune Continued to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The numeric tune message box with tune +/- buttons, icon, header, message lines, init-, increment, max, and minvalue is displayed according to the programmed arguments. Program execution waits until the user has tuned the numeric value and pressed OK or the message box is interrupted by timeout or signal action. The input numeric value and interrupt reason are transferred back to the program. New message box on TRAP level takes focus from message box on basic level. Predefined data
!Icons: CONST icondata CONST icondata CONST icondata CONST icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

More examples More examples of the function UIDnumTune are illustrated below. Example 1
VAR errnum err_var; VAR dnum tune_answer; VAR dnum distance; ... tune_answer := UIDnumTune (\Header:=" BWD move on path" \Message:="Enter the path overlap?" \Icon:=iconInfo, 5, 1 \MinValue:=0 \MaxValue:=10 \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME:

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2.160 UIDnumTune - User Number Tune Continued
CASE ERR_TP_DIBREAK: ! No operator answer distance := 5; CASE 0: ! Operator answer distance := tune_answer; DEFAULT: ! No such case defined ENDTEST

The tune message box is displayed and the operator can tune the numeric value and press OK. The message box can also be interrupted with timeout or break by digital input signal. In the program, it is possible to find out the reason and take the appropriate action. Error handling If parameter \BreakFlag is not used then these situations can be dealt with by the error handler: If there is a timeout (parameter \MaxTime) before an input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If a digital input is set (parameter \DIBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. If the initial value (parameter \InitValue) is not specified within the range of the minimum and maximum value (parameters \MinValue and \MaxValue) then the system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler. If the minimum value (parameter \MinValue) is greater than the maximum value (parameter \MaxValue) then the system variable ERRNO is set to ERR_UI_MAXMIN and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small a value for the timeout parameter \MaxTime when UIDnumTune is frequently executed, for example, in a loop. It can result in unpredictable behavior from the system performance, like a slow response of the FlexPendant.

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2.160 UIDnumTune - User Number Tune Continued Syntax
UIDnumTune( [\Header:= <expression (IN) of string>] [\Message:= <expression (IN) of string> ] | [\MsgArray:=<array {*} (IN) of string>] [\Wrap] [\Icon:= <expression (IN) of icondata>] ,] [InitValue:= ] <expression (IN) of dnum> , [Increment:= ] <expression (IN) of dnum> [\MinValue:= <expression (IN) of dnum>] [\MaxValue:= <expression(IN) of dnum>] [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] )

A function with return value of the data typednum. Related information

For information about Icon display data User Interaction Message Box type basic See icondata - Icon display data on page 1181 UIMsgBox - User Message Dialog Box type basic on page 674

User Interaction Message Box type advanced UIMessageBox - User Message Box type advanced on page 1117 User Interaction Number Entry User Interaction Number Entry User Interaction Number Tune User Interaction Alpha Entry User Interaction List View System connected to FlexPendant etc. Clean up the Operator window UIDnumEntry - User Number Entry on page 1098 UINumEntry - User Number Entry on page1124 UINumTune - User Number Tune on page1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 TPErase - Erases text printed on the FlexPendant on page 582

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

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2.161 UIListView - User List View

2.161 UIListView - User List View

Usage UIListView (User Interaction List View) is used to define menu lists with text and optional icons on the available User Device such as the FlexPendant. The menu has two different styles, one with validations buttons and one that reacts instantly to the user selection. Basic examples Basic examples of the function UIListView are illustrated below. See also More examples on page 1115. Example 1
CONST listitem list{3} := [ ["","Item 1"], ["","Item 2"], ["","Item3"] ]; VAR num list_item; VAR btnres button_answer; ... list_item := UIListView ( \Result:=button_answer \Header:="UIListView Header", list \Buttons:=btnOKCancel \Icon:=iconInfo \DefaultIndex:=1); IF button_answer = resOK THEN IF list_item = 1 THEN ! Do item1 ELSEIF list_item = 2 THEN ! Do item 2 ELSE ! Do item3 ENDIF ELSE ! User has select Cancel ENDIF

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2.161 UIListView - User List View Continued

xx0500002416

Above menu list with icon, header, menu Item 1 ... Item 3, and buttons are written on the FlexPendant display. Program execution waits until OK or Cancel is pressed. Both the selection in the list and the pressed button are transfered to the program. Return value Data type: num This function returns the user selection in the list menu corresponding to the index in the array specified in the parameter ListItems. If the function breaks via \BreakFlag: If parameter \DefaultIndex is specified, this index is returned If parameter \DefaultIndex is not specified, 0 is returned

If function breaks via ERROR handler, no return value is returned at all. Arguments
UIListView ( [\Result] [\Header] ListItems [\Buttons] | [\BtnArray][\Icon] [\DefaultIndex ] [\MaxTime] [\DIBreak] [\DIPassive][\DOBreak] [\DOPassive] [\BreakFlag])

[\Result] Data type: btnres The numeric value of the button that is selected from the list menu box. If argument \Buttons is used, the predefined symbolic constants of type btnres is returned. If argument \BtnArray is used, the corresponding array index is returned. Argument \Result set to resUnkwn equal to 0 if one of following condition: none of parameters \Buttons or \BtnArray are used argument \Buttons:=btnNone is used Continues on next page
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2.161 UIListView - User List View Continued if the function breaks via \BreakFlag or ERROR handler

See Predefined data on page 1114. [\Header] Data type: string Header text to be written at the top of the list menu box. Max. 40 characters. ListItems Data type: listitem An array with one or several list menu items to be displayed consisting of: Component image of type string: The name of the icon image that should be used. To launch own images, the images has to be placed in the HOME: directory in the active system or directly in the active system. The recommendation is to place the files in the HOME: directory so that they are saved if a Backup and Restore is done. A warmstart is required and then the FlexPendant loads the images. A demand on the system is that the RobotWare option FlexPendant Interface is used. The image that will be shown can have the width and height of 28 pixels. If the image is bigger, then it will be resized to show only 28 * 28 pixels. No exact value can be specified on the size that an image can have or the amount of images that can be loaded to the FlexPendant. It depends on the size of other files loaded to the FlexPendant. The program execution will just continue if an image is used that has not been loaded to the FlexPendant. Use empty string or stEmpty if no icon to display. Component text of type string: [\Buttons] Data type: buttondata Defines the push buttons to be displayed. Only one of the predefined buttons combination of type buttondata can be used. See Predefined data on page 1114. [\BtnArray] Button Array Data type: string Own definition of push buttons stored in an array of strings. This function returns the array index when corresponding string is selected. Only one of parameter \Buttons or \BtnArray can be used at the same time. If none of the parameters \Buttons or \BtnArray or argument \Buttons:=btnNone are used then the menu list reacts instantly to the user selection. Max. 5 buttons with 42 characters each. Continues on next page
1112 Copyright 2004-2012 ABB. All rights reserved. 3HAC16581-1 Revision: N

The text for the menu line to display. Max. 75 characters for each list menu item.

2 Functions
2.161 UIListView - User List View Continued [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. Default no icon. See Predefined data on page 1114. [\DefaultIndex] Data type: num The default user selection in the list menu corresponding to the index in the array specified in the parameter ListItems. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If no button is pressed or no selection is done within this time then the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If no button is pressed or no selection is done before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak]() Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If no button is pressed or no selection is done before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred.

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2.161 UIListView - User List View Continued [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The menu list with icon, header, list items, and default item are displayed according to the programmed arguments. Program execution waits until the operator has done the selection or the menu list is interrupted by time-out or signal action. The selected list item and interrupt reason are transferred back to the program. New menu list on TRAP level takes focus from menu list on basic level. Predefined data
!Icons: CONST icondata iconNone := 0; CONST icondata iconInfo := 1; CONST icondata iconWarning := 2; CONST icondata iconError := 3; !Buttons: CONST buttondata btnNone := -1; CONST buttondata btnOK := 0; CONST buttondata btnAbrtRtryIgn := 1; CONST buttondata btnOKCancel := 2; CONST buttondata btnRetryCancel := 3; CONST buttondata btnYesNo := 4; CONST buttondata btnYesNoCancel := 5; !Results: CONST btnres resUnkwn := 0; CONST btnres resOK := 1; CONST btnres resAbort := 2; CONST btnres resRetry := 3; CONST btnres resIgnore := 4; CONST btnres resCancel := 5; CONST btnres resYes := 6; CONST btnres resNo := 7;

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2.161 UIListView - User List View Continued More examples More examples of the function UIListView are illustrated below. Example 1
CONST listitem list{2} := [ ["","Calibrate tool1"], ["","Calibrate tool2"] ]; VAR num list_item; VAR errnum err_var; ... list_item := UIListView ( \Header:="Select tool ?", list \Icon:=iconInfo \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME: CASE ERR_TP_DIBREAK: ! No operator answer CASE 0: ! Operator answer IF list_item =1 THEN ! Calibrate tool1 ELSEIF list_item=2 THEN ! Calibrate tool2 ENDIF DEFAULT: ! Not such case defined ENDTEST

The message box is displayed and the operator can select an item in the list. The message box can also be interrupted with time out or break by digital input signal. In the program its possible to find out the reason and take the appropriate action. Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.

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2.161 UIListView - User List View Continued This situation can only be dealt with by the error handler: If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.

Limitations Avoid using too small a value for the time-out parameter \MaxTime when UIListView is frequently executed, for example in a loop. It can result in unpredictable behavior from the system performance, like slow response of the FlexPendant. Syntax
UIListView ( [[\Result := <var or pers (INOUT) of btnres>] [\Header := <expression (IN) of string>] ,] [ListItems =] <array {*} (IN) of listitem> [\Buttons := <expression (IN) of buttondata>] | [\BtnArray :=<array {*} (IN) of string>] [\Icon := <expression (IN) of icondata>] [\DefaultIndex :=<expression (IN) of num>] [\MaxTime := <expression (IN) of num>] [\DIBreak := <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak := <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag := <var or pers (INOUT) of errnum>])

A function with return value of the data type num. Related information
For information about Icon display data Push button data Push button result data List item data structure User Interaction Message Box type basic User Interaction Message Box type advanced User Interaction Number Entry User Interaction Number Tune User Interaction Alpha Entry See icondata - Icon display data on page 1181 buttondata - Push button data on page 1149 btnres - Push button result data on page 1146 listitem - List item data structure on page 1191 UIMsgBox - User Message Dialog Box type basic on page 674 UIMessageBox - User Message Box type advanced on page 1117 UINumEntry - User Number Entry on page 1124 UINumTune - User Number Tune on page 1130 UIAlphaEntry - User Alpha Entry on page 1091

System connected to FlexPendant UIClientExist - Exist User Client on page 1097 etc. Clean up the Operator window TPErase - Erases text printed on the FlexPendant on page 582

1116 Copyright 2004-2012 ABB. All rights reserved.

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2 Functions
2.162 UIMessageBox - User Message Box type advanced

2.162 UIMessageBox - User Message Box type advanced

Usage UIMessageBox (User Interaction Message Box) is used to communicate with the user of the robot system on available user device, such as the FlexPendant. A message is written to the operator, who answers by selecting a button. The user selection is then transferred back to the program. Basic examples Basic examples of the function UIMessageBox are illustrated below. See also More examples on page 1121. Example 1
VAR btnres answer; CONST string my_message{5}:= ["Message Line 1","Message Line 2", "Message Line 3","Message Line 4","Message Line 5"]; CONST string my_buttons{2}:=["OK","Skip"]; ... answer:= UIMessageBox ( \Header:="UIMessageBox Header" \MsgArray:=my_message \BtnArray:=my_buttons \Icon:=iconInfo); IF answer = 1 THEN ! Operator selection OK ELSEIF answer = 2 THEN ! Operator selection Skip ELSE ! No such case defined ENDIF

xx0500002409

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2.162 UIMessageBox - User Message Box type advanced Continued Above message box is with icon, header, message, and user defined push buttons that are written on the FlexPendant display. Program execution waits until OK or Skip is pressed. In other words, answer will be assigned 1 (OK) or 2 (Skip) depending on which of the buttons is pressed (corresponding array index). Note Message Line 1 ... Message Line 5 are displayed on separate lines 1 to 5 (the switch \Wrap is not used). Return value Data type: btnres The numeric value of the button that is selected from the message box. If argument \Buttons is used, the predefined symbolic constants of type btnres is returned. If argument \BtnArray is used, the corresponding array index is returned. If function breaks via \BreakFlag or if \Buttons:=btnNone: If parameter \DefaultBtn is specified, this index is returned. If parameter \DefaultBtn is not specified, resUnkwn equal to 0 is returned.

If function breaks via ERROR handler, there is no return value at all. Arguments
UIMessageBox ( [\Header] [\Message] | [\MsgArray] [\Wrap][\Buttons] | [\BtnArray] [\DefaultBtn] [\Icon][\Image] [\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag])

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max 55 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 11 lines with 55 characters each. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with single spaces between each individual string and spread out on as few lines as possible. Continues on next page
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2.162 UIMessageBox - User Message Box type advanced Continued Default, each string in the argument \MsgArray will be on separate line on the display. [\Buttons] Data type: buttondata Defines the push buttons to be displayed. Only one of the predefined buttons combination of type buttondata can be used. See Predefined data on page 1121. Default, the system displays the OK button. [\BtnArray] Button Array Data type: string Own definition of push buttons stored in an array of strings. This function returns the array index when corresponding string is selected. Only one of parameter \Buttons or \BtnArray can be used at the same time. Max. 5 buttons with 42 characters each. [\DefaultBtn] Default Button Data type: btnres Allows to specify a value that should be returned if the message box is interrupted by \MaxTime, \DIBreak, or \DOBreak. Its possible to specify the predefined symbolic constant of type btnres or any user defined value. See Predefined data on page 1121. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1121. Default, no icon. [\Image] Data type: string The name of the image that should be used. To launch own images, the images has to be placed in the HOME: directory in the active system or directly in the active system. The recommendation is to place the files in the HOME: directory so that they are saved if a Backup and Restore is done. A warmstart is required and then the FlexPendant loads the images. A demand on the system is that the RobotWare option FlexPendant Interface is used. The image that will be shown can have the width of 185 pixels and the height of 300 pixels. If the image is bigger, only 185 * 300 pixels of the image will be shown starting at the top left of the image. No exact value can be specified on the size that an image can have or the amount of images that can be loaded to the FlexPendant. It depends on the size of other Continues on next page
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2.162 UIMessageBox - User Message Box type advanced Continued files loaded to the FlexPendant. The program execution will just continue if an image is used that has not been loaded to the FlexPendant. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If no button is selected within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If no button is selected when the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If no button is selected when the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum

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2.162 UIMessageBox - User Message Box type advanced Continued A variable (before used set to 0 by the system) that will hold the error code if \MaxTime,\DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The message box with icon, header, message lines, image, and buttons are displayed according to the programmed arguments. Program execution waits until the user selects one button or the message box is interrupted by time-out or signal action. The user selection and interrupt reason are transferred back to the program. A new message box on TRAP level takes focus from message box on basic level. Predefined data
!Icons: CONST icondata iconNone := 0; CONST icondata iconInfo := 1; CONST icondata iconWarning := 2; CONST icondata iconError := 3; !Buttons: CONST buttondata btnNone := -1; CONST buttondata btnOK := 0; CONST buttondata btnAbrtRtryIgn := 1; CONST buttondata btnOKCancel := 2; CONST buttondata btnRetryCancel := 3; CONST buttondata btnYesNo := 4; CONST buttondata btnYesNoCancel := 5; !Results: CONST btnres resUnkwn := 0; CONST btnres resOK := 1; CONST btnres resAbort := 2; CONST btnres resRetry := 3; CONST btnres resIgnore := 4; CONST btnres resCancel := 5; CONST btnres resYes := 6; CONST btnres resNo := 7;

More examples More examples of the function UIMessageBox are illustrated below. Example 1
VAR errnum err_var; VAR btnres answer; ... answer := UIMessageBox (\Header:= "Cycle step 3" \Message:="Continue with the calibration ?" \Buttons:=btnOKCancel \DefaultBtn:=resCancel \Icon:=iconInfo \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); IF answer = resOK THEN ! OK from the operator

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2.162 UIMessageBox - User Message Box type advanced Continued
ELSE ! Cancel from the operator or operation break TEST err_var CASE ERR_TP_MAXTIME: ! Time out CASE ERR_TP_DIBREAK: ! Input signal break DEFAULT: ! Not such case defined ENDTEST ENDIF

The message box is displayed, and the operator can answer OK or Cancel. The message box can also be interrupted with time out or break by digital input signal. In the program its possible to find out the reason. Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator, the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator, the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small a value for the time-out parameter \MaxTime when UIMessageBox is frequently executed, for example in a loop. It can result in an unpredictable behavior of the system performance, like slow response of the FlexPendant. Syntax
UIMessageBox( [\Header:= <expression (IN) of string>] [\Message:= <expression (IN) of string>] | [\MsgArray:=<array {*} (IN) of string>] [\Wrap] [\Buttons= <expression (IN) of buttondata>] | [\BtnArray:=<array {*}(IN) of string>] [\DefaultBtn:=<expression (IN) of btnres>] [\Icon:=<expression (IN) of icondata>]

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2.162 UIMessageBox - User Message Box type advanced Continued
[\Image:=<expression (IN) of string>] [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] )

A function with return value of the data type btnres. Related information
For information about Icon display data Push button data Push button result data See icondata - Icon display data on page 1181 buttondata - Push button data on page 1149 btnres - Push button result data on page 1146

User Interaction Message Box type basic UIMsgBox - User Message Dialog Box type basic on page 674 User Interaction Number Entry User Interaction Number Tune User Interaction Alpha Entry User Interaction List View UINumEntry - User Number Entry on page 1124 UINumTune - User Number Tune on page 1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110

System connected to FlexPendant etc. UIClientExist - Exist User Client on page 1097 FlexPendant interface Clean up the Operator window Product specification - Controller software IRC5, section Communication - FlexPendant Interface TPErase - Erases text printed on the FlexPendant on page 582

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2.163 UINumEntry - User Number Entry

2.163 UINumEntry - User Number Entry

Usage UINumEntry (User Interaction Number Entry) is used to let the operator enter a numeric value from the available user device, such as the FlexPendant. A message is written to the operator, who answers with a numeric value. The numeric value is then checked, approved and transferred back to the program. Basic examples Basic examples of the function UINumEntry are illustrated below. See also More examples on page 1127. Example 1
VAR num answer; ... answer := UINumEntry( \Header:="UINumEntry Header" \Message:="How many units should be produced?" \Icon:=iconInfo \InitValue:=5 \MinValue:=1 \MaxValue:=10 \AsInteger); FOR i FROM 1 TO answer DO produce_part; ENDFOR

xx0500002412

Above numeric message box with icon, header, message, init-, max-, and minvalue are written on the FlexPendant display. The message box checks that the operator selects an integer within the value range. Program execution waits until OK is pressed and then the selected numerical value is returned. The routine produce_part is then repeated the number of input times via the FlexPendant. Continues on next page
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2.163 UINumEntry - User Number Entry Continued Return value Data type: num This function returns the input numeric value. If function breaks via \BreakFlag: If parameter \InitValue is specified, this value is returned If parameter \InitValue is not specified, value 0 is returned.

If function breaks via ERROR handler, no return value at all. Arguments

UINumEntry ( [\Header] [\Message] | [\MsgArray] [\Wrap][\Icon][\InitValue] [\MinValue] [\MaxValue] [\AsInteger][\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] \BreakFlag])

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max 40 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 9 lines with 40 characters each. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with a single space between each individual string, and spread out on as few lines as possible. Default, each string in the argument \MsgArray will be on a separate line on the display. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1127. Default no icon. [\InitValue] Data type: num Initial value that is displayed in the entry box. Continues on next page
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2.163 UINumEntry - User Number Entry Continued [\MinValue] Data type: num The minimum value for the return value. [\MaxValue] Data type: num The maximum value for the return value. [\AsInteger] Data type: switch Eliminates the decimal point from the number pad to ensure that the return value is an integer. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If the OK button is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred.

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2.163 UINumEntry - User Number Entry Continued [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable (before used set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The numeric message box with numeric pad, icon, header, message lines, init-, max-, and minvalue are displayed according to the programmed arguments. Program execution waits until the user has entered an approved numeric value and presses OK or the message box is interrupted by time-out or signal action. The input numeric value and interrupt reason are transferred back to the program. New message box on TRAP level take focus from message box on basic level. Predefined data
!Icons: CONST CONST CONST CONST icondata icondata icondata icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

More examples More examples of the function UINumEntry are illustrated below. Example 1
VAR errnum err_var; VAR num answer; VAR num distance; ... answer := UINumEntry (\Header:= "BWD move on path" \Message:="Enter the path overlap ?" \Icon:=iconInfo \InitValue:=5 \MinValue:=0 \MaxValue:=10 \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME: CASE ERR_TP_DIBREAK: ! No operator answer distance := 5;

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2.163 UINumEntry - User Number Entry Continued
CASE 0 ! Operator answer distance := answer; DEFAULT: ! Not such case defined ENDTEST

The message box is displayed and the operator can enter a numeric value and press OK. The message box can also be interrupted with a time out or break by digital input signal. In the program its possible to find out the reason and take the appropriate action. Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator then the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. If the initial value (parameter \InitValue) is not specified within the range of the minimum and maximum value (parameters \MinValue and \MaxValue) then the system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler. If the minimum value (parameter \MinValue) is greater then the maximum value (parameter \MaxValue) then the system variable ERRNO is set to ERR_UI_MAXMIN and the execution continues in the error handler. If the initial value (parameter \InitValue) is not an integer as specified in the parameter \AsInteger then the system variable ERRNO is set to ERR_UI_NOTINT and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small a value for the time-out parameter \MaxTime when UINumEntry is frequently executed, for example in a loop. It can result in unpredictable behavior from the system performance, like slow response of the FlexPendant.

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2.163 UINumEntry - User Number Entry Continued Syntax
UINumEntry( [\Header:= <expression (IN) of string>] [Message:= <expression (IN) of string> ] | [\MsgArray:=<array {*} (IN) of string>] [\Wrap] [\Icon:= <expression (IN) of icondata>] [\InitValue:=<expression (IN) of num>] [\MinValue:=<expression (IN) of num>] [\MaxValue:=<expression (IN) of num>] [\AsInteger] [\MaxTime:= <expression (IN) of num>] [\DIBreak:= <variable (VAR) of signaldi>] [\DIPassive] [\DOBreak:= <variable (VAR) of signaldo>] [\DOPassive] [\BreakFlag:= <var or pers (INOUT) of errnum>] )

A function with return value of the data type num. Related information
For information about Icon display data User Interaction Message Box type basic See icondata - Icon display data on page 1181 UIMsgBox - User Message Dialog Box type basic on page 674

User Interaction Message Box type advanced UIMessageBox - User Message Box type advanced on page 1117 User Interaction Number Tune User Interaction Alpha Entry User Interaction List View System connected to FlexPendant etc. Clean up the Operator window UINumTune - User Number Tune on page1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 TPErase - Erases text printed on the FlexPendant on page 582

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2.164 UINumTune - User Number Tune

2.164 UINumTune - User Number Tune

Usage UINumTune (User Interaction Number Tune) is used to let the operator tune a numeric value from the available user device, such as the FlexPendant. A message is written to the operator, who tunes a numeric value. The tuned numeric value is then checked, approved and transferred back to the program. Basic examples Basic examples of the function UINumTune are illustrated below. See also on page 1133. Example 1
VAR num flow; ... flow := UINumTune( \Header:="UINumTune Header" \Message:="Tune the flow?" \Icon:=iconInfo, 2.5, 0.1 \MinValue:=1.5 \MaxValue:=3.5);

xx0500002414

Above numeric tune message box with icon, header, message, init-, increment, max-, and minvalue are written on the FlexPendant display. The message box checks that the operator tune the flow value with step 0.1 from init value 2.5 is within the value range 1.5 .. 3.5. Program execution waits until OK is pressed and then the selected numerical value is returned and stored in the variable flow. Return value Data type: num Continues on next page
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2.164 UINumTune - User Number Tune Continued This function returns the tuned numeric value. If function breaks via \BreakFlag, the specified \InitValue is returned. If function breaks via ERROR handler, no return value is returned at all. Arguments
UINumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap] [\Icon] InitValue Increment [\MinValue] [\MaxValue] [\MaxTime] [\DIBreak] [\DIPassive] [\DOBreak] [\DOPassive] [\BreakFlag] )

[\Header] Data type: string Header text to be written at the top of the message box. Max. 40 characters. [\Message] Data type: string One text line to be written on the display. Max 40 characters. [\MsgArray] Message Array Data type: string Several text lines from an array to be written on the display. Only one of parameter \Message or \MsgArray can be used at the same time. Max. layout space is 11 lines with 40 characters each. [\Wrap] Data type: switch If selected, all the specified strings in the argument \MsgArray will be concatenated to one string with a single space between each individual string, and spread out on as few lines as possible. Default, each string in the argument \MsgArray will be on a separate line on the display. [\Icon] Data type: icondata Defines the icon to be displayed. Only one of the predefined icons of type icondata can be used. See Predefined data on page 1133. Default no icon. InitValue Data type: num Initial value that is displayed in the entry box. Increment Data type: num This parameter specifies how much the value should change when the plus or minus button is pressed. Continues on next page
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2.164 UINumTune - User Number Tune Continued [\MinValue] Data type: num The minimum value for the return value. [\MaxValue] Data type: num The maximum value for the return value. [\MaxTime] Data type: num The maximum amount of time in seconds that program execution waits. If the OK button is not pressed within this time, the program continues to execute in the error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time has elapsed. [\DIBreak] Digital Input Break Data type: signaldi The digital input signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DIPassive] Digital Input Passive Data type: switch This switch overrides the default behavior when using DIBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DIBreak is set to 0 (or already is 0). The constant ERR_TP_DIBREAK can be used to test whether or not this has occurred. [\DOBreak] Digital Output Break Data type: signaldo The digital output signal that may interrupt the operator dialog. If the OK button is not pressed before the signal is set to 1 (or is already 1) then the program continues to execute in the error handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\DOPassive] Digital Output Passive Data type: switch This switch overrides the default behavior when using DOBreak optional argument. Instead of reacting when signal is set to 1 (or already 1), the instruction should continue in the error handler (if no BreakFlag is used) when the signal DOBreak Continues on next page
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2.164 UINumTune - User Number Tune Continued is set to 0 (or already is 0). The constant ERR_TP_DOBREAK can be used to test whether or not this has occurred. [\BreakFlag] Data type: errnum A variable (before used set to 0 by the system) that will hold the error code if \MaxTime, \DIBreak, or \DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the error handler will be executed. Program execution The numeric tune message box with tune +/- buttons, icon, header, message lines, init-, increment, max, and minvalue are displayed according to the programmed arguments. Program execution waits until the user has tuned the numeric value and pressed OK or the message box is interrupted by time-out or signal action. The input numeric value and interrupt reason are transferred back to the program. New message box on TRAP level take focus from message box on basic level. Predefined data
!Icons: CONST CONST CONST CONST icondata icondata icondata icondata iconNone := 0; iconInfo := 1; iconWarning := 2; iconError := 3;

More examples More examples of the function UINumTune are illustrated below. Example 1
VAR errnum err_var; VAR num tune_answer; VAR num distance; ... tune_answer := UINumTune (\Header:=" BWD move on path" \Message:="Enter the path overlap ?" \Icon:=iconInfo, 5, 1 \MinValue:=0 \MaxValue:=10 \MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var); TEST err_var CASE ERR_TP_MAXTIME: CASE ERR_TP_DIBREAK: ! No operator answer distance := 5; CASE 0: ! Operator answer distance := tune_answer; DEFAULT: ! No such case defined ENDTEST

The tune message box is displayed and the operator can tune the numeric value and press OK. The message box can also be interrupted with time-out or break by Continues on next page
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2.164 UINumTune - User Number Tune Continued digital input signal. In the program it's possible to find out the reason and take the appropriate action. Error handling If parameter \BreakFlag is not used, these situations can then be dealt with by the error handler: If there is a time-out (parameter \MaxTime) before an input from the operator then the system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler. If digital input is set (parameter \DIBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler. If a digital output is set (parameter \DOBreak) before an input from the operator then the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler. If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler. If the initial value (parameter \InitValue) is not specified within the range of the minimum and maximum value (parameters \MinValue and \MaxValue) then the system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in the error handler. If the minimum value (parameter \MinValue) is greater then the maximum value (parameter \MaxValue) then the system variable ERRNO is set to ERR_UI_MAXMIN and the execution continues in the error handler.

This situation can only be dealt with by the error handler:

Limitations Avoid using too small a value for the time-out parameter \MaxTime when UINumTune is frequently executed, for example in a loop. It can result in unpredictable behavior from the system performance, like slow response of the FlexPendant. Syntax
UINumTune( ['\'Header ':=' <expression (IN) of string>] [Message ':=' <expression (IN) of string> ] | ['\'MsgArray ':='<array {*} (IN) of string>] ['\'Wrap] ['\'Icon ':=' <expression (IN) of icondata>] [InitValue ':='<expression (IN) of num>] [Increment ':='<expression (IN) of num>] ['\'MinValue ':='<expression (IN) of num>] ['\'MaxValue ':='<expression (IN) of num>] ['\'MaxTime ':=' <expression (IN) of num>] ['\'DIBreak ':=' <variable (VAR) of signaldi>] ['\'DIPassive]

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2.164 UINumTune - User Number Tune Continued
['\'DOBreak ':=' <variable (VAR) of signaldo>] ['\'DOPassive] ['\'BreakFlag ':=' <var or pers (INOUT) of errnum>] ')'

A function with return value of the data type num. Related information
For information about Icon display data User Interaction Message Box type basic See icondata - Icon display data on page 1181 UIMsgBox - User Message Dialog Box type basic on page 674

User Interaction Message Box type advanced UIMessageBox - User Message Box type advanced on page 1117 User Interaction Number Entry User Interaction Alpha Entry User Interaction List View System connected to FlexPendant etc. Clean up the Operator window UINumEntry - User Number Entry on page1124 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 UIClientExist - Exist User Client on page 1097 TPErase - Erases text printed on the FlexPendant on page 582

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2.165 ValidIO - Valid I/O signal to access

2.165 ValidIO - Valid I/O signal to access

Usage ValidIO is used to check if the specified I/O signal can be accessed without any error at present. Basic examples Basic examples of the function ValidIO are illustrated below. Example 1
IF ValidIO(mydosignal) SetDO mydosignal, 1;

Set the digital output signal mydosignal to 1 if its I/O unit is up and running. Return value Data type: bool Returns TRUE is valid signal and the I/O unit for the signal is up and running, else FALSE. Arguments
ValidIO (Signal)

Signal Data type: signalxx The signal name. Must be of data type signaldo, signaldi, signalgo, signalgi, signalao or signalai. Program execution Execution behaviour: Check if valid I/O signal Check if the I/O unit for the signal is up and running.

No error messages are generated. Syntax

ValidIO ( [Signal :=] <variable (VAR) of anytype> )

A function with a return value of the data type bool. Related information
For information about Input/Output instructions See Technical reference manual - RAPID overview, sectionRAPID Summary - Input and Output Signals Technical reference manual - RAPID overview, sectionMotion and I/O Principles - I/O Principles

Input/Output functionality in general

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2 Functions
2.165 ValidIO - Valid I/O signal to access Continued
For information about Configuration of I/O Define I/O signal with alias name See Technical reference manual - System parameters AliasIO - Define I/O signal with alias name on page 25

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2.166 ValToStr - Converts a value to a string

2.166 ValToStr - Converts a value to a string

Usage ValToStr (Value To String) is used to convert a value of any data type to a string. Basic examples Basic examples of the function ValToStr are illustrated below. Example 1
VAR string str; VAR pos p := [100,200,300]; str := ValToStr(p);

The variable str is given the value "[100,200,300]". Example 2

str := ValToStr(TRUE);

The variable str is given the value "TRUE". Example 3

str := ValToStr(1.234567890123456789);

The variable str is given the value "1.23456789012346". Example 4

VAR num numtype:=1.234567890123456789; str := ValToStr(numtype);

The variable str is given the value "1.23457". Example 5

VAR dnum dnumtype:=1.234567890123456789; str := ValToStr(dnumtype);

The variable str is given the value "1.23456789012346". Return value Data type: string The value is converted to a string with standard RAPID format. This means, in principle, 6 significant digits. Literal value interpreted as a dnum (see example 3) and dnum variabels (see example 5) though have 15 significant digits. A runtime error is generated if the resulting string is too long. Arguments
ValToStr ( Val )

Val Value Data type: anytype

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2.166 ValToStr - Converts a value to a string Continued A value of any data type. All types of value data with structure atomic, record, record component, array, or array element can be used. Syntax
ValToStr( [ Val := ] <expression (IN) of anytype> )

A function with a return value of the data type string. Related information
For information about String functions Definition of string String values See Technical reference manual - RAPID overview, section RAPID summary - String functions string - Strings on page 1258 Technical reference manual - RAPID overview, section Basic characteristics - Basic elements

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2.167 VectMagn - Magnitude of a pos vector

2.167 VectMagn - Magnitude of a pos vector

Usage VectMagn (Vector Magnitude)is used to calculate the magnitude of a pos vector. Basic examples Basic examples of the function VectMagn are illustrated below. Example 1

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A vector A can be written as the sum of its components in the three orthogonal directions: A=Axx+Ayy+Ayy The magnitude of A is:
2 2 j A j = Ax + Ay + Az2

The vector is described by the data type pos and the magnitude by the data type num:
VAR num magnitude; VAR pos vector; ... vector := [1,1,1]; magnitude := VectMagn(vector);

Return value Data type: num The magnitude of the vector (data type pos). Arguments
VectMagn (Vector)

Vector Data type: pos Continues on next page

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2.167 VectMagn - Magnitude of a pos vector Continued The vector described by the data type pos. Syntax
VectMagn'(' [Vector ':='] <expression (IN) of pos> ')'

A function with a return value of the data type num. Related information
For information about Mathematical instructions and functions See Technical reference manual - RAPID overview, section RAPID summary - Mathematics

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3 Data types
3.1 aiotrigg - Analog I/O trigger condition

3 Data types
3.1 aiotrigg - Analog I/O trigger condition
Usage aiotrigg (Analog I/O Trigger) is used to define the condition to generate an interrupt for an analog input or output signal. Description Data of the type aiotrigg defines the way a low and a high threshold will be used to determine whether the logical value of an analog signal satisfies a condition to generate an interrupt. Basic examples Basic examples of the data type aiotrigg are illustrated below. Example 1
VAR intnum sig1int; PROC main() CONNECT sig1int WITH iroutine1; ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;

Orders an interrupt which is to occur the first time the logical value of the analog input signal ai1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap routine. Predefined data The following symbolic constants of the data type aiotrigg are predefined and can be used when specifying a condition for the instructionsISignalAI and ISignalAO.
Value 1 2 3 4 5 6 7 Symbolic constant AIO_ABOVE_HIGH AIO_BELOW_HIGH AIO_ABOVE_LOW AIO_BELOW_LOW AIO_BETWEEN AIO_OUTSIDE AIO_ALWAYS Comment Signal will generate interrupts if above specified high value Signal will generate interrupts if below specified high value Signal will generate interrupts if above specified low value Signal will generate interrupts if below specified low value Signal will generate interrupts if between specified low and high values Signal will generate interrupts if below specified low value or above specified high value Signal will always generate interrupts

Characteristics aiotrigg is an alias data type for num and consequently inherits its characteristics.

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3.1 aiotrigg - Analog I/O trigger condition Continued Related information
For information about Interrupt from analog input signal Interrupt from analog output signal Data types in general, alias data types See ISignalAI - Interrupts from analog input signal on page 179 ISignalAO - Interrupts from analog output signal on page 189 Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.2 bool - Logical values

3.2 bool - Logical values

Usage bool is used for logical values (true/false). Description The value of data of the type bool can be either TRUE or FALSE. Basic examples Basic examples of the data type bool are illustrated below. Example 1
flag1 := TRUE;

flag is assigned the value TRUE. Example 2

VAR bool highvalue; VAR num reg1; ... highvalue := reg1 > 100;

highvalue is assigned the value TRUE if reg1 is greater than 100; otherwise, FALSE is assigned. Example 3
IF highvalue Set do1;

The do1 signal is set if highvalue is TRUE. Example 4

highvalue := reg1 > 100; mediumvalue := reg1 > 20 AND NOT highvalue;

mediumvalue is assigned the value TRUE if reg1 is between 20 and 100. Related information
For information about Logical expressions Operations using logical values See Technical reference manual - RAPID overview, section Basic characteristics - Expressions Technical reference manual - RAPID overview, section Basic characteristics - Expressions

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3.3 btnres - Push button result data

3.3 btnres - Push button result data

Usage btnres (button result) is used for representing the user selection of the push button display on the User Device such as the FlexPendant. Description A btnres constant is intended to be used when checking the result value from the instruction UIMsgBox and the return value from the functions UIMessageBox and UIListView. Basic examples Basic examples of the data type btnres are illustrated below. Example 1
VAR btnres answer; UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer; IF answer= resYes THEN ... ELSEIF answer =ResNo THEN ... ENDIF

The standard button enumeration btnYesNo will give one Yes and one No push button on the user interface. The user selection will be stored in the variable answer. Predefined data The following constants of the data type btnres are predefined in the system
Value 0 1 2 3 4 5 6 7 Constants resUnkwn resOK resAbort resRetry resIgnore resCancel resYes resNo Button answer Unknown result OK Abort Retry Ignore Cancel Yes No

It is possible to work with user defined push buttons that answer with the functions UIMessageBox and UIListView. Characteristics btnres is an alias data type for num and consequently inherits its characteristics.

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3 Data types
3.3 btnres - Push button result data Continued Related information
For information about User Interaction Message Box User Interaction Message Box User Interaction List View Alias data type button data See UIMsgBox - User Message Dialog Box type basic on page 674 UIMessageBox - User Message Box type advanced on page 1117 UIListView - User List View on page 1110 buttondata - Push button data on page 1149

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3.4 busstate - State of I/O bus

3.4 busstate - State of I/O bus

Usage busstate is used to mirror which state an I/O bus is currently in. Description A busstate constant is intended to be used when checking the return value from the instruction IOBusState. Basic examples Basic example of the data type busstate is illustrated below. Example 1
VAR busstate bstate; IOBusState "IBS", bstate \Phys; TEST bstate CASE IOBUS_PHYS_STATE_RUNNING: ! Possible to access some signal on the IBS bus DEFAULT: ! Actions for not up and running IBS bus ENDTEST

Predefined data The predefined symbolic constants of the data type busstate can be viewed in instruction IOBusState. Characteristics busstate is an alias data type for num and consequently inherits its characteristics. Related information
For information about Get current state of I/O bus Input/Output instructions See IOBusState - Get current state of I/O bus on page 165 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O Principles Configuration of I/O Technical reference manual - System parameters

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3.5 buttondata - Push button data

3.5 buttondata - Push button data

Usage buttondata is used for representing a standard push button combination for display on the User Device such as the FlexPendant. Description A buttondata constant is used for representing response push buttons in instruction UIMsgBox and functions UIMessageBox and UIListView. Basic examples Basic examples of the data type buttondata are illustrated below. Example 1
VAR btnres answer; UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer; IF answer= resYes THEN ... ELSE ... ENDIF

The standard button enumeration btnYesNo will give one Yes and one No push button. Predefined data The following constants of the data type buttondata are predefined in the system.
Value -1 0 1 2 3 4 5 Constants btnNone btnOK btnAbrtRtryIgn btnOKCancel btnRetryCancel btnYesNo btnYesNoCancel Button displayed No button OK Abort, Retry and Ignore OK and Cancel Retry and Cancel Yes and No Yes, No and Cancel

It is possible to display user defined push buttons with the functions UIMessageBox and UIListView. Characteristics buttondata is an alias data type for num and consequently inherits its characteristics.

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3 Data types
3.5 buttondata - Push button data Continued Related information
For information about User Interaction Message Box User Interaction Message Box User Interaction List View Alias data type button result Data types in general, alias data types See UIMsgBox - User Message Dialog Box type basic on page 674 UIMessageBox - User Message Box type advanced on page 1117 UIListView - User List View on page 1110 btnres - Push button result data on page 1146 Technical reference manual - RAPID overview, section Basic Characteristics - Data Types

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3.6 byte - Integer values 0 - 255

3.6 byte - Integer values 0 - 255

Usage byte is used for integer values (0 - 255) according to the range of a byte. This data type is used in conjunction with instructions and functions that handle the bit manipulations and convert features. Description Data of the type byte represents an integer byte value. Basic examples Basic examples of the data type byte are illustrated below. Example 1
VAR byte data1 := 130;

Definition of a variable data1 with a decimal value 130. Example 2

CONST num parity_bit := 8; VAR byte data1 := 130; BitClear data1, parity_bit;

Bit number 8 (parity_bit) in the variable data1 will be set to 0, e.g. the content of the variable data1 will be changed from 130 to 2 (integer representation). Error handling If an argument of the type byte has a value that is not in the range between 0 and 255, an error is returned on program execution. Characteristics byte is an alias data type for num and consequently inherits its characteristics. Related information
For information about Alias data types Bit functions See Technical reference manual - RAPID overview, sectionBasic characteristics - Data types Technical reference manual - RAPID overview, sectionRAPID summary - Bit functions

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3.7 clock - Time measurement

3.7 clock - Time measurement

Usage Clock is used for time measurement. A clock functions like a stopwatch used for timing. Description Data of the type clock stores a time measurement in seconds and has a resolution of 0.001seconds. Basic examples Basic examples of the data type clock are illustrated below. Example 1
VAR clock myclock; ClkReset myclock;

The clock, myclock, is declared and reset. Before using ClkReset, ClkStart, ClkStop, and ClkRead, you must declare a variable of data type clock in your program. Limitations The maximum time that can be stored in a clock variable is approximately 49 days (4,294,967 seconds). The instructions ClkStart, ClkStop, and ClkRead report clock overflows in the very unlikely event that one occurs. A clock must be declared as a VAR variable type, not as a persistent variable type. Characteristics clock is a non-value data type and cannot be used in value-oriented operations. Related information
For information about Summary of Time and Date Instructions Non-value data type characteristics See Technical reference manual - RAPID overview, section RAPID summary - System & time Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.8 confdata - Robot configuration data

3.8 confdata - Robot configuration data

Usage confdata is used to define the axis configurations of the robot. Description All positions of the robot are defined and stored using rectangular coordinates. When calculating the corresponding axis positions, there will often be two or more possible solutions. This means that the robot is able to achieve the same position, i.e. the tool is in the same position and with the same orientation with several different positions or configurations of the robots axes. Some robot types use iterative numerical methods to determine the robot axes positions. In these cases the configuration parameters may be used to define good starting values for the joints to be used by the iterative procedure. To unambiguously denote one of these possible configurations, the robot configuration is specified using four axis values. For a rotating axis, the value defines the current quadrant of the robot axis. The quadrants are numbered 0, 1, 2, etc. (they can also be negative). The quadrant number is connected to the current joint angle of the axis. For each axis, quadrant 0 is the first quarter revolution, 0 to 90, in a positive direction from the zero position; quadrant 1 is the next revolution, 90 to 180, etc. Quadrant -1 is the revolution 0 to (-90), etc. (see figure below). The figure shows the configuration quadrants for axis 6.

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For a linear axis, the value defines a meter interval for the robot axis. For each axis, value 0 means a position between 0 and 1 meters and 1 means a position between 1 and 2 meters. For negative values, -1 means a position between -1 and 0 meters, etc. (see figure below). The figure shows configuration values for a linear axis.

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3.8 confdata - Robot configuration data Continued Robot configuration data for IRB 140, 6600, 6650, 7600 There are three singularities within the robots working range (See RAPID reference manual - RAPID summary, section Motion and I/O principles - Singularities). cf1 is the quadrant number for axis 1. cf4 is the quadrant number for axis 4. cf6 is the quadrant number for axis 6.

cfx is used to select one of eight possible robot configurations numbered from 0 through 7. The table below describes each one of them in terms of how the robot is positioned relative to the three singularities.
cfx 0 1 2 3 4 5 6 7 Wrist center relative to axis 1 Wrist center relative to lower Axis 5 angle arm In front of In front of In front of In front of Behind Behind Behind Behind In front of In front of Behind Behind In front of In front of Behind Behind Positive Negative Positive Negative Positive Negative Positive Negative

The pictures below give an example of how the same tool position and orientation is attained by using the eight different configurations. The following figure shows an example of robot configuration 0 and 1. Note the different signs of the axis 5 angle.

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3.8 confdata - Robot configuration data Continued The following figure shows an example of robot configuration 2 and 3. Note the different signs of the axis 5 angle.

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The following figure shows an example of robot configuration 4 and 5. Note the different signs of the axis 5 angle.

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The following figure shows an example of robot configuration 6 and 7. Note the different signs of the axis 5 angle.

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3.8 confdata - Robot configuration data Continued Robot configuration data for IRB 340 Only the configuration parameter cf4 is used. Robot configuration data for IRB 260, 660 Only the configuration parameter cf6 is used. Robot configuration data for IRB 1400, 2400, 3400, 4400, 6400 Only the three configuration parameters cf1, cf4, and cf6 are used. Robot configuration data for IRB 5400 All four configuration parameters are used. cf1, cf4, cf6 for joints 1, 4, and 6 respectively and cfx for joint 5. Robot configuration data for IRB 5404, 5406 The robots have two rotation axes (arms 1 and 2) and one linear axis (arm 3). cf1 is used for the rotating axis 1 cfx is used for the rotating axis 2 cf4 and cf6 are not used

Robot configuration data for IRB 5413, 5414, 5423 The robots have two linear axes (arms 1 and 2) and one or two rotating axes (arms 4 and 5). (Arm 3 locked). cf1 is used for the linear axis 1 cfx is used for the linear axis 2 cf4 is used for the rotating axis 4 cf6 is not used

Robot configuration data for IRB 840 The robot has three linear axes (arms 1, 2 and 3) and one rotating axis (arm 4). cf1 is used for the linear axis 1 cfx is used for the linear axis 2 cf4 is used for the rotating axis 4 cf6 is not used

Because of the robots mainly linear structure, the correct setting of the configuration parameters c1, cx is of less importance. Components cf1 Data type: num Rotating axis: The current quadrant of axis 1, expressed as a positive or negative integer. Linear axis: The current meter interval of axis 1, expressed as a positive or negative integer. Continues on next page
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3.8 confdata - Robot configuration data Continued cf4 Data type: num Rotating axis: The current quadrant of axis 4, expressed as a positive or negative integer. Linear axis: The current meter interval of axis 4, expressed as a positive or negative integer. cf6 Data type: num Rotating axis: The current quadrant of axis 6, expressed as a positive or negative integer. Linear axis: The current meter interval of axis 6, expressed as a positive or negative integer. cfx Data type: num Rotating axis: For the IRB 140, the current robot configuration, expressed as an integer in the range from 0 to 7. For the IRB 5400, the current quadrant of axis 5, expressed as a positive or negative integer. For other robots, using the current quadrant of axis 2, expressed as a positive or negative integer. Linear axis: The current meter interval of axis 2, expressed as a positive or negative integer. Basic examples Basic examples of the data type confdata are illustrated below. Example 1
VAR confdata conf15 := [1, -1, 0, 0]

A robot configuration conf15 for robot type IRB 5400 is defined as follows: Structure
< dataobject of confdata > < cf1 of num > < cf4 of num > < cf6 of num > < cfx of num >

The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180. The axis configuration of the robot axis 4 is quadrant -1, i.e. 0-(-90). The axis configuration of the robot axis 6 is quadrant 0, i.e. 0 - 90. The axis configuration of the robot axis 5 is quadrant 0, i.e. 0 - 90.

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3 Data types
3.8 confdata - Robot configuration data Continued Related information
For information about Coordinate systems Handling configuration data Position data See Technical reference manual - RAPID overview, section Motion and I/O principles - Coordinate systems Technical reference manual - RAPID overview, section Motion and I/O principles - Robot configuration robtarget - Position data on page 1239

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3.9 corrdescr - Correction generator descriptor

3.9 corrdescr - Correction generator descriptor

Usage corrdescr (Correction generator descriptor) is used by correction generators. A correction generator adds geometric offsets in the path coordinate system. Description Data of the type corrdescr contains a reference to a correction generator. Connection to a correction generator is done by the instruction CorrCon and the descriptor (the reference to the correction generator) can be used to deliver geometric offsets in the path coordinate system with the instruction CorrWrite. Offsets provided earlier can be removed by disconnecting a correction generator with the instruction CorrDiscon. All connected correction generators can be removed with the instruction CorrClear. The function CorrRead returns the sum of all the delivered offsets so far (includes all connected correction generators). Basic examples Basic examples of the data type corrdescr are illustrated below. Example 1
VAR corrdescr id; VAR pos offset; ... CorrCon id; offset := [1, 2 ,3]; CorrWrite id, offset;

A correction generator is connected with the instruction CorrCon and referenced by the descriptor id. Offsets are then delivered to the correction generator (with reference id) using the instruction CorrWrite. Characteristics corrdescr is a non-value data type. Related information
For information about Connects to a correction generator See CorrCon - Connects to a correction generator on page 78

Disconnects from a correction generator CorrDiscon - Disconnects from a correction generator on page 83 Writes to a correction generator Reads the current total offsets Removes all correction generators CorrWrite - Writes to a correction generator on page 84 CorrRead - Reads the current total offsets on page 850 CorrClear - Removes all correction generators on page 77

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3.9 corrdescr - Correction generator descriptor Continued
For information about Characteristics of non-value data types See Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.10 datapos - Enclosing block for a data object

3.10 datapos - Enclosing block for a data object

Usage datapos is the enclosing block to a data object (internal system data) retrieved with the function GetNextSym. Description Data of the type datapos contains information of where a certain object is defined in the system. It is used for instructions GetDataVal and SetDataVal. Basic examples Basic examples of the data type datapos are illustrated below. Example 1
VAR datapos block; VAR string name; VAR bool truevar:=TRUE; ... SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym; WHILE GetNextSym(name,block) DO SetDataVal name\Block:=block,truevar; ENDWHILE

This session will set all local bool data objects that begin with my in the module mymod to TRUE. Characteristics datapos is a non-value data type. Related information
For information about Define a symbol set in a search session Get next matching symbol Get the value of a data object Set the value of a data object Set the value of many object See SetDataSearch - Define the symbol set in a search sequence on page 450 GetNextSym - Get next matching symbol on page 907 GetDataVal - Get the value of a data object on page 118 SetDataVal - Set the value of a data object on page 454 SetAllDataVal - Set a value to all data objects in a defined set on page 446

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3.11 dionum - Digital values (0 - 1)

3.11 dionum - Digital values (0 - 1)

Usage dionum(digital input output numeric) is used for digital values (0 or 1). This data type is used in conjunction with instructions and functions that handle digital input or output signals. Description Data of the type dionum represents a digital value 0 or 1. Basic examples Basic examples of the data type dionum are illustrated below. Example 1
CONST dionum close := 1; SetDO grip1, close;

Definition of a constant close with a value equal to 1. The signal grip1 is then set to close, i.e. 1. Predefined data The constants high, low, and edge are predefined in the system module base.sys: CONST dionum low:=0; CONST dionum high:=1; CONST dionum edge:=2; The constants low and high are designed for IO instructions. Edge can be used together with the interrupt instructions ISignalDI and ISignalDO. Characteristics dionum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Summary input/output instructions Configuration of I/O Alias data types See Technical reference manual - RAPID overview, section RAPID Summary - Input and output signals Technical reference manual - System parameters Technical reference manual - RAPID overview, section Basic Characteristics- Data types

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3.12 dir - File directory structure

3.12 dir - File directory structure

Usage dir (directory) is used to traverse directory structures. Description Data of the type dir contains a reference to a directory on disk or network. It can be linked to the physical directory by means of the instruction OpenDir and then used for reading. Basic examples Basic examples of the data type dir are illustrated below. Example 1
PROC lsdir(string dirname) VAR dir directory; VAR string filename; OpenDir directory, dirname; WHILE ReadDir(directory, filename) DO TPWrite filename; ENDWHILE CloseDir directory; ENDPROC

This example prints out the names of all files or subdirectories under the specified directory. Characteristics dir is a non-value data type and cannot be used in value-oriented operations. Related information
For information about Open a directory Make a directory Read a directory Close a directory Remove a directory Remove a file Rename a file Check file type See OpenDir - Open a directory on page 301 MakeDir - Create a new directory on page 224 ReadDir - Read next entry in a directory on page 1001 CloseDir - Close a directory on page 64 RemoveDir - Delete a directory on page 370 RemoveFile - Delete a file on page 372 RenameFile - Rename a file on page 373 IsFile - Check the type of a file on page 933

File and serial channel handling Application manual - Robot communication and I/O control

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3.13 dnum - Double numeric values

3.13 dnum - Double numeric values

Usage dnum is used for numeric values, for example counters. It can handle larger integer values than data type num but its characteristics and function is the same as for num. Description The value of the dnum data type can be: An integer, for example -5 A decimal number, for example 3.45

It can also be written exponentially, for example 2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025). Integers between -4503599627370496 and +4503599627370496 are always stored as exact integers. Basic examples Basic examples of the data type dnum are illustrated below. Example 1
VAR dnum reg1; ... reg1:=1000000;

reg1 is assigned the value 1000000. Example 2

VAR dnum hex; Var dnum bin; VAR dnum oct; ! Hexadecimal representation of decimal value 4294967295 hex := 0xFFFFFFFF; ! Binary representation of decimal value 255 bin := 0b11111111; ! Octal representation of decimal value 255 oct := 0o377;

Example 3
VAR dnum a:=0; VAR dnum b:=0; a := 10 DIV 3; b := 10 MOD 3;

Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1). Limitations Literal values between -4503599627370496 to 4503599627370496 assigned to a dnum variable are stored as exact integers.

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3.13 dnum - Double numeric values Continued If a literal value that has been interpreted as a num is assigned/used as a dnum, it is automatically converted to a dnum. Related information
For information about Numeric values using data type num Numeric expressions Operations using numeric values See num - Numeric values on page 1207 Technical reference manual - RAPID overview, section Basic RAPID programming Technical reference manual - RAPID overview, section Basic RAPID programming

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3.14 errdomain - Error domain

3.14 errdomain - Error domain

Usage errdomain (error domain) is used to specify an error domain. Description Data of the type errdomain represents the domain where the error, warning, or state changed is logged. Basic examples Basic examples of the data type errdomain are illustrated below. Example 1
VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; VAR trapdata err_data; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ENDTRAP

When an error is trapped to the trap routine trap_err, the error domain, the error number, and the error type are saved into appropriate variables. Predefined data The following predefined constants can be used to specify an error domain.
Name COMMON_ERR OP_STATE SYSTEM_ERR HARDWARE_ERR PROGRAM_ERR MOTION_ERR OPERATOR_ERR IO_COM_ERR USER_DEF_ERR OPTION_PROD_ERR PROCESS_ERR CFG_ERR Error Domain All error and state changed domains Operational state change System errors Hardware errors Program errors Motion errors Operator errors - Obsolete, not used anymore I/O and Communication errors User defined errors (raised by RAPID) Value 0 1 2 3 4 5 6 7 8

Optional product errors - Obsolete, not used any 9 more Process errors Configuration error 11 12

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3.14 errdomain - Error domain Continued Characteristics errdomain is an alias data type for num and consequently inherits its characteristics. Related information
For information about Ordering an interrupt on errors Error numbers Alias data types See IError - Orders an interrupt on errors on page 135 Operating manual - Trouble shooting IRC5 Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.15 errnum - Error number

3.15 errnum - Error number

Usage errnum is used to describe all recoverable (non fatal) errors that occur during program execution, such as division by zero. Description If the robot detects an error during program execution, this can be dealt with in the error handler of the routine. Examples of such errors are values that are too high and division by zero. The system variable ERRNO, of type errnum, is thus assigned different values depending on the nature of an error. The error handler may be able to correct an error by reading this variable and then program execution can continue in the correct way. An error can also be created from within the program using the RAISE instruction. This particular type of error can be detected in the error handler by specifying an error number (within the range 1-90 or booked with instruction BookErrNo) as an argument to RAISE. Basic examples Basic examples of the data type errnum are illustrated below. Example 1
reg1 := reg2 / reg3; ... ERROR IF ERRNO = ERR_DIVZERO THEN reg3 := 1; RETRY; ENDIF

If reg3 = 0, the robot detects an error when division is taking place. This error, however, can be detected and corrected by assigning reg3 the value 1. Following this, the division can be performed again and program execution can continue. Example 2
CONST errnum machine_error := 1; ... IF di1=0 RAISE machine_error; ... ERROR IF ERRNO=machine_error RAISE;

An error occurs in a machine (detected by means of the input signal di1). A jump is made to the error handler in the routine which, in turn, calls the error handler of the calling routine where the error may possibly be corrected. The constant, machine_error, is used to let the error handler know exactly what type of error has occurred.

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3.15 errnum - Error number Continued Predefined data The system variable ERRNO can be used to read the latest error that occurred. A number of predefined constants can be used to determine the type of error that has occurred.
Name ERR_ACC_TOO_LOW ERR_ADDR_INUSE Cause of error Too low acceleration/deceleration specified in instruction PathAccLim or WorldAccLim The address and port is already in use and can not be used again. Use a different port number or address in SocketBind. The FromSignal is not defined in the IO configuration or the ToSignal is not declared in the RAPID program or is defined in the IO configuration. Instruction AliasIO The signal types for the arguments FromSignal and ToSignal is not the same (signalx). Instruction AliasIO. The interrupt variable is already connected to a TRAP routine The robot is already moving when executing a StartMove or StartMoveRetry instruction Analog signal value outside limit More than one present conditional argument for the same parameter Argument is an expression, not present, or of type switch when executing ArgName Argument is not a persistent reference Argument is not a variable reference Argument value error Axis is not active Axis is not independent Axis is moving Parameter axis in instruction is wrong An IOEnable is done, and the I/O bus is in error state or enter error state before the I/O unit is activated Limit StepBwdPath StrDig negative calculation error StrDig calculation overflow StrDig division by zero Procedure call error (not procedure) at runtime (late binding) Not allowed to read internal parameter - ReadCfgData Type mismatch - ReadCfgData, WriteCfgData Data limit - WriteCfgData Not found - ReadCfgData, WriteCfgData

ERR_ALIASIO_DEF

ERR_ALIASIO_TYPE ERR_ALRDYCNT ERR_ALRDY_MOVING ERR_AO_LIM ERR_ARGDUPCND ERR_ARGNAME ERR_ARGNOTPER ERR_ARGNOTVAR ERR_ARGVALERR ERR_AXIS_ACT ERR_AXIS_IND ERR_AXIS_MOVING ERR_AXIS_PAR ERR_BUSSTATE ERR_BWDLIMIT ERR_CALC_NEG ERR_CALC_OVERFLOW ERR_CALC_DIVZERO ERR_CALLPROC ERR_CFG_INTERNAL ERR_CFG_ILLTYPE ERR_CFG_LIMIT ERR_CFG_NOTFND

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3.15 errnum - Error number Continued
Name ERR_CFG_OUTOFBOUNDS ERR_CNTNOTVAR ERR_CNV_NOT_ACT ERR_CNV_CONNECT ERR_CNV_DROPPED ERR_COMM_EXT ERR_COMM_INIT_FAILED ERR_DATA_RECV ERR_DEV_MAXTIME ERR_DIPLAG_LIM ERR_DIVZERO ERR_EXECPHR ERR_FILEACC ERR_FILEEXIST ERR_FILEOPEN ERR_FILNOTFND ERR_FNCNORET ERR_FRAME ERR_GO_LIM ERR_ILLDIM ERR_ILLQUAT ERR_ILLRAISE ERR_INDCNV_ORDER ERR_INOISSAFE ERR_INOMAX ERR_INT_NOTVAL ERR_INT_MAXVAL ERR_INVDIM ERR_IODISABLE ERR_IOENABLE ERR_IOERROR ERR_LINKREF ERR_LOADED Cause of error If ListNo is -1 at input or bigger then number of available instances - ReadCfgData, WriteCfgData CONNECT target is not a variable reference The conveyor is not activated The WaitWobj instruction is already active The object that the instruction WaitWobj was waiting for has been dropped. Communication error with the external system. Communication interface could not be initialized. The data received from remote system is incorrect. Timeout when executing a ReadBin, ReadNum, ReadStr, ReadStrBinReadAnyBin, or a ReadRawBytes instruction Too big DipLag in the instruction TriggSpeed connected to current TriggL/TriggC/TriggJ Division by zero An attempt was made to execute an instruction using a place holder A file is accessed incorrectly A file already exists A file cannot be opened File not found No return value Unable to calculate new frame Digital group signal value outside limit Incorrect array dimension Attempt to use illegal orientation (quaternion) valve Error number in RAISE out of range An instruction requires execution of IndCnvInit before it is executed. If trying to deactivate a safe interrupt temporarily with ISleep. No more interrupt numbers available Not valid integer, decimal value Not valid integer, too large or small value Dimensions are not equal Time-out when executing IODisable Time-out when executing IOEnable I/O Error from instruction Save Reference error in the program task The program module is already loaded

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3.15 errnum - Error number Continued
Name ERR_LOADID_FATAL ERR_LOADID_RETRY ERR_LOADNO_INUSE ERR_LOADNO_NOUSE ERR_MAXINTVAL ERR_MODULE ERR_MOD_NOTLOADED ERR_NAME_INVALID ERR_NORUNUNIT ERR_NOTARR ERR_NOTEQDIM ERR_NOTINTVAL ERR_NOTPRES ERR_NOTSAVED ERR_NOT_MOVETASK ERR_NUM_LIMIT ERR_OUTOFBND ERR_OVERFLOW ERR_PATH ERR_PATHDIST ERR_PATH_STOP ERR_PID_MOVESTOP ERR_PID_RAISE_PP ERR_PRGMEMFULL ERR_PROCSIGNAL_OFF ERR_PROGSTOP ERR_RANYBIN_CHK ERR_RANYBIN_EOF ERR_RCVDATA ERR_REFUNKDAT ERR_REFUNKFUN Cause of error Only internal use in LoadId Only internal use in LoadId The load session is in use in StartLoad The load session is not in use in CancelLoad The integer value is too large Incorrect module name in instruction Save and EraseModule Module not loaded or installed from ModTime If the I/O unit name does not exist If there is no contact with the I/O unit Data is not an array The array dimension used when calling the routine does not coincide with its parameters Not an integer value A parameter is used, despite the fact that the corresponding argument was not used at the routine call Module has been changed since it was loaded into the system Specified task is a non-motion task Value is above 3.40282347E+38 or below -3.40282347E+38 The array index is outside the permitted limits Clock overflow Missing destination path in instruction Save Too long regain distance for StartMove or StartMoveRetry instruction Stop of the movement because of some process error Only internal use inLoadId Error from ParIdRobValid, ParIdPosValid or LoadId. Program memory full Process signal is off The robot is in program stop state when executing a StartMove or StartMoveRetry instruction Check sum error detected at data transfer with instruction ReadAnyBin End of file is detected before all bytes are read in instruction ReadAnyBin An attempt was made to read non-numeric data with ReadNum Reference to entire unknown data object Reference to unknown function

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3.15 errnum - Error number Continued
Name ERR_REFUNKPRC ERR_REFUNKTRP ERR_RMQ_DIM ERR_RMQ_FULL ERR_RMQ_INVALID ERR_RMQ_INVMSG ERR_RMQ_MSGSIZE ERR_RMQ_NAME ERR_RMQ_NOMSG ERR_RMQ_TIMEOUT ERR_RMQ_VALUE ERR_ROBLIMIT ERR_SC_WRITE ERR_SIGSUPSEARCH ERR_SIG_NOT_VALID Cause of error Reference to unknown procedure at linking time or at run time (late binding) Reference to unknown trap Wrong dimensions, the dimensions of the given data are not equal to the dimensions of the data in the message. Destination message queue is full. Destination slot lost or invalid Invalid message, likely sent from other client then a RAPID task. Size of message is too big. Decrease message size. The given slot name is not valid or not found. No message in queue, likely the results of power fail. Time-out occurred while waiting for answer in RMQSendWait. The value syntax does not match the data type. Axis outside working area or limits exceeded for at least one coupled joint Error when sending to external computer The signal has already a positive value at the beginning of the search process The I/O signal cannot be accessed. The reasons can be that the I/O unit is not running or an error in the configuration. The socket is closed, or is not created The connection was not established within the time-out time Override out of limit in SpeedRefresh The speed used in instructions SpeedLimAxis and SpeedLimCheckPoint is too low. The robot is in hold state when executing a StartMove or StartMoveRetry instruction The string is too long Symbol read/write access error Time-out from SyncMoveOff Time-out from SyncMoveOn Syntax error in the loaded module Task name not found in the system A read instruction from FlexPendant was interrupted by a digital input A read instruction from FlexPendant was interrupted by a digital output Time-out when executing a read instruction from FlexPendant

ERR_SOCK_CLOSED ERR_SOCK_TIMEOUT ERR_SPEED_REFRESH_LIM ERR_SPEEDLIM_VALUE ERR_STARTMOVE ERR_STRTOOLNG ERR_SYM_ACCESS ERR_SYNCMOVEOFF ERR_SYNCMOVEON ERR_SYNTAX ERR_TASKNAME ERR_TP_DIBREAK ERR_TP_DOBREAK ERR_TP_MAXTIME

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3.15 errnum - Error number Continued
Name ERR_TP_NO_CLIENT ERR_TRUSTLEVEL ERR_TXTNOEXIST ERR_UI_INITVALUE ERR_UI_MAXMIN ERR_UI_NOTINT ERR_UISHOW_FATAL ERR_UISHOW_FULL ERR_UNIT_PAR ERR_UNKINO ERR_UNKPROC ERR_UNLOAD ERR_WAITSYNCTASK ERR_WAIT_MAXTIME ERR_WHLSEARCH ERR_WOBJ_MOVING Cause of error No client to interact with when using a read instruction from FlexPendant Not allowed to disable I/O unit Wrong table or index in function TextGet Initial value error in function UINumEntry Min value is greater then max value in function UINumEntry Value is not an integer when specified that an integer should be used when using UINumEntry Other error then ERR_UISHOW_FATAL in instruction UIShow No space left on FlexPendant for another application when using instruction UIShow Parameter Mech_unit in TestSignDefine is wrong Unknown interrupt number Incorrect reference to the load session in instruction WaitLoad Unload error in instruction UnLoad or WaitLoad Time-out from WaitSyncTask Time-out when executing a WaitDI or WaitUntil instruction No search stop The mechanical unit with work object is moving CalcJointT

Characteristics errnum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Error recovery Data types in general, alias data types See Technical reference manual - RAPID overview Technical reference manual - RAPID overview

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3.16 errstr - Error string

3.16 errstr - Error string

Usage errstr is used to write text in error messages. Basic examples Basic examples of the data type errstr are illustrated below. Example 1
VAR errstr arg:= "This is an example"; ErrLog 5100, \W, ERRSTR_TASK, ERRSTR_CONTEXT, arg, ERRSTR_EMPTY, ERRSTR_UNUSED;

Predefined data
Name ERRSTR_EMPTY ERRSTR_UNUSED ERRSTR_TASK ERRSTR_CONTEXT Description Argument is empty Argument is not used Name of current task Context

Characteristics errstr is an alias data type for string and consequently inherits its characteristics. Related information
For information about Data types in general, alias data types See Technical reference manual - RAPID overview, section Basic characteristics - Data Types

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3.17 errtype - Error type

3.17 errtype - Error type

Usage errtype (error type) is used to specify an error type. Description Data of the type errtype represents the type (state change, warning, error) of an error message. Basic examples Basic examples of the data type errtype are illustrated below. Example 1
VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; VAR trapdata err_data; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ENDTRAP

When an error is trapped to the trap routine trap_err, the error domain, the error number, and the error type are saved into appropriate variables. Predefined data The following predefined constants can be used to specify an error type.
Name TYPE_ALL TYPE_STATE TYPE_WARN TYPE_ERR Error Type Any type of error (state change, warning, error) State change (operational message) Warning (such as RAPID recoverable error) Error Value 0 1 2 3

Characteristics errtype is an alias data type for num and consequently inherits its characteristics. Related information
For information about Ordering an interrupt on errors Error numbers Alias data types See IError - Orders an interrupt on errors on page 135 Operating manual - Trouble shooting IRC5 Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.18 event_type - Event routine type

3.18 event_type - Event routine type

Usage event_type is used to represent the actual event routine type with a symbolic constant. Description With the function EventType, it is possible to check if the actual RAPID code is executed because of some specific system event or not. Basic examples Basic example of the data type event_type is illustrated below. Example 1
VAR event_type my_type; ... my_type := EventType( );

The event routine type that is executed will be stored in the variable my_type. Predefined data Following constants of type event_type are predefined:
RAPID constant EVENT_NONE EVENT_POWERON EVENT_START EVENT_STOP EVENT_QSTOP EVENT_RESTART EVENT_RESET EVENT_STEP Value 0 1 2 3 4 5 6 7 Type of event executed No event is executed POWER_ON event START event STOP event QSTOP event RESTART event RESET event STEP event

Characteristics event_type is an alias data type for num and consequently inherits its characteristics. Related information
For information about Event routines in general Get event type Data types in general, alias data types See Technical reference manual - System parameters, section Controller - Event Routine EventType - Get current event type inside any event routine on page 888 Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.19 exec_level - Execution level

3.19 exec_level - Execution level

Usage exec_level is used to specify program execution level. Description With the function ExecLevel, it is possible to get the actual execution level for the RAPID code that currently is executed. Predefined data The following constants of type exec_level are predefined:
RAPID constant LEVEL_NORMAL LEVEL_TRAP LEVEL_SERVICE Value 0 1 2 Execution level Execute on base level Execute in TRAP routine Execute in service routine 1)

1) With LEVEL_SERVICE means event routine, service routine (including Call Routine) and interrupt routine from system input signal. Characteristics exec_level is an alias data type for num and consequently inherits its characteristics. Related information
For information about Get current execution level See ExecLevel - Get execution level on page 891

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3.20 extjoint - Position of external joints

3.20 extjoint - Position of external joints

Usage extjoint is used to define the axis positions of external axes, positioners or workpiece manipulators. Description The robot can control up to six external axes in addition to its six internal axes, i.e. a total of twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each such logical axes can be connected to a physical axis and, in this case, the connection is defined in the system parameters. Data of the type extjoint is used to hold position values for each of the logical axes a - f. For each logical axis connected to a physical axis, the position is defined as follows: For rotating axes the position is defined as the rotation in degrees from the calibration position. For linear axes the position is defined as the distance in mm from the calibration position.

If a logical axis is not connected to a physical one then the value 9E9 is used as a position value, indicating that the axis is not connected. At the time of execution, the position data of each axis is checked and it is checked whether or not the corresponding axis is connected. If the stored position value does not comply with the actual axis connection, the following applies: If the position is not defined in the position data (value is 9E9) then the value will be ignored if the axis is connected and not activated. But if the axis is activated, it will result in an error. If the position is defined in the position data, although the axis is not connected, then the value will be ignored.

No movement is performed but no error is generated for an axis with valid position data if the axis is not activated. If an external axis offset is used (instruction EOffsOn or EOffsSet) then the positions are specified in the ExtOffs coordinate system. If some external axis is running in independent mode and some new movement shall be performed by the robot and its additional axes then the position data for the external axis in independent mode must not be 9E9 but some arbitrary value (not used but the system). Components eax_a external axis a Data type: num The position of the external logical axis a expressed in degrees or mm (depending on the type of axis).

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3.20 extjoint - Position of external joints Continued ... eax_f external axis f Data type: num The position of the external logical axis f expressed in degrees or mm (depending on the type of axis). Basic examples Basic examples of the data type extjoint are illustrated below. Example 1
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;

The position of an external positioner, axpos10, is defined as follows: Structure

< dataobject < eax_a of < eax_b of < eax_c of < eax_d of < eax_e of < eax_f of of extjoint > num > num > num > num > num > num >

The position of the external logical axis a is set to 11, expressed in degrees or mm (depending on the type of axis). The position of the external logical axis b is set to 12.3, expressed in degrees or mm (depending on the type of axis). Axes c to f are undefined.

Related information
For information about Position data ExtOffs coordinate system See robtarget - Position data on page 1239 jointtarget - Joint position data on page 1189 EOffsOn - Activates an offset for external axes on page 97

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3.21 handler_type - Type of execution handler

3.21 handler_type - Type of execution handler

Usage handler_type is used to specify type of execution handler in RAPID program routine. Description With the function ExecHandler, it is possible to check if the actual RAPID code is executed in some execution handler in RAPID program routine. Basic examples Basic example of the data type handler_type is illustrated below. Example 1
VAR handler_type my_type; ... my_type := ExecHandler( );

The type of execution handler that the code is executed in, will be stored in the variable my_type. Predefined data Following constants of type handler_type are predefined:
RAPID constant HANDLER_NONE HANDLER_BWD HANDLER_ERR HANDLER_UNDO Value 0 1 2 3 Type of execution handler Not executed in any handler Executed in BACKWARD handler Executed in ERROR handler Executed in UNDO handler

Characteristics handler_type is an alias data type for num and consequently inherits its characteristics. Related information
For information about Get type of execution handler See ExecHandler - Get type of execution handler on page 890

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3.22 icondata - Icon display data

3.22 icondata - Icon display data

Usage icondata is used for representing standard icons on the User Device such as the FlexPendant. Description An icondata enumeration constant may be passed to the Icon argument in the instruction UIMsgBox and functions UIMessageBox, UINumEntry, UINumTune, UIAlphaEntry, and UIListView. Basic examples Basic examples of the data type icondata are illustrated below. Example 1
VAR btnres answer; UIMsgBox "More ?" \Buttons:=btnYesNo \Icon:=iconInfo \Result:= answer; IF answer= resYes THEN ... ELSEIF answer =ResNo THEN ... ENDIF

The standard button enumeration constant iconInfo will give an information icon at the head of the message box on the user interface. Predefined data The following constants of the data type icondata are predefined in the system:
Value 0 1 2 3 Constant iconNone iconInfo iconWarning iconError Icon No icon Information icon Warning icon Error icon

Characteristics icondata is an alias data type for num and consequently inherits its characteristics. Related information
For information about User Interaction Message Box User Interaction Message Box User Interaction Number Entry See UIMsgBox - User Message Dialog Box type basic on page 674 UIMessageBox - User Message Box type advanced on page 1117 UINumEntry - User Number Entry on page 1124

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3.22 icondata - Icon display data Continued
For information about User Interaction Number Tune User Interaction Alpha Entry User Interaction List View Data types in general, alias data types See UINumTune - User Number Tune on page 1130 UIAlphaEntry - User Alpha Entry on page 1091 UIListView - User List View on page 1110 Technical reference manual - RAPID overview, section Basic Characteristics - Data Types

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3.23 identno - Identity for move instructions

3.23 identno - Identity for move instructions

Usage identno (Identity Number) is used to control synchronizing of two or more coordinated synchronized movements with each other. The data type identno can only be used in a MultiMove system with option Coordinated Robots and only in program tasks defined as Motion Task. Description Move instructions in a MultiMove system must be programmed with parameter \ID of data type identno, if coordinated synchronized movement, and \ID is not allowed in any other cases. The specified \ID number must be the same in all cooperating program tasks. The id number gives a guarantee that the movements are not mixed up at runtime. In coordinated synchronized mode, there must be the same amount of executed move instructions in all program tasks. The optional parameter \ID of data type identno will be used to check that associated move instructions are run in parallel before the start of the movements. The \ID number must be the same in the move instructions that are run in parallel. The user does not have to declare any variable of type identno, but can use a number directly in the instructions (see Basic examples). Basic examples Basic examples of the data type identno are illustrated below. Example 1
PERS tasks task_list{2} := [["T_ROB1"],["T_ROB2"]]; VAR syncident sync1; VAR syncident sync2; PROC proc1() ... SyncMoveOn sync1, task_list; MoveL *\ID:=10,v100,z50,mytool; MoveL *\ID:=20,v100,fine,mytool; SyncMoveOff sync2; ... ENDPROC

Characteristics identno is an alias data type for num and thus inherits its properties. Related information
For information about Alias data types See Technical reference manual - RAPID overview, section Basic Characteristics - Data types

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3.23 identno - Identity for move instructions Continued
For information about See

Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561 End coordinated synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555

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3.24 intnum - Interrupt identity

3.24 intnum - Interrupt identity

Usage intnum (interrupt numeric) is used to identify an interrupt. Description When a variable of type intnum is connected to a trap routine, it is given a specific value identifying the interrupt. This variable is then used in all dealings with the interrupt, such as when ordering or disabling an interrupt. More than one interrupt identity can be connected to the same trap routine. The system variable INTNO can thus be used in a trap routine to determine the type of interrupt that occurs. A variable of the type intnum must always be declared global in the module. Basic examples Basic examples of the data type intnum are illustrated below. Example 1
VAR intnum feeder_error; ... PROC main() CONNECT feeder_error WITH correct_feeder; ISignalDI di1, 1, feeder_error;

An interrupt is generated when the input di1 is set to 1. When this happens, a call is made to the correct_feeder trap routine. Example 2
VAR intnum feeder1_error; VAR intnum feeder2_error; ... PROC init_interrupt() ... CONNECT feeder1_error WITH correct_feeder; ISignalDI di1, 1, feeder1_error; CONNECT feeder2_error WITH correct_feeder; ISignalDI di2, 1, feeder2_error; ... ENDPROC ... TRAP correct_feeder IF INTNO=feeder1_error THEN ... ELSE ... ENDIF ... ENDTRAP

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3.24 intnum - Interrupt identity Continued An interrupt is generated when either of the inputs di1 or di2 is set to 1. A call is then made to the correct_feeder trap routine. The system variable INTNO is used in the trap routine to find out which type of interrupt has occurred. Limitations The maximum number of active variables of type intnum at any one time (between CONNECT and IDelete) is limited to 70.The maximum number of interrupts, in the queue for execution of TRAP routine at any one time, is limited to 30. Characteristics Intnum is an alias data type for num and thus inherits its properties. Related information
For information about Summary of interrupts Alias data types Connecting interrupts See Technical reference manual - RAPID overview, section RAPID Summary - Interrupts Technical reference manual - RAPID overview, section Basic Characteristics - Data Types CONNECT - Connects an interrupt to a trap routine on page 71

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3.25 iodev - Serial channels and files

3.25 iodev - Serial channels and files

Usage iodev(I/O device) is used for serial channels, such as printers and files. Description Data of the type iodev contains a reference to a file or serial channel. It can be linked to the physical unit by means of the instruction Open and then used for reading and writing. Basic examples Basic examples of the data type iodev are illustrated below. Example 1
VAR iodev file; ... Open "HOME:/LOGDIR/INFILE.DOC", file\Read; input := ReadNum(file);

The file INFILE.DOC is opened for reading. When reading from the file, file is used as a reference instead of the file name. Characteristics iodev is a non-value data type. Related information
For information about Communication via serial channels Configuration of serial channels See Technical reference manual - RAPID overview, sectionRAPID Summary - Communication Technical reference manual - System parameters

Characteristics of non-value data types Technical reference manual - RAPID overview, sectionBasic Characteristics - Data Types File and serial channel handling Application manual - Robot communication and I/O control

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3.26 iounit_state - State of I/O unit

3.26 iounit_state - State of I/O unit

Usage iounit_state is used to mirror which state an I/O unit is currently in. Description An iounit_state constant is intended to be used when checking the return value from the function IOUnitState. Basic examples Basic examples of the data type iounit_state are illustrated below. Example 1
IF (IOUnitState ("UNIT1" \Phys) = IOUNIT_PHYS_STATE_RUNNING) THEN ! Possible to access some signal on the I/O unit ELSE ! Read/Write some signal on the I/O unit result in error ENDIF

Test is done if the I/O unit UNIT1 is up and running. Predefined data The predefined symbolic constants of the data type iounit_state can be found in function IOUnitState. Characteristics iounit_state is an alias data type for num and consequently inherits its characteristics. Related information
For information about Get current state of I/O unit Input/Output instructions See IOUnitState - Get current state of I/O unit on page 930 Technical reference manual - RAPID overview, section RAPID Summary - Input and Output Signals

Input/Output functionality in general Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O Principles Configuration of I/O Technical reference manual - System parameters

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3.27 jointtarget - Joint position data

3.27 jointtarget - Joint position data

Usage jointtarget is used to define the position that the robot and the external axes will move to with the instruction MoveAbsJ. Description jointtarget defines each individual axis position, for both the robot and the external axes. Components robax robot axes Data type: robjoint Axis positions of the robot axes in degrees. Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive or negative direction from the axis calibration position. extax external axes Data type: extjoint The position of the external axes. The position is defined as follows for each individual axis (eax_a, eax_b ... eax_f): For rotating axes, the position is defined as the rotation in degrees from the calibration position. For linear axes, the position is defined as the distance in mm from the calibration position.

External axes eax_a ... are logical axes. How the logical axis number and the physical axis number are related to each other is defined in the system parameters. The value 9E9 is defined for axes which are not connected. If the axes defined in the position data differ from the axes that are actually connected on program execution, the following applies: If the position is not defined in the position data (value 9E9) the value will be ignored, if the axis is connected and not activated. But if the axis is activated it will result in error. If the position is defined in the position data, although the axis is not connected, the value is ignored.

No movement is performed but no error is generated for an axis with valid position data, if the axis isnt activated. If some external axis is running in independent mode and some new movement shall be performed by the robot and its external axes then the position data for the external axis in independent mode must not be 9E9 but some arbitrary value (not used but the system). Continues on next page
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3.27 jointtarget - Joint position data Continued Basic examples Basic examples of the data type jointtarget are illustrated below. Example 1
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];

The normal calibration position for IRB2400 is defined in calib_pos by the data type jointtarget. The normal calibration position 0 (degrees or mm) is also defined for the external logical axis a. The external axes b to f are undefined. Structure
< dataobject of jointtarget > < robax of robjoint > < rax_1 of num > < rax_2 of num > < rax_3 of num > < rax_4 of num > < rax_5 of num > < rax_6 of num > < extax of extjoint > < eax_a of num > < eax_b of num > < eax_c of num > < eax_d of num > < eax_e of num > < eax_f of num >

Related information
For information about Move to joint position See MoveAbsJ - Moves the robot to an absolute joint position on page 235 MoveExtJ - Move one or several mechanical units without TCP on page 258 Technical reference manual - RAPID overview, section RAPID summary - Motion Application manual - Additional axes and stand alone controller

Positioning instructions Configuration of external axes

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3.28 listitem - List item data structure

3.28 listitem - List item data structure

Usage listitem is used to define menu lines that include text with optional small icons on the User Device such as the FlexPendant. Description Data of the type listitem allows the user to define menu lines for the function UIListView. Basic example Basic examples of the data type listitem are illustrated below. Example 1
CONST listitem list {3}:=[[stEmpty, "Item1"], [stEmpty, "Item2"], [stEmpty, "Item3"]];

A menu list with Item1....Item3 to use in function UIListView. Components The data type has the following components: image Data type: string The path including file name for the icon image to display (not implemented in this software release). Use empty string "" or stEmpty if no icon to display. text Data type: string The text for the menu line to display. Structure
<dataobject of listitem> <image of string> <text of string>

Related information
For information about User Interaction ListView See UIListView - User List View on page 1110

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3.29 loaddata - Load data

3.29 loaddata - Load data

Usage loaddata is used to describe loads attached to the mechanical interface of the robot (the robots mounting flange). Load data usually defines the payload or grip load (set up by the instruction GripLoad or MechUnitLoad for positioners) of the robot, that is, the load held in the robot gripper. loaddata is also used as part of tooldata to describe the tool load. Description Specified loads are used to set up a dynamic model of the robot so that the robot movements can be controlled in the best possible way. WARNING It is important to always define the actual tool load and, when used, the payload of the robot (for example a gripped part). Incorrect definitions of load data can result in overloading of the robot mechanical structure. When incorrect load data is specified, it can often lead to the following consequences: Components Note In this chapter, loaddata is only described as used for payload. As used for tool load, see tooldata - Tool data on page 1270. mass Data type: num The mass (weight) of the load in kg. cog center of gravity Data type: pos The center of gravity of the payload expressed in mm in the tool coordinate system if the robot is holding the tool. If a stationary tool is used then the center of gravity for the payload held by the gripper is expressed in the object frame of the work object coordinate system moved by the robot. aom axes of moment Continues on next page
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The robot will not be used to its maximum capacity Impaired path accuracy including a risk of overshooting Risk of overloading the mechanical structure

3 Data types
3.29 loaddata - Load data Continued Data type: orient The orientation of the axes of moment. These are the principal axes of the payload moment of inertia with origin in cog. If the robot is holding the tool, the axes of moment are expressed in the tool coordinate system. The figure shows the center of gravity and inertial axes of the payload.

Y X Z

gripper

wrist coordinate system X' Z' X'' payload coordinate system, center of gravity (cog) and inertial axes of payload (aom)
xx1100000515

Y'

tool coordinate system and TCP Y'' payload

Z''

Figure 3.1: Robot held tool

Continues on next page

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3.29 loaddata - Load data Continued The axes of moment are expressed in the object coordinate system if a stationary tool is used.

gripper X wrist coordinate system Y Z payload coordinate system, center of gravity (cog) and inertial axes of payload (aom) Y' X' Z' Z'' X'' Y'' payload

work object coordinate system stationary tool

xx1100000516

Figure 3.2: Stationary tool

ix inertia x Data type: num The moment of inertia of the load around the x-axis of moment expressed in kgm2. Correct definition of the moments of inertia will allow optimal utilization of the path planner and axes control. This may be of special importance when handling large sheets of metal, etc. All moments of inertia ix, iy, and iz equal to 0 kgm2 imply a point mass. Normally, the moments of inertia must only be defined when the distance from the mounting flange to the center of gravity is less than the maximal dimension of the load (see figure below).

xx0500002372

iy inertia y Continues on next page

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3 Data types
3.29 loaddata - Load data Continued Data type: num The moment of inertia of the load around the y-axis, expressed in kgm2. For more information, see ix. iz inertia z Data type: num The moment of inertia of the load around the z-axis, expressed in kgm2. For more information, see ix. Basic examples Basic examples of the data type loaddata are illustrated below. Example 1
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];

The payload moved by a robot held tool in the figure Robot held tool on page 1193 is described using the following values: Example 2
Set gripper; WaitTime 0.3; GripLoad piece1;

Weight 5 kg. The center of gravity is x = 50, y = 0 and z = 50 mm in the tool coordinate system The payload is a point mass

Connection of the payload, piece1, specified at the same time as the robot grips the load. Example 3
Reset gripper; WaitTime 0.3; GripLoad load0;

Disconnection of the payload, specified at the same time as the robot releases a payload. Example 4
PERS loaddata piece2 := [ 5, [50, 50, 50], [0, 0, 1, 0], 0, 0, 0]; PERS wobjdata wobj2 :=[ TRUE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ], [ [50, -50, 200], [0.5, 0, -0.866 ,0] ] ];

The payload moved according to the stationary tool in the figure Stationary tool on page 1194 is described using the following values for the loaddata: Weight 5 kg The center of gravity is x = 50, y = 50 and z = 50 mm in the object coordinate system for work object wobj2 The payload coordinate system/axes of moments are rotated 180 around Y'' according to the object coordinate system Continues on next page
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3.29 loaddata - Load data Continued The payload is a point mass The robot is holding the work object The fixed user coordinate system is used, that is, the user coordinate system is the same as wrist coordinate system The object coordinate system is rotated -120 around Y and the coordinates of its origin are x = 50, y = -50 and z = 200 mm in the user coordinate system

The following values are used for the wobjdata:

Limitations The payload should only be defined as a persistent variable (PERS) and not within a routine. Current values are then saved when saving the program and are retrieved on loading. Arguments of the type loaddata in the GripLoad and MechUnitLoad instruction should only be an entire persistent (not array element or record component). Predefined data The load load0 defines a payload, with the mass equal to 0 kg, that is, no load at all. This load is used as the argument in the instructions GripLoad and MechUnitLoad to disconnect the payload. The load load0 can always be accessed from the program, but cannot be changed (it is stored in the system module BASE).
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0 , 0 ];

Structure
< dataobjectof loaddata > < mass of num > < cog of pos > < x of num > < y of num > < z of num > < aom of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num > < ix of num > < iy of num > < iz of num >

Related information
For information about Coordinate systems Definition of tool loads Define payload for robots See Technical reference manual - RAPID overview, section Motion and I/O principles - Coordinate systems tooldata - Tool data on page 1270 GripLoad - Defines the payload for a robot on page 128

Continues on next page

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3 Data types
3.29 loaddata - Load data Continued
For information about See

Define payload for mechanical units MechUnitLoad - Defines a payload for a mechanical unit on page 229 Load identification of tool load, pay- Operating manual - IRC5 with FlexPendant, section load or arm load Programming and testing - Service routines Definition of arm loads Technical reference manual - System parameters, section Topic Motion - Workflowes - How to define arm loads wobjdata - Work object data on page 1290

Definition of work object data

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3.30 loadidnum - Type of load identification

3.30 loadidnum - Type of load identification

Usage loadidnum is used to represent an integer with a symbolic constant. Description A loadidnum constant is intended to be used for load identification of tool or payload as arguments in instruction LoadId. See example below. Basic examples Basic examples of the data type loadidnum are illustrated below. Example 1
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, gun1;

Load identification of tool gun1 with identification of mass with movements of robot axis 3 with use of predefined constant MASS_WITH_AX3 of data type loadidnum. Predefined data The following symbolic constants of the data type loadidnum are predefined and can be used as arguments in instruction LoadId.
Value 1 2 Symbolic constant MASS_KNOWN MASS_WITH_AX3 Comment Known mass in tool or payload respectively. Unknown mass in tool or payload. Identification of mass will be done with movements of axis 3

Characteristics loadidnum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Predefined program Load Identify See Operating manual - IRC5 with FlexPendant, section Programming and testing - Service routines- LoadIdentify, load identification and service routines ParIdRobValid - Valid robot type for parameter identification on page 972 ParIdPosValid - Valid robot position for parameter identification on page 969

Valid robot type Valid robot position

Load identification with complete example LoadId - Load identification of tool or payload on page 219

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3.31 loadsession - Program load session

3.31 loadsession - Program load session

Usage loadsession is used to define different load sessions of RAPID program modules. Description Data of the type loadsession is used in the instructions StartLoad and WaitLoad to identify the load session. loadsession only contains a reference to the load session. Characteristics loadsession is a non-value data type and cannot be used in value-oriented operations. Related information
For information about See

Loading program modules during execution StartLoad - Load a program module during execution on page 509 WaitLoad - Connect the loaded module to the task on page 713 Characteristics of non-value data types Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.32 mecunit - Mechanical unit

3.32 mecunit - Mechanical unit

Usage mecunit is used to define the different mechanical units which can be controlled and accessed from the program. The names of the mechanical units are defined in the system parameters and, consequently, must not be defined in the program. Description Data of the type mecunit only contains a reference to the mechanical unit. Limitations Data of the type mecunit must not be defined in the program. However, if it is then an error message will be displayed as soon as an instruction or function that refers to this mecunit is executed. The data type can, on the other hand, be used as a parameter when declaring a routine. Predefined data All the mechanical units defined in the system parameters are predefined in every program task. But only the mechanical units that are controlled by the actual program task (defined in system parameters Controller/Task/Use Mechanical Unit Group) can be used to do any control operations. Besides that, the predefined variable ROB_ID of data type mecunit is available in every program task. If an actual program task controls a robot then the alias variable ROB_ID contains a reference to one of robot ROB_1 to ROB_6, which can be used to do control operation on the robot. The variable ROB_ID is invalid if the actual program task does not control any robot. Basic examples Basic examples of the data type mecunit are illustrated below. Example 1
IF TaskRunRob() THEN IndReset ROB_ID, 6; ENDIF

If actual program task controls a robot, reset axis 6 for the robot. Characteristics mecunit is a non-value data type. This means that data of this type does not permit value-oriented operations. Related information
For information about Check if task run some robot See TaskRunRob - Check if task controls some robot on page 1070

Continues on next page

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3 Data types
3.32 mecunit - Mechanical unit Continued
For information about See

Check if task run some mechanical TaskRunMec - Check if task controls any mechanical unit unit on page 1069 Get the name of mechanical units in GetNextMechUnit - Get name and data for mechanical the system units on page 904 Activating/Deactivating mechanical ActUnit - Activates a mechanical unit on page 21 units DeactUnit - Deactivates a mechanical unit on page 88 Configuration of mechanical units Characteristics of non-value data types Technical reference manual - System parameters Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.33 motsetdata - Motion settings data

3.33 motsetdata - Motion settings data

Usage motsetdata is used to define a number of motion settings that affect all positioning instructions in the program: Max. velocity and velocity override Acceleration data Behavior around singular points Management of different robot configurations Override of path resolution Motion supervision Limitation of acceleration/deceleration Tool reorientation during circle path Activation and deactivation of event buffer

This data type does not normally have to be used since these settings can only be set using the instructions VelSet, AccSet, SingArea, ConfJ, ConfL, PathResol, MotionSup, PathAccLim, CirPathMode, WorldAccLim, ActEventBuffer, and DeactEventBuffer. The current values of these motion settings can be accessed using the system variable C_MOTSET. Description The current motion settings (stored in the system variable C_MOTSET) affect all movements. Components vel.oride Data type: veldata/num Velocity as a percentage of programmed velocity. vel.max Data type: veldata/num Maximum velocity in mm/s. acc.acc Data type: accdata/num Acceleration and deceleration as a percentage of the normal values. acc.ramp Data type: accdata/num The rate by which acceleration and deceleration increases as a percentage of the normal values. sing.wrist Data type: singdata/bool Continues on next page
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3 Data types
3.33 motsetdata - Motion settings data Continued The orientation of the tool is allowed to deviate somewhat in order to prevent wrist singularity. sing.arm Data type: singdata/bool The orientation of the tool is allowed to deviate somewhat in order to prevent arm singularity (not implemented). sing.base Data type: singdata/bool The orientation of the tool is not allowed to deviate. conf.jsup Data type: confsupdata/bool Supervision of joint configuration is active during joint movement. conf.lsup Data type: confsupdata/bool Supervision of joint configuration is active during linear and circular movement. conf.ax1 Data type: confsupdata/num Maximum permitted deviation in degrees for axis 1 (not used in this version). conf.ax4 Data type: confsupdata/num Maximum permitted deviation in degrees for axis 4 (not used in this version). conf.ax6 Data type: confsupdata/num Maximum permitted deviation in degrees for axis 6 (not used in this version). pathresol Data type: num Current override in percentage of the configured path resolution. motionsup Data type: bool Mirror RAPID status (TRUE = On and FALSE = Off) of motion supervision function. tunevalue Data type: num Current RAPID override as a percentage of the configured tunevalue for the motion supervision function. acclim Data type: bool Limitation of tool acceleration along the path. (TRUE = limitation and FALSE = no limitation). Continues on next page
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3 Data types
3.33 motsetdata - Motion settings data Continued accmax Data type: num TCP acceleration limitation in m/s2. If acclim is FALSE, the value is always set to -1. decellim Data type: bool Limitation of tool deceleration along the path. (TRUE = limitation and FALSE = no limitation). decelmax Data type: num TCP deceleration limitation in m/s2. If decellim is FALSE, the value is always set to -1. cirpathreori Data type: num Tool reorientation during circle path: 0 = Standard method with interpolation in path frame 1 = Modified method with interpolation in object frame 2 = Modified method with programmed tool orientation in CirPoint worldacclim Data type: bool Limitation of acceleration in world coordinate system. (TRUE = limitation and FALSE = no limitation). worldaccmax Data type: num Limitation of acceleration in world coordinate system in m/s2. If worldacclim is FALSE, the value is always set to -1. evtbufferact Data type: bool Event buffer active or not active. (TRUE = event buffer active and FALSE = event buffer not active). Limitations One and only one of the components sing.wrist, sing.arm or sing.base may have a value equal to TRUE. Basic examples Basic examples of the data type motsetdata are illustrated below. Example 1
IF C_MOTSET.vel.oride > 50 THEN ...

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3 Data types
3.33 motsetdata - Motion settings data Continued
ELSE ... ENDIF

Different parts of the program are executed depending on the current velocity override. Predefined data C_MOTSET describes the current motion settings of the robot and can always be accessed from the program. On the other hand, C_MOTSET can only be changed using a number of instructions, not by assignment. The following default values for motion parameters are set at a cold start-up. when a new program is loaded. when starting program execution from the beginning.
VAR motsetdata C_MOTSET := [ [ 100, 500 ],-> veldata [ 100, 100 ],-> accdata [ FALSE, FALSE, TRUE ],-> singdata [ TRUE, TRUE, 30, 45, 90 ]-> confsupdata 100,-> path resolution TRUE,-> motionsup 100,-> tunevalue FALSE,-> acclim -1,-> accmax FALSE,-> decellim -1,-> decelmax 0,-> cirpathreori FALSE,-> worldacclim -1,-> worldaccmax TRUE];-> ActEventBuffer and DeactEventBuffer

Structure
<dataobject of motsetdata> <vel of veldata> <oride of num> <max of num> <acc of accdata> <acc of num> <ramp of num> <sing of singdata> <wrist of bool> <arm of bool> <base of bool> Affected by instruction VelSet

Affected by instruction AccSet

Affected by instruction SingArea

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3 Data types
3.33 motsetdata - Motion settings data Continued
<conf of confsupdata> <jsup of bool> <lsup of bool> <ax1 of num> <ax4 of num> <ax6 of num> <pathresol of num> <motionsup of bool> <tunevalue of num> <acclim of bool> <accmax of num> <decellim of bool> <decelmax of num> <cirpathreori of num> <worldacclim of bool> <worldaccmax of num> <evtbufferact of bool> Affected by instructions ConfJ and ConfL

Affected by instruction PathResol Affected by instruction MotionSup Affected by instruction MotionSup Affected by instruction PathAccLim Affected by instruction PathAccLim Affected by instruction PathAccLim Affected by instruction PathAccLim Affected by instruction CirPathMode Affected by instruction WorldAccLim Affected by instruction WorldAccLim Affected by instructions ActEventBuffer and DeactEventBuffer

Related information
For information about See

Instructions for setting motion parameters Technical reference manual - RAPID overview, section RAPID summary - Motion settings

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3.34 num - Numeric values

3.34 num - Numeric values

Usage Num is used for numeric values; e.g. counters. Description The value of the num data type may be an integer; e.g. -5, a decimal number; e.g. 3.45.

It may also be written exponentially; e.g.2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025). Integers between -8388607 and +8388608 are always stored as exact integers. Decimal numbers are only approximate numbers and therefore should not be used in is equal to or is not equal to comparisons. In the case of divisions and operations using decimal numbers, the result will also be a decimal number; i.e. not an exact integer. For example:
a := 10; b := 5; IF a/b=2 THEN ...

As the result of a/b is not an integer, this condition is not necessarily satisfied. Basic examples Basic examples of the data type num are illustrated below. Example 1
VAR num reg1; ... reg1 := 3;

reg1 is assigned the value 3. Example 2

a := 10 DIV 3; b := 10 MOD 3;

Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1). Predefined data There is some predefined data in the system. For example the constant pi () is defined in the system module BASE_SHARED. CONST num pi := 3.1415926; Limitations Literal values between -8388607 to 8388608 assigned to a num variable are stored as exact integers.

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3.34 num - Numeric values Continued If a literal that has been interpreted as a dnum is assigned/used as a num, it is automatically converted to a num. Related information
For information about Numeric values using datatype dnum Numeric expressions See dnum - Double numeric values on page 1164 Technical reference manual - RAPID overview, section Basic RAPID programming - Expressions Technical reference manual - RAPID overview, section Basic RAPID programming - Expressions

Operations using numeric values

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3.35 opcalc - Arithmetic Operator

3.35 opcalc - Arithmetic Operator

Usage opcalc is used to represent an arithmetic operator in arguments to RAPID functions or instructions. Description An opcalc constant is intended to be used to define the type of arithmetic operation. Examples Basic example of the usage of datatype opcalc is illustrated below. Example 1
res := StrDigCalc(str1, OpAdd, str2);

res is assigned the result of the addition operation on the values represented by the strings str1 and str2. OpAdd is of datatype opcalc. Predefined data The following symbolic constants of the data type opcalc are predefined and can be used to define the type of arithmetic operation used, for instance, in function StrDigCalc.
Constant OpAdd OpSub OpMult OpDiv OpMod Value 1 2 3 4 5 Comment Addition (+) Substraction (-) Multiplication (*) Division (/) Modulus(%l)

Characteristics opcalc is an alias data type for num and consequently inherits its characteristics. Related information
For information about Data types in general, alias data types See Technical reference manual - RA]PID overview, section Basic characteristics - Datatypes StrDigCalc - Arithmetic operations with datatype stringdig on page 1044

Arithmetic operations on digital strings.

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3.36 opnum - Comparison operator

3.36 opnum - Comparison operator

Usage opnum is used to represent an operator for comparisons in arguments to RAPID functions or instructions. Description An opnum constant is intended to be used to define the type of comparison when checking values in generic instructions. Basic examples Basic examples of the data type opnum are illustrated below. Example 1
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;

Predefined data The following symbolic constants of the data type opnum are predefined and can be used to define the type of comparison used, for instance, in instruction TriggCheckIO.
Value 1 2 3 4 5 6 Symbolic constant LT LTEQ EQ NOTEQ GTEQ GT Comment Less than Less than or equal to Equal to Not equal to Greater than or equal to Greater than

Characteristics opnum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Data types in general, alias data types Define I/O check at a fixed position See Technical reference manual - RAPID overview, section Basic characteristics - Data types TriggCheckIO - Defines IO check at a fixed position on page 604

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3.37 orient - Orientation

3.37 orient - Orientation

Usage orient is used for orientations (such as the orientation of a tool) and rotations (such as the rotation of a coordinate system). Description The orientation is described in the form of a quaternion which consists of four elements: q1, q2, q3, and q4. For more information on how to calculate these, see below. Components The data type orient has the following components: q1 Data type: num Quaternion 1. q2 Data type: num Quaternion 2. q3 Data type: num Quaternion 3. q4 Data type: num Quaternion 4. Basic examples Basic examples of the data type orient are illustrated below. Example 1
VAR orient orient1; . orient1 := [1, 0, 0, 0];

The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to no rotation. Limitations The orientation must be normalized; i.e. the sum of the squares must equal 1:
q2 + q2 + q2 + q2 = 1 1 2 3 4

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3.37 orient - Orientation Continued What is a Quaternion? The orientation of a coordinate system (such as that of a tool) can be described by a rotational matrix that describes the direction of the axes of the coordinate system in relation to a reference system (see figure below).

xx0500002376

The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the reference coordinate system as follows: x = (x1, x2, x3) y = (y1, y2, y3) z = (z1, z2, z3) This means that the x-component of the x-vector in the reference coordinate system will be x1, the y-component will be x2, etc. These three vectors can be put together in a matrix (a rotational matrix) where each of the vectors form one of the columns:

xx0500002381

A quaternion is just a more concise way to describe this rotational matrix; the quaternions are calculated based on the elements of the rotational matrix:
x1+y2+z3+1

q1 = q2 = q3 = q4 =

2 x1y2z3+1 2 y2x1z3+1 2 z3x1y2+1 2

sign q2 = sign (y3-z2) sign q3 = sign (z1-x3) sign q4 = sign (x2-y1)

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3 Data types
3.37 orient - Orientation Continued Example 1 A tool is orientated so that its Z-axis points straight ahead (in the same direction as the X-axis of the base coordinate system). The Y-axis of the tool corresponds to the Y-axis of the base coordinate system (see figure below). How is the orientation of the tool defined in the position data (robtarget)? The orientation of the tool in a programmed position is normally related to the coordinate system of the work object used. In this example, no work object is used and the base coordinate system is equal to the world coordinate system. Thus, the orientation is related to the base coordinate system.

xx0500002377

The axes will then be related as follows: x = -z = (0, 0, -1) y = y = (0, 1, 0) z = x = (1, 0, 0) Which corresponds to the following rotational matrix:

xx0500002388

The rotational matrix provides a corresponding quaternion:

q1 = q2 = q3 = q4 =
0+1+0+1 2 010+1 2 100+1 2 001+1 2

= =0 = =0

2 2

= 0.707

2 2

= 0.707

sign q3 = sign (1+1) = +

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3.37 orient - Orientation Continued Example 2 The direction of the tool is rotated 30 about the X- and Z-axes in relation to the wrist coordinate system (see figure below). How is the orientation of the tool defined in the tool data?

xx0500002378

The axes will then be related as follows: x = (cos30, 0, -sin30) y = (0, 1, 0) z = (sin30, 0, cos30) Which corresponds to the following rotational matrix:

xx0500002393

The rotational matrix provides a corresponding quaternion:

q1 = q2 = q3 = q4 =
cos30 + 1 + cos30 + 1 2 cos30 1 cos30+1 2 1 cos30 cos30+1 2 cos30 cos30 1+1 2

= 0.965926 =0 = 0.258819 =0 sign q3 = sign (sin30+sin30) = +

Structure
< dataobject of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num >

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3.37 orient - Orientation Continued Related information
For information about Operations on orientations See Technical reference manual - RAPID overview, section Basic Characteristics - Expressions

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3.38 paridnum - Type of parameter identification

3.38 paridnum - Type of parameter identification

Usage paridnum is used to represent an integer with a symbolic constant. Description A paridnum constant is intended to be used for parameter identification such as load identification of tool or payload or external manipulator load. See example below. Basic examples Basic examples of the data type paridnum are illustrated below. Example 1
TEST ParIdRobValid (TOOL_LOAD_ID) CASE ROB_LOAD_VAL: ! Possible to do load identification of tool in actual robot type ... CASE ROB_LM1_LOAD_VAL: ! Only possible to do load identification of tool with ! IRB 6400FHD if actual load < 200 kg ... CASE ROB_NOT_LOAD_VAL: ! Not possible to do load identification of tool in actual robot type ... ENDTEST

Use of predefined constant TOOL_LOAD_ID of data type paridnum. Predefined data The following symbolic constants of the data type paridnum are predefined and can be used as arguments in the following instructions, ParIdRobValid, ParIdPosValid,LoadId, and ManLoadIdProc.
Value 1 2 3 4 4 4 4 5 6 6 6 Symbolic constant TOOL_LOAD_ID PAY_LOAD_ID IRBP_K IRBP_L IRBP_C IRBP_C_INDEX IRBP_T IRBP_R IRBP_A IRBP_B IRBP_D Comment Identify tool load Identify payload (Ref. instruction GripLoad) Identify External Manipulator IRBP K load Identify External Manipulator IRBP L load Identify External Manipulator IRBP C load Identify External Manipulator IRBP C_INDEX load Identify External Manipulator IRBP T load Identify External Manipulator IRBP R load Identify External Manipulator IRBP A load Identify External Manipulator IRBP B load Identify External Manipulator IRBP D load

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3 Data types
3.38 paridnum - Type of parameter identification Continued

Note Only TOOL_LOAD_ID and PAY_LOAD_ID can be used in user defined RAPID Programs for load identification of the tool respectively the pay load for the robot. Characteristics paridnum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Predefined program Load Identify See Operating manual - IRC5 with FlexPendant, section Programming and testing - Service routines- LoadIdentify, load identification and service routines ParIdRobValid - Valid robot type for parameter identification on page 972 ParIdPosValid - Valid robot position for parameter identification on page 969

Valid robot type Valid robot position

Load identification with complete example LoadId - Load identification of tool or payload on page 219 Load identification of external manipulators ManLoadIdProc - Load identification of IRBP manipulators on page 225

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3.39 paridvalidnum - Result of ParIdRobValid

3.39 paridvalidnum - Result of ParIdRobValid

Usage paridvalidnum is used to represent an integer with a symbolic constant. Description A paridvalidnum constant is intended to be used for parameter identification, such as load identification of tool or payload, when checking the return value from function ParIdRobValid. See example below. Basic examples Basic examples of the data type paridvalidnum are illustrated below.
TEST ParIdRobValid (PAY_LOAD_ID) CASE ROB_LOAD_VAL: ! Possible to do load identification of payload in actual robot ! type ... CASE ROB_LM1_LOAD_VAL: ! Only possible to do load identification of payload ! with IRB 6400FHD if actual load < 200 kg ... CASE ROB_NOT_LOAD_VAL: ! Not possible to do load identification of payload ! in actual robot type ... ENDTEST

Use of predefined constants ROB_LOAD_VAL, ROB_LM1_LOAD_VAL and ROB_NOT_LOAD_VAL of data type paridvalidnum. Predefined data The following symbolic constants of the data type paridvalidnum are predefined and can be used for checking the return value from function ParIdRobValid.
Value 10 11 12 Symbolic constant ROB_LOAD_VAL ROB_NOT_LOAD_VAL ROB_LM1_LOAD_VAL Comment Valid robot type for the current parameter identification Not valid robot type for the current parameter identification Valid robot type IRB 6400FHD for the current parameter identification if actual load < 200kg

Characteristics paridvalidnum is an alias data type for num and inherits its characteristics.

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3 Data types
3.39 paridvalidnum - Result of ParIdRobValid Continued Related information
For information about See

Predefined program Load Identify Operating manual - IRC5 with FlexPendant, section Programming and testing - Service routines- LoadIdentify, load identification and service routines Valid robot type Valid robot position Load identification with complete example ParIdRobValid - Valid robot type for parameter identification on page 972 ParIdPosValid - Valid robot position for parameter identification on page 969 LoadId - Load identification of tool or payload on page 219

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3.40 pathrecid - Path recorder identifier

3.40 pathrecid - Path recorder identifier

Usage pathrecid is used to identify a breakpoint for the path recorder. Description The path recorder is a system function for recording the robots executed path. Data of the type pathrecid can be linked to a specific path location by means of the instruction PathRecStart. The user can then order the recorder to perform a movement back to the path identifier by using the instruction PathRecMoveBwd. Basic examples Basic examples of the data type pathrecid are illustrated below. Example 1
VAR pathrecid start_id; CONST robtarget p1 := [...]; CONST robtarget p2 := [...]; CONST robtarget p3 := [...]; PathRecStart start_id; MoveL p1, vmax, z50, tool1; MoveL p2, vmax, z50, tool1 MoveL p3, vmax, z50, tool1; IF(PathRecValidBwd (\ID := start_id)) THEN StorePath; PathRecMoveBwd \ID:=start_id; ... ENDIF

pathrecid_Ex

The example above will start the path recorder and the starting point will be tagged with the path identifier start_id. Thereafter, the robot will move forward with traditional move instructions and then move back to the start position again using the recorded path. To be able to run PathRecorder move instructions, the path level has to be changed with StorePath. Characteristics pathrecid is an non-value data type.

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3 Data types
3.40 pathrecid - Path recorder identifier Continued Related information
For information about Start - stop the path recorder See PathRecStart - Start the path recorder on page 323 PathRecStop - Stop the path recorder on page 326 PathRecValidBwd - Is there a valid backward path recorded on page 977 PathRecValidFwd - Is there a valid forward path recorded on page 980 PathRecMoveBwd - Move path recorder backwards on page 314 PathRecMoveFwd - Move path recorder forward on page 320 Technical reference manual - RAPID overview, section Basic characteristics - Data types

Check for valid recorded path

Play the path recorder backward Play the path recorder forward Characteristics of non-value data types

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3.41 pos - Positions (only X, Y and Z)

3.41 pos - Positions (only X, Y and Z)

Usage pos is used for positions (only X, Y, and Z). The robtarget data type is used for the robots position including the orientation of the tool and the configuration of the axes. Description Data of the type pos describes the coordinates of a position: X, Y, and Z. Components The data type pos has the following components: x Data type: num The X-value of the position. y Data type: num The Y-value of the position. z Data type: num The Z-value of the position. Basic examples Basic examples of the data type pos are illustrated below. Example 1
VAR pos pos1; ... pos1 := [500, 0, 940];

The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm. Example 2
pos1.x := pos1.x + 50;

The pos1 position is shifted 50 mm in the X-direction. Structure

< dataobject < x of num < y of num < z of num of pos > > > >

Related information
For information about Operations on positions See Technical reference manual - RAPID overview, section Basic Characteristics - Expressions

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3 Data types
3.41 pos - Positions (only X, Y and Z) Continued
For information about Robot position including orientation See robtarget - Position data on page 1239

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3.42 pose - Coordinate transformations

3.42 pose - Coordinate transformations

Usage pose is used to change from one coordinate system to another. Description Data of the type pose describes how a coordinate system is displaced and rotated around another coordinate system. The data can, for example, describe how the tool coordinate system is located and oriented in relation to the wrist coordinate system. Components The data type has the following components: trans translation Data type: pos The displacement in position (x, y, and z) of the coordinate system. rot rotation Data type: orient The rotation of the coordinate system. Basic examples Basic examples of the data type pose are illustrated below.
VAR pose frame1; ... frame1.trans := [50, 0, 40]; frame1.rot := [1, 0, 0, 0];

The frame1 coordinate transformation is assigned a value that corresponds to a displacement in position, where X=50 mm, Y=0 mm, Z=40 mm; there is, however, no rotation. Structure
< dataobject of pose > < trans of pos > < rot of orient >

Related information
For information about What is a Quaternion? See orient - Orientation on page 1211

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3.43 progdisp - Program displacement

3.43 progdisp - Program displacement

Usage progdisp is used to store the current program displacement of the robot and the external axes. This data type does not normally have to be used since the data is set using the instructions PDispSet, PDispOn, PDispOff, EOffsSet, EOffsOn, and EOffsOff. It is only used to temporarily store the current value for later use. Description The current values for program displacement can be accessed using the system variable C_PROGDISP. For more information, see the instructions PDispSet, PDispOn, EOffsSet, and EOffsOn. Components pdisp program displacement Data type: pose The program displacement for the robot, expressed using a translation and an orientation. The translation is expressed in mm. eoffs external offset Data type: extjoint The offset for each of the external axes. If the axis is linear, the value is expressed in mm; if it is rotating, the value is expressed in degrees. Basic examples Basic examples of the data type progdisp are illustrated below. Example 1
VAR progdisp progdisp1; ... SearchL sen1, psearch, p10, v100, tool1; PDispOn \ExeP:=psearch, *, tool1; EOffsOn \ExeP:=psearch, *; ... progdisp1:=C_PROGDISP; PDispOff; EOffsOff; ... PDispSet progdisp1.pdisp; EOffsSet progdisp1.eoffs;

First, a program displacement is activated from a searched position. Then, the current program displacement values are temporary stored in the variable Continues on next page
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3 Data types
3.43 progdisp - Program displacement Continued progdisp1 and the program displacement is deactivated. Later on, re-activation is done using the instructions PDispSet and EOffsSet. Predefined data The system variableC_PROGDISP describes the current program displacement of the robot and external axes, and can always be accessed from the program. On the other hand, it can only be changed using a number of instructions, not by assignment. The following default values for program displacement are set at a cold start-up. when a new program is loaded. when starting program execution from the beginning.
VAR progdisp C_PROGDISP := [ [[ 0, 0, 0], [1, 0, 0, 0]],-> posedata [ 0, 0, 0, 0, 0, 0]];-> extjointdata

Structure
< dataobject of progdisp > < pdisp of pose > < trans of pos > < x of num > < y of num > < z of num > < rot of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num > < eoffs of extjoint > < eax_a of num > < eax_b of num > < eax_c of num > < eax_d of num > < eax_e of num > < eax_f of num >

Related information
For information about See

Instructions for defining program displacement Technical reference manual - RAPID overview, section RAPID summary - Motion settings Coordinate systems Technical reference manual - RAPID overview, section Motion and I/O principles Coordinate systems

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3.44 rawbytes - Raw data

3.44 rawbytes - Raw data

Usage rawbytes is used as a general data container. It can be used for communication with I/O devices. Description rawbytes data can be filled with any type of data - num, byte, string - by means of support instructions/functions. In any variable of rawbytes, the system also stores the current length of valid bytes. Basic examples Basic examples of the data type rawbytes are illustrated below. Example 1
VAR rawbytes raw_data; VAR num integer := 8; VAR num float := 13.4; ClearRawBytes raw_data; PackRawBytes integer, raw_data, 1 \IntX := INT; PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;

In this example the variable raw_data of type rawbytes is first cleared, i.e. all bytes set to 0 (same as default at declaration). Then in the first 2 bytes the value of integer is placed and in the next 4 bytes the value of float. Limitations A rawbytes variable may contain 0 to 1024 bytes. Structure rawbytes is a non-value data type. At declaration of rawbytes variable, all bytes in rawbytes are set to 0 and the current length of valid bytes in the variable is set to 0. Related information
For information about Get the length of rawbytes data Clear the contents of rawbytes data Copy the contents of rawbytes data See RawBytesLen - Get the length of rawbytes data on page 997 ClearRawBytes - Clear the contents of rawbytes data on page 57 CopyRawBytes - Copy the contents of rawbytes data on page 75

Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into rawbytes data on page 303 Pack data into rawbytes data PackRawBytes - Pack data into rawbytes data on page 306

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3 Data types
3.44 rawbytes - Raw data Continued
For information about Write rawbytes data Read rawbytes data Unpack data from rawbytes data File and serial channel handling See WriteRawBytes - Write rawbytes data on page 753 ReadRawBytes - Read rawbytes data on page 367 UnpackRawBytes - Unpack data from rawbytes data on page 689 Application manual - Robot communication and I/O control

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3.45 restartdata - Restart data for trigg signals

3.45 restartdata - Restart data for trigg signals

Usage restartdata mirrors the pre- and postvalues of specified I/O signals (process signals) at the stop sequence of the robot movements. The I/O signals to supervise are specified in the instruction TriggStopProc. TriggStopProc and restartdata are intended to be used for restart after program stop (STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID (NOSTEPIN routines). Definition The table shows the definition of the time point for reading the pre- and postvalues for the I/O signals.
Type of stop STOP on path Read time for I/O signal prevalue Read time for I/O signal postvalue

When all robot axes are standing About 400 ms after the pretime still About 400 ms after the pretime

QSTOP off path As soon as possible

Description restartdata mirrors the following data after program execution is stopped: valid restart data robot stopped on path or not prevalue of the I/O signals postvalue of the I/O signals number of flanks between pretime and posttime of the shadow signal for the ongoing process

Components restartstop valid restartdata after stop Data type: bool TRUE = Mirror last STOP or QSTOP FALSE = Invalid restart data. All I/O signals values are set to -1. stoponpath stop on path Data type: bool TRUE = The robot is stopped on the path (STOP) FALSE = The robot is stopped but not on the path (QSTOP) predo1val pre do1 value Data type: dionum Continues on next page
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3 Data types
3.45 restartdata - Restart data for trigg signals Continued The prevalue of the digital signal do1 specified in the argument DO1 in instruction TriggStopProc. postdo1val post do1 value Data type: dionum The postvalue of the digital signal do1 specified in the argument DO1 in instruction TriggStopProc. prego1val pre go1 value Data type: num The prevalue of the digital group signal go1 specified in the argument GO1 in instruction TriggStopProc. postgo1val post go1 value Data type: num The postvalue of the digital group signal go1 specified in the argument GO1 in instruction TriggStopProc. prego2val pre go2 value Data type: num The prevalue of the digital group signal go2 specified in the argument GO2 in instruction TriggStopProc. postgo2val post go2 value Data type: num The postvalue of the digital group signal go2 specified in the argument GO2 in instruction TriggStopProc. prego3val pre go3 value Data type: num The prevalue of the digital group signal go3 specified in the argument GO3 in instruction TriggStopProc. postgo3val post go3 value Data type: num The postvalue of the digital group signal go3 specified in the argument GO3 in instruction TriggStopProc. prego4val pre go4 value Continues on next page
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3 Data types
3.45 restartdata - Restart data for trigg signals Continued Data type: num The prevalue of the digital group signal go4 specified in the argument GO4 in instruction TriggStopProc. postgo4val post go4 value Data type: num The postvalue of the digital group signal go4 specified in the argument GO4 in instruction TriggStopProc. preshadowval pre shadow value Data type: dionum The prevalue of the digital signal shadow specified in the argument ShadowDO in instruction TriggStopProc. shadowflanks number of shadow flanks Data type: num The number of value transitions (flanks) of the digital signal shadow between the pretime and the posttime. The signal shadow is specified in the argument ShadowDO in instruction TriggStopProc. postshadowval post shadow value Data type: dionum The postvalue of the digital signal shadow specified in the argument ShadowDO in instruction TriggStopProc. Structure
< dataobject of restartdata > < restartstop of bool > < stoponpath of bool > < predo1val of dionum > < postdo1val of dionum > < prego1val of num > < postgo1val of num > < prego2val of num > < postgo2val of num > < prego3val of num > < postgo3val of num > < prego4val of num > < postgo4val of num > < preshadowval of dionum > < shadowflanks of dionum > < postshadowval of dionum >

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3 Data types
3.45 restartdata - Restart data for trigg signals Continued Related information
For information about Predefined process instructions See TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggStopProc - Generate restart data for trigg signals at stop on page 659 StepBwdPath - Move backwards one step on path on page 526

Setup mirror of restart data Move backwards on path

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3.46 rmqheader - RAPID Message Queue Message header

3.46 rmqheader - RAPID Message Queue Message header

Usage rmqheader (RAPID Message Queue Header) is used for reading the data structure of the data in a message of type rmqmessage. Description The header part of a non-value data type rmqmessage converted to the value data type rmqheader. Components datatype Data type: string The name of the data type used, e.g num, string or some other value data type. ndim Number of Dimensions Data type: num Number of array dimensions. dim1 Size of first dimension Data type: num The size of the first dimension. 0 if not used. dim2 Size of second dimension Data type: num The size of the second dimension. 0 if not used. dim3 Size of third dimension Data type: num The size of the third dimension. 0 if not used. Examples Basic examples of the data type rmqheader are illustrated below. Example 1
VAR rmqmessage message; VAR rmqheader header; ... RMQGetMessage message; RMQGetMsgHeader message \Header:=header;

Copy and convert the rmqheader information from an rmqmessage message.

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3 Data types
3.46 rmqheader - RAPID Message Queue Message header Continued Structure
<dataobject of rmqheader> <datatype of string> <ndim of num> <dim1 of num> <dim2 of num> <dim3 of num>

Related information
For information about See

Description of the RAPID Message Queue Application manual - Robot communication and functionality I/O control, section RAPID Message Queue. Extract the header data from an rmqmessage RMQ Message RMQGetMsgHeader - Get header information from an RMQ message on page 395 rmqmessage - RAPID Message Queue message on page 1235

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3.47 rmqmessage - RAPID Message Queue message

3.47 rmqmessage - RAPID Message Queue message

Usage rmqmessage (RAPID Message Queue Message) is used for temporary storage of communication data. Description The data type rmqmessage is the message used to store data in when communicating between different RAPID tasks or Robot Application Builder clients with RMQ functionality. It contains information about the type of data that was sent the dimensions of the data, the identity of the sender and the actual data. An rmqmessage is a big data type (about 3000 bytes big), and it is recommended that the variable is reused to save RAPID memory. Basic examples Basic examples of the data type rmqmessage are illustrated below. Example 1
VAR rmqmessage rmqmessage1; VAR string myrecdata; ... RMQGetMsgData rmqmessage1, myrecdata;

The variable rmqmessage1 is defined and can be used in an RMQ (RAPID Message Queue) command. In this example, the data part within the rmqmessage1 is copied to the variable myrecdata. Characteristics rmqmessage is a non-value data type and cannot be used in value-oriented operations. Related information
For information about Description of the RAPID Message Queue functionality RMQ Header See Application manual - Robot communication and I/O control, section RAPID Message Queue. rmqheader - RAPID Message Queue Message header on page 1233

Extract the header data from an rmqmessage RMQGetMsgHeader - Get header information from an RMQ message on page 395 Order and enable interrupts for a specific data type IRMQMessage - Orders RMQ interrupts for a data type on page 175

Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on Queue. page 389 Send data to the queue of a RAPID task or RMQSendWait - Send an RMQ data message Robot Application Builder client, and wait for and wait for a response on page 405 an answer from the client.

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3.47 rmqmessage - RAPID Message Queue message Continued
For information about Extract the data from an rmqmessage See RMQGetMsgData - Get the data part from an RMQ message on page 392

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3.48 rmqslot - Identity number of an RMQ client

3.48 rmqslot - Identity number of an RMQ client

Usage rmqslot (RAPID Message Queue Slot) is used when communicating with an RMQ or a Robot Application Builder client. Description The rmqslot is an identity number of a RAPID Message Queue configured for a RAPID task or the identity number of a Robot Application Builder client. Basic examples Basic examples of the data type rmqslot are illustrated below. Example 1
VAR rmqslot rmqslot1; RMQFindSlot rmqslot1, "RMQ_T_ROB1"; ...

The variable rmqslot1 is defined and can be used in the instruction RMQFindSlot to get the identity number of the RAPID Message Queue "RMQ_T_ROB1" configured for the RAPID task "T_ROB1". Characteristics rmqslot is a non-value data type and cannot be used in value-oriented operations. Related information
For information about Description of the RAPID Message Queue functionality See Application manual - Robot communication and I/O control, section RAPID Message Queue.

Find the identity number of a RAPID Message RMQFindSlot - Find a slot identity from the Queue task or Robot Application Builder cli- slot name on page 387 ent. Send data to the queue of a RAPID task or Robot Application Builder client. RMQSendMessage - Send an RMQ data message on page 401

Send data to a client, and wait for an answer RMQSendWait - Send an RMQ data message from the client. and wait for a response on page 405 Get the slot name from a specified slot iden- RMQGetSlotName - Get the name of an RMQ tity client on page 1020

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3.49 robjoint - Joint position of robot axes

3.49 robjoint - Joint position of robot axes

Usage robjoint is used to define the position in degrees of the robot axes. Description Data of the type robjoint is used to store axis positions in degrees of the robot axis 1 to 6. Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive or negative direction from the axis calibration position. Components rax_1 robot axis 1 Data type: num The position of robot axis 1 in degrees from the calibration position. ... rax_6 robot axis 6 Data type: num The position of robot axis 6 in degrees from the calibration position. Structure
< dataobject < rax_1 of < rax_2 of < rax_3 of < rax_4 of < rax_5 of < rax_6 of of robjoint > num > num > num > num > num > num >

Related information
For information about Joint position data Move to joint position See jointtarget - Joint position data on page 1189 MoveAbsJ - Moves the robot to an absolute joint position on page 235

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3.50 robtarget - Position data

3.50 robtarget - Position data

Usage robtarget (robot target) is used to define the position of the robot and external axes. Description Position data is used to define the position in the move instructions to which the robot and external axes are to move. As the robot is able to achieve the same position in several different ways, the axis configuration is also specified. This defines the axis values if these are in any way ambiguous, for example: if the robot is in a forward or backward position, if axis 4 points downwards or upwards, if axis 6 has a negative or positive revolution. WARNING The position is defined based on the coordinate system of the work object, including any program displacement. If the position is programmed with some other work object than the one used in the instruction, the robot will not move in the expected way. Make sure that you use the same work object as the one used when programming move instructions. Incorrect use can injure someone or damage the robot or other equipment. Components trans translation Data type: pos The position (x, y, and z) of the tool center point expressed in mm. The position is specified in relation to the current object coordinate system, including program displacement. If no work object is specified then this is the world coordinate system. rot rotation Data type: orient The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3, and q4). The orientation is specified in relation to the current object coordinate system including program displacement. If no work object is specified then this is the world coordinate system. robconf robot configuration Continues on next page
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3.50 robtarget - Position data Continued Data type: confdata The axis configuration of the robot (cf1, cf4, cf6, and cfx). This is defined in the form of the current quarter revolution of axis 1, axis 4, and axis 6. The first positive quarter revolution 0 to 90 is defined as 0. The meaning of the component cfx is dependent on robot type. For more information, see data type confdata. extax external axes Data type: extjoint The position of the external axes. The position is defined as follows for each individual axis (eax_a, eax_b...eax_f): For rotating axes, the position is defined as the rotation in degrees from the calibration position. For linear axes, the position is defined as the distance in mm from the calibration position.

External axes eax_a ... are logical axes. How the logical axis number and the physical axis number are related to each other is defined in the system parameters. The value 9E9 is defined for axes which are not connected. If the axes defined in the position data differ from the axes that are actually connected at program execution then the following applies: If the position is not defined in the position data (value 9E9) then the value will be ignored if the axis is connected and not activated. But if the axis is activated then it will result in an error. If the position is defined in the position data although the axis is not connected then the value is ignored.

No movement is performed but no error is generated for an axis with valid position data if the axis is not activated. If some external axis is running in independent mode and some new movement shall be performed by the robot and its external axes then the position data for the external axis is independent mode must not be 9E9 but some arbitrary value (not used but the system). Basic examples Basic examples of the data type robtarget are illustrated below. Example 1
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];

A position p15 is defined as follows: The position of the robot: x = 600, y = 500 and z = 225.3 mm in the object coordinate system. The orientation of the tool in the same direction as the object coordinate system.

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3.50 robtarget - Position data Continued The axis configuration of the robot: axes 1 and 4 in position 90-180, axis 6 in position 0-90. The position of the external logical axes, a and b, expressed in degrees or mm (depending on the type of axis). Axes c to f are undefined.

Example 2
VAR robtarget p20; ... p20 := CRobT(\Tool:=tool\wobj:=wobj); p20 := Offs(p20,10,0,0);

The position p20 is set to the same position as the current position of the robot by calling the function CRobT. The position is then moved 10 mm in the x-direction. Structure
< dataobject of robtarget > < trans of pos > < x of num > < y of num > < z of num > < rot of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num > < robconf of confdata > < cf1 of num > < cf4 of num > < cf6 of num > < cfx of num > < extax of extjoint > < eax_a of num > < eax_b of num > < eax_c of num > < eax_d of num > < eax_e of num > < eax_f of num >

Related information
For information about Move instructions Coordinate systems Handling configuration data See Technical reference manual - RAPID overview, section RAPID Summary - Motion Technical reference manual - RAPID overview, section Motion and I/O Principles - Coordinate Systems Technical reference manual - RAPID overview, section Motion and I/O Principles - Robot configuration

Configuration of external axes Application manual - Additional axes and stand alone controller What is a quaternion? orient - Orientation on page 1211

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3.51 shapedata - World zone shape data

3.51 shapedata - World zone shape data

Usage shapedata is used to describe the geometry of a world zone. Description World zones can be defined in 4 different geometrical shapes: a straight box, with all sides parallel to the world coordinate system and defined by a WZBoxDef instruction a sphere, defined by a WZSphDef instruction a cylinder, parallel to the z axis of the world coordinate system and defined by a WZCylDef instruction a joint space area for robot and/or external axes, defined by the instruction WZHomeJointDef or WZLimJointDef

The geometry of a world zone is defined by one of the previous instructions and the action of a world zone is defined by the instruction WZLimSup or WZDOSet. Basic examples Basic examples of the data type shapedata are illustrated below. Example 1
VAR wzstationary pole; VAR wzstationary conveyor; ... PROC ... VAR shapedata volume; ... WZBoxDef \Inside, volume, p_corner1, p_corner2; WZLimSup \Stat, conveyor, volume; WZCylDef \Inside, volume, p_center, 200, 2500; WZLimSup \Stat, pole, volume; ENDPROC

A conveyor is defined as a box and the supervision for this area is activated. A pole is defined as a cylinder and the supervision of this zone is also activated. If the robot reaches one of these areas, the motion is stopped. Characteristics shapedata is a non-value data type. Related information
For information about World Zones Define box-shaped world zone See Technical reference manual - RAPID overview, section RAPID summary - Motion settings WZBoxDef - Define a box-shaped world zone on page 759

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3.51 shapedata - World zone shape data Continued
For information about Define sphere-shaped world zone Define cylinder-shaped world zone Define a world zone for home joints Define a world zone for limit joints See WZSphDef - Define a sphere-shaped world zone on page 784 WZCylDef - Define a cylinder-shaped world zone on page 761 WZHomeJointDef - Define a world zone for home joints on page 774 WZLimJointDef - Define a world zone for limitation in joints on page 777

Activate world zone limit supervision WZLimSup - Activate world zone limit supervision on page 781 Activate world zone digital output set WZDOSet - Activate world zone to set digital output on page 766

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3.52 signalxx - Digital and analog signals

3.52 signalxx - Digital and analog signals

Usage Data types within signalxx are used for digital and analog input and output signals. The names of the signals are defined in the system parameters and are consequently not to be defined in the program. Description
Data type signalai signalao signaldi signaldo signalgi signalgo Used for analog input signals analog output signals digital input signals digital output signals groups of digital input signals groups of digital output signals

Variables of the type signalxo only contain a reference to the signal. The value is set using an instruction, e.g. DOutput. Variables of the type signalxi contain a reference to a signal as well as the possibility to retrieve the value directly in the program, if used in value context. The value of an input signal can be read directly in the program, e.g.:
! Digital input IF di1 = 1 THEN ... ! Digital group input IF gi1 = 5 THEN ... ! Analog input IF ai1 > 5.2 THEN ...

It can also be used in assignments, e.g.:

VAR num current_value; ! Digital input current_value := di1; ! Digital group input current_value := gi1; ! Analog input current_value := ai1;

Limitations Data of the data type signalxx must not be defined in the program. However, if this is in fact done then an error message will be displayed as soon as an instruction or function that refers to this signal is executed. The data type can, on the other hand, be used as a parameter when declaring a routine. Continues on next page
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3.52 signalxx - Digital and analog signals Continued Predefined data The signals defined in the system parameters can always be accessed from the program by using the predefined signal variables (installed data). However, it should be noted that if other data with the same name is defined then these signals cannot be used. Characteristics Signalxo is a non-value data type. Thus, data of this type does not permit value - oriented operations. Signalxi is a semi-value data type. Error handling The following recoverable error can be generated. The error can be handled in an error handler. The system variable ERRNO will be set to: ERR_NORUNUNIT if there is no contact with the unit. Related information
For information about Summary input/output instructions Input/Output functionality in general Configuration of I/O See Technical reference manual - RAPID overview, section RAPID Summary - Input and output signals Technical reference manual - RAPID overview, section Motion and I/O Principles - I/O principles Technical reference manual - System parameters

Characteristics of non-value data types Technical reference manual - RAPID overview, section Basic Characteristics - Data types

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3.53 socketdev - Socket device

3.53 socketdev - Socket device

Usage socketdev (socket device) is used to communicate with other computers on a network or between RAPID task. Description The socket device is a handle to a communication link to another computer on a network. Basic examples Basic examples of the data type socketdev are illustrated below. Example 1
VAR socketdev socket1;

The variable socket1 is defined and can be used in a socket command, e.g. SocketCreate. Limitations Any number of sockets can be declared but it is only possible to use 32 sockets at the same time. Characteristics socketdev is a non-value data type. Related information
For information about Socket communication in general Create a new socket See Application manual - Robot communication and I/O control SocketCreate - Create a new socket on page 477

Characteristics of non-value data types Technical reference manual - RAPID overview, section Basic Characteristics - Data Types

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3.54 socketstatus - Socket communication status

3.54 socketstatus - Socket communication status

Usage socketstatus is used for representing status of the socket communication. Description Socket status is fetched with the function SocketGetStatus and can be used for program flow control or debugging purposes. Basic examples Basic examples of the data type socketstatus are illustrated below. Example 1
VAR socketdev socket1; VAR socketstatus state; ... SocketCreate socket1; state := SocketGetStatus( socket1 );

The socket status SOCKET_CREATED will be stored in the variable state. Predefined data Following constants of type socketstatus are predefined:
RAPID constant SOCKET_CREATED SOCKET_CONNECTED SOCKET_BOUND SOCKET_LISTENING SOCKET_CLOSED Value 1 2 3 4 5 The socket is ... Created Client connected to a remote host Server bounded to a local address and port Server listening for incoming connections Closed

Characteristics socketstatus is an alias data type for num and consequently inherits its characteristics. Related information
For information about Socket communication in general Get socket status Data types in general, alias data types See Application manual - Robot communication and I/O control SocketGetStatus - Get current socket state on page 1031 Technical reference manual - RAPID overview, section Basic Characteristics - Data Types

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3.55 speeddata - Speed data

3.55 speeddata - Speed data

Usage speeddata is used to specify the velocity at which both the robot and the external axes move. Description Speed data defines the velocity: at which the tool center point moves, the reorientation speed of the tool, at which linear or rotating external axes move.

When several different types of movement are combined, one of the velocities often limits all movements. The velocity of the other movements will be reduced in such a way that all movements will finish executing at the same time. The velocity is also restricted by the performance of the robot. This differs, depending on the type of robot and the path of movement. Components v_tcp velocity tcp Data type:num The velocity of the tool center point (TCP) in mm/s. If a stationary tool or coordinated external axes are used, the velocity is specified relative to the work object. v_ori velocity orientation Data type: num The reorientation velocity of the TCP expressed in degrees/s. If a stationary tool or coordinated external axes are used, the velocity is specified relative to the work object. v_leax velocity linear external axes Data type: num The velocity of linear external axes in mm/s. v_reax velocity rotational external axes Data type: num The velocity of rotating external axes in degrees/s.

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3.55 speeddata - Speed data Continued Basic examples Basic examples of the data type speeddata are illustrated below. Example 1
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];

The speed data vmedium is defined with the following velocities: 1000 mm/s for the TCP. 30 degrees/s for reorientation of the tool. 200 mm/s for linear external axes. 15 degrees/s for rotating external axes.
vmedium.v_tcp := 900;

The velocity of the TCP is changed to 900 mm/s. Limitations At very slow motion each movement should be short enough to give an interpolation time less than 240 seconds. Predefined data A number of speed data are already defined in the system module BASE_SHARED. Predefined speed data to be used for moving the robot and the external axes:
Name v5 v10 v20 v30 v40 v50 v60 v80 v100 v150 v200 v300 v400 v500 v600 v800 v1000 v1500 v2000 v2500 TCP speed 5 mm/s 10 mm/s 20 mm/s 30 mm/s 40 mm/s 50 mm/s 60 mm/s 80 mm/s 100 mm/s 150 mm/s 200 mm/s 300 mm/s 400 mm/s 500 mm/s 600 mm/s 800 mm/s 1000 mm/s 1500 mm/s 2000 mm/s 2500 mm/s Orientation 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s 500/s Linear ext.axis 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s Rotating ext.axis 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s

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3.55 speeddata - Speed data Continued
Name v3000 v4000 v5000 v6000 v7000 vmax TCP speed 3000 mm/s 4000 mm/s 5000 mm/s 6000 mm/s 7000 mm/s *) Orientation 500/s 500/s 500/s 500/s 500/s 500/s Linear ext.axis 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s 5000 mm/s Rotating ext.axis 1000/s 1000/s 1000/s 1000/s 1000/s 1000/s

*) Max. TCP speed for the used robot type and normal practical TCP values. The RAPID function MaxRobSpeed returns the same value. If using extreme big TCP values in tool frame then create own speeddata with bigger TCP speed than returned by MaxRobSpeed. Predefined speeddata to be used for moving rotating external axes with instruction MoveExtJ.
Name vrot1 vrot2 vrot5 vrot10 vrot20 vrot50 vrot100 TCP speed 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s Orientation 0/s 0/s 0/s 0/s 0/s 0/s 0/s Linear ext.axis 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s Rotating ext.axis 1/s 2/s 5/s 10/s 20/s 50/s 100/s

Predefined speed data to be used for moving linear external axes with instruction MoveExtJ.
Name vlin10 vlin20 vlin50 vlin100 vlin200 vlin500 vlin1000 TCP speed 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s 0 mm/s Orientation 0/s 0/s 0/s 0/s 0/s 0/s 0/s Linear ext.axis 10 mm/s 20 mm/s 50 mm/s 100 mm/s 200 mm/s 500 mm/s 1000 mm/s Rotating ext.axis 0/s 0/s 0/s 0/s 0/s 0/s 0/s

Structure
< dataobject of speeddata > < v_tcp of num > < v_ori of num > < v_leax of num > < v_reax of num >

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3.55 speeddata - Speed data Continued Related information
For information about Positioning instructions Motion/Speed in general See Technical reference manual - RAPID overview, section RAPID Summary - Motion Technical reference manual - RAPID overview, section Motionand I/O principles - Positioning during program execution VelSet - Changes the programmed velocity on page 693

Defining maximum velocity

Max. TCP speed for this robot MaxRobSpeed - Maximum robot speed on page 947

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3.56 stoppointdata - Stop point data

3.56 stoppointdata - Stop point data

Usage stoppointdata is used to specify how a position is to be terminated, i.e. how close to the programmed position the axes must be before moving towards the next position. Description A position can be terminated either in the form of a fly-by point or a stop point. A fly-by point means that the programmed position is never reached. A zone is specified in the instruction for the movement, defining a corner path. Instead of heading for the programmed position, the direction of the motion is formed into the corner path before the position is reached. See data type zonedata. A stop point means that the robot and external axes must reach the specified position before the robot/external axes continues with the next movement. The robot is considered to have reached a stop point when the convergence criteria of the point are satisfied. The convergence criteria are speed and position. It is also possible to specify timing criteria. For stop point fine, see also data type zonedata. Three types of stop points can be defined by the stoppointdata. The in position type of stop point is defined as a percentage of the convergence criteria (position and speed) for the predefined stop point fine. The in-position type also uses a minimum and a maximum time. The robot waits for at least the minimum time, and at most the maximum time, for the position and speed criteria to be satisfied. The stop time type of stop point always waits in the stop point for the given time. The follow time type of stop point is a special type of stop point used to coordinate the robot movement with a conveyor.

The stoppointdata also determines how the movement shall be synchronized with the RAPID execution. If the movement is synchronized, the RAPID execution waits for a in pos event when the robot is in position. If the movement is not synchronized, the RAPID execution gets a prefetch event almost a half second before the physical robot reaches the programmed position. When the program execution gets an in pos or a prefetch event, it continues with the next instruction. When the prefetch event arrives, the robot still has a long way to move. When the in pos event arrives the robot is close to the programmed position. For the type stop time and follow time, the next instruction starts its execution at the same time as the stop time and follow time, respectively, start to count down. But for the type in position, the next instruction is started when the convergence criteria is fulfilled.

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3.56 stoppointdata - Stop point data Continued If use of move instructions with argument \Conc, no synchronization at all is done, so the actual move instruction execution will be ready at once.

xx0500002374

In the figure above, the termination of the stop points is described. The robots speed does not decrease linearly. The robot servo is always ahead of the physical robot. It is shown as the constant lag in the figure above. The constant lag is about 0.1 seconds. The timing elements of stoppointdata use the reference speed as trigger. When the reference speed is zero the time measurement starts. Therefore the time in the timing elements always include the constant lag. Consequently there is no sense in using values less than the constant lag. Components type type of stop point Data type: stoppoint The following table defines the type of stoppoint.
1 (inpos) The movement terminates as an in-position type of stop point. Enables the inpos element in stoppointdata. The zone data in the instruction is not used, use fine or z0. The movement terminates as a stop-time type of stop point. Enables the stoptime element in stoppointdata. The zone data in the instruction is not used, use fine or z0. The movement terminates as a conveyor follow-time type of fine point. The zone data in the instruction is used when the robot leaves the conveyor. Enables the followtime element in stoppointdata.

2 (stoptime)

3 (followtime)

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3.56 stoppointdata - Stop point data Continued Data type stoppoint is an alias data type for num. It is used to choose the type of stop point and which data elements to use in the stoppointdata. Predefined constants are:
Value 1 2 3 Symbolic constant inpos stoptime fllwtime Comment In position type number Stop time type number Follow time type number

progsynch program synchronization Data type: bool Synchronization with RAPID program execution. TRUE: The movement is synchronized with RAPID execution. The program does not start to execute the next instruction until the stop point has been reached. FALSE: The movement is not synchronized with RAPID execution. The program starts the execution of the next instruction before the stop point has been reached.

If use of move instructions with argument \Conc, no synchronization at all is done independent of the data in progsynch, so the actual move instruction will always be ready at once. inpos.position position condition for TCP Data type: num The position condition (the radius) for the TCP in percent of a normal fine stop point. inpos.speed speed condition for TCP Data type: num The speed condition for the TCP in percent of a normal fine stop point. inpos.mintime minimum wait time Data type: num The minimum wait time in seconds before in position. Used to make the robot wait at least the specified time in the point. Maximum value is 20.0 seconds. inpos.maxtime maximum wait time Data type: num The maximum wait time in seconds for convergence criteria to be satisfied. Used to assure that the robot does not get stuck in the point if the speed and position conditions are set too tight. Maximum value is 20.0 seconds. Continues on next page
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3.56 stoppointdata - Stop point data Continued stoptime stop time Data type: num The time in seconds, the TCP stands still in position before starting the next movement. Valid range 0 - 20 s, resolution 0.001 s. followtime follow time Data type: num The time in seconds the TCP follows the conveyor. Valid range 0 - 20 s, resolution 0.001 s. signal Data type: string Reserved for future use. relation Data type: opnum Reserved for future use. checkvalue Data type: num Reserved for future use. Basic examples Basic examples of the data type stoppointdata are illustrated below. Inpos
VAR stoppointdata my_inpos := [ inpos, TRUE, [ 25, 40, 0.1, 5], 0, 0, "", 0, 0]; MoveL *, v1000, fine \Inpos:=my_inpos, grip4;

The stop point data my_inpos is defined by means of the following characteristics: The type of stop point is in-position type, inpos. The stop point will be synchronized with the RAPID program execution, TRUE. The stop point distance criteria is 25% of the distance defined for the stop point fine, 25. The stop point speed criteria is 40% of the speed defined for the stop point fine, 40. The minimum time to wait before convergence is 0.1 s, 0.1. The maximum time to wait on convergence is 5 s, 5.

The robot moves towards the programmed position until one of the criteria position or speeds are satisfied.
my_inpos.inpos.position := 40; MoveL *, v1000, fine \Inpos:=my_inpos, grip4;

The stop point distance criteria is adjusted to 40%.

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3.56 stoppointdata - Stop point data Continued Stoptime
VAR stoppointdata my_stoptime := [ stoptime, FALSE, [ 0, 0, 0, 0], 1.45, 0, "", 0, 0]; MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;

The stop point data my_stoptime is defined by means of the following characteristics: The type of stop point is stop-time type, stoptime. The stop point will not be synchronized with the RAPID program execution, FALSE. The wait time in position is 1.45 s.

The robot moves towards the programmed position until the prefetch event arrives. The next RAPID instruction executes. If it is a move-instruction then the robot stops for 1.45 seconds before the next movement starts.
my_stoptime.stoptime := 6.66; MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;

The stop point stop time is adjusted to 6.66 seconds. If the next RAPID instruction is a move-instruction, the robot stops for 6.66 s. Followtime
VAR stoppointdata my_followtime := [ fllwtime, TRUE, [ 0, 0, 0, 0], 0, 0.5, "", 0, 0]; MoveL *, v1000, z10 \Inpos:=my_followtime, grip6\wobj:=conveyor1;

The stop point data my_followtime is defined by means of the following characteristics: The type of stop point is follow-time type, fllwtime. The stop point will be synchronized with the RAPID program execution, TRUE. The stop point follow time is 0.5 s, 0.5.

The robot will follow the conveyor for 0.5 s before leaving it with the zone 10 mm, z10.
my_followtime.followtime := 0.4;

The stop point follow time is adjusted to 0.4 s. Predefined data A number of stop point data are already defined in the system module BASE_SHARED. In position stop points
Name inpos20 inpos50 inpos100 Progsynch TRUE TRUE TRUE Position 20% 50% 100% Speed 20% 50% 100% Mintime 0s 0s 0s Maxtime 2s 2s 2s Stoptime Followtime -

(inpos100 has same convergence criteria as stop point fine)

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3.56 stoppointdata - Stop point data Continued Stop time stop points
Name Progsynch Position Speed Mintime Maxtime Stoptime 0.5 s 1.0 s 1.5 s Followtime -

stoptime0_5 FALSE stoptime1_0 FALSE stoptime1_5 FALSE

Follow time stop points

Name Progsynch Position Speed Mintime Maxtime Stoptime Followtime 0.5 s 1.0 s 1.5 s

fllwtime0_5 TRUE fllwtime1_0 TRUE fllwtime1_5 TRUE

Structure
< data object of stoppointdata > < type of stoppoint > < progsynch of bool > < inpos of inposdata > < position of num > < speed of num > < mintime of num > < maxtime of num > < stoptime of num > < followtime of num > < signal of string > < relation of opnum > < checkvalue of num >

Related information
For information about Positioning instructions Movements/Paths in general See Technical reference manual - RAPID overview, section RAPID summary - Motion Technical reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution zonedata - Zone data on page 1298

Stop or fly-by points

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3.57 string - Strings

3.57 string - Strings

Usage string is used for character strings. Description A character string consists of a number of characters (a maximum of 80) enclosed by quotation marks (""), e.g. "This is a character string". If the quotation marks are to be included in the string, they must be written twice, e.g. "This string contains a ""character". If the back slashes are to be included in the string, it must be written twice, e.g. "This string contains a \\ character". Basic examples Basic examples of the data type string are illustrated below. Example 1
VAR string text; ... text := "start welding pipe 1"; TPWrite text;

The text start welding pipe 1 is written on the FlexPendant. Limitations A string may have 0 to 80 characters; inclusive of extra quotation marks or back slashes. A string may contain any of the characters specified by ISO 8859-1 (Latin-1) as well as control characters (non-ISO 8859-1 (Latin-1) characters with a numeric code between 0-255). Predefined data A number of predefined string constants are available in the system and can be used together with string functions. See for example StrMemb.
Name STR_DIGIT Character set <digit> ::= 0|1|2|3|4|5|6|7|8|9 <upper case letter> ::= A|B|C|D|E|F|G|H|I|J |K|L|M|N|O|P|Q|R|S|T |U|V|W|X|Y|Z|||| |||||||||| | | | 1)| | | | | | | | | | | | 2) | 3)

STR_UPPER

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3.57 string - Strings Continued
Name STR_LOWER Character set <lower case letter> ::= a|b|c|d|e|f|g|h|i|j |k|l|m|n|o|p|q|r|s|t |u|v|w|x|y|z|||| |||||||||| | | | 1) | | | | | | | | | | | | 2) | 3) | | <blank character> ::=

STR_WHITE

1) Icelandic letter eth. 2) Letter Y with acute accent. 3) Icelandic letter thorn. The following constants are already defined in the system module BASE_SHARED:
CONST string diskhome := "HOME:"; ! For old programs from S4C system CONST string ram1disk := "HOME:"; CONST string disktemp := "TEMP:"; CONST string flp1 := "flp1:"; CONST string stSpace := " "; CONST string stEmpty := "";

Related information
For information about Operations using strings String values Instruction using character set See Technical reference manual - RAPID overview, section Basic characteristics - Expressions Technical reference manual - RAPID overview, section Basic characteristics - Basic elements StrMemb - Checks if a character belongs to a set on page 1057

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3.58 stringdig - String with only digits

3.58 stringdig - String with only digits

Usage stringdig is used to represent big positive integers in a string with only digits. This data type is introduced because the data type num cannot handle positive integers above 8 388 608 with exact representation. Description A stringdig can only consist of a number of digits 0 ... 9 enclosed by quotation marks (""), e.g. "0123456789". The data type stringdig can handle positive integers up to 4 294 967 295. Basic examples Basic examples of the data type stringdig are illustrated below. Example 1
VAR stringdig digits1; VAR stringdig digits2; VAR bool flag1; ... digits1 ="09000000"; digits2 = "9000001"; flag1 := StrDigCmp (digits1, LT, digits2);

The data flag1 will be set to TRUE because 09000000 is less than 9000001. Characteristics stringdig is an alias data type of string and consequently inherits most of its characteristics. Related information
For information about String values Strings Numeric values Comparison operator See Technical reference manual - RAPID overview, section Basic characteristics - Basic elements string - Strings on page 1258 num - Numeric values on page 1207 opnum - Comparison operator on page1210StrDigCmp - Compare two strings with only digits on page 1047 StrDigCmp - Compare two strings with only digits on page 1047

Compare strings with only digits

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3.59 switch - Optional parameters

3.59 switch - Optional parameters

Usage switch is used for optional parameters. Description The special type, switch may (only) be assigned to optional parameters and provides a means to use switch arguments, i.e. arguments that are only specified by names (not values). A value can not be transmitted to a switch parameter. The only way to use a switch parameter is to check for its presence using the predefined function Present. Basic examples Basic examples of the data type switch are illustrated below. Example 1
PROC my_routine(\switch on | \switch off) .... IF Present (off) THEN .... ENDIF ENDPROC

Depending on what arguments the caller of my_routine uses, the program flow can be controlled. Characteristics switch is a non-value data type and can not be used in value-orientated operations. Related information
For information about Parameters How to check if an optional parameter is present See Technical reference manual - RAPID overview, section Basic characteristics - Routines. Present - Tests if an optional parameter is used on page 994

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3.60 symnum - Symbolic number

3.60 symnum - Symbolic number

Usage symnum (Symbolic Number) is used to represent an integer with a symbolic constant. Description A symnum constant is intended to be used when checking the return value from the functions OpMode and RunMode. See example below. Basic examples Basic examples of the data type symnum are illustrated below. Example 1
IF RunMode() = RUN_CONT_CYCLE THEN .. ELSE .. ENDIF

Predefined data The following symbolic constants of the data type symnum are predefined and can be used when checking return values from the functions OpMode and RunMode.
Value 0 1 2 3 4 5 Symbolic constant RUN_UNDEF RUN_CONT_CYCLE RUN_INSTR_FWD RUN_INSTR_BWD RUN_SIM RUN_STEP_MOVE Comment Undefined running mode Continuous or cycle running mode Instruction forward running mode Instruction backward running mode Simulated running mode Move instructions in forward running mode and logical instructions in continuous running mode Comment Undefined operating mode Automatic operating mode Manual operating mode max. 250 mm/s Manual operating mode full speed, 100%

Value 0 1 2 3

Symbolic constant OP_UNDEF OP_AUTO OP_MAN_PROG OP_MAN_TEST

Characteristics Symnum is an alias data type for num and consequently inherits its characteristics. Related information
For information about Data types in general, alias data types See Technical reference manual - RAPID overview, section Basic characteristics - Data types

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3.61 syncident - Identity for synchronization point

3.61 syncident - Identity for synchronization point

Usage syncident (synchronization identity) is used to specify the name of a synchronization point. The name of the synchronization point will be the name (identity) of the declared data of type syncident. Description syncident is used to identify a point in the program where the actual program task will wait for cooperate program tasks to reach the same synchronization point. The data name (identity) of the type syncident must be the same in all cooperative program tasks. Data type syncident is used in the instructions WaitSyncTask, SyncMoveOn, and SyncMoveOff. Basic examples Basic examples of the data type syncident are illustrated below. Example 1 Program example in program task ROB1
PERS tasks task_list{3} := [ ["STN1"], ["ROB1"], ["ROB2"] ]; VAR syncident sync1; WaitSyncTask sync1, task_list;

At execution of instruction WaitSyncTask in the program task ROB1, the execution in that program task will wait until the other program tasks STN1 and ROB2 have reached their corresponding WaitSyncTask with the same synchronization (meeting) point sync1. Structure syncident is a non-value data type. Related information
For information about Specify cooperated program tasks Wait for synchronization point with other tasks See tasks - RAPID program tasks on page 1267 WaitSyncTask - Wait at synchronization point for other program tasks on page 719

Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561 End coordinated synchronized movements SyncMoveOff - End coordinated synchronized movements on page 555

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3.62 System data - Current RAPID system data settings

3.62 System data - Current RAPID system data settings

Usage System data mirrors the current settings of RAPID system data such as current model motion settings, current error recovery number ERRNO, current interrupt number INTNO, etc. These data can be accessed and read by the program. It can be used to read the current status, e.g. the current program displacement. C_MOTSET The variable C_MOTSET of data type motsetdata mirrors the current motion settings:
Description Current motion settings, i.e.: Velocity override and max velocity Acceleration override Movements around singular points Linear configuration control Joint configuration control Path resolution Tuning motion supervision Reduction of TCP acceleration/deceleration along the movement path Modification of the tool orientation during circle interpolation Reduction of payload acceleration in world coordinate system Data type Changed by See also motsetdata - Motion settings data on page 1202 VelSet - Changes the programmed velocity on page 693 AccSet - Reduces the acceleration on page 17 SingArea - Defines interpolation around singular points on page 464 ConfL - Monitors the configuration during linear movement on page 69 ConfJ - Controls the configuration during joint movement on page 67 PathResol - Override path resolution on page 329 MotionSup - Deactivates/Activates motion supervision on page 233 PathAccLim - Reduce TCP acceleration along the path on page 310

motsetdata Instructions VelSet AccSet SingArea ConfL ConfJ

PathResol MotionSup PathAccLim

CirPathMode CirPathMode - Tool reorientation during circle path on page 44 WorldAccLim WorldAccLim - Control acceleration in world coordinate system on page 737

C_PROGDISP The variable C_PROGDISP of data type progdisp mirrors the current program displacement and external axes offset:
Description Current program displacement for robot axes Data type progdisp Changed by Instructions: See also progdisp - Program displacement on page 1225

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3.62 System data - Current RAPID system data settings Continued
Description Data type Changed by PDispSet See also PDispSet - Activates program displacement using known frame on page 336 PDispOn - Activates program displacement on page 332 PDispOff - Deactivates program displacement on page 331 EOffsSet - Activates an offset for external axes using known values on page 99 EOffsOn - Activates an offset for external axes on page 97 EOffsOff - Deactivates an offset for external axes on page 96

PDispOn PDispOff Current external axes offset EOffsSet

EOffsOn EOffsOff

ERRNO The variable ERRNO of data type errnum mirrors the current error recovery number:
Description The latest error that occurred Data type errnum Changed by The system See also Technical reference manual - RAPID overview, section RAPID summary - Error recovery intnum - Interrupt identity on page 1185

INTNO The variable INTNO of data type intnum mirrors the current interrupt number:
Description The latest interrupt that occurred Data type intnum Changed by The system See also Technical reference manual - RAPID overview, section RAPID summary - Interrupts intnum - Interrupt identity on page 1185

ROB_ID The variable ROB_ID of data type mecunit contains a reference to the TCP-robot (if any) in the actual program task.
Description Data type Changed by The system See also mecunit - Mechanical unit on page 1200

Reference to the robot mecunit (if any) in the actual program task. Always check before use with TaskRunRob ()

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3.63 taskid - Task identification

3.63 taskid - Task identification

Usage taskid is used to identify available program tasks in the system. The names of the program tasks are defined in the system parameters and, consequently, must not be defined in the program. Description Data of the type taskid only contains a reference to the program task. Limitations Data of the type taskid must not be defined in the program. The data type can, on the other hand, be used as a parameter when declaring a routine. Predefined data The program tasks defined in the system parameters can always be accessed from the program (installed data). For all program tasks in the system, predefined variables of the data type taskid will be available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable identity will be T_ROB1Id, T_ROB2 - T_ROB2Id etc. Characteristics taskid is a non-value data type. This means that data of this type does not permit value-oriented operations. Related information
For information about Saving program modules Configuration of program tasks Characteristics of non-value data types See Save - Save a program module on page 410 Technical reference manual - System parameters Technical reference manual - RAPID overview, sectionBasic characteristics - Data types

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3.64 tasks - RAPID program tasks

3.64 tasks - RAPID program tasks

Usage tasks is used to specify several RAPID program tasks. Description To specify several RAPID program tasks, the name of each task can be given as a string. An array of data type tasks can then hold all the task names. This task list can then be used in the instructions WaitSyncTask and SyncMoveOn. Note The instructions above demand that the data is defined as system global PERS variables available in all the cooperated tasks. Components The data type has the following components. taskname Data type: string The name of a RAPID program task specified in a string. Basic examples Basic examples of the data type tasks are illustrated below. Example 1 Program example in program task T_ROB1
PERS tasks task_list{3} := [ ["T_STN1"], ["T_ROB1"], ["T_ROB2"] ]; VAR syncident sync1; WaitSyncTask sync1, task_list;

At execution of instruction WaitSyncTask in the program task T_ROB1, the execution in that program task will wait until all the other program tasks T_STN1 and T_ROB2 have reached their corresponding WaitSyncTask with the same synchronization (meeting) point sync1. Structure
<dataobject of tasks> <taskname of string>

Related information
For information about See

Identity for synchronization point syncident - Identity for synchronization point on page 1263 Wait for synchronization point with WaitSyncTask - Wait at synchronization point for other other tasks program tasks on page 719 Start coordinated synchronized movements SyncMoveOn - Start coordinated synchronized movements on page 561

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3.64 tasks - RAPID program tasks Continued
For information about End coordinated synchronized movements See SyncMoveOff - End coordinated synchronized movements on page 555

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3.65 testsignal - Test signal

3.65 testsignal - Test signal

Usage The data type testsignal is used when a test of the robot motion system is performed. Description A number of predefined test signals are available in the robot system. The testsignal data type is available in order to simplify programming of instruction TestSignDefine. Basic examples Basic examples of the data type testsignal are illustrated below. Example 1
TestSignDefine 2, speed, Orbit, 2, 0;

The predefined constant speed is used to read the actual speed of axis 2 on the manipulator orbit. Predefined data The following test signals for external manipulator axes are predefined in the system. All data is in SI units and measured on the motor side of the axis.
Symbolic constant speed torque_ref resolver_angle speed_ref dig_input1 dig_input2 Value 6 9 1 4 102 103 Unit rad/s Nm rad rad/s 0 or 1 0 or 1

Characteristics testsignal is an alias data type for num and consequently inherits its characteristics. Related information
For information about Define test signal Read test signal Reset test signals See TestSignDefine - Define test signal on page 577 TestSignRead - Read test signal value on page 1077 TestSignReset - Reset all test signal definitions on page 579

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3.66 tooldata - Tool data

3.66 tooldata - Tool data

Usage tooldata is used to describe the characteristics of a tool, for example, a welding gun or a gripper. These characteristics are position and orientation of the tool center point (TCP) and the physical characteristics of the tool load. If the tool is fixed in space (a stationary tool), the tool data firstly defines position and orientation of this very tool in space, TCP. Then it describes the load of the gripper moved by the robot. Description Tool data affects robot movements in the following ways: The tool center point (TCP) refers to a point that will satisfy the specified path and velocity performance. If the tool is reorientated or if coordinated external axes are used, only this point will follow the desired path at the programmed velocity. If a stationary tool is used, the programmed speed and path will relate to the work object held by the robot. Programmed positions refer to the position of the current TCP and the orientation in relation to the tool coordinate system. This means that if, for example, a tool is replaced because it is damaged, the old program can still be used if the tool coordinate system is redefined. Define the TCP which is not moving when the tool is reorientated. Define the tool coordinate system in order to facilitate moving in or rotating in the tool coordinate directions. WARNING It is important to always define the actual tool load and, when used, the payload of the robot (for example a gripped part). Incorrect definitions of load data can result in overloading of the robot mechanical structure. When incorrect load data is specified, it can often lead to the following consequences: Components robhold robot hold Data type: bool Defines whether or not the robot is holding the tool: Continues on next page
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Tool data is also used when jogging the robot to:

The robot will not be used to its maximum capacity Impaired path accuracy including a risk of overshooting Risk of overloading the mechanical structure

TRUE: The robot is holding the tool.

3 Data types
3.66 tooldata - Tool data Continued tframe tool frame Data type: pose The tool coordinate system, that is: The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate system (tool0) (see figure below). The orientation of the tool coordinate system, expressed in the wrist coordinate system (see figure below). FALSE: The robot is not holding the tool, that is, a stationary tool.

Y X Z

wrist coordinate system

tool coordinate system and TCP Y' Z'

X'
xx1100000517

Figure 3.3: Robot held tool

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3.66 tooldata - Tool data Continued

Note If a stationary tool is used, the tool frame is defined in relation to the world coordinate system.

Z' Y' X'

tool coordinate system and TCP

world coordinate system

xx1100000518

Figure 3.4: Stationary tool

tload tool load Data type: loaddata Note This data is used both for robot held tool and for stationary tool. For a robot held tool the data describes the tool load. For a stationary tool the data describes the load of the robot held gripper. Robot held tool: The load of the tool, that is: The mass (weight) of the tool in kg. The center of gravity of the tool load (x, y and z) in mm, expressed in the wrist coordinate system The orientation of the principal inertial axes of moment of the tool expressed in the wrist coordinate system The moments of inertia around inertial axes of moment in kgm2. If all inertial components are defined as being 0 kgm2, the tool is handled as a point mass.

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3.66 tooldata - Tool data Continued

tool load coordinate system, center of gravity (cog) and inertial axes of tool load (aom) Y Z X wrist coordinate system IY IZ

IX

xx1100000519

Stationary tool: The load of the gripper holding the work object: The mass (weight) of the moved gripper in kg The center of gravity of moved gripper (x, y and z) in mm, expressed in the wrist coordinate system The orientation of the principal inertial axes of moment of the moved gripper expressed in the wrist coordinate system The moments of inertia around inertial axes of moment in kgm2. If all inertial components are defined as being 0 kgm2, the gripper is handled as a point mass.

tool load coordinate system, center of gravity (cog) and inertial axes of tool load (aom) Y X Z IY IX IZ gripper

wrist coordinate system

stationary tool

xx1100000520

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3.66 tooldata - Tool data Continued

Note Only the load of the tool/gripper is to be specified in tooldata. The payload handled by a gripper is connected and disconnected by the instruction GripLoad and defined with a loaddata. Instead of using the instruction GripLoad it is possible to define and use different tooldata for gripper with gripped workpiece and gripper without workpiece. Summary Position and orientation of TCP in tooldata are defined in the wrist coordinate system for a robot held tool. Position and orientation of TCP in tooldata are defined in the world coordinate system for a stationary tool. The loaddata part in tooldata is in all cases related to the wrist coordinate system, regardless of the fact whether a robot held tool (to describe the tool) or a stationary tool (to describe the gripper) is used. Basic examples Basic examples of the data type tooldata are illustrated below. Example 1
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383 ,0]], [5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];

The tool is described using the following values: The robot is holding the tool. The TCP is located at a point 223.1 mm straight out from the mounting flange and 97.4 mm along the X-axis of the wrist coordinate system. The X' and Z' directions of the tool are rotated 45 in relation to Y direction in the wrist coordinate system. The tool mass is 5 kg. The center of gravity is located at a point 75 mm straight out from mounting flange and 23 mm along the X-axis of the wrist coordinate system. The load can be considered a point mass, that is, without any moment of inertia.

Example 2
gripper.tframe.trans.z := 225.2;

The TCP of the tool, gripper, is adjusted to 225.2 in the z-direction. Limitations The tool data should be defined as a persistent variable (PERS) and should not be defined within a routine. The current values are then saved when the program is saved and are retrieved on loading. Arguments of the type tool data in any motion instruction should only be an entire persistent (not array element or record component).

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3.66 tooldata - Tool data Continued Predefined data The tool tool0 defines the wrist coordinate system, with the origin being the center of the mounting flange. tool0 can always be accessed from the program, but can never be changed (it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];

Structure
< dataobject of tooldata > < robhold of bool > < tframe of pose > < trans of pos > < x of num > < y of num > < z of num > < rot of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num > < tload of loaddata > < mass of num > < cog of pos > < x of num > < y of num > < z of num > < aom of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num > < ix of num > < iy of num > < iz of num >

Related information
For information about Positioning instructions Coordinate systems Define payload for robots Definition of load data Definition of work object data See Technical reference manual - RAPID overview, section RAPID summary - Motion Technical reference manual - RAPID overview, section Motion and I/O Principles - Coordinate systems GripLoad - Defines the payload for a robot on page 128 loaddata - Load data on page 1192 wobjdata - Work object data on page 1290

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3.67 tpnum - FlexPendant window number

3.67 tpnum - FlexPendant window number

Usage tpnum is used to represent the FlexPendant window number with a symbolic constant. Description A tpnum constant is intended to be used in instruction TPShow. See example below. Basic examples Basic examples of the datatype tpnum are illustrated below. Example 1
TPShow TP_LATEST;

The last used FlexPendant Window before the current FlexPendant window will be active after execution of this instruction. Predefined data The following symbolic constant of the data type tpnum is predefined and can be used in instruction TPShow:
Value 2 Symbolic constant TP_LATEST Comment Latest used FlexPendant window

Characteristics tpnum is an alias data type for num and consequently inherits its characteristics. Related information
Information about Data types in general, alias data types Communicating using the FlexPendant Switch window on the FlexPendant See Technical reference manual - RAPID overview, section Basic Characteristics - Data Types Technical reference manual - RAPID overview, section RAPID Summary - Communication TPShow - Switch window on the FlexPendant on page 593

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3.68 trapdata - Interrupt data for current TRAP

3.68 trapdata - Interrupt data for current TRAP

Usage trapdata (trap data) is used to contain the interrupt data that caused the current TRAP routine to be executed. To be used in TRAP routines generated by instruction IError, before use of the instruction ReadErrData. Description Data of the type trapdata represents internal information related to the interrupt that caused the current trap routine to be executed. Its content depends on the type of interrupt. Basic examples Basic examples of the data type trapdata are illustrated below. Example 1
VAR errdomain err_domain; VAR num err_number; VAR errtype err_type; VAR trapdata err_data; ... TRAP trap_err GetTrapData err_data; ReadErrData err_data, err_domain, err_number, err_type; ENDTRAP

When an error is trapped to the trap routine trap_err, the error domain, the error number, and the error type are saved into appropriate non-value variables of type trapdata. Characteristics trapdata is a non-value data type. Related information
For information about Summary of interrupts See Technical reference manual - RAPID overview, section RAPID summary - Interrupts

More information on interrupt management Technical reference manual - RAPID overview, section Basic characteristics - Interrupts Non value data types Orders an interrupt on errors Get interrupt data for current TRAP Technical reference manual - RAPID overview, section Basic characteristics - Data types IError - Orders an interrupt on errors on page 135 GetTrapData - Get interrupt data for current TRAP on page 124

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3.68 trapdata - Interrupt data for current TRAP Continued
For information about Gets information about an error See ReadErrData - Gets information about an error on page 364GetTrapData - Get interrupt data for current TRAP on page 124

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3.69 triggdata - Positioning events, trigg

3.69 triggdata - Positioning events, trigg

Usage triggdata is used to store data about a positioning event during a robot movement. A positioning event can take the form of setting an output signal or running an interrupt routine at a specific position along the movement path of the robot. Description To define the conditions for the respective measures at a positioning event, variables of the type triggdata are used. The data contents of the variable are formed in the program using one of the instructions TriggIO, TriggEquip, TriggCheckIO or TriggInt, and are used by one of the instructions TriggL, TriggC or TriggJ. Basic examples Basic examples of the data type triggdata are illustrated below. Example 1
VAR triggdata gunoff; TriggIO gunoff, 0,5 \DOp:=gun, 0; TriggL p1, v500, gunoff, fine, gun1;

The digital output signal gun is set to the value 0 when the TCP is at a position 0,5 mm before the point p1. Characteristics triggdata is a non-value data type. Related information
For information about Definition of triggs See TriggIO - Define a fixed position or time I/O event near a stop point on page 619 TriggEquip - Define a fixed position and time I/O event on the path on page 609 TriggCheckIO - Defines IO check at a fixed position on page 604 TriggInt - Defines a position related interrupt on page 615 TriggL - Linear robot movements with events on page 631 TriggC - Circular robot movement with events on page 596 TriggJ - Axis-wise robot movements with events on page 624 Technical reference manual - RAPID overview, section Basic characteristics - Data types

Use of triggs

Characteristics of non-value data types

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3.70 triggios - Positioning events, trigg

3.70 triggios - Positioning events, trigg

Usage triggiosis used to store data about a positioning event during a robot movement. When the positioning event is distributed at a specific position on the path, an output signal is set to a specified value. Description triggios is used to define conditions and actions for setting a digital output signal, a group of digital output signals or an analog output signal at a fixed position along the robots movement path. Components used Data type: bool Defines whether or not the array element should be used or not. distance Data type: num Defines the position on the path where the I/O event shall occur. Specified as the distance in mm (positive value) from the end point of the movement path if component start is set to FALSE. start Data type: bool Set to TRUE when the distance starts at the movement start point instead of the end point. equiplag Equipment Lag Data type: num Specify the lag for the external equipment in s. For compensation of external equipment lag, use a positive argument value. Positive value means that the I/O signal is set by the robot system at a specified time before the TCP physically reaches the specified distance in relation to the movement start or end point. Negative value means that the I/O signal is set by the robot system at a specified time after that the TCP has physically passed the specified distance in relation to the movement start or end point.

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3.70 triggios - Positioning events, trigg Continued The figure shows use of component equiplag.

xx0800000173

signalname Data type: string The name of the signal that shall be changed. It have to be a digital output signal, group of digital output signals or an analog output signal. setvalue Data type: num Desired value of output signal (within the allowed range for the current signal). xxx Data type: num Component is not used right now. Added to be able to add functionality in future releases, and still be able to be compatible. Examples Example of the data type triggios is illustrated below. Example 1
VAR triggios gunon{1}; gunon{1}.used:=TRUE; gunon{1}.distance:=3; gunon{1}.start:=TRUE; gunon{1}.signalname:="gun"; gunon{1}.equiplag:=0; gunon{1}.setvalue:=1; MoveJ p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData1:=gunon, z50, gun1; MoveL p3, v500, z50, gun1;

The signal gun is set when the TCP is 3 mm after point p1. Structure
<dataobject of triggios> <used of bool>

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3.70 triggios - Positioning events, trigg Continued
<distance of num> <start of bool> <equiplag of num> <signalname of string> <setvalue of num> <xxx of num>

Related information
For information about Positioning events, trigg Linear robot movements with I/O events See triggiosdnum - Positioning events, trigg on page 1283 TriggLIOs - Linear robot movements with I/O events on page 638

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3.71 triggiosdnum - Positioning events, trigg

3.71 triggiosdnum - Positioning events, trigg

Usage triggiosdnum is used to store data about a positioning event during a robot movement. When the positioning event is distributed at a specific position on the path, an output signal is set to a specified value. Description triggiosdnum is used to define conditions and actions for setting a digital output signal, a group of digital output signals or an analog output signal at a fixed position along the robots movement path. Components used Data type: bool Defines whether or not the array element should be used or not. distance Data type: num Defines the position on the path where the I/O event shall occur. Specified as the distance in mm (positive value) from the end point of the movement path if component start is set to FALSE. start Data type: bool Set to TRUE when the distance starts at the movement start point instead of the end point. equiplag Equipment Lag Data type: num Specifies the lag for the external equipment in s. For compensation of external equipment lag, use a positive argument value. Positive value means that the I/O signal is set by the robot system at a specified time before the TCP physically reaches the specified distance in relation to the movement start or end point. Negative value means that the I/O signal is set by the robot system at a specified time after the TCP has physically passed the specified distance in relation to the movement start or end point. signalname Data type: string The name of the signal that shall be changed. It has to be a digital output signal, group of digital output signals or an analog output signal.

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3.71 triggiosdnum - Positioning events, trigg Continued setvalue Data type: dnum Desired value of output signal (within the allowed range for the current signal). xxx Data type: num Component is not used right now. Added to be able to add functionality in future releases, and still be able to be compatible. Examples Example of the data type triggiosdnum is illustrated below. Example 1
VAR triggiosdnum gunon{1}; gunon{1}.used:=TRUE; gunon{1}.distance:=3; gunon{1}.start:=TRUE; gunon{1}.signalname:="go_gun"; gunon{1}.equiplag:=0; gunon{1}.setvalue:=123456789; MoveJ p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData3:=gunon, z50, gun1; MoveL p3, v500, z50, gun1;

The signal go_gun is set when the TCP is 3 mm after point p1. Structure
<dataobject of triggiosdnum> <used of bool> <distance of num> <start of bool> <equiplag of num> <signalname of string> <setvalue of dnum> <xxx of num>

Related information
For information about Positioning events, trigg Linear robot movements with I/O events See triggios - Positioning events, trigg on page1280 TriggLIOs - Linear robot movements with I/O events on page 638

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3.72 triggstrgo - Positioning events, trigg

3.72 triggstrgo - Positioning events, trigg

Usage triggstrgo(trigg stringdig group output) is used to store data about a positioning event during a robot movement. When the positioning event is distributed at a specific position on the path, a group of digital output signals is set to a specified value. Description triggstrgo is used to define conditions and actions for setting a group of digital output signals at a fixed position along the robots movement path. Components used Data type: bool Defines whether or not the array element should be used or not. distance Data type: num Defines the position on the path where the I/O event shall occur. Specified as the distance in mm (positive value) from the end point of the movement path if component start is set to FALSE. start Data type: bool Set to TRUE when the distance starts at the movement start point instead of the end point. equiplag Equipment Lag Data type: num Specify the lag for the external equipment in s. For compensation of external equipment lag, use a positive argument value. Positive value means that the I/O signal is set by the robot system at a specified time before the TCP physically reaches the specified distance in relation to the movement start or end point. Negative value means that the I/O signal is set by the robot system at a specified time after that the TCP has physically passed the specified distance in relation to the movement start or end point.

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3.72 triggstrgo - Positioning events, trigg Continued The figure shows use of component equiplag.

xx0800000173

signalname Data type: string The name of the signal that shall be changed. It has to be a name of a group output signal. setvalue Data type: stringdig Desired value of output signal (within the allowed range for the current digital group output signal). Using stringdig data type makes it possible to use values up to 4294967295, which is the maximum value a group of digital signals can have (32 signals in a group signal is max for the system). xxx Data type: num Component is not used right now. Added to be able to add functionality in future releases, and still be able to be compatible. Examples Example of the data type triggstrgo is illustrated below. Example 1
VAR triggstrgo gunon{1}; gunon{1}.used:=TRUE; gunon{1}.distance:=3; gunon{1}.start:=TRUE; gunon{1}.signalname:="gun"; gunon{1}.equiplag:=0; gunon{1}.setvalue:="4294967295"; MoveJ p1, v500, z50, gun1; TriggLIOs p2, v500, \TriggData2:=gunon, z50, gun1; MoveL p3, v500, z50, gun1;

The signal gun is set to value 4294967295 when the TCP is 3 mm after point p1.

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3.72 triggstrgo - Positioning events, trigg Continued Structure
<dataobject of triggstrgo> <used of bool> <distance of num> <start of bool> <equiplag of num> <signalname of string> <setvalue of stringdig> <xxx of num>

Related information
For information about Linear robot movements with I/O events Compare two strings with only digits See TriggLIOs - Linear robot movements with I/O events on page 638 StrDigCmp - Compare two strings with only digits on page 1047

Arithmetic operations on stringdig data types StrDigCalc - Arithmetic operations with datatype stringdig on page 1044

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3.73 tunetype - Servo tune type

3.73 tunetype - Servo tune type

Usage tunetype is used to represent an integer with a symbolic constant for different types of servo tuning. Description A tunetype constant is intended to be used as an argument to the instruction TuneServo. See example below. Basic examples Basic examples of the data type tunetype are illustrated below. Example 1
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;

Predefined data The following symbolic constants of the data type tunetype are predefined and can be used as arguments for the instruction TuneServo.
Value 0 1 2 3 4 5 6 7 8 9 10 Symbolic constant TUNE_DF TUNE_KP TUNE_KV TUNE_TI TUNE_FRIC_LEV TUNE_FRIC_RAMP TUNE_DG TUNE_DH TUNE_DI TUNE_DK TUNE_DL Comment Reduces overshoots Affects position control gain Affects speed control gain Affects speed control integration time Affects friction compensation level Affects friction compensation ramp Reduces overshoots Reduces vibrations with heavy loads Reduces path errors Only for ABB internal use Only for ABB internal use

Characteristics tunetype is an alias data type for num and consequently inherits its characteristics. Related information
For information about Data types in general, alias data types Use of data type tunetype See Technical reference manual - RAPID overview, section Basic characteristics - Data types TuneServo - Tuning servos on page 668

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3.74 uishownum - Instance ID for UIShow

3.74 uishownum - Instance ID for UIShow

Usage uishownum is the data type used for parameter InstanceId in instruction UIShow. It is used to identify a view on the FlexPendant. Description When a persistent variable of type uishownum is used with the instruction UIShow, it is given a specific value identifying the view launched on the FlexPendant. This persistent is then used in all dealings with that view, such as launching the view again, modifying the view, etc. Examples Basic examples of the data type uishownum are illustrated below. Example 1
CONST string Name:="TpsViewMyAppl.gtpu.dll"; CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl"; CONST string Cmd1:="Init data string passed to the view"; PERS uishownum myinstance:=0; VAR num mystatus:=0; ... ! Launch one view of the application MyAppl UIShow Name, Type \InitCmd:=Cmd1 \InstanceID:=myinstance \Status:=mystatus;

The code above will launch one view of the application MyAppl with init command Cmd1. The token used to identify the view is saved in the parameter myinstance. Characteristics uishownum is an alias data type for num and thus inherits its properties. Related information
For information about UIShow See UIShow - User Interface show on page 682

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3.75 wobjdata - Work object data

3.75 wobjdata - Work object data

Usage wobjdata is used to describe the work object that the robot welds, processes, moves within, etc. Description If work objects are defined in a positioning instruction, the position will be based on the coordinates of the work object. The advantages of this are as follows: If position data is entered manually, such as in off-line programming, the values can often be taken from a drawing. Programs can be reused quickly following changes in the robot installation. If, for example, the fixture is moved, only the user coordinate system has to be redefined. Variations in how the work object is attached can be compensated for. For this, however, some sort of sensor will be required to position the work object.

If a stationary tool or coordinated external axes are used, the work object must be defined, since the path and velocity would then be related to the work object instead of the TCP. Work object data can also be used for jogging: The robot can be jogged in the directions of the work object. The current position displayed is based on the coordinate system of the work object.

Components robhold robot hold Data type: bool Defines whether or not the robot in the actual program task is holding the work object: TRUE: The robot is holding the work object, i.e. using a stationary tool. FALSE: The robot is not holding the work object, i.e. the robot is holding the tool.

ufprog user frame programmed Data type: bool Defines whether or not a fixed user coordinate system is used: TRUE: Fixed user coordinate system. FALSE: Movable user coordinate system, i.e. coordinated external axes are used. Also to be used in a MultiMove system in semicoordinated or synchronized coordinated mode.

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3.75 wobjdata - Work object data Continued ufmec user frame mechanical unit Data type: string The mechanical unit with which the robot movements are coordinated. Only specified in the case of movable user coordinate systems (ufprog is FALSE). Specify the mechanical unit name defined in system parameters, e.g. orbit_a. uframe user frame Data type: pose The user coordinate system, i.e. the position of the current work surface or fixture (see figure below): The position of the origin of the coordinate system (x, y and z) in mm. The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).

If the robot is holding the tool, the user coordinate system is defined in the world coordinate system (in the wrist coordinate system if a stationary tool is used). For movable user frame (ufprog is FALSE), the user frame is continuously defined by the system. oframe object frame Data type: pose The object coordinate system, i.e. the position of the current work object (see figure below): The position of the origin of the coordinate system (x, y and z) in mm. The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).

The object coordinate system is defined in the user coordinate system.

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3.75 wobjdata - Work object data Continued Basic examples Basic examples of the data type wobjdata are illustrated below. Example 1
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0, 0 ,0] ], [ [0, 200, 30], [1, 0, 0 ,0] ] ];

The work object in the figure above is described using the following values: The robot is not holding the work object. The fixed user coordinate system is used. The user coordinate system is not rotated and the coordinates of its origin are x= 300, y = 600 and z = 200 mm in the world coordinate system. The object coordinate system is not rotated and the coordinates of its origin are x= 0, y= 200 and z= 30 mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;

The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.

Limitations The work object data should be defined as a persistent variable (PERS) and should not be defined within a routine. The current values are then saved when the program is saved and are retrieved on loading. Arguments of the type work object data in any motion instruction should only be an entire persistent (not array element or record component). Predefined data The work object data wobj0 is defined in such a way that the object coordinate system coincides with the world coordinate system. The robot does not hold the work object. Wobj0 can always be accessed from the program, but can never be changed (it is stored in system module BASE).
PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];

Structure
< dataobject of wobjdata > < robhold of bool > < ufprog of bool > < ufmec of string > < uframe of pose > < trans of pos > < x of num > < y of num > < z of num > < rot of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num >

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3.75 wobjdata - Work object data Continued
< oframe of pose > < trans of pos > < x of num > < y of num > < z of num > < rot of orient > < q1 of num > < q2 of num > < q3 of num > < q4 of num >

Related information
For information about Positioning instructions Coordinate systems See Technical reference manual - RAPID overview, section RAPID summary - Motion Technical reference manual - RAPID overview, section Motion and I/O Principles - Coordinate systems Technical reference manual - RAPID overview, section Motion and I/O Principles - Coordinate systems Application manual - Additional axes and stand alone controller Application manual - MultiMove

Coordinated external axes

Calibration of coordinated axes

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3.76 wzstationary - Stationary world zone data

3.76 wzstationary - Stationary world zone data

Usage wzstationary (world zone stationary) is used to identify a stationary world zone and can only be used in an event routine connected to the event POWER ON. A world zone is supervised during robot movements both during program execution and jogging. If the robots TCP reaches the world zone or if the robot/external axes reaches the world zone in joints, the movement is stopped or a digital output signal is set or reset. Description A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet instruction. WZLimSup or WZDOSet gives the variable or the persistent of data type wzstationary a numeric value. The value identifies the world zone. A stationary world zone is always active in motor on state and is only erased by a warm start (switch power off then on). It is not possible to deactivate, activate or erase a stationary world zone via RAPID instructions. Stationary world zones should be active from power on and should be defined in a POWER ON event routine or a semistatic task Basic examples Basic examples of the data type wzstationary are illustrated below. Example 1
VAR wzstationary conveyor; ... PROC ... VAR shapedata volume; ... WZBoxDef \Inside, volume, p_corner1, p_corner2; WZLimSup \Stat, conveyor, volume; ENDPROC

A conveyor is defined as a straight box (the volume below the belt). If the robot reaches this volume, the movement is stopped. Limitations A wzstationary data can be defined as a variable (VAR) or as a persistent (PERS). It can be global in task or local within module, but not local within a routine. Arguments of the type wzstationary should only be entire data (not array element or record component). An init value for data of the type wzstationary is not used by the control system. When there is a need to use a persistent variable in a multi-tasking system, set the init value to 0 in both tasks, e.g. PERS wzstationary share_workarea := [0];

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3.76 wzstationary - Stationary world zone data Continued More examples For a complete example see instruction WZLimSup. Characteristics wzstationary is an alias data type of wztemporary and inherits its characteristics. Related information
For information about World Zones World zone shape Temporary world zone Activate world zone limit supervision Activate world zone digital output set See Technical reference manual - RAPID overview, section Motion and I/O principles - World zones shapedata - World zone shape data on page 1242 wztemporary - Temporary world zone data on page 1296 WZLimSup - Activate world zone limit supervision on page 781 WZDOSet - Activate world zone to set digital output on page 766

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3.77 wztemporary - Temporary world zone data

3.77 wztemporary - Temporary world zone data

Usage wztemporary (world zone temporary) is used to identify a temporary world zone and can be used anywhere in the RAPID program for any motion task. A world zone is supervised during robot movements both during program execution and jogging. If the robots TCP reaches the world zone or if the robot/external axes reaches the world zone in joints, the movement is stopped or a digital output signal is set or reset. Description A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet instruction. WZLimSup or WZDOSet gives the variable or the persistent of data type wztemporary a numeric value. The value identifies the world zone. Once defined and activated, a temporary world zone can be deactivated by WZDisable, activated again by WZEnable, and erased by WZFree. All temporary world zones in the motion task are automatically erased and all data objects of type wztemporary in the motion task are set to 0: Basic examples Basic examples of the data type wztemporary are illustrated below. Example 1
VAR wztemporary roll; ... PROC VAR shapedata volume; CONST pos t_center := [1000, 1000, 1000]; ... WZCylDef \Inside, volume, t_center, 400, 1000; WZLimSup \Temp, roll, volume; ENDPROC

when a new program is loaded in the motion task when starting program execution from the beginning in the motion task

A wztemporary variable, roll, is defined as a cylinder. If the robot reaches this volume, the movement is stopped. Limitations A wztemporary data can be defined as a variable (VAR) or as a persistent (PERS). It can be global in a task or local within a module, but not local within a routine. Arguments of the type wztemporary must only be entire data, not an array element or record component. A temporary world zone must only be defined (WZLimSup or WZDOSet) and free (WZFree) in the motion task. Definitions of temporary world zones in any background is not allowed because it would affect the program execution in the connected Continues on next page
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3.77 wztemporary - Temporary world zone data Continued motion task. The instructions WZDisable and WZEnable can be used in the background task. When there is a need to use a persistent variable in a multi-tasking system, set the init value to 0 in both tasks, e.g. PERS wztemporary share_workarea := [0]; More examples For a complete example see instruction WZDOSet. Structure
< dataobject of wztemporary > < wz of num >

Related information
For information about World Zones World zone shape Stationary world zone Activate world zone limit supervision Activate world zone digital output set Deactivate world zone Activate world zone Erase world zone See Technical reference manual - RAPID overview, section Motion and I/O principles - World zones shapedata - World zone shape data on page 1242 wzstationary - Stationary world zone data on page 1294 WZLimSup - Activate world zone limit supervision on page 781 WZDOSet - Activate world zone to set digital output on page 766 WZDisable - Deactivate temporary world zone supervision on page 764 WZEnable - Activate temporary world zone supervision on page 770 WZFree - Erase temporary world zone supervision on page 772

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3.78 zonedata - Zone data

3.78 zonedata - Zone data

Usage zonedata is used to specify how a position is to be terminated, i.e. how close to the programmed position the axes must be before moving towards the next position. Description A position can be terminated either in the form of a stop point or a fly-by point. A stop point means that the robot and external axes must reach the specified position (stand still) before program execution continues with the next instruction. It is also possible to define stop points other than the predefined fine. The stop criteria, that tells if the robot is considered to have reached the point, can be manipulated using the stoppointdata. A fly-by point means that the programmed position is never attained. Instead, the direction of motion is changed before the position is reached. Two different zones (ranges) can be defined for each position: The zone for the TCP path. The extended zone for reorientation of the tool and for external axes.

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Zones function is the same during joint movement, but the zone size may differ somewhat from the one programmed. The zone size cannot be larger than half the distance to the closest position (forwards or backwards). If a larger zone is specified, the robot automatically reduces it. The zone for the TCP path A corner path (parabola) is generated as soon as the edge of the zone is reached (see figure above).

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3.78 zonedata - Zone data Continued The zone for reorientation of the tool Reorientation starts as soon as the TCP reaches the extended zone. The tool is reoriented in such a way that the orientation is the same leaving the zone as it would have been in the same position if stop points had been programmed. Reorientation will be smoother if the zone size is increased, and there is less of a risk of having to reduce the velocity to carry out the reorientation. The following figure shows three programmed positions, the last with different tool orientation.

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The following figure shows what program execution would look like if all positions were stop points.

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The following figure shows what program execution would look like if the middle position was a fly-by point.

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The zone for external axes External axes start to move towards the next position as soon as the TCP reaches the extended zone. In this way, a slow axis can start accelerating at an earlier stage and thus execute more smoothly.

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3.78 zonedata - Zone data Continued Reduced zone With large reorientations of the tool or with large movements of the external axes, the extended zone and even the TCP zone can be reduced by the robot. The zone will be defined as the smallest relative size of the zone based upon the zone components (see Components on page 1301) and the programmed motion. The following figure shows an example of reduced zone for reorientation of the tool to 36% of the motion due to zone_ori.

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The following figure shows an example of reduced zone for reorientation of the tool and TCP path to 15% of the motion due to zone_ori.

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3.78 zonedata - Zone data Continued When external axes are active they affect the relative sizes of the zone according to these formulas:

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Note If the TCP zone is reduced because of zone_ori, zone_leax or zone_reax, the path planner enters a mode that can handle the case of no TCP movement. If there is a TCP movement when in this mode, the speed is not compensated for the curvature of the path in a corner zone. For instance, this will cause a 30% speed reduction in a 90 degree corner. If this is a problem, increase the limiting zone component. Components finep fine point Data type: bool Defines whether the movement is to terminate as a stop point (fine point) or as a fly-by point. TRUE: The movement terminates as a stop point, and the program execution will not continue until robot reach the stop point. The remaining components in the zone data are not used. FALSE: The movement terminates as a fly-by point, and the program execution continues about 100 ms before the robot reaches the zone.

pzone_tcp path zone TCP Data type: num The size (the radius) of the TCP zone in mm. The extended zone will be defined as the smallest relative size of the zone based upon the following components pzone_ori...zone_reax and the programmed motion. pzone_ori path zone orientation Data type: num

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3.78 zonedata - Zone data Continued The zone size (the radius) for the tool reorientation. The size is defined as the distance of the TCP from the programmed point in mm. The size must be larger than the corresponding value for pzone_tcp. If a lower value is specified, the size is automatically increased to make it the same as pzone_tcp. pzone_eax path zone external axes Data type: num The zone size (the radius) for external axes. The size is defined as the distance of the TCP from the programmed point in mm. The size must be larger than the corresponding value for pzone_tcp. If a lower value is specified, the size is automatically increased to make it the same as pzone_tcp. zone_ori zone orientation Data type: num The zone size for the tool reorientation in degrees. If the robot is holding the work object, this means an angle of rotation for the work object. zone_leax zone linear external axes Data type: num The zone size for linear external axes in mm. zone_reax zone rotational external axes Data type: num The zone size for rotating external axes in degrees. Basic examples Basic examples of the data type zonedata are illustrated below. Example 1
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];

The zone data path is defined by means of the following characteristics: The zone size for the TCP path is 25 mm. The zone size for the tool reorientation is 40 mm (TCP movement). The zone size for external axes is 40 mm (TCP movement).

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The zone size for the tool reorientation is 10 degrees. The zone size for linear external axes is 35 mm. The zone size for rotating external axes is 5 degrees.
path.pzone_tcp := 40;

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3.78 zonedata - Zone data Continued The zone size for the TCP path is adjusted to 40 mm. Predefined data A number of zone data are already defined in the system module BASE_SHARED. Stop points Use zonedata named fine. Fly-by points
Path zone Name z0 z1 z5 z10 z15 z20 z30 z40 z50 z60 z80 z100 z150 z200 TCP path 0.3 mm 1 mm 5 mm 10 mm 15 mm 20 mm 30 mm 40 mm 50 mm 60 mm 80 mm 100 mm 150 mm 200 mm Orientation 0.3 mm 1 mm 8 mm 15 mm 23 mm 30 mm 45 mm 60 mm 75 mm 90 mm 120 mm 150 mm 225 mm 300 mm Ext. axis 0.3 mm 1 mm 8 mm 15 mm 23 mm 30 mm 45 mm 60 mm 75 mm 90 mm 120 mm 150 mm 225 mm 300 mm Zone Orientation 0.03 0.1 0.8 1.5 2.3 3.0 4.5 6.0 7.5 9.0 12 15 23 30 Linear axis Rotating axis 0.3 mm 1 mm 8 mm 15 mm 23 mm 30 mm 45 mm 60 mm 75 mm 90 mm 120 mm 150 mm 225 mm 300 mm 0.03 0.1 0.8 1.5 2.3 3.0 4.5 6.0 7.5 9.0 12 15 23 30

Structure
< data object of zonedata > < finep of bool > < pzone_tcp of num > < pzone_ori of num > < pzone_eax of num > < zone_ori of num > < zone_leax of num > < zone_reax of num >

Related information
For information about Positioning instructions Movements/Paths in general See Technical reference manual - RAPID overview, section RAPID summary - Motion Technical reference manual - RAPID overview, section Motion and I/O principles - Positioning during program execution

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3.78 zonedata - Zone data Continued
For information about Configuration of external axes Other Stop points See Application manual - Additional axes and stand alone controller stoppointdata - Stop point data on page 1252

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4.1 ERROR handler with movements

4 Programming type examples

4.1 ERROR handler with movements
Usage These type examples describe how to use move instructions in an ERROR handler after an asynchronously raised process or movement error has occurred. This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Description The ERROR handler can start a new temporary movement and finally restart the original interrupted and stopped movement. For example, it can be used to go to a service position or to clean the gun after an asynchronously raised process or movement error has occurred. To reach this functionality, the instructions StorePath - RestoPath must be used in the ERROR handler. To restart the movement and continue the program execution, several RAPID instructions are available. Type examples Type examples of the functionality are illustrated below. Principle
... ERROR IF ERRNO = ERR_PATH_STOP THEN StorePath; ! Move away and back to the interrupted position ... RestoPath; StartMoveRetry; ENDIF ENDPROC

At execution of StartMoveRetry the robot resumes its movement, any active process is restarted and the program retries its execution. StartMoveRetry does the same as StartMove plus RETRY in one indivisible operation. Automatic restart of execution
CONST robtarget service_pos := [...]; VAR robtarget stop_pos; ... ERROR IF ERRNO = AW_WELD_ERR THEN ! Current movement on motion base path level ! is already stopped. ! New motion path level for new movements in the ERROR handler StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1);

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4.1 ERROR handler with movements Continued
! Do the work to fix the problem MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1; ... ! Move back to the position on the motion base path level MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Restart the stopped movements on motion base path level, ! restart the process and retry program execution StartMoveRetry; ENDIF ENDPROC

This is a type example of how to use automatic asynchronously error recovery after some type of process error during robot movements. Manual restart of execution
... ERROR IF ERRNO = PROC_ERR_XXX THEN ! Current movement on motion base path level ! is already stopped and in stop move state. ! This error must be handle manually. ! Reset the stop move state on motion base path level. StopMoveReset; ENDIF ENDPROC

This is a type example of how to use manual handling of asynchronously error recovery after some type of process error during robot movements. After the above ERROR handler has executed to the end, the program execution stops and the program pointer is at the beginning of the instruction with the process error (also at beginning of any used NOSTEPIN routine). The next program start restarts the program and movement from the position in which the original process error ocurred. Program execution Execution behavior: At start execution of the ERROR handler, the program leaves its base execution level At execution of StorePath, the motion system leaves its base execution level At execution of RestoPath, the motion system returns to its base execution level At execution of StartMoveRetry, the program returns to its base execution level

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4.1 ERROR handler with movements Continued Limitations The following RAPID instructions must be used in the ERROR handler with move instructions to get it working for automatically error recovery after an asynchronously raised process or path error:
Instruction StorePath RestoPath StartMoveRetry Description Enter new motion path level Return to motion base path level Restart the interrupted movements on the motion base path level. Also restart the process and retry the program execution. Same functionality as StartMove + RETRY.

The following RAPID instruction must be used in the ERROR handler to get it working for manually error recovery after an asynchronously raised process or path error:
Instruction StopMoveReset Description Enter new motion path level

Related information
For information about To enter a new motion path level To return to motion base path level See StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

To restart the interrupted movement, process StartMoveRetry - Restarts robot movement and retry program execution. and execution on page 516

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4.2 Service routines with or without movements

4.2 Service routines with or without movements

Usage These type examples describe how to use move instructions in a service routine. Same principle about StopMove, StartMove and StopMoveReset are also valid for service routines without movements (only logical instructions). Both service routines or other routines (procedures) without parameters can be started manually and perform movements according to these type examples. This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks in independent or semi-coordinated mode. Description The service routine can start a new temporary movement and, at later program start, restart the original movement. For example, it can be used to go to a service position or manually start cleaning the gun. To reach this functionality the instructions StorePath - RestoPath and StopMoveReset must be used in the service routine. Type examples Type examples of the functionality are illustrated below. Principle
PROC xxxx() StopMove; StorePath; ! Move away and back to the interrupted position ... RestoPath; StopMoveReset; ENDPROC

StopMove is required in order to make sure that the originally stopped movement is not restarted upon a manually "stop program-restart program" sequence during execution of the service routine. Stop on path
VAR robtarget service_pos := [...]; ... PROC proc_stop_on_path() VAR robtarget stop_pos; ! Current stopped movements on motion base path level ! must not be restarted in the service routine. StopMove; ! New motion path level for new movements in the service routine. StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1); ! Do the work MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;

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4.2 Service routines with or without movements Continued
... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Reset the stop move state for the interrupted movement ! on motion base path level StopMoveReset; ENDPROC

In this type example the movements in the service routine start and end at the position on the path where the program was stopped. Also note that the tool and work object used are known at the time of programming. Stop in next stop point
TASK PERS tooldata used_tool := [...]; TASK PERS wobjdata used_wobj := [...]; ... PROC proc_stop_in_stop_point() VAR robtarget stop_pos; ! Current move instruction on motion base path level continue ! to its ToPoint and will be finished in a stop point. StartMove; ! New motion path level for new movements in the service routine StorePath; ! Get current tool and work object data GetSysData used_tool; GetSysData used_wobj; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj); ! Do the work MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj; ... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj; ! Go back to motion base path level RestoPath; ! Reset the stop move state for any new movement ! on motion base path level StopMoveReset; ENDPROC

In this type example the movements in the service routine continue to and end at the ToPoint in the interrupted move instructions before the instruction StorePath is ready. Also note that the tool and work object used are unknown at the time of programming.

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4.2 Service routines with or without movements Continued Program execution Execution behavior: Limitations The following RAPID instructions must be used in the service routine with move instructions to get it working:
Instruction StorePath RestoPath StopMoveReset Description Enter new motion path level Return to motion base path level Reset the stop move state for the interrupted movement on the motion base path level

At start execution of the service routine, the program leaves its base execution level At execution of StorePath, the motion system leaves its base execution level At execution of RestoPath, the motion system returns to its base execution level At execution of ENDPROC, the program returns to its base execution level

Related information
For information about See

No restart of the already stopped movement StopMove - Stops robot movement on page542 on the motion base path level Restart of the already stopped movement on the motion base path level To enter a new motion path level To return to the motion base path level StopMove - Stops robot movement on page542 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

Reset the stop move state for the interrupted StopMoveReset - Reset the system stop move movement on the motion base path level state on page 546

1310 Copyright 2004-2012 ABB. All rights reserved.

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4 Programming type examples

4.3 System I/O interrupts with or without movements

4.3 System I/O interrupts with or without movements

Usage These type examples describe how to use move instructions in a system I/O interrupt routine. Same principle about StopMove, StartMove and StopMoveReset are also valid for system I/O interrupts without movements (only logical instructions). This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks in independent or semi-coordinated mode. Description The system I/O interrupt routine can start a new temporary movement and, at later program start, restart the original movement. For example, it can be used to go to a service position or to clean the gun when an interrupt occurs. To reach this functionality the instructions StorePath - RestoPath and StopMoveReset must be used in the system I/O interrupt routine. Type examples Type examples of the functionality are illustrated below. Principle
PROC xxxx() StopMove; StorePath; ! Move away and back to the interrupted position ... RestoPath; StopMoveReset; ENDPROC

StopMove is required in order to make sure that the originally stopped movement is not restarted at start of the I/O interrupt routine. Without StopMove or with StartMove instead the movement in the I/O interrupt routine will continue at once and end at the ToPoint in the interrupted move instruction. Stop on path
VAR robtarget service_pos := [...]; ... PROC proc_stop_on_path() VAR robtarget stop_pos; ! Current stopped movements on motion base path level ! isnt restarted in the system I/O routine. StopMove \Quick; ! New motion path level for new movements in the system ! I/O routine. StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);

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4 Programming type examples

4.3 System I/O interrupts with or without movements Continued
! Do the work MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1; ... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Reset the stop move state for the interrupted movement ! on motion base path level StopMoveReset; ENDPROC

In this type example the interrupted movements are stopped at once and are restarted at program start after the system I/O interrupt routine is finished. Also note that the tool and work object used are known at the time of programming. Stop in next stop point
TASK PERS tooldata used_tool := [...]; TASK PERS wobjdata used_wobj := [...]; ... PROC proc_stop_in_stop_point() VAR robtarget stop_pos; ! Current move instruction on motion base path level continue ! to its ToPoint and will be finished in a stop point. StartMove; ! New motion path level for new movements in the system ! I/O routine StorePath; ! Get current tool and work object data GetSysData used_tool; GetSysData used_wobj; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj); ! Do the work MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj; ... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj; ! Go back to motion base path level RestoPath; ! Reset the stop move state for new movement ! on motion base path level StopMoveReset; ENDPROC

In this type example the movements in the system I/O routine continue at once, and end at the ToPoint in the interrupted move instructions. Also note that the tool and work object used are unknown at the time of programming.

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4 Programming type examples

4.3 System I/O interrupts with or without movements Continued Program execution Execution behavior: Limitations The following RAPID instructions must be used in the system IO routine with move instructions to get it working:
Instruction StorePath RestoPath StopMoveReset Description Enter new motion path level Return to motion base path level Reset the stop move state for the interrupted movement on the motion base path level

At start execution of the system I/O routine, the program leaves its base execution level At execution of StorePath, the motion system leaves its base execution level At execution of RestoPath, the motion system returns to its base execution level At execution of ENDPROC, the program returns to its base execution level

Related information
For information about See

No restart of the already stopped movement StopMove - Stops robot movement on on the motion base path level page 542 Restart of the already stopped movement on StartMove - Restarts robot movement on the motion base path level page 513 To enter a new motion path level To return to the motion base path level StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378

Reset the stop move state for the interrupted StopMoveReset - Reset the system stop movement on the motion base path level move state on page 546

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

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4 Programming type examples

4.4 TRAP routines with movements

4.4 TRAP routines with movements

Usage These type examples describe how to use move instructions in a TRAP routine after an interrupt has occurred. This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in Motion tasks. Description The TRAP routine can start a new temporary movement and finally restart the original movement. For example, it can be used to go to a service position or to clean the gun when an interrupt occurs. To reach this functionality the instructions StorePath - RestoPath and StartMove must be used in the TRAP routine. Type examples Type examples of the functionality are illustrated below. Principle
TRAP xxxx StopMove; StorePath; ! Move away and back to the interrupted position ... RestoPath; StartMove; ENDTRAP

If StopMove is used, the movement stops at once on the on-going path; otherwise, the movement continues to the ToPoint in the actual move instruction. Stop in next stop point
VAR robtarget service_pos := [...]; ... TRAP trap_in_stop_point VAR robtarget stop_pos; ! Current move instruction on motion base path level continue ! to its ToPoint and will be finished in a stop point. ! New motion path level for new movements in the TRAP StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1); ! Do the work MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1; ... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Restart the interupted movements on motion base path level

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4 Programming type examples

4.4 TRAP routines with movements Continued
StartMove; ENDTRAP

In this type example the movements in the TRAP routine start and end at the ToPoint in the interrupted move instructions. Also note that the tool and work object are known at the time of programming. Stop on path at once
TASK PERS tooldata used_tool := [...]; TASK PERS wobjdata used_wobj := [...]; ... TRAP trap_stop_at_once VAR robtarget stop_pos; ! Current move instruction on motion base path level stops ! at once StopMove; ! New motion path level for new movements in the TRAP StorePath; ! Get current tool and work object data GetSysData used_tool; GetSysData used_wobj; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj); ! Do the work MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj; ... ! Move back to interrupted position on the motion base path level MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj; ! Go back to motion base path level RestoPath; ! Restart the interupted movements on motion base path level StartMove; ENDTRAP

In this type example the movements in the TRAP routine start and end at the position on the path where the interrupted move instruction was stopped. Also note that the tool and work object used are unknown at the time of programming. Program execution Execution behavior: At start execution of the TRAP routine, the program leaves its base execution level At execution of StorePath, the motion system leaves its base execution level At execution of RestoPath, the motion system returns to its base execution level At execution of ENDTRAP, the program returns to its base execution level

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4 Programming type examples

4.4 TRAP routines with movements Continued Limitations Following RAPID instructions must be used in the TRAP routine with move instructions to get it working:
Instruction StorePath RestoPath StartMove Description Enter new motion path level Return to motion base path level Restart the interrupted movements on the motion base path level

Related information
For information about To stop the current movement at once To enter a new motion path level To return to the motion base path level To restart the interrupted movement See StopMove - Stops robot movement on page 542 StorePath - Stores the path when an interrupt occurs on page 548 RestoPath - Restores the path after an interrupt on page 378 StartMove - Restarts robot movement on page 513

1316 Copyright 2004-2012 ABB. All rights reserved.

3HAC16581-1 Revision: N

Index

Index
A
Abs, 787 AbsDnum, 789 AccSet, 17 ACos, 791 ActEventBuffer, 19, 86 ActUnit, 21 Add, 23 aiotrigg, 1143 AliasIO, 25 AOutput, 792 ArgName, 794 ASin, 797 Assignment =, 28 ATan, 798 ATan2, 799 Close, 63 CloseDir, 64 comment, 65 CompactIF, 66 confdata, 1153 ConfJ, 67 ConfL, 69 CONNECT, 71 CopyFile, 73 CopyRawBytes, 75 CorrClear, 77 CorrCon, 78 corrdescr, 1159 CorrDiscon, 83 CorrRead, 850 CorrWrite, 84 Cos, 851 CPos, 852 CRobT, 854 CSpeedOverride, 857 CTime, 859 CTool, 860 CWObj, 862

B
BitAnd, 800 BitAndDnum, 802 BitCheck, 804 BitCheckDnum, 806 BitClear, 30 BitLSh, 808 BitLShDnum, 810 BitNeg, 813 BitNegDnum, 815 BitOr, 817 BitOrDnum, 819 BitRSh, 821 BitRShDnum, 823 BitSet, 33 BitXOr, 825 BitXOrDnum, 827 BookErrNo, 36 bool, 1145 Break, 38 btnres, 1146 busstate, 1148 buttondata, 1149 byte, 1151 ByteToString, 829

D
datapos, 1161 DeactEventBuffer, 86 DeactUnit, 88 Decr, 90 DecToHex, 864 DefAccFrame, 865 DefDFrame, 868 DefFrame, 871 Dim, 874 dionum, 1162 dir, 1163 Distance, 876 DitherAct, 92 DitherDeact, 94 dnum, 1164 DnumToNum, 878 DnumToStr, 880 DotProd, 882 DOutput, 884 DropWObj, 95

C
CalcJointT, 831 CalcRobT, 835 CalcRotAxFrameZ, 837 CalcRotAxisFrame, 841 CallByVar, 39 CancelLoad, 41 CDate, 845 CheckProgRef, 43 CirPathMode, 44 CJointT, 846 Clear, 50 ClearIOBuff, 51 ClearPath, 53 ClearRawBytes, 57 ClkRead, 848 ClkReset, 59 ClkStart, 60 ClkStop, 62 clock, 1152

E
EOffsOff, 96 EOffsOn, 97 EOffsSet, 99 EraseModule, 101 errdomain, 1166 ErrLog, 103 errnum, 1168 ERROR handler, 1305 ErrRaise, 107 errstr, 1174 errtype, 1175 ErrWrite, 111 EulerZYX, 886 event_type, 1176 EventType, 888 exec_level, 1177 ExecHandler, 890

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Index

ExecLevel, 891 EXIT, 113 ExitCycle, 114 Exp, 892 extjoint, 1178

F
FileSize, 893 FileTime, 896 FOR, 116 FSSize, 899, 903

G
GetDataVal, 118 GetMecUnitName, 902 GetModalPayLoadMode, 903 GetNextMechUnit, 904 GetNextSym, 907 GetServiceInfo, 909 GetSysData, 121 GetSysInfo, 911 GetTaskName, 914 GetTime, 916 GetTrapData, 124 GInputDnum, 918 GOTO, 126 GOutput, 920 GOutputDnum, 922 GripLoad, 128

ISignalGI, 199 ISignalGO, 202 ISleep, 205 IsMechUnitActive, 937 IsPers, 938 IsStopMoveAct, 939 IsStopStateEvent, 941 IsSyncMoveOn, 943 IsSysId, 945 IsVar, 946 ITimer, 207 IVarValue, 209 IWatch, 212

J
jointtarget, 1189

L
label, 214 listitem, 1191 Load, 215 loaddata, 1192 LoadId, 219 loadidnum, 1198 loadsession, 1199

M
MakeDir, 224 ManLoadIdProc, 225 MaxRobSpeed, 947 MechUnitLoad, 229 mecunit, 1200 MirPos, 948 ModExist, 950 ModTime, 951 MotionPlannerNo, 953 MotionSup, 233 motsetdata, 1202 MoveAbsJ, 235 MoveC, 241 MoveCDO, 249 MoveCSync, 253 MoveExtJ, 258 MoveJ, 261 MoveJDO, 266 MoveJSync, 270 MoveL, 275 MoveLDO, 281 MoveLSync, 285 MToolRotCalib, 290 MToolTCPCalib, 293

H
handler_type, 1180 HexToDec, 925 HollowWristReset, 130

I
icondata, 1181 IDelete, 132 identno, 1183 IDisable, 133 IEnable, 134 IError, 135 IF, 138 Incr, 140 IndAMove, 142 IndCMove, 146 IndDMove, 150 IndInpos, 926 IndReset, 153 IndRMove, 158 IndSpeed, 928 intnum, 1185 InvertDO, 162 IOBusStart, 164 IOBusState, 165 iodev, 1187 IODisable, 168 IOEnable, 171 iounit_state, 1188 IOUnitState, 930 IPers, 173 IRMQMessage, 175 IsFile, 933 ISignalAI, 179 ISignalAO, 189 ISignalDI, 193 ISignalDO, 196

N
NonMotionMode, 955 NOrient, 957 num, 1207 NumToDnum, 959 NumToStr, 960

O
Offs, 962 opcalc, 1209 Open, 296 OpenDir, 301 OpMode, 964 opnum, 1210 orient, 1211

1318 Copyright 2004-2012 ABB. All rights reserved.

3HAC16581-1 Revision: N

Index

OrientZYX, 965 ORobT, 967

P
PackDNHeader, 303 PackRawBytes, 306 paridnum, 1216 ParIdPosVaild, 969 ParIdRobValid, 972 paridvalidnum, 1218 PathAccLim, 310 PathLevel, 975 pathrecid, 1220 PathRecMoveBwd, 314 PathRecMoveFwd, 320 PathRecStart, 323 PathRecStop, 326 PathRecValidBwd, 977 PathRecValidFwd, 980 PathResol, 329 PDispOff, 331 PDispOn, 332 PDispSet, 336 PFRestart, 984 pos, 1222 pose, 1224 PoseInv, 985 PoseMult, 987 PoseVect, 989 Pow, 991 PowDnum, 992 PPMovedInManMode, 993 Present, 994 ProcCall, 338 ProcerrRecovery, 340 progdisp, 1225 ProgMemFree, 996 PulseDO, 346

RETURN, 381 Rewind, 383 RMQEmptyQueue, 385 RMQFindSlot, 387 RMQGetMessage, 389 RMQGetMsgData, 392 RMQGetMsgHeader, 395 RMQGetSlotName, 1020 rmqheader, 1233 rmqmessage, 1235 RMQReadWait, 398 RMQSendMessage, 401 RMQSendWait, 405 rmqslot, 1237 robjoint, 1238 RobName, 1022 RobOS, 1024 robtarget, 1239 Round, 1025 RoundDnum, 1027 RunMode, 1029

S
Save, 410 SCWrite, 413 SearchC, 416 SearchExtJ, 425 SearchL, 432 SenDevice, 442 Sensor Interface, 358 Service routines, 1308, 1311 Set, 444 SetAllDataVal, 446 SetAO, 448 SetDataSearch, 450 SetDataVal, 454 SetDO, 457 SetGO, 459 SetSysData, 462 shapedata, 1242 signalxx, 1244 Sin, 1030 SingArea, 464 SkipWarn, 466 SocketAccept, 467 SocketBind, 470 SocketClose, 472 SocketConnect, 474 SocketCreate, 477 socketdev, 1246 SocketGetStatus, 1031 SocketListen, 479 SocketReceive, 481 SocketSend, 486 socketstatus, 1247 SoftAct, 490 SoftDeact, 492 speeddata, 1248 SpeedLimAxis, 493 SpeedLimCheckPoint, 497 SpeedRefresh, 502 SpyStart, 505 SpyStop, 508 Sqrt, 1033 SqrtDnum, 1034 StartLoad, 509 StartMove, 513 1319 Copyright 2004-2012 ABB. All rights reserved.

R
RAISE, 349 RaiseToUser, 352 rawbytes, 1227 RawBytesLen, 997 ReadAnyBin, 355 ReadBin, 999 ReadBlock, 358 ReadCfgData, 360 ReadDir, 1001 ReadErrData, 364 ReadMotor, 1004 ReadNum, 1006 ReadRawBytes, 367 ReadStr, 1009 ReadStrBin, 1013 ReadVar, 1015 RelTool, 1017 RemainingRetries, 1019 RemoveDir, 370 RemoveFile, 372 RenameFile, 373 Reset, 375 ResetPPMoved, 376 ResetRetryCount, 377 restartdata, 1229 RestoPath, 378 RETRY, 380 3HAC16581-1 Revision: N

Index

StartMoveRetry, 516 STCalcForce, 1035 STCalcTorque, 1036 STCalib, 519 STClose, 523 StepBwdPath, 526 STIndGun, 528 STIndGunReset, 530 STIsCalib, 1037 STIsClosed, 1039 STIsIndGun, 1041 STIsOpen, 1042 SToolRotCalib, 531 SToolTCPCalib, 534 Stop, 537 STOpen, 540 StopMove, 542 StopMoveReset, 546 stoppointdata, 1252 StorePath, 548 StrDigCalc, 1044 StrDigCmp, 1047 StrFind, 1050 string, 1258 stringdig, 1260 StrLen, 1052 StrMap, 1053 StrMatch, 1055 StrMemb, 1057 StrOrder, 1059 StrPart, 1062 StrToByte, 1064 StrToVal, 1066 STTune, 550 STTuneReset, 554 switch, 1261 symnum, 1262 syncident, 1263 SyncMoveOff, 555 SyncMoveOn, 561 SyncMoveResume, 567 SyncMoveSuspend, 569 SyncMoveUndo, 571 system data, 1264 SystemStopAction, 573

TPReadDnum, 583 TPReadFK, 586 TPReadNum, 590 TPShow, 593 TPWrite, 594 trapdata, 1277 TRAP routines, 1314 TriggC, 596 TriggCheckIO, 604 triggdata, 1279 TriggEquip, 609 TriggInt, 615 TriggIO, 619 triggios, 1280 triggiosdnum, 1283 TriggJ, 624 TriggL, 631 TriggLIOs, 638 TriggRampAO, 645 TriggSpeed, 651 TriggStopProc, 659 triggstrgo, 1285 Trunc, 1085 TruncDnum, 1087 TryInt, 664 TRYNEXT, 666 TuneReset, 667 TuneServo, 668 tunetype, 1288 Type, 1089

U
UIAlphaEntry, 1091 UIClientExist, 1097 UIDnumEntry, 1098 UIDnumTune, 1104 UIListView, 1110 UIMessageBox, 1117 UIMsgBox, 674 UINumEntry, 1124 UINumTune, 1130 UIShow, 682 uishownum, 1289 UnLoad, 686 UnpackRawBytes, 689

T
Tan, 1068 taskid, 1266 TaskRunMec, 1069 TaskRunRob, 1070 tasks, 1267 TasksInSync, 1071 TEST, 575 TestAndSet, 1073 TestDI, 1076 testsignal, 1269 TestSignDefine, 577 TestSignRead, 1077 TestSignReset, 579 TextGet, 1079 TextTabFreeToUse, 1081 TextTabGet, 1083 TextTabInstall, 580 tooldata, 1270 TPErase, 582 tpnum, 1276 1320

V
ValidIO, 1136 ValToStr, 1138 VectMagn, 1140 VelSet, 693

W
WaitAI, 695 WaitAO, 698 WaitDI, 701 WaitDO, 703 WaitGI, 705 WaitGO, 709 WaitLoad, 713 WaitRob, 717 WaitSyncTask, 719 WaitTestAndSet, 723 WaitTime, 726 WaitUntil, 728 WaitWObj, 731 WarmStart, 734

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

Index

WHILE, 735 wobjdata, 1290 WorldAccLim, 737 Write, 739 WriteAnyBin, 742 WriteBin, 745 WriteBlock, 747 WriteCfgData, 749 WriteRawBytes, 753 WriteStrBin, 755 WriteVar, 757 WZBoxDef, 759 WZCylDef, 761

WZDisable, 764 WZDOSet, 766 WZEnable, 770 WZFree, 772 WZHomeJointDef, 774 WZLimJointDef, 777 WZLimSup, 781 WZSphDef, 784 wzstationary, 1294 wztemporary, 1296

Z
zonedata, 1298

3HAC16581-1 Revision: N Copyright 2004-2012 ABB. All rights reserved.

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Contact us

ABB AS, Robotics Discrete Automation and Motion Box 265 N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics

3HAC16581-1, Rev N, en

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