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ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 5 | Table of Contents
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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1 Instructions
15
1.1 AccSet - Reduces the acceleration . . .... |
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1.53 GripLoad - Defines the payload for the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
1.54 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403. . . . . . . . . . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 7 | Table of Contents
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1.108 PathRecMoveBwd - Move path recorder backwards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
1.109 PathRecMoveFwd - Move path recorder forward . . . . . . . . . . . . . . . . . . . . . . . .... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 8 | Table of Contents
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1.163 SocketConnect - Connect to a remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
1.164 SocketCreate - Create a new socket . . . . . . . . . . . . . . . . . . . . . . . . . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 9 | Table of Contents
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1.218 TRYNEXT - Jumps over an instruction which has caused an error . . . . . . . . . . . . . . . . . . . . . . . . . 636
1.219 TuneReset - Resetting servo tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 10 | Table of Contents
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2.12 BitOr - Logical bitwise OR - operation on byte data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778
2.13 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte . . . . . . . . . . . . . . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 11 | Table of Contents
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2.67 IsSysId - Test system identity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
2.68 IsVar - Is variable . . . . . . . . . . . . . . . . . . . . . . . . . ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 14 | Table of Contents
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3.78 zonedata - Zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1232
4 Programming type examples
1239
4.1 ERROR handler with movements . . .... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 15 | Table of Contents
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3.78 zonedata - Zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1232
4 Programming type examples
1239
4.1 ERROR handler with movements . . .... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 16 | Overview
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© Copyright 2004-2010 ABB. All rights reserved.
Overview
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 17 | Overview
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Revisions
Revision
Description
F
7th edition. RobotWare 5.10.
New chapter added, 4 Programming type examples .
G
8th edition. RobotWare 5.11.
New instructions, functions and data types are added. Also a new
programming type example i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 18 | 1 Instructions
1.1. AccSet - Reduces the acceleration
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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 smoo... |
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1.1. AccSet - Reduces the acceleration
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The figures show that reducing the acceleration results in smoother movements.
xx0500002146
Program execution
The acceleration applies to both the robot and external axes unt... |
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1.2. ActUnit - Activates a mechanical unit
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1.2. 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,... |
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1.2. ActUnit - Activates a mechanical unit
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Related information
For information about
See
Deactivating mechanical units
DeactUnit - Deactivates a mechanical unit on page 79
Mechanical units
mecunit - Mechanical uni... |
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1.3. Add - Adds a numeric value
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1.3. 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... |
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1.3. Add - Adds a numeric value
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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 argu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 24 | 1 Instructions
1.4. AliasIO - Define I/O signal with alias name
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1.4. 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 module... |
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1.4. AliasIO - Define I/O signal with alias name
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Program execution
The signal descriptor value is copied from the signal given in argument FromSignal to the
signal given in argument ToSignal .
Error handling
Fo... |
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1.4. AliasIO - Define I/O signal with alias name
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Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview
Input/Output functionality in general Technical... |
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1.5. ":=" - Assigns a value
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1.5. ":=" - 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 28 | 1 Instructions
1.5. ":=" - Assigns a value
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Limitations
The data (whose value is to be changed) must not be
•
a constant
•
a non-value data type.
The data and value must have similar (the same or alias) data types.
Syntax
(EBNF)
... |
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1.6. BitClear - Clear a specified bit in a byte data
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1.6. BitClear - Clear a specified bit in a byte data
Usage
BitClear is used to clear (set to 0) a specified bit in a defined byte data.
Basic examples
A basi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 30 | 1 Instructions
1.6. BitClear - Clear a specified bit in a byte data
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Syntax
BitClear
[ BitData ':=' ] < var or pers ( INOUT ) of byte > ','
[ BitPos ':=' ] < expression ( IN ) of num > ';'
Related information
For information abou... |
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1.7. BitSet - Set a specified bit in a byte data
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1.7. BitSet - Set a specified bit in a byte data
Usage
BitSet is used to set a specified bit to 1 in a defined byte data.
Basic examples
A basic example of the ins... |
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1.7. BitSet - Set a specified bit in a byte data
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Syntax
BitSet
[ BitData':=' ] < var or pers ( INOUT ) of byte > ','
[ BitPos':=' ] < expression ( IN ) of num > ';'
Related information
For information about
See
Cl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 33 | 1 Instructions
1.8. BookErrNo - Book a RAPID system error number
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1.8. BookErrNo - Book a RAPID system error number
Usage
BookErrNo is used to book a new RAPID system error number.
Basic examples
A basic example of the instructi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 34 | 1 Instructions
1.8. BookErrNo - Book a RAPID system error number
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Syntax
BookErrNo
[ ErrorName ':='] < variable ( VAR ) of errnum > ';'
Related information
For information about
See
Error handling
Technical reference manual - RAP... |
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1.9. Break - Break program execution
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1.9. 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 stopp... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 36 | 1 Instructions
1.10. CallByVar - Call a procedure by a variable
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1.10. 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_nam... |
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1.10. CallByVar - Call a procedure by a variable
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 38 | 1 Instructions
1.11. CancelLoad - Cancel loading of a module
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1.11. CancelLoad - Cancel loading of a module
Usage
CancelLoad can be used to cancel the loading operation generated from the instruction
StartLoad .
CancelLoad can ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 39 | 1 Instructions
1.11. CancelLoad - Cancel loading of a module
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Syntax
CancelLoad
[ LoadNo ':=' ] < variable ( VAR ) of loadsession >';'
Related information
For information about
See
Load a program module during
execution
StartLoad... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 40 | 1 Instructions
1.12. CheckProgRef - Check program references
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1.12. CheckProgRef - Check program references
Usage
CheckProgRef is used to check for unresolved references at any time during execution.
Basic examples
A basic examp... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 41 | 1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
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1.13. CirPathMode - Tool reorientation during circle path
Usage
CirPathMode ( Circle Path Mode ) makes it possible to select different modes to reorientat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 42 | 1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
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Description
PathFrame
The figure in the table shows the tool reorientation for the standard mode \PathFrame .
The figure in the table shows the use of sta... |
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1.13. CirPathMode - Tool reorientation during circle path
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ObjectFrame
The figure in the table shows the use of modified mode \ObjectFrame with fixed tool ori-
entation.
CirPointOri
The figure in the table shows ... |
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1.13. CirPathMode - Tool reorientation during circle path
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Arguments
CirPathMode [\PathFrame] | [\ObjectFrame] | [\CirPointOri] |
[\Wrist45] | [\Wrist46] | [\Wrist56]
[ \PathFrame ]
Data type: switch
During the ci... |
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1.13. CirPathMode - Tool reorientation during circle path
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Program execution
The specified circular tool reorientation mode applies for the next executed robot circular
movements of any type ( MoveC, SearchC, Trigg... |
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1.14. Clear - Clears the value
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1.14. 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 illustr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 47 | 1 Instructions
1.15. ClearIOBuff - Clear input buffer of a serial channel
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1.15. 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. ... |
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1.16. ClearPath - Clear current path
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1.16. 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 moti... |
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1.16. ClearPath - Clear current path
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PROC proc2()
CONNECT drop_payload WITH gohome;
ISignalDI \Single, di1, 1, drop_payload;
MoveL p1, v500, fine, gripper;
...........
IDelete drop_payload
ENDPROC
TRAP gohome
Sto... |
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1.16. ClearPath - Clear current path
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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 do... |
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1.16. ClearPath - Clear current path
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Related information
For information about
See
Stop robot movements
StopMove - Stops robot movement on page 515
Error recovery
Technical reference manual - RAPID overview
Techn... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 52 | 1 Instructions
1.17. ClearRawBytes - Clear the contents of rawbytes data
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1.17. ClearRawBytes - Clear the contents of rawbytes data
Usage
ClearRawBytes is used to set all the contents of a rawbytes variable to 0.
Basic example... |
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1.17. ClearRawBytes - Clear the contents of rawbytes data
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the lengt... |
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1.18. ClkReset - Resets a clock used for timing
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1.18. 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... |
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1.19. ClkStart - Starts a clock used for timing
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1.19. 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 examp... |
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1.19. ClkStart - Starts a clock used for timing
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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_O... |
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1.20. ClkStop - Stops a clock used for timing
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1.20. 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 ... |
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1.21. Close - Closes a file or serial channel
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1.21. 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 illu... |
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1.22. CloseDir - Close a directory
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1.22. 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 illustr... |
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1.23. Comment - Comment
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1.23. 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 instruc... |
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1.24. Compact IF - If a condition is met, then... (one instruction)
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1.24. 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... |
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1.25. ConfJ - Controls the configuration during joint movement
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1.25. ConfJ - Controls the configuration during joint movement
Usage
ConfJ ( Configuration Joint ) is used to specify whether or not the robot’s conf... |
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1.25. ConfJ - Controls the configuration during joint movement
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Program execution
If the argument \On (or no argument) is chosen, the robot always moves to the programmed
axis configuration. If this is not possib... |
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1.26. ConfL - Monitors the configuration during linear movement
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1.26. ConfL - Monitors the configuration during linear movement
Usage
ConfL ( Configuration Linear ) is used to specify whether or not the robot’s c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 65 | 1 Instructions
1.26. ConfL - Monitors the configuration during linear movement
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Program execution
During linear or circular movement, the robot always moves to the programmed position and
orientation that has the closest possible... |
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1.27. CONNECT - Connects an interrupt to a trap routine
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1.27. 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 int... |
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1.27. CONNECT - Connects an interrupt to a trap routine
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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 var... |
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1.28. CopyFile - Copy a file
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1.28. 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
Co... |
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1.28. CopyFile - Copy a file
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Related information
For information about
See
Make a directory
MakeDir - Create a new directory on page
218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
... |
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1.29. CopyRawBytes - Copy the contents of rawbytes data
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1.29. CopyRawBytes - Copy the contents of rawbytes data
Usage
CopyRawBytes is used to copy all or part of the contents from one rawbytes variable to
anoth... |
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1.29. CopyRawBytes - Copy the contents of rawbytes data
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[\NoOfBytes]
Data type: num
The value specified with \NoOfBytes is the number of bytes to be copied from
FromRawData to ToRawData .
If \NoOfBytes is n... |
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1.29. CopyRawBytes - Copy the contents of rawbytes data
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length ... |
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1.30. CorrClear - Removes all correction generators
Path Offset
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1.30. CorrClear - Removes all correction generators
Descriptions
CorrClear is used to remove all connected correction generators. The instruction can be
used to re... |
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1.31. CorrCon - Connects to a correction generator
Path Offset
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1.31. CorrCon - Connects to a correction generator
Usage
CorrCon is used to connect to a correction generator.
Basic examples
A basic example of the instruction Co... |
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1.31. CorrCon - Connects to a correction generator
Path Offset
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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 horizonta... |
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1.31. CorrCon - Connects to a correction generator
Path Offset
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! Read the total corrections added by all connected correction
generators.
total_offset := CorrRead();
! Write the total vertical correction on the FlexPendant.
TPWr... |
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1.31. CorrCon - Connects to a correction generator
Path Offset
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Program explanation
Two correction generators are connected with the instruction CorrCon . Each correction
generator is referenced by a unique descriptor ( hori_id ... |
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1.31. CorrCon - Connects to a correction generator
Path Offset
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Related information
For information about
See
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a cor... |
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1.32. CorrDiscon - Disconnects from a correction generator
Path Offset
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1.32. CorrDiscon - Disconnects from a correction generator
Description
CorrDiscon is used to disconnect from a previously connected correction generator. Th... |
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1.33. CorrWrite - Writes to a correction generator
Path Offset
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1.33. CorrWrite - Writes to a correction generator
Description
CorrWrite is used to write offsets in the path coordinate system to a correction generator.
Basic exa... |
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1.33. CorrWrite - Writes to a correction generator
Path Offset
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Related information
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correctio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 82 | 1 Instructions
1.34. DeactUnit - Deactivates a mechanical unit
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1.34. 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... |
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1.34. DeactUnit - Deactivates a mechanical unit
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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, tha... |
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1.35. Decr - Decrements by 1
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1.35. 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... |
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1.35. Decr - Decrements by 1
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Syntax
Decr
[ Name ':=' ] < var or pers ( INOUT ) of num >
| [ Dname ':=' ] < var or pers ( INOUT ) of dnum >' ;'
Related information
For information about
See
Incrementing a variable ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 86 | 1 Instructions
1.36. DitherAct - Enables dither for soft servo
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1.36. 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 760... |
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1.36. DitherAct - Enables dither for soft servo
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[ \Level ]
Data type: num
Amplitude of dither (50-150%). At 50%, oscillations are reduced (increased friction). At
150%, amplitude is maximum (may result in vibrati... |
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1.37. DitherDeact - Disables dither for soft servo
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1.37. DitherDeact - Disables dither for soft servo
Usage
DitherDeact is used to disable the dither functionality for soft servo of IRB 7600.
This instruction can... |
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1.38. DropWObj - Drop work object on conveyor
Conveyor Tracking
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1.38. 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 ne... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 90 | 1 Instructions
1.39. EOffsOff - Deactivates an offset for external axes
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1.39. EOffsOff - Deactivates an offset for external axes
Usage
EOffsOff ( External Offset Off ) is used to deactivate an offset for external axes.
The offs... |
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1.40. EOffsOn - Activates an offset for external axes
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1.40. EOffsOn - Activates an offset for external axes
Usage
EOffsOn ( External Offset On ) is used to define and activate an offset for external axes using
tw... |
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1.40. EOffsOn - Activates an offset for external axes
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Program execution
The offset is calculated as the difference between \ExeP and ProgPoint for each separate
external axis. If \ExeP has not been specified... |
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1.41. EOffsSet - Activates an offset for external axes using known values
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1.41. EOffsSet - Activates an offset for external axes using known values
Usage
EOffsSet ( External Offset Set ) is used to define and act... |
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1.41. EOffsSet - Activates an offset for external axes using known values
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Program execution
The offset for external axes is activated when the EOffsSet instruction is executed and
remains active until some other... |
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1.42. EraseModule - Erase a module
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1.42. 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.... |
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1.42. EraseModule - Erase a module
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Related information
For information about
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another... |
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1.43. ErrLog - Write an error message
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1.43. 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 98 | 1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Example of instruction:
MODULE MyModule
PROC main()
VAR num errorid := 5210;
VAR errstr arg := "P1";
ErrLog errorid, ERRSTR_TASK, arg,
ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNU... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 99 | 1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
3HAC 16581-1 Revision: J
96
© Copyright 2004-2010 ABB. All rights reserved.
Argument 1
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 100 | 1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
97
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
ErrLog
[ErrorId ':=' ] < expression ( IN ) of num> ','
[ '\'W ] | [' \' I ] ','
[Argument1 ':=' ] < expression ( IN ) of errstr> ','
[Argument2 ':=' ] < expression ( IN... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 101 | 1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
3HAC 16581-1 Revision: J
98
© Copyright 2004-2010 ABB. All rights reserved.
1.44. 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 o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 102 | 1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
99
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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 a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 103 | 1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
3HAC 16581-1 Revision: J
100
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
ErrRaise ErrorName ErrorId Argument1 Argument2 Argument3 Argument4
Argument5
ErrorName
Data type: string
An error number must be booked usin... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 104 | 1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
101
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
ErrRaise generates program warningss between 4800-4814 if using the xml file that are
installed by the system, and between 5000-9999... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 105 | 1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
3HAC 16581-1 Revision: J
102
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
ErrRaise
[ErrorName ':=' ] < expression ( IN ) of string> ','
[ErrorId ':=' ] < expression ( IN ) of num> ','
[Argument1 ':=' ] < expression ( I... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 106 | 1 Instructions
1.45. ErrWrite - Write an error message
RobotWare - OS
103
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.45. 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... |
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