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ABB_Technical_Reference_Manual
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1 Instructions
1.45. ErrWrite - Write an error message
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[ \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 ] | [ '\' I ] ','
[ Header ':=' ] < expression ( IN ) of string>','
[ Reason ':=' ] < expression ( IN ) of string>
[ ’\’RL2 ':=' < expression ( IN ) of string> ]
[ ’\’RL3 ':=' < expression ( IN ) of string> ]
[ ’\’RL4 ':=' < expression ( IN ) of string> ] ';'
Related information
For information about
See
Predefined data of type errstr
errstr - Error string on page 1114
Display message on the FlexPendant
TPWrite - Writes on the FlexPendant on page
568
UIMsgBox - User Message Dialog Box type basic
on page 644
Event log
Operating manual - IRC5 with FlexPendant
Write error message - Err Log
ErrLog - Write an error message on page 94
Continued
1 Instructions
1.46. EXIT - Terminates program execution
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1.46. 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
See
Stopping program execution temporarily
Stop - Stops program execution on page 510
1 Instructions
1.47. ExitCycle - Break current cycle and start next
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1.47. 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 Instructions
1.46. EXIT - Terminates program execution
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1.46. 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
See
Stopping program execution temporarily
Stop - Stops program execution on page 510
1 Instructions
1.47. ExitCycle - Break current cycle and start next
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1.47. 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.
Continues on next page
1 Instructions
1.47. ExitCycle - Break current cycle and start next
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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
See
Stopping after a fatal error
EXIT - Terminates program execution on page
105
Terminating program execution
EXIT - Terminates program execution on page
105
Stopping for program actions
Stop - Stops program execution on page 510
Finishing execution of a routine
RETURN - Finishes execution of a routine on
page 365
Continued
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1 Instructions
1.47. ExitCycle - Break current cycle and start next
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1.47. 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.
Continues on next page
1 Instructions
1.47. ExitCycle - Break current cycle and start next
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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
See
Stopping after a fatal error
EXIT - Terminates program execution on page
105
Terminating program execution
EXIT - Terminates program execution on page
105
Stopping for program actions
Stop - Stops program execution on page 510
Finishing execution of a routine
RETURN - Finishes execution of a routine on
page 365
Continued
1 Instructions
1.48. FOR - Repeats a given number of times
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1.48. 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 108 .
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
The values in an array are adjusted upwards so that a{10}:=a{9} , a{8}:=a{7} etc.
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1 Instructions
1.47. ExitCycle - Break current cycle and start next
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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
See
Stopping after a fatal error
EXIT - Terminates program execution on page
105
Terminating program execution
EXIT - Terminates program execution on page
105
Stopping for program actions
Stop - Stops program execution on page 510
Finishing execution of a routine
RETURN - Finishes execution of a routine on
page 365
Continued
1 Instructions
1.48. FOR - Repeats a given number of times
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1.48. 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 108 .
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
The values in an array are adjusted upwards so that a{10}:=a{9} , a{8}:=a{7} etc.
Continues on next page
1 Instructions
1.48. FOR - Repeats a given number of times
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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
See
Expressions
Technical reference manual - RAPID overview
Repeats as long as...
WHILE - Repeats as long as ... on page 705
Identifiers
Technical reference manual - RAPID overview
Continued
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1 Instructions
1.48. FOR - Repeats a given number of times
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1.48. 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 108 .
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
The values in an array are adjusted upwards so that a{10}:=a{9} , a{8}:=a{7} etc.
Continues on next page
1 Instructions
1.48. FOR - Repeats a given number of times
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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
See
Expressions
Technical reference manual - RAPID overview
Repeats as long as...
WHILE - Repeats as long as ... on page 705
Identifiers
Technical reference manual - RAPID overview
Continued
1 Instructions
1.49. GetDataVal - Get the value of a data object
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1.49. 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.
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1 Instructions
1.48. FOR - Repeats a given number of times
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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
See
Expressions
Technical reference manual - RAPID overview
Repeats as long as...
WHILE - Repeats as long as ... on page 705
Identifiers
Technical reference manual - RAPID overview
Continued
1 Instructions
1.49. GetDataVal - Get the value of a data object
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1.49. 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.
Continues on next page
1 Instructions
1.49. GetDataVal - Get the value of a data object
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[ \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, 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 TASK PERS 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 TASK PERS 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 TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
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.
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1.49. GetDataVal - Get the value of a data object
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1.49. 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.
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[ \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, 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 TASK PERS 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 TASK PERS 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 TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
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.
Continued
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1.49. GetDataVal - Get the value of a data object
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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.
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
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
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[ \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, 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 TASK PERS 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 TASK PERS 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 TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
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.
Continued
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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.
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
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
1 Instructions
1.50. GetSysData - Get system data
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1.50. 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, or PayLoad for the robot in actual or connected 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 .
Arguments
GetSysData DestObject [\ ObjectName ]
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) to fetch.
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.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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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.
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
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
1 Instructions
1.50. GetSysData - Get system data
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1.50. 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, or PayLoad for the robot in actual or connected 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 .
Arguments
GetSysData DestObject [\ ObjectName ]
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) to fetch.
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.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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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 or Work Object is activated by execution of any move
instruction. Payload is activated by execution of the instruction GripLoad .
Syntax
GetSysData
[ DestObject ’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’ :=’ < variable or persistent ( INOUT ) of string>
] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Set system data
SetSysData - Set system data on page 445
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1.50. GetSysData - Get system data
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1.50. 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, or PayLoad for the robot in actual or connected 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 .
Arguments
GetSysData DestObject [\ ObjectName ]
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) to fetch.
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.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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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 or Work Object is activated by execution of any move
instruction. Payload is activated by execution of the instruction GripLoad .
Syntax
GetSysData
[ DestObject ’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’ :=’ < variable or persistent ( INOUT ) of string>
] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Set system data
SetSysData - Set system data on page 445
Continued
1 Instructions
1.51. GetTrapData - Get interrupt data for current TRAP
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1.51. 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 115 .
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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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 or Work Object is activated by execution of any move
instruction. Payload is activated by execution of the instruction GripLoad .
Syntax
GetSysData
[ DestObject ’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’ :=’ < variable or persistent ( INOUT ) of string>
] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Set system data
SetSysData - Set system data on page 445
Continued
1 Instructions
1.51. GetTrapData - Get interrupt data for current TRAP
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1.51. 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 115 .
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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1.51. GetTrapData - Get interrupt data for current TRAP
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Interrupt data for current TRAP
trapdata - Interrupt data for current TRAP on page
1212
Orders an interrupt on errors
IError - Orders an interrupt on errors on page 126
Gets information about an error
ReadErrData - Gets information about an error on
page 349
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1.51. 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 115 .
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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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Interrupt data for current TRAP
trapdata - Interrupt data for current TRAP on page
1212
Orders an interrupt on errors
IError - Orders an interrupt on errors on page 126
Gets information about an error
ReadErrData - Gets information about an error on
page 349
Continued
1 Instructions
1.52. GOTO - Goes to a new instruction
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1.52. GOTO - Goes to a new instruction
Usage
GOTO is 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.
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1 Instructions
1.51. GetTrapData - Get interrupt data for current TRAP
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Interrupt data for current TRAP
trapdata - Interrupt data for current TRAP on page
1212
Orders an interrupt on errors
IError - Orders an interrupt on errors on page 126
Gets information about an error
ReadErrData - Gets information about an error on
page 349
Continued
1 Instructions
1.52. GOTO - Goes to a new instruction
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1.52. GOTO - Goes to a new instruction
Usage
GOTO is 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.
Continues on next page
1 Instructions
1.52. GOTO - Goes to a new instruction
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Limitations
It is only possible to transfer program execution to a label within the same routine.
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
See
Label
Label - Line name on page 207
Other instructions that change the
program flow
Technical reference manual - RAPID overview ,
section RAPID summary - Controlling the program
flow
Continued
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1 Instructions
1.52. GOTO - Goes to a new instruction
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1.52. GOTO - Goes to a new instruction
Usage
GOTO is 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.
Continues on next page
1 Instructions
1.52. GOTO - Goes to a new instruction
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Limitations
It is only possible to transfer program execution to a label within the same routine.
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
See
Label
Label - Line name on page 207
Other instructions that change the
program flow
Technical reference manual - RAPID overview ,
section RAPID summary - Controlling the program
flow
Continued
1 Instructions
1.53. GripLoad - Defines the payload for the robot
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1.53. GripLoad - Defines the payload for the robot
Usage
GripLoad is used to define the payload which the robot holds in its gripper.
Description
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than that of the value of the true load;
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
If the value in the specified load data is less than the value of the true load;
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
WARNING!
It is important to always define the actual tool load and when used the payload of the robot
too. Incorrect definitions of load data can result in overloading the robot mechanical
structure.
Basic examples
Basic examples of the instruction GripLoad are illustrated below.
Example 1
GripLoad piece1;
The robot gripper holds a load called piece1 .
Example 2
GripLoad load0;
The robot gripper releases all loads.
Arguments
GripLoad Load
Load
Data type: loaddata
The load data that describes the current payload.
Program execution
The specified load affects the performance of the robot.
The default load, 0 kg, is automatically set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
The payload is updated for the mechanical unit that are 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.
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1 Instructions
1.52. GOTO - Goes to a new instruction
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Limitations
It is only possible to transfer program execution to a label within the same routine.
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
See
Label
Label - Line name on page 207
Other instructions that change the
program flow
Technical reference manual - RAPID overview ,
section RAPID summary - Controlling the program
flow
Continued
1 Instructions
1.53. GripLoad - Defines the payload for the robot
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1.53. GripLoad - Defines the payload for the robot
Usage
GripLoad is used to define the payload which the robot holds in its gripper.
Description
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than that of the value of the true load;
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
If the value in the specified load data is less than the value of the true load;
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
WARNING!
It is important to always define the actual tool load and when used the payload of the robot
too. Incorrect definitions of load data can result in overloading the robot mechanical
structure.
Basic examples
Basic examples of the instruction GripLoad are illustrated below.
Example 1
GripLoad piece1;
The robot gripper holds a load called piece1 .
Example 2
GripLoad load0;
The robot gripper releases all loads.
Arguments
GripLoad Load
Load
Data type: loaddata
The load data that describes the current payload.
Program execution
The specified load affects the performance of the robot.
The default load, 0 kg, is automatically set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
The payload is updated for the mechanical unit that are 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.
Continues on next page
1 Instructions
1.53. GripLoad - Defines the payload for the robot
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Syntax
GripLoad
[ Load ’:=’ ] < persistent ( PERS ) of loaddata > ’;’
Related information
For information about
See
Load identification of tool or payload
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - Loadidentify, load identification
service routine
Definition of load data
loaddata - Load data on page 1132
Definition of tool load
tooldata - Tool data on page 1207
Definition of work object load
wobjdata - Work object data on page 1224
Continued
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1 Instructions
1.53. GripLoad - Defines the payload for the robot
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1.53. GripLoad - Defines the payload for the robot
Usage
GripLoad is used to define the payload which the robot holds in its gripper.
Description
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than that of the value of the true load;
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
If the value in the specified load data is less than the value of the true load;
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
WARNING!
It is important to always define the actual tool load and when used the payload of the robot
too. Incorrect definitions of load data can result in overloading the robot mechanical
structure.
Basic examples
Basic examples of the instruction GripLoad are illustrated below.
Example 1
GripLoad piece1;
The robot gripper holds a load called piece1 .
Example 2
GripLoad load0;
The robot gripper releases all loads.
Arguments
GripLoad Load
Load
Data type: loaddata
The load data that describes the current payload.
Program execution
The specified load affects the performance of the robot.
The default load, 0 kg, is automatically set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
The payload is updated for the mechanical unit that are 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.
Continues on next page
1 Instructions
1.53. GripLoad - Defines the payload for the robot
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Syntax
GripLoad
[ Load ’:=’ ] < persistent ( PERS ) of loaddata > ’;’
Related information
For information about
See
Load identification of tool or payload
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - Loadidentify, load identification
service routine
Definition of load data
loaddata - Load data on page 1132
Definition of tool load
tooldata - Tool data on page 1207
Definition of work object load
wobjdata - Work object data on page 1224
Continued
1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
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1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
Usage
HollowWristReset ( Reset hollow wris t) 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.
51840 degrees/ 904 rad).
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 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.
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1 Instructions
1.53. GripLoad - Defines the payload for the robot
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Syntax
GripLoad
[ Load ’:=’ ] < persistent ( PERS ) of loaddata > ’;’
Related information
For information about
See
Load identification of tool or payload
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - Loadidentify, load identification
service routine
Definition of load data
loaddata - Load data on page 1132
Definition of tool load
tooldata - Tool data on page 1207
Definition of work object load
wobjdata - Work object data on page 1224
Continued
1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
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121
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© Copyright 2004-2010 ABB. All rights reserved.
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
Usage
HollowWristReset ( Reset hollow wris t) 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.
51840 degrees/ 904 rad).
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 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.
Continues on next page
1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
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122
© Copyright 2004-2010 ABB. All rights reserved.
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 Service Rout.” 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
See
Related system parameters
Technical reference manual - System parameters , section
Motion - Arm - Independent Joint
Return to path
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Continued
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1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
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© Copyright 2004-2010 ABB. All rights reserved.
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
Usage
HollowWristReset ( Reset hollow wris t) 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.
51840 degrees/ 904 rad).
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 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.
Continues on next page
1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
RobotWare - OS
3HAC 16581-1 Revision: J
122
© Copyright 2004-2010 ABB. All rights reserved.
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 Service Rout.” 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
See
Related system parameters
Technical reference manual - System parameters , section
Motion - Arm - Independent Joint
Return to path
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Continued
1 Instructions
1.55. IDelete - Cancels an interrupt
IDelete
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1.55. 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
•
a new program is loaded
•
the program is restarted from the beginning
•
the program pointer is moved to the start of a routine
Syntax
IDelete [ Interrupt ´:=’ ] < variable ( VAR ) of intnum > ´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Temporarily disabling an interrupt
ISleep - Deactivates an interrupt on page 198
Temporarily disabling all interrupts
IDisable - Disables interrupts on page 124
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1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
RobotWare - OS
3HAC 16581-1 Revision: J
122
© Copyright 2004-2010 ABB. All rights reserved.
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 Service Rout.” 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
See
Related system parameters
Technical reference manual - System parameters , section
Motion - Arm - Independent Joint
Return to path
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Continued
1 Instructions
1.55. IDelete - Cancels an interrupt
IDelete
123
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1.55. 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
•
a new program is loaded
•
the program is restarted from the beginning
•
the program pointer is moved to the start of a routine
Syntax
IDelete [ Interrupt ´:=’ ] < variable ( VAR ) of intnum > ´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Temporarily disabling an interrupt
ISleep - Deactivates an interrupt on page 198
Temporarily disabling all interrupts
IDisable - Disables interrupts on page 124
1 Instructions
1.56. IDisable - Disables interrupts
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1.56. 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
•
at a cold start-up
•
when starting program execution from the beginning of main
•
after executing one cycle (passing main ) or executing ExitCycle
Syntax
IDisable´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupt
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting interrupts
IEnable - Enables interrupts on page 125
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1 Instructions
1.55. IDelete - Cancels an interrupt
IDelete
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1.55. 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
•
a new program is loaded
•
the program is restarted from the beginning
•
the program pointer is moved to the start of a routine
Syntax
IDelete [ Interrupt ´:=’ ] < variable ( VAR ) of intnum > ´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Temporarily disabling an interrupt
ISleep - Deactivates an interrupt on page 198
Temporarily disabling all interrupts
IDisable - Disables interrupts on page 124
1 Instructions
1.56. IDisable - Disables interrupts
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1.56. 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
•
at a cold start-up
•
when starting program execution from the beginning of main
•
after executing one cycle (passing main ) or executing ExitCycle
Syntax
IDisable´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupt
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting interrupts
IEnable - Enables interrupts on page 125
1 Instructions
1.57. IEnable - Enables interrupts
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1.57. 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting no interrupts
IDisable - Disables interrupts on page 124
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1.56. IDisable - Disables interrupts
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1.56. 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
•
at a cold start-up
•
when starting program execution from the beginning of main
•
after executing one cycle (passing main ) or executing ExitCycle
Syntax
IDisable´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupt
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting interrupts
IEnable - Enables interrupts on page 125
1 Instructions
1.57. IEnable - Enables interrupts
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1.57. 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting no interrupts
IDisable - Disables interrupts on page 124
1 Instructions
1.58. IError - Orders an interrupt on errors
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1.58. 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 127 .
Example 1
VAR intnum err_int;
...
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 .
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.
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1.57. IEnable - Enables interrupts
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1.57. 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupt
Permitting no interrupts
IDisable - Disables interrupts on page 124
1 Instructions
1.58. IError - Orders an interrupt on errors
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1.58. 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 127 .
Example 1
VAR intnum err_int;
...
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 .
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.
Continues on next page
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1.58. IError - Orders an interrupt on errors
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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;
...
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
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
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.
PROC main ( )
VAR intnum err_interrupt;
CONNECT err_interrupt WITH err_trap;
IError COMMON_ERR, TYPE_ERR, err_interupt;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
Continued
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1.58. IError - Orders an interrupt on errors
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1.58. 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 127 .
Example 1
VAR intnum err_int;
...
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 .
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.
Continues on next page
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1.58. IError - Orders an interrupt on errors
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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;
...
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
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
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.
PROC main ( )
VAR intnum err_interrupt;
CONNECT err_interrupt WITH err_trap;
IError COMMON_ERR, TYPE_ERR, err_interupt;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
Continued
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1.58. IError - Orders an interrupt on errors
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Interrupts are activated at the beginning of the program. These instructions in the beginning
are then kept outside the main flow of the program.
PROC main ( )
VAR intnum err_interrupt;
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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt management Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Error domains, predefined constants
errdomain - Error domain on page 1106
Error types, predefined constants
errtype - Error type on page 1115
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an error
on page 349
Continued
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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;
...
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
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
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.
PROC main ( )
VAR intnum err_interrupt;
CONNECT err_interrupt WITH err_trap;
IError COMMON_ERR, TYPE_ERR, err_interupt;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
Continued
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1.58. IError - Orders an interrupt on errors
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Interrupts are activated at the beginning of the program. These instructions in the beginning
are then kept outside the main flow of the program.
PROC main ( )
VAR intnum err_interrupt;
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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt management Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Error domains, predefined constants
errdomain - Error domain on page 1106
Error types, predefined constants
errtype - Error type on page 1115
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an error
on page 349
Continued
1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
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1.59. 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 130 .
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.
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Interrupts are activated at the beginning of the program. These instructions in the beginning
are then kept outside the main flow of the program.
PROC main ( )
VAR intnum err_interrupt;
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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt management Technical reference manual - RAPID overview ,
section Basic characteristics- Interrupts
Error domains, predefined constants
errdomain - Error domain on page 1106
Error types, predefined constants
errtype - Error type on page 1115
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an error
on page 349
Continued
1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
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1.59. 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 130 .
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.
Continues on next page
1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
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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;
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
See
Conditions (logical expressions)
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Continued
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1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
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1.59. 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 130 .
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.
Continues on next page
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1.59. IF - If a condition is met, then ...; otherwise ...
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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;
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
See
Conditions (logical expressions)
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Continued
1 Instructions
1.60. Incr - Increments by 1
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1.60. 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 131 .
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
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.
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1.59. IF - If a condition is met, then ...; otherwise ...
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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;
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
See
Conditions (logical expressions)
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Continued
1 Instructions
1.60. Incr - Increments by 1
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1.60. 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 131 .
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
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.
Continues on next page
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1.60. Incr - Increments by 1
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Syntax
Incr
[ Name ’:=’ ] < var or pers ( INOUT ) of num >
| [ Dname’ :=’ ] < var or pers ( INOUT ) of dnum >’ ;’
Related information
For information about
See
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Adding any value to a variable
Add - Adds a numeric value on page 19
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
Continued
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1.60. Incr - Increments by 1
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1.60. 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 131 .
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
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.
Continues on next page
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1.60. Incr - Increments by 1
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Syntax
Incr
[ Name ’:=’ ] < var or pers ( INOUT ) of num >
| [ Dname’ :=’ ] < var or pers ( INOUT ) of dnum >’ ;’
Related information
For information about
See
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Adding any value to a variable
Add - Adds a numeric value on page 19
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
Continued
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
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1.61. 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 135 .
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.
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1.60. Incr - Increments by 1
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Syntax
Incr
[ Name ’:=’ ] < var or pers ( INOUT ) of num >
| [ Dname’ :=’ ] < var or pers ( INOUT ) of dnum >’ ;’
Related information
For information about
See
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Adding any value to a variable
Add - Adds a numeric value on page 19
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
Continued
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
133
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1.61. 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 135 .
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.
Continues on next page
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1.61. IndAMove - Independent absolute position movement
Independent Axis
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[\ToAbsNum]
To Absolute Numeric value
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% = maximum performance).
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.
Continued
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1.61. IndAMove - Independent absolute position movement
Independent Axis
133
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1.61. 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 135 .
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.
Continues on next page
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1.61. IndAMove - Independent absolute position movement
Independent Axis
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[\ToAbsNum]
To Absolute Numeric value
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% = maximum performance).
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.
Continued
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1.61. IndAMove - Independent absolute position movement
Independent Axis
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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 > ] ’;’
Continued
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1.61. IndAMove - Independent absolute position movement
Independent Axis
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[\ToAbsNum]
To Absolute Numeric value
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% = maximum performance).
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.
Continued
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1.61. IndAMove - Independent absolute position movement
Independent Axis
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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 > ] ’;’
Continued
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1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
3HAC 16581-1 Revision: J
136
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID
overview , section Motion and I/O Principles -
Positioning during program execution -
Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous
movement on page 137
Check the speed status for independent axes IndSpeed - Independent speed status on
page 873
Check the position status for independent
axes
IndInpos - Independent axis in position status
on page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm -
Independent Joint
Continued
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Independent Axis
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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 > ] ’;’
Continued
Continues on next page
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
3HAC 16581-1 Revision: J
136
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID
overview , section Motion and I/O Principles -
Positioning during program execution -
Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous
movement on page 137
Check the speed status for independent axes IndSpeed - Independent speed status on
page 873
Check the position status for independent
axes
IndInpos - Independent axis in position status
on page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm -
Independent Joint
Continued
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
137
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© Copyright 2004-2010 ABB. All rights reserved.
1.62. 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 139 .
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% = maximum performance).
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1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
3HAC 16581-1 Revision: J
136
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID
overview , section Motion and I/O Principles -
Positioning during program execution -
Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous
movement on page 137
Check the speed status for independent axes IndSpeed - Independent speed status on
page 873
Check the position status for independent
axes
IndInpos - Independent axis in position status
on page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm -
Independent Joint
Continued
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
137
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.62. 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 139 .
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% = maximum performance).
Continues on next page
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
3HAC 16581-1 Revision: J
138
© Copyright 2004-2010 ABB. All rights reserved.
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.
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 ).
Continued
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1.62. IndCMove - Independent continuous movement
Independent Axis
137
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1.62. 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 139 .
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% = maximum performance).
Continues on next page
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
3HAC 16581-1 Revision: J
138
© Copyright 2004-2010 ABB. All rights reserved.
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.
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 ).
Continued
Continues on next page
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
139
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© Copyright 2004-2010 ABB. All rights reserved.
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;
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 > ] ’;’
Continued
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1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
3HAC 16581-1 Revision: J
138
© Copyright 2004-2010 ABB. All rights reserved.
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.
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 ).
Continued
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1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
139
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© Copyright 2004-2010 ABB. All rights reserved.
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;
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 > ] ’;’
Continued
Continues on next page
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
3HAC 16581-1 Revision: J
140
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position movement
on page 141
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
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Independent Axis
139
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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;
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 > ] ’;’
Continued
Continues on next page
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
3HAC 16581-1 Revision: J
140
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position movement
on page 141
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
141
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.63. 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 142 .
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
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
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1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
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140
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position movement
on page 141
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
141
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1.63. 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 142 .
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
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Continues on next page
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
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142
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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;
WaitTime 0.2;
IndDMove Station_A,2,-30,20;
WaitUntil IndInpos(ROB_1,6) = TRUE;
WaitTime 0.2;
IndDMove ROB_1,6,400,20;
Continued
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1.63. IndDMove - Independent delta position movement
Independent Axis
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1.63. 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 142 .
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
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Continues on next page
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
3HAC 16581-1 Revision: J
142
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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;
WaitTime 0.2;
IndDMove Station_A,2,-30,20;
WaitUntil IndInpos(ROB_1,6) = TRUE;
WaitTime 0.2;
IndDMove ROB_1,6,400,20;
Continued
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1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
143
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Axis 6 of the robot is moved to the following positions:
•
90 degrees
•
60 degrees
•
460 degrees (1 revolution + 100 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
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 > ] ’;’
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
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Independent Axis
3HAC 16581-1 Revision: J
142
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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;
WaitTime 0.2;
IndDMove Station_A,2,-30,20;
WaitUntil IndInpos(ROB_1,6) = TRUE;
WaitTime 0.2;
IndDMove ROB_1,6,400,20;
Continued
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1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
143
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Axis 6 of the robot is moved to the following positions:
•
90 degrees
•
60 degrees
•
460 degrees (1 revolution + 100 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
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 > ] ’;’
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
3HAC 16581-1 Revision: J
144
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1.64. 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 147 .
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).
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1.63. IndDMove - Independent delta position movement
Independent Axis
143
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Axis 6 of the robot is moved to the following positions:
•
90 degrees
•
60 degrees
•
460 degrees (1 revolution + 100 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
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 > ] ’;’
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
3HAC 16581-1 Revision: J
144
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1.64. 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 147 .
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).
Continues on next page
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Independent Axis
145
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[ \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.
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.
Continued
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1.64. IndReset - Independent reset
Independent Axis
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1.64. 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 147 .
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).
Continues on next page
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Independent Axis
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[ \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.
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.
Continued
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Independent Axis
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[ \Old ]
Data type: switch
Keeps the old position.
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 axis 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 models IRB2400 and IRB 4400. 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 motion it has to reach a stop condition ot the
user has to for example move PP to main.
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[ \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.
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.
Continued
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Independent Axis
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[ \Old ]
Data type: switch
Keeps the old position.
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 axis 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 models IRB2400 and IRB 4400. 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 motion it has to reach a stop condition ot the
user has to for example move PP to main.
Continued
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1 Instructions
1.64. IndReset - Independent reset
Independent Axis
147
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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
390 degrees (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 ]’;’
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[ \Old ]
Data type: switch
Keeps the old position.
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 axis 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 models IRB2400 and IRB 4400. 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 motion it has to reach a stop condition ot the
user has to for example move PP to main.
Continued
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1 Instructions
1.64. IndReset - Independent reset
Independent Axis
147
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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
390 degrees (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 ]’;’
Continued
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1 Instructions
1.64. IndReset - Independent reset
Independent Axis
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148
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change an axis to independent mode
IndAMove - Independent absolute position
movement on page 133
IndCMove - Independent continuous movement
on page 137
IndDMove - Independent delta position movement
on page 141
IndRMove - Independent relative position
movement on page 149
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
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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
390 degrees (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 ]’;’
Continued
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1 Instructions
1.64. IndReset - Independent reset
Independent Axis
3HAC 16581-1 Revision: J
148
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change an axis to independent mode
IndAMove - Independent absolute position
movement on page 133
IndCMove - Independent continuous movement
on page 137
IndDMove - Independent delta position movement
on page 141
IndRMove - Independent relative position
movement on page 149
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
149
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1.65. 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 152 .
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 .
For robot axes the argument \ToRelNum is to be used instead.
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Independent Axis
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change an axis to independent mode
IndAMove - Independent absolute position
movement on page 133
IndCMove - Independent continuous movement
on page 137
IndDMove - Independent delta position movement
on page 141
IndRMove - Independent relative position
movement on page 149
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm - Independent Joint
Continued
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
149
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1.65. 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 152 .
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 .
For robot axes the argument \ToRelNum is to be used instead.
Continues on next page
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1.65. IndRMove - Independent relative position movement
Independent Axis
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[ \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% = maximum performance).
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1.65. IndRMove - Independent relative position movement
Independent Axis
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1.65. 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 152 .
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 .
For robot axes the argument \ToRelNum is to be used instead.
Continues on next page
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1.65. IndRMove - Independent relative position movement
Independent Axis
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[ \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% = maximum performance).
Continued
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1.65. IndRMove - Independent relative position movement
Independent Axis
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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 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 ).
Continued
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Independent Axis
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[ \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% = maximum performance).
Continued
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1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
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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 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 ).
Continued
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1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
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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;
IndAMove Station_A,1\ToAbsNum:=10,20;
Axis 1 of Station_A is moved to the following positions:
•
90 degrees
•
440 degrees (1 revolution + 80 degrees)
•
410 degrees (1 revolution + 50 degrees)
•
510 degrees (1 revolution + 150 degrees)
•
10 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
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 > ] ’;’
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1.65. IndRMove - Independent relative position movement
Independent Axis
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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 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 ).
Continued
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1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
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152
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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;
IndAMove Station_A,1\ToAbsNum:=10,20;
Axis 1 of Station_A is moved to the following positions:
•
90 degrees
•
440 degrees (1 revolution + 80 degrees)
•
410 degrees (1 revolution + 50 degrees)
•
510 degrees (1 revolution + 150 degrees)
•
10 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
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 > ] ’;’
Continued
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1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
153
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for independent
axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm - Independent
Joint
Continued
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1.65. IndRMove - Independent relative position movement
Independent Axis
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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;
IndAMove Station_A,1\ToAbsNum:=10,20;
Axis 1 of Station_A is moved to the following positions:
•
90 degrees
•
440 degrees (1 revolution + 80 degrees)
•
410 degrees (1 revolution + 50 degrees)
•
510 degrees (1 revolution + 150 degrees)
•
10 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
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 > ] ’;’
Continued
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1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
153
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for independent
axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm - Independent
Joint
Continued
1 Instructions
1.66. InvertDO - Inverts the value of a digital output signal
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1.66. 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 error can be generated. The error can be handled in an error
handler. If there is no contact with the unit the system variable ERRNO will be set to:
ERR_NORUNUNIT
Syntax
InvertDO
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
Related information
For information about
See
Input/Output instructions
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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1.65. IndRMove - Independent relative position movement
Independent Axis
153
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Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for independent
axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System
parameters , section Motion - Arm - Independent
Joint
Continued
1 Instructions
1.66. InvertDO - Inverts the value of a digital output signal
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1.66. 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 error can be generated. The error can be handled in an error
handler. If there is no contact with the unit the system variable ERRNO will be set to:
ERR_NORUNUNIT
Syntax
InvertDO
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
Related information
For information about
See
Input/Output instructions
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
1 Instructions
1.67. IOBusStart - Start of I/O bus
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1.67. 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 bus with the name IBS .
Arguments
IOBusStart BusName
BusName
Data type: string
The name of bus to start.
Program execution
Start the bus with the name specified in the parameter BusName .
Error handling
The system variable ERRNO will be set to ERR_NAME_INVALID if the 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
See
How to get I/O bus state
IOBusState - Get current state of I/O bus on
page 156
Configuration of I/O
Technical reference manual - System
parameters
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1.66. InvertDO - Inverts the value of a digital output signal
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1.66. 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 error can be generated. The error can be handled in an error
handler. If there is no contact with the unit the system variable ERRNO will be set to:
ERR_NORUNUNIT
Syntax
InvertDO
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
Related information
For information about
See
Input/Output instructions
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
1 Instructions
1.67. IOBusStart - Start of I/O bus
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1.67. 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 bus with the name IBS .
Arguments
IOBusStart BusName
BusName
Data type: string
The name of bus to start.
Program execution
Start the bus with the name specified in the parameter BusName .
Error handling
The system variable ERRNO will be set to ERR_NAME_INVALID if the 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
See
How to get I/O bus state
IOBusState - Get current state of I/O bus on
page 156
Configuration of I/O
Technical reference manual - System
parameters
1 Instructions
1.68. IOBusState - Get current state of I/O bus
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1.68. 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 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 bus state of IBS in the bstate variable of type busstate .
Arguments
IOBusState BusName State [\Phys] | [\Logic]
BusName
Data type: string
The name of bus to get state about.
State
Data type: busstate
The variable in which the bus state is returned. See predefined data of type busstate below
at Program execution.
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1.67. IOBusStart - Start of I/O bus
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1.67. 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 bus with the name IBS .
Arguments
IOBusStart BusName
BusName
Data type: string
The name of bus to start.
Program execution
Start the bus with the name specified in the parameter BusName .
Error handling
The system variable ERRNO will be set to ERR_NAME_INVALID if the 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
See
How to get I/O bus state
IOBusState - Get current state of I/O bus on
page 156
Configuration of I/O
Technical reference manual - System
parameters
1 Instructions
1.68. IOBusState - Get current state of I/O bus
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1.68. 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 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 bus state of IBS in the bstate variable of type busstate .
Arguments
IOBusState BusName State [\Phys] | [\Logic]
BusName
Data type: string
The name of bus to get state about.
State
Data type: busstate
The variable in which the bus state is returned. See predefined data of type busstate below
at Program execution.
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1.68. IOBusState - Get current state of I/O bus
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[\Phys]
Physical
Data type: switch
If using this parameter the physical state of the bus is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the bus is read.
Program execution
Returning in parameter State the state of the 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 .
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 .
-
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 argument \Phys or \Logic .
Return value
Symbolic constant
Comment
10
IOBUS_LOG_STATE_STOPPED
Bus is stopped due to error 2)
11
IOBUS_LOG_STATE_STARTED
Bus is started 1)
Return value
Symbolic constant
Comment
20
IOBUS_PHYS_STATE_HALTED
Bus is halted 3)
21
IOBUS_PHYS_STATE_RUNNING
Bus is up and running 1)
22
IOBUS_PHYS_STATE_ERROR
Bus is not working 2)
23
IOBUS_PHYS_STATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
24
IOBUS_PHYS_STATE_INIT
Bus is only created 3)
Continued
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1.68. 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 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 bus state of IBS in the bstate variable of type busstate .
Arguments
IOBusState BusName State [\Phys] | [\Logic]
BusName
Data type: string
The name of bus to get state about.
State
Data type: busstate
The variable in which the bus state is returned. See predefined data of type busstate below
at Program execution.
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[\Phys]
Physical
Data type: switch
If using this parameter the physical state of the bus is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the bus is read.
Program execution
Returning in parameter State the state of the 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 .
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 .
-
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 argument \Phys or \Logic .
Return value
Symbolic constant
Comment
10
IOBUS_LOG_STATE_STOPPED
Bus is stopped due to error 2)
11
IOBUS_LOG_STATE_STARTED
Bus is started 1)
Return value
Symbolic constant
Comment
20
IOBUS_PHYS_STATE_HALTED
Bus is halted 3)
21
IOBUS_PHYS_STATE_RUNNING
Bus is up and running 1)
22
IOBUS_PHYS_STATE_ERROR
Bus is not working 2)
23
IOBUS_PHYS_STATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
24
IOBUS_PHYS_STATE_INIT
Bus is only created 3)
Continued
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1 Instructions
1.68. IOBusState - Get current state of I/O bus
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The state of the I/O bus is defined in the table below when not using any of the optional
argument \Phys or \Logic .
1) If the 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 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 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
Return value
Symbolic constant
Comment
0
BUSSTATE_HALTED
Bus is halted 3)
1
BUSSTATE_RUN
Bus is up and running 1)
2
BUSSTATE_ERROR
Bus is not working 2)
3
BUSSTATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
4
BUSSTATE_INIT
Bus is only created 3)
For information about
See
Definition of bus state
busstate - State of I/O bus on page 1088
Start of I/O bus
IOBusStart - Start of I/O bus on page 155
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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[\Phys]
Physical
Data type: switch
If using this parameter the physical state of the bus is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the bus is read.
Program execution
Returning in parameter State the state of the 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 .
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 .
-
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 argument \Phys or \Logic .
Return value
Symbolic constant
Comment
10
IOBUS_LOG_STATE_STOPPED
Bus is stopped due to error 2)
11
IOBUS_LOG_STATE_STARTED
Bus is started 1)
Return value
Symbolic constant
Comment
20
IOBUS_PHYS_STATE_HALTED
Bus is halted 3)
21
IOBUS_PHYS_STATE_RUNNING
Bus is up and running 1)
22
IOBUS_PHYS_STATE_ERROR
Bus is not working 2)
23
IOBUS_PHYS_STATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
24
IOBUS_PHYS_STATE_INIT
Bus is only created 3)
Continued
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1.68. IOBusState - Get current state of I/O bus
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The state of the I/O bus is defined in the table below when not using any of the optional
argument \Phys or \Logic .
1) If the 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 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 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
Return value
Symbolic constant
Comment
0
BUSSTATE_HALTED
Bus is halted 3)
1
BUSSTATE_RUN
Bus is up and running 1)
2
BUSSTATE_ERROR
Bus is not working 2)
3
BUSSTATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
4
BUSSTATE_INIT
Bus is only created 3)
For information about
See
Definition of bus state
busstate - State of I/O bus on page 1088
Start of I/O bus
IOBusStart - Start of I/O bus on page 155
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
Continued
1 Instructions
1.69. IODisable - Disable I/O unit
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1.69. 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 a unit with Trustlevel set to Required.
Basic examples
Basic examples of the instruction IODisable are illustrated below.
See also More examples on page 160 .
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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The state of the I/O bus is defined in the table below when not using any of the optional
argument \Phys or \Logic .
1) If the 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 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 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
Return value
Symbolic constant
Comment
0
BUSSTATE_HALTED
Bus is halted 3)
1
BUSSTATE_RUN
Bus is up and running 1)
2
BUSSTATE_ERROR
Bus is not working 2)
3
BUSSTATE_STARTUP
Bus is in start up mode, is not com-
municating with any units.
4
BUSSTATE_INIT
Bus is only created 3)
For information about
See
Definition of bus state
busstate - State of I/O bus on page 1088
Start of I/O bus
IOBusStart - Start of I/O bus on page 155
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
Continued
1 Instructions
1.69. IODisable - Disable I/O unit
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1.69. 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 a unit with Trustlevel set to Required.
Basic examples
Basic examples of the instruction IODisable are illustrated below.
See also More examples on page 160 .
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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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:
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
5 s), 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 ).
ERR_IODISABLE
if the time out time runs out before the unit is deactivated.
ERR_TRUSTLEVEL
if the trustlevel on the unit is set to 0, then the unit can´t be
deactivated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
deactivated.
Continued
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1.69. 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 a unit with Trustlevel set to Required.
Basic examples
Basic examples of the instruction IODisable are illustrated below.
See also More examples on page 160 .
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.
Continues on next page
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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:
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
5 s), 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 ).
ERR_IODISABLE
if the time out time runs out before the unit is deactivated.
ERR_TRUSTLEVEL
if the trustlevel on the unit is set to 0, then the unit can´t be
deactivated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
deactivated.
Continued
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Syntax
IODisable
[ UnitName ’:=’ ] < expression ( IN ) of string> ’,’
[ MaxTime ’:=’ ] < expression ( IN ) of num> ’;’
Related information
For information about
See
Enabling an I/O unit
IOEnable - Enable I/O unit on page 162
Input/Output instructions
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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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:
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
5 s), 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 ).
ERR_IODISABLE
if the time out time runs out before the unit is deactivated.
ERR_TRUSTLEVEL
if the trustlevel on the unit is set to 0, then the unit can´t be
deactivated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
deactivated.
Continued
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1.69. IODisable - Disable I/O unit
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Syntax
IODisable
[ UnitName ’:=’ ] < expression ( IN ) of string> ’,’
[ MaxTime ’:=’ ] < expression ( IN ) of num> ’;’
Related information
For information about
See
Enabling an I/O unit
IOEnable - Enable I/O unit on page 162
Input/Output instructions
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
Continued
1 Instructions
1.70. IOEnable - Enable I/O unit
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1.70. 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 a 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 163 .
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 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 ).
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Syntax
IODisable
[ UnitName ’:=’ ] < expression ( IN ) of string> ’,’
[ MaxTime ’:=’ ] < expression ( IN ) of num> ’;’
Related information
For information about
See
Enabling an I/O unit
IOEnable - Enable I/O unit on page 162
Input/Output instructions
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
Continued
1 Instructions
1.70. IOEnable - Enable I/O unit
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162
© Copyright 2004-2010 ABB. All rights reserved.
1.70. 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 a 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 163 .
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 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 ).
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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:
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 > ’;’
ERR_IOENABLE
if the time out time runs out before the unit is activated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
activated.
ERR_BUSSTATE
if an IOEnable is done, and the bus is in error state or
enter error state before the unit is activated.
Continued
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1.70. 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 a 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 163 .
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 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 ).
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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:
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 > ’;’
ERR_IOENABLE
if the time out time runs out before the unit is activated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
activated.
ERR_BUSSTATE
if an IOEnable is done, and the bus is in error state or
enter error state before the unit is activated.
Continued
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Related information
For information about
See
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
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
Continued
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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:
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 > ’;’
ERR_IOENABLE
if the time out time runs out before the unit is activated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
activated.
ERR_BUSSTATE
if an IOEnable is done, and the bus is in error state or
enter error state before the unit is activated.
Continued
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Related information
For information about
See
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
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
Continued
1 Instructions
1.71. IPers - Interrupt at value change of a persistent variable
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1.71. 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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Related information
For information about
See
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
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
Continued
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1.71. IPers - Interrupt at value change of a persistent variable
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1.71. 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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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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information about interrupt
management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.71. 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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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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information about interrupt
management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
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1.72. 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 More Examples .
Example 1
VAR intnum rmqint;
VAR string dummy;
...
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 iroutine1 TRAP 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 .
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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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information about interrupt
management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
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1.72. 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 More Examples .
Example 1
VAR intnum rmqint;
VAR string dummy;
...
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 iroutine1 TRAP 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 .
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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).
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
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1.72. 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 More Examples .
Example 1
VAR intnum rmqint;
VAR string dummy;
...
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 iroutine1 TRAP 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 .
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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).
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
Continued
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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!"
ENDIF
ENDTRAP
ENDMODULE
The example show how to set up interrupts for a specific data type. When a message is
received, the TRAP RecMsgs 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.
PROC main ()
VAR intnum rmqint;
VAR mytype dummy;
CONNECT rmq1int WITH iroutine1;
IRMQMessage dummy, rmqint;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
Continued
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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).
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
Continued
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
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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!"
ENDIF
ENDTRAP
ENDMODULE
The example show how to set up interrupts for a specific data type. When a message is
received, the TRAP RecMsgs 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.
PROC main ()
VAR intnum rmqint;
VAR mytype dummy;
CONNECT rmq1int WITH iroutine1;
IRMQMessage dummy, rmqint;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
Continued
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
170
© Copyright 2004-2010 ABB. All rights reserved.
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.
PROC main ( )
VAR intnum rmqint;
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
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the header data from a rmqmessage . RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Extract the data from a rmqmessage .
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Get the slot name from a specified slot
identity.
RMQGetSlotName - Get the name of an
RMQ client on page 964
Continued
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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!"
ENDIF
ENDTRAP
ENDMODULE
The example show how to set up interrupts for a specific data type. When a message is
received, the TRAP RecMsgs 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.
PROC main ()
VAR intnum rmqint;
VAR mytype dummy;
CONNECT rmq1int WITH iroutine1;
IRMQMessage dummy, rmqint;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
Continued
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
170
© Copyright 2004-2010 ABB. All rights reserved.
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.
PROC main ( )
VAR intnum rmqint;
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
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the header data from a rmqmessage . RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Extract the data from a rmqmessage .
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Get the slot name from a specified slot
identity.
RMQGetSlotName - Get the name of an
RMQ client on page 964
Continued
1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
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1.73. 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;
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.
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
170
© Copyright 2004-2010 ABB. All rights reserved.
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.
PROC main ( )
VAR intnum rmqint;
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
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the header data from a rmqmessage . RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Extract the data from a rmqmessage .
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Get the slot name from a specified slot
identity.
RMQGetSlotName - Get the name of an
RMQ client on page 964
Continued
1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
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1.73. 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;
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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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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1.73. 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;
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.
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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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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 LowValue Condition , 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. Acomparison is
made between the current signal value and the last stored reference value to decide if an
interrupt should be generated or not.
Continued
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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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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 LowValue Condition , 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. Acomparison 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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Condition for interrupt generation at interrupt subscription time
xx0500002165
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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 LowValue Condition , 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. Acomparison 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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Condition for interrupt generation at interrupt subscription time
xx0500002165
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Condition for interrupt generation at each sample after interrupt subscription
xx0500002166
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Condition for interrupt generation at interrupt subscription time
xx0500002165
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Condition for interrupt generation at each sample after interrupt subscription
xx0500002166
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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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Condition for interrupt generation at each sample after interrupt subscription
xx0500002166
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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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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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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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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 .
Continued
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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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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 .
Continued
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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 .
Continued
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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
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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 .
Continued
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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
Continued
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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 unit.
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>’;’
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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
Continued
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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 unit.
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>’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog output signal
ISignalAO - Interrupts from analog output
signal on page 182
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital input
signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
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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 unit.
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>’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog output signal
ISignalAO - Interrupts from analog output
signal on page 182
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital input
signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
Continued
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1.74. 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;
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.
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog output signal
ISignalAO - Interrupts from analog output
signal on page 182
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital input
signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
Continued
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1.74. 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;
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.
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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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1.74. 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;
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.
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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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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 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>’;’
Continued
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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:
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 .
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continued
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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 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>’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal
on page 171
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
RAPID reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
Continued
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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 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>’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal
on page 171
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
RAPID reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
Continued
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1.75. ISignalDI - Orders interrupts from a digital input signal
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1.75. 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;
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
The name of the signal that is to generate interrupts.
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal
on page 171
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
RAPID reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters , section IO signals
Continued
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1.75. ISignalDI - Orders interrupts from a digital input signal
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1.75. 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;
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
The name of the signal that is to generate interrupts.
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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 unit.
Continued
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1.75. 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;
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
The name of the signal that is to generate interrupts.
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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 unit.
Continued
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output signal on
page 189
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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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 unit.
Continued
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output signal on
page 189
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.76. 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;
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
The name of the signal that is to generate interrupts.
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output signal on
page 189
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.76. 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;
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
The name of the signal that is to generate interrupts.
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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 unit.
Continued
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1.76. 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;
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
The name of the signal that is to generate interrupts.
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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 unit.
Continued
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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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 unit.
Continued
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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1.77. 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;
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 .
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.
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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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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1.77. 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;
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 .
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.
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, 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
ISignalGI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’,’
[ Interrupt’:=’ ] < variable ( VAR ) of intnum > ’;’
Continued
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1.77. 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;
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 .
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.
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, 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
ISignalGI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’,’
[ Interrupt’:=’ ] < variable ( VAR ) of intnum > ’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital input signal
on page 186
Interrupt from group output signals
ISignalGO - Orders interrupts from a group of digital
output signals on page 195
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, 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
ISignalGI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’,’
[ Interrupt’:=’ ] < variable ( VAR ) of intnum > ’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital input signal
on page 186
Interrupt from group output signals
ISignalGO - Orders interrupts from a group of digital
output signals on page 195
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.78. 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;
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 .
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.
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital input signal
on page 186
Interrupt from group output signals
ISignalGO - Orders interrupts from a group of digital
output signals on page 195
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.78. 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;
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 .
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.
Continues on next page
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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 > ’;’
Continued
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1.78. 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;
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 .
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.
Continues on next page
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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 > ’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output
signal on page 189
Interrupt from group input signals
ISignalGI - Orders interrupts from a group of
digital input signals on page 192
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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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 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.
PROC main ( )
VAR intnum sig1int;
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.
PROC main ( )
VAR intnum sig1int;
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 > ’;’
Continued
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output
signal on page 189
Interrupt from group input signals
ISignalGI - Orders interrupts from a group of
digital input signals on page 192
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
1 Instructions
1.79. ISleep - Deactivates an interrupt
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1.79. 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 198 .
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;
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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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output
signal on page 189
Interrupt from group input signals
ISignalGI - Orders interrupts from a group of
digital input signals on page 192
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics -
Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Continued
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1.79. ISleep - Deactivates an interrupt
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1.79. 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 198 .
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;
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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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 1108 ). 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Enabling an interrupt
IWatch - Activates an interrupt on page 205
Disabling all interrupts
IDisable - Disables interrupts on page 124
Cancelling an interrupt
IDelete - Cancels an interrupt on page 123
Continued
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1.79. 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 198 .
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;
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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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 1108 ). 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Enabling an interrupt
IWatch - Activates an interrupt on page 205
Disabling all interrupts
IDisable - Disables interrupts on page 124
Cancelling an interrupt
IDelete - Cancels an interrupt on page 123
Continued
1 Instructions
1.80. ITimer - Orders a timed interrupt
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1.80. 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 201 .
Example 1
VAR intnum timeint;
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.
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 .
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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 1108 ). 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
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Enabling an interrupt
IWatch - Activates an interrupt on page 205
Disabling all interrupts
IDisable - Disables interrupts on page 124
Cancelling an interrupt
IDelete - Cancels an interrupt on page 123
Continued
1 Instructions
1.80. ITimer - Orders a timed interrupt
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1.80. 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 201 .
Example 1
VAR intnum timeint;
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.
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 .
Continues on next page
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1.80. ITimer - Orders a timed interrupt
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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;
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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Continued
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1.80. ITimer - Orders a timed interrupt
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1.80. 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 201 .
Example 1
VAR intnum timeint;
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.
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 .
Continues on next page
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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;
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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Continued
1 Instructions
1.81. IVarValue - orders a variable value interrupt
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1.81. 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
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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;
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
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic Characteristics-
Interrupts
Continued
1 Instructions
1.81. IVarValue - orders a variable value interrupt
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1.81. 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
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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};
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.
Continued
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1.81. IVarValue - orders a variable value interrupt
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1.81. 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
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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};
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.
Continued
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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.
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
See
Connect to a sensor device
SenDevice - connect to a sensor device on page
425
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupts
Optical Tracking
Application manual - Continuous application
platform
Optical Tracking Art
Application manual - Arc and Arc Sensor
Continued
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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};
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.
Continued
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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.
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
See
Connect to a sensor device
SenDevice - connect to a sensor device on page
425
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
More information on interrupt
management
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupts
Optical Tracking
Application manual - Continuous application
platform
Optical Tracking Art
Application manual - Arc and Arc Sensor
Continued
1 Instructions
1.82. IWatch - Activates an interrupt
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1.82. 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 205 .
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;
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 1108 ).
The error can be handled in the error handler.
Syntax
IWatch
[ Interrupt ‘:=’ ] < variable ( VAR ) of intnum > ‘;’
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