Document Name stringclasses 11
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ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 107 | 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 d... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 108 | 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 restar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 109 | 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 in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 110 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 111 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 112 | 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 counte... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 113 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 114 | 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 val... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 115 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 116 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 117 | 1 Instructions
1.50. GetSysData - Get system data
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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 \ObjectN... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 118 | 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
caus... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 119 | 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 i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 120 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 121 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 122 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 123 | 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
Operat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 124 | 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 wr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 125 | 1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
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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 Hollow... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 126 | 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, th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 127 | 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 sensiti... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 128 | 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 I... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 129 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 130 | 1 Instructions
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_n... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 131 | 1 Instructions
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 int... |
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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 conditio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 133 | 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 T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 134 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 135 | 1 Instructions
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 136 | 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
an... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 137 | 1 Instructions
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 138 | 1 Instructions
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 wil... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 139 | 1 Instructions
1.61. IndAMove - Independent absolute position movement
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 140 | 1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
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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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 141 | 1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
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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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 142 | 1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
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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;
WaitTi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 143 | 1 Instructions
1.62. IndCMove - Independent continuous movement
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 - Posi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 144 | 1 Instructions
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 th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 145 | 1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
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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 spec... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 146 | 1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
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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 n... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 147 | 1 Instructions
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 fo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 148 | 1 Instructions
1.64. IndReset - Independent reset
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 149 | 1 Instructions
1.64. IndReset - Independent reset
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 specifi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 150 | 1 Instructions
1.64. IndReset - Independent reset
Independent Axis
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 151 | 1 Instructions
1.64. IndReset - Independent reset
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 152 | 1 Instructions
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
independe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 153 | 1 Instructions
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 dis... |
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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... |
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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... |
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1.65. IndRMove - Independent relative position movement
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... |
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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 (... |
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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.
Exa... |
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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 st... |
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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 l... |
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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 r... |
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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 ... |
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1.69. IODisable - Disable I/O unit
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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 e... |
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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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 165 | 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... |
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1.70. IOEnable - Enable I/O unit
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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... |
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1.70. IOEnable - Enable I/O unit
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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 ... |
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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... |
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1.71. IPers - Interrupt at value change of a persistent variable
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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 su... |
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
Usage
IRMQMessage ( Interrupt RAPID Message Queue Message... |
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
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Program execution
When the RMQ message with the specified data type is received, a call is made to the
corresponding... |
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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
RMQGetMe... |
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1.72. IRMQMessage - Orders RMQ interrupts for a data type
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All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept out... |
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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... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 def... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 ... |
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1.73. ISignalAI - Interrupts from analog input signal
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Condition for interrupt generation at interrupt subscription time
xx0500002165
Continued
Continues on next page
1 Instructions
1.73. ISignalAI - Interrupts f... |
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1.73. ISignalAI - Interrupts from analog input signal
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Condition for interrupt generation at each sample after interrupt subscription
xx0500002166
Continued
Continues on next page
1 Instructions
1.73. ISignalAI -... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 res... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 res... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 res... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 res... |
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1.73. ISignalAI - Interrupts from analog input signal
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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 satisfi... |
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1.73. ISignalAI - Interrupts from analog input signal
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID summary - Interrupts
Definiti... |
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1.74. ISignalAO - Interrupts from analog output signal
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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
ana... |
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1.74. ISignalAO - Interrupts from analog output signal
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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 de... |
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1.74. ISignalAO - Interrupts from analog output signal
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Program execution
See instruction ISignalAI for information about:
•
Program execution
•
Condition for interrupt generation
•
More examples
Same principles... |
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1.74. ISignalAO - Interrupts from analog output signal
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary -
Interrupts
Definit... |
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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 interru... |
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1.75. ISignalDI - Orders interrupts from a digital input signal
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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... |
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1.75. ISignalDI - Orders interrupts from a digital input signal
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 192 | 1 Instructions
1.76. ISignalDO - Interrupts from a digital output signal
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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 ... |
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1.76. ISignalDO - Interrupts from a digital output signal
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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... |
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1.76. ISignalDO - Interrupts from a digital output signal
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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 sh... |
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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... |
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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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 wil... |
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary -... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 198 | 1 Instructions
1.78. ISignalGO - Orders interrupts from a group of digital output signals
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1.78. ISignalGO - Orders interrupts from a group of digital output signals
Usage
ISignalGO ( Interrupt Signal Group Digital Out ) is use... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 199 | 1 Instructions
1.78. ISignalGO - Orders interrupts from a group of digital output signals
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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 wi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 200 | 1 Instructions
1.78. ISignalGO - Orders interrupts from a group of digital output signals
RobotWare - OS
197
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID Summary ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 201 | 1 Instructions
1.79. ISleep - Deactivates an interrupt
RobotWare - OS
3HAC 16581-1 Revision: J
198
© Copyright 2004-2010 ABB. All rights reserved.
1.79. ISleep - Deactivates an interrupt
Usage
ISleep ( Interrupt Sleep ) is used to deactivate an individual interrupt temporarily.
During the deactivation time any genera... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 202 | 1 Instructions
1.79. ISleep - Deactivates an interrupt
RobotWare - OS
199
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 203 | 1 Instructions
1.80. ITimer - Orders a timed interrupt
RobotWare - OS
3HAC 16581-1 Revision: J
200
© Copyright 2004-2010 ABB. All rights reserved.
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 204 | 1 Instructions
1.80. ITimer - Orders a timed interrupt
RobotWare - OS
201
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The corresponding trap routine is automatically called at a given time following the interrupt
order. When this has been executed program execution contin... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 205 | 1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
3HAC 16581-1 Revision: J
202
© Copyright 2004-2010 ABB. All rights reserved.
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 206 | 1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
203
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
TRAP AdapTrap
VAR num ArrInd;
!Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active welddata PERS variable ‘adaptWd’ with new data
! f... |
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