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1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
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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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1 Instructions
1.82. IWatch - Activates an interrupt
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Deactivating an interrupt
ISleep - Deactivates an interrupt on page 198
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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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1 Instructions
1.82. IWatch - Activates an interrupt
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Deactivating an interrupt
ISleep - Deactivates an interrupt on page 198
Continued
1 Instructions
1.83. Label - Line name
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1.83. Label - Line name
Usage
Label is used to name a line in the program. Using the GOTO instruction this name can then
be used to move program execution within the same routine.
Basic examples
Basic examples of the instruction Label are illustrated below.
Example 1
GOTO next;
...
next:
Program execution continues with the instruction following next .
Arguments
Label:
Label
Identifier
The name you wish to give the line.
Program execution
Nothing happens when you execute this instruction.
Limitations
The label must not be the same as
•
any other label within the same routine.
•
any data name within the same routine.
A label hides global data and routines with the same name within the routine it is located in.
Syntax
(EBNF)
<identifier>’:’
Related information
For information about
See
Identifiers
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
Moving program execution to a label
GOTO - Goes to a new instruction on page 117
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1 Instructions
1.82. IWatch - Activates an interrupt
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Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary -
Interrupts
Deactivating an interrupt
ISleep - Deactivates an interrupt on page 198
Continued
1 Instructions
1.83. Label - Line name
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1.83. Label - Line name
Usage
Label is used to name a line in the program. Using the GOTO instruction this name can then
be used to move program execution within the same routine.
Basic examples
Basic examples of the instruction Label are illustrated below.
Example 1
GOTO next;
...
next:
Program execution continues with the instruction following next .
Arguments
Label:
Label
Identifier
The name you wish to give the line.
Program execution
Nothing happens when you execute this instruction.
Limitations
The label must not be the same as
•
any other label within the same routine.
•
any data name within the same routine.
A label hides global data and routines with the same name within the routine it is located in.
Syntax
(EBNF)
<identifier>’:’
Related information
For information about
See
Identifiers
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
Moving program execution to a label
GOTO - Goes to a new instruction on page 117
1 Instructions
1.84. Load - Load a program module during execution
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1.84. Load - Load a program module during execution
Usage
Load is used to load a program module into the program memory during execution.
The loaded program module will be added to the already existing modules in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Static mode
The following table describes how different operations affect static loaded program or system
modules.
Dynamic mode
The following table describes how different operations affect dynamic loaded program or
system modules.
Basic examples
Basic examples of the instruction Load are illustrated below.
See also More examples on page 210 .
Example 1
Load \Dynamic, diskhome \File:="PART_A.MOD";
Loads the program module PART_A.MOD from the diskhome into the program memory.
diskhome is a predefined string constant "HOME:" . Load the program module in the
dynamic mode.
Example 2
Load \Dynamic, diskhome \File:="PART_A.MOD";
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;
Loads the program module PART_A.MOD into the program memory, then PART_B.MOD is
loaded. If PART_A.MOD contains references to PART_B.MOD , \CheckRef can be used to
check for unresolved references only when the last module is loaded. IF \ CheckRef is used
on PART_A.MOD , a link error would occur and the module would not be loaded.
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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1 Instructions
1.83. Label - Line name
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1.83. Label - Line name
Usage
Label is used to name a line in the program. Using the GOTO instruction this name can then
be used to move program execution within the same routine.
Basic examples
Basic examples of the instruction Label are illustrated below.
Example 1
GOTO next;
...
next:
Program execution continues with the instruction following next .
Arguments
Label:
Label
Identifier
The name you wish to give the line.
Program execution
Nothing happens when you execute this instruction.
Limitations
The label must not be the same as
•
any other label within the same routine.
•
any data name within the same routine.
A label hides global data and routines with the same name within the routine it is located in.
Syntax
(EBNF)
<identifier>’:’
Related information
For information about
See
Identifiers
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
Moving program execution to a label
GOTO - Goes to a new instruction on page 117
1 Instructions
1.84. Load - Load a program module during execution
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1.84. Load - Load a program module during execution
Usage
Load is used to load a program module into the program memory during execution.
The loaded program module will be added to the already existing modules in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Static mode
The following table describes how different operations affect static loaded program or system
modules.
Dynamic mode
The following table describes how different operations affect dynamic loaded program or
system modules.
Basic examples
Basic examples of the instruction Load are illustrated below.
See also More examples on page 210 .
Example 1
Load \Dynamic, diskhome \File:="PART_A.MOD";
Loads the program module PART_A.MOD from the diskhome into the program memory.
diskhome is a predefined string constant "HOME:" . Load the program module in the
dynamic mode.
Example 2
Load \Dynamic, diskhome \File:="PART_A.MOD";
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;
Loads the program module PART_A.MOD into the program memory, then PART_B.MOD is
loaded. If PART_A.MOD contains references to PART_B.MOD , \CheckRef can be used to
check for unresolved references only when the last module is loaded. IF \ CheckRef is used
on PART_A.MOD , a link error would occur and the module would not be loaded.
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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1.84. Load - Load a program module during execution
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Arguments
Load [\Dynamic] FilePath [\File] [\CheckRef]
[\Dynamic]
Data type: switch
The switch enables load of a module in dynamic mode. Otherwise the load is in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program memory. The
file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath then it must be defined with this
argument.
[\CheckRef]
Data type: switch
Check after loading of the module for unsolved references in the program task. If not used no
check for unsolved references are done.
Program execution
Program execution waits for the program module to finish loading before proceeding with the
next instruction.
Unresolved references will always be accepted for the loading operation, if parameter
\CheckRef is not used, but it will be a run time error on execution of an unresolved
reference.
After the program module is loaded it will be linked and initialized. The initialization of the
loaded module sets all variables at module level to their unit values.
If any error from the loading operation, including unresolved references if use of switch
\CheckRef , the loaded module will not be available any more in the program memory.
To obtain a good program structure that is easy to understand and maintain, all loading and
unloading of program modules should be done from the main module which is always present
in the program memory during execution.
For loading of program that contains a main procedure to a main program (with another main
procedure), see example in More examples on page 210 below.
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1.84. Load - Load a program module during execution
Usage
Load is used to load a program module into the program memory during execution.
The loaded program module will be added to the already existing modules in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Static mode
The following table describes how different operations affect static loaded program or system
modules.
Dynamic mode
The following table describes how different operations affect dynamic loaded program or
system modules.
Basic examples
Basic examples of the instruction Load are illustrated below.
See also More examples on page 210 .
Example 1
Load \Dynamic, diskhome \File:="PART_A.MOD";
Loads the program module PART_A.MOD from the diskhome into the program memory.
diskhome is a predefined string constant "HOME:" . Load the program module in the
dynamic mode.
Example 2
Load \Dynamic, diskhome \File:="PART_A.MOD";
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;
Loads the program module PART_A.MOD into the program memory, then PART_B.MOD is
loaded. If PART_A.MOD contains references to PART_B.MOD , \CheckRef can be used to
check for unresolved references only when the last module is loaded. IF \ CheckRef is used
on PART_A.MOD , a link error would occur and the module would not be loaded.
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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Arguments
Load [\Dynamic] FilePath [\File] [\CheckRef]
[\Dynamic]
Data type: switch
The switch enables load of a module in dynamic mode. Otherwise the load is in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program memory. The
file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath then it must be defined with this
argument.
[\CheckRef]
Data type: switch
Check after loading of the module for unsolved references in the program task. If not used no
check for unsolved references are done.
Program execution
Program execution waits for the program module to finish loading before proceeding with the
next instruction.
Unresolved references will always be accepted for the loading operation, if parameter
\CheckRef is not used, but it will be a run time error on execution of an unresolved
reference.
After the program module is loaded it will be linked and initialized. The initialization of the
loaded module sets all variables at module level to their unit values.
If any error from the loading operation, including unresolved references if use of switch
\CheckRef , the loaded module will not be available any more in the program memory.
To obtain a good program structure that is easy to understand and maintain, all loading and
unloading of program modules should be done from the main module which is always present
in the program memory during execution.
For loading of program that contains a main procedure to a main program (with another main
procedure), see example in More examples on page 210 below.
Continued
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More examples
More examples of how to use the instruction Load are illustrated below.
More general examples
Load \Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
Loads the program module DOOR1.MOD from HOME: at the directory DOORDIR into the
program memory. The program module is loaded in the dynamic mode.
Load "HOME:" \File:="DOORDIR/DOOR1.MOD";
Same as above but another syntax, and the module is loaded in the static mode.
Load\Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
%"routine_x"%;
UnLoad "HOME:/DOORDIR/DOOR1.MOD";
Procedure routine_x , will be binded during execution (late binding).
Loaded program contains a main procedure
xx0500002104
The above example shows how you can load a program which includes a main procedure.
This program can have been developed and tested separately and later loaded with Load or
StartLoad... WaitLoad into the system using some type of main program framework. In
this example car.prg , which loads other programs door.prg or window.prg .
In the program car.prg you load door.prg or window.prg located at "HOME:" . Because
the main procedures in door.prg and window.prg after the loading are considered
LOCAL in the module by the system, the procedure calls are made in the following way:
%"door:main"% or %"window: main"% . This syntax is used when you want to get access
to LOCAL procedures in other modules in this example procedure main in module door or
module window .
Unloading the modules with \Save argument will again make the main procedures global in
the saved program.
If you, when the module car or window are loaded in the system, set program pointer to main
from any part of the program, the program pointer will always be set to the global main
procedure in the main program, car.prg in this example.
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Arguments
Load [\Dynamic] FilePath [\File] [\CheckRef]
[\Dynamic]
Data type: switch
The switch enables load of a module in dynamic mode. Otherwise the load is in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program memory. The
file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath then it must be defined with this
argument.
[\CheckRef]
Data type: switch
Check after loading of the module for unsolved references in the program task. If not used no
check for unsolved references are done.
Program execution
Program execution waits for the program module to finish loading before proceeding with the
next instruction.
Unresolved references will always be accepted for the loading operation, if parameter
\CheckRef is not used, but it will be a run time error on execution of an unresolved
reference.
After the program module is loaded it will be linked and initialized. The initialization of the
loaded module sets all variables at module level to their unit values.
If any error from the loading operation, including unresolved references if use of switch
\CheckRef , the loaded module will not be available any more in the program memory.
To obtain a good program structure that is easy to understand and maintain, all loading and
unloading of program modules should be done from the main module which is always present
in the program memory during execution.
For loading of program that contains a main procedure to a main program (with another main
procedure), see example in More examples on page 210 below.
Continued
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1.84. Load - Load a program module during execution
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More examples
More examples of how to use the instruction Load are illustrated below.
More general examples
Load \Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
Loads the program module DOOR1.MOD from HOME: at the directory DOORDIR into the
program memory. The program module is loaded in the dynamic mode.
Load "HOME:" \File:="DOORDIR/DOOR1.MOD";
Same as above but another syntax, and the module is loaded in the static mode.
Load\Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
%"routine_x"%;
UnLoad "HOME:/DOORDIR/DOOR1.MOD";
Procedure routine_x , will be binded during execution (late binding).
Loaded program contains a main procedure
xx0500002104
The above example shows how you can load a program which includes a main procedure.
This program can have been developed and tested separately and later loaded with Load or
StartLoad... WaitLoad into the system using some type of main program framework. In
this example car.prg , which loads other programs door.prg or window.prg .
In the program car.prg you load door.prg or window.prg located at "HOME:" . Because
the main procedures in door.prg and window.prg after the loading are considered
LOCAL in the module by the system, the procedure calls are made in the following way:
%"door:main"% or %"window: main"% . This syntax is used when you want to get access
to LOCAL procedures in other modules in this example procedure main in module door or
module window .
Unloading the modules with \Save argument will again make the main procedures global in
the saved program.
If you, when the module car or window are loaded in the system, set program pointer to main
from any part of the program, the program pointer will always be set to the global main
procedure in the main program, car.prg in this example.
Continued
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1.84. Load - Load a program module during execution
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Limitations
Avoid ongoing robot movements during the loading.
Error handling
If the file specified in the Load instruction cannot be found the system variable ERRNO is set
to ERR_FILNOTFND at execution.
If some other type of problems to read the file to load the system variable ERRNO will be set
to ERR_IOERROR .
If the module cannot be loaded because the program memory is full the system variable
ERRNO is set to ERR_PRGMEMFULL .
If the module is already loaded into the program memory the system variable ERRNO is set to
ERR_LOADED .
If the loaded module contains syntax errors the system variable ERRNO is set to ERR_SYNTAX .
If the loaded module result in fatal link errors the system variable ERRNO is set to
ERR_LINKREF .
If Load is used with the switch \ CheckRef to check for any reference error and the program
memory contains unresolved references the system variable ERRNO is set to ERR_LINKREF .
These errors can then be handled in the ERROR handler. If some of these error occurs the actual
module will be unloaded and will not be available in the ERROR handler.
Syntax
Load
[´\´Dynamic´,´]
[FilePath´:=´]<expression ( IN ) of string>
[´\´File´:=´ <expression ( IN ) of string>]
[´\´CheckRef]´;´
Related information
For information about
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another program execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Check program references
CheckProgRef - Check program references
on page 37
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More examples
More examples of how to use the instruction Load are illustrated below.
More general examples
Load \Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
Loads the program module DOOR1.MOD from HOME: at the directory DOORDIR into the
program memory. The program module is loaded in the dynamic mode.
Load "HOME:" \File:="DOORDIR/DOOR1.MOD";
Same as above but another syntax, and the module is loaded in the static mode.
Load\Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
%"routine_x"%;
UnLoad "HOME:/DOORDIR/DOOR1.MOD";
Procedure routine_x , will be binded during execution (late binding).
Loaded program contains a main procedure
xx0500002104
The above example shows how you can load a program which includes a main procedure.
This program can have been developed and tested separately and later loaded with Load or
StartLoad... WaitLoad into the system using some type of main program framework. In
this example car.prg , which loads other programs door.prg or window.prg .
In the program car.prg you load door.prg or window.prg located at "HOME:" . Because
the main procedures in door.prg and window.prg after the loading are considered
LOCAL in the module by the system, the procedure calls are made in the following way:
%"door:main"% or %"window: main"% . This syntax is used when you want to get access
to LOCAL procedures in other modules in this example procedure main in module door or
module window .
Unloading the modules with \Save argument will again make the main procedures global in
the saved program.
If you, when the module car or window are loaded in the system, set program pointer to main
from any part of the program, the program pointer will always be set to the global main
procedure in the main program, car.prg in this example.
Continued
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1.84. Load - Load a program module during execution
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Limitations
Avoid ongoing robot movements during the loading.
Error handling
If the file specified in the Load instruction cannot be found the system variable ERRNO is set
to ERR_FILNOTFND at execution.
If some other type of problems to read the file to load the system variable ERRNO will be set
to ERR_IOERROR .
If the module cannot be loaded because the program memory is full the system variable
ERRNO is set to ERR_PRGMEMFULL .
If the module is already loaded into the program memory the system variable ERRNO is set to
ERR_LOADED .
If the loaded module contains syntax errors the system variable ERRNO is set to ERR_SYNTAX .
If the loaded module result in fatal link errors the system variable ERRNO is set to
ERR_LINKREF .
If Load is used with the switch \ CheckRef to check for any reference error and the program
memory contains unresolved references the system variable ERRNO is set to ERR_LINKREF .
These errors can then be handled in the ERROR handler. If some of these error occurs the actual
module will be unloaded and will not be available in the ERROR handler.
Syntax
Load
[´\´Dynamic´,´]
[FilePath´:=´]<expression ( IN ) of string>
[´\´File´:=´ <expression ( IN ) of string>]
[´\´CheckRef]´;´
Related information
For information about
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another program execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Check program references
CheckProgRef - Check program references
on page 37
Continued
1 Instructions
1.85. LoadId - Load identification of tool or payload
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1.85. LoadId - Load identification of tool or payload
Usage
LoadId ( Load Identification ) can be used for load identification of tool (also gripper tool if
roomfix TCP) or payload (activates with instruction GripLoad ) by executing a user defined
RAPID program.
NOTE!
An easier way to identify the tool load or payload is to use the interactive dialogue RAPID
program LoadIdentify . This program can be started from the menu
Program Editor/Debug/Call Service Rout./LoadIdentify .
Basic examples
Basic examples of the instruction LoadId are illustrated below.
See also More examples on page 216 .
Example 1
VAR bool invalid_pos := TRUE;
VAR jointtarget joints;
VAR bool valid_joints{12};
CONST speeddata low_ori_speed := [20, 5, 20, 5];
VAR bool slow_test_flag := TRUE;
PERS tooldata grip3 := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]];
! Check if valid robot type
IF ParIdRobValid(TOOL_LOAD_ID) <> ROB_LOAD_VAL THEN
EXIT;
ENDIF
! Check if valid robot position
WHILE invalid_pos = TRUE DO
joints := CJointT();
IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE
THEN
! Valid position
invalid_pos := FALSE;
ELSE
! Invalid position
! Adjust the position by program movements (horizontal tilt
house)
MoveAbsJ joints, low_ori_speed, fine, tool0;
ENDIF
ENDWHILE
! Do slow test for check of free working area
IF slow_test_flag = TRUE THEN
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3 \SlowTest;
ENDIF
! Do measurement and update all load data in grip3
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3;
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1.84. Load - Load a program module during execution
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Limitations
Avoid ongoing robot movements during the loading.
Error handling
If the file specified in the Load instruction cannot be found the system variable ERRNO is set
to ERR_FILNOTFND at execution.
If some other type of problems to read the file to load the system variable ERRNO will be set
to ERR_IOERROR .
If the module cannot be loaded because the program memory is full the system variable
ERRNO is set to ERR_PRGMEMFULL .
If the module is already loaded into the program memory the system variable ERRNO is set to
ERR_LOADED .
If the loaded module contains syntax errors the system variable ERRNO is set to ERR_SYNTAX .
If the loaded module result in fatal link errors the system variable ERRNO is set to
ERR_LINKREF .
If Load is used with the switch \ CheckRef to check for any reference error and the program
memory contains unresolved references the system variable ERRNO is set to ERR_LINKREF .
These errors can then be handled in the ERROR handler. If some of these error occurs the actual
module will be unloaded and will not be available in the ERROR handler.
Syntax
Load
[´\´Dynamic´,´]
[FilePath´:=´]<expression ( IN ) of string>
[´\´File´:=´ <expression ( IN ) of string>]
[´\´CheckRef]´;´
Related information
For information about
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another program execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Check program references
CheckProgRef - Check program references
on page 37
Continued
1 Instructions
1.85. LoadId - Load identification of tool or payload
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1.85. LoadId - Load identification of tool or payload
Usage
LoadId ( Load Identification ) can be used for load identification of tool (also gripper tool if
roomfix TCP) or payload (activates with instruction GripLoad ) by executing a user defined
RAPID program.
NOTE!
An easier way to identify the tool load or payload is to use the interactive dialogue RAPID
program LoadIdentify . This program can be started from the menu
Program Editor/Debug/Call Service Rout./LoadIdentify .
Basic examples
Basic examples of the instruction LoadId are illustrated below.
See also More examples on page 216 .
Example 1
VAR bool invalid_pos := TRUE;
VAR jointtarget joints;
VAR bool valid_joints{12};
CONST speeddata low_ori_speed := [20, 5, 20, 5];
VAR bool slow_test_flag := TRUE;
PERS tooldata grip3 := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]];
! Check if valid robot type
IF ParIdRobValid(TOOL_LOAD_ID) <> ROB_LOAD_VAL THEN
EXIT;
ENDIF
! Check if valid robot position
WHILE invalid_pos = TRUE DO
joints := CJointT();
IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE
THEN
! Valid position
invalid_pos := FALSE;
ELSE
! Invalid position
! Adjust the position by program movements (horizontal tilt
house)
MoveAbsJ joints, low_ori_speed, fine, tool0;
ENDIF
ENDWHILE
! Do slow test for check of free working area
IF slow_test_flag = TRUE THEN
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3 \SlowTest;
ENDIF
! Do measurement and update all load data in grip3
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3;
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1 Instructions
1.85. LoadId - Load identification of tool or payload
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Load identification of tool grip3 .
Condition
The following conditions should be fulfilled before load measurements with LoadId :
•
Make sure that all loads are correctly mounted on the robot
•
Check whether valid robot type with ParIdRobValid
•
Check whether valid position with ParIdPosValid :
- Axes 3, 5, and 6 not close to their corresponding working range
- Tilt housing almost horizontal, i.e. that axis 4 is in zero position
•
The following data should be defined in system parameters and in arguments to
LoadId before running LoadId
The table below illustrates the load identification of tool.
The table below illustrates the load identification of payload.
•
Operating mode and speed override:
- Slow test in manual mode reduced speed
- Load measurements in automatic mode (or manual mode full speed) with speed
override 100%
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameter)
Defined
Defined
Mass in tool
Defined
Defined
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameters)
Defined
Defined
Load data in tool
Defined
Defined
Defined
Defined
Mass in payload
Defined
Defined
Tool frame in tool
Defined
Defined
User frame in work object
Defined
Defined
Object frame in work object
Defined
Defined
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1.85. LoadId - Load identification of tool or payload
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© Copyright 2004-2010 ABB. All rights reserved.
1.85. LoadId - Load identification of tool or payload
Usage
LoadId ( Load Identification ) can be used for load identification of tool (also gripper tool if
roomfix TCP) or payload (activates with instruction GripLoad ) by executing a user defined
RAPID program.
NOTE!
An easier way to identify the tool load or payload is to use the interactive dialogue RAPID
program LoadIdentify . This program can be started from the menu
Program Editor/Debug/Call Service Rout./LoadIdentify .
Basic examples
Basic examples of the instruction LoadId are illustrated below.
See also More examples on page 216 .
Example 1
VAR bool invalid_pos := TRUE;
VAR jointtarget joints;
VAR bool valid_joints{12};
CONST speeddata low_ori_speed := [20, 5, 20, 5];
VAR bool slow_test_flag := TRUE;
PERS tooldata grip3 := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]];
! Check if valid robot type
IF ParIdRobValid(TOOL_LOAD_ID) <> ROB_LOAD_VAL THEN
EXIT;
ENDIF
! Check if valid robot position
WHILE invalid_pos = TRUE DO
joints := CJointT();
IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE
THEN
! Valid position
invalid_pos := FALSE;
ELSE
! Invalid position
! Adjust the position by program movements (horizontal tilt
house)
MoveAbsJ joints, low_ori_speed, fine, tool0;
ENDIF
ENDWHILE
! Do slow test for check of free working area
IF slow_test_flag = TRUE THEN
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3 \SlowTest;
ENDIF
! Do measurement and update all load data in grip3
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3;
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1.85. LoadId - Load identification of tool or payload
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Load identification of tool grip3 .
Condition
The following conditions should be fulfilled before load measurements with LoadId :
•
Make sure that all loads are correctly mounted on the robot
•
Check whether valid robot type with ParIdRobValid
•
Check whether valid position with ParIdPosValid :
- Axes 3, 5, and 6 not close to their corresponding working range
- Tilt housing almost horizontal, i.e. that axis 4 is in zero position
•
The following data should be defined in system parameters and in arguments to
LoadId before running LoadId
The table below illustrates the load identification of tool.
The table below illustrates the load identification of payload.
•
Operating mode and speed override:
- Slow test in manual mode reduced speed
- Load measurements in automatic mode (or manual mode full speed) with speed
override 100%
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameter)
Defined
Defined
Mass in tool
Defined
Defined
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameters)
Defined
Defined
Load data in tool
Defined
Defined
Defined
Defined
Mass in payload
Defined
Defined
Tool frame in tool
Defined
Defined
User frame in work object
Defined
Defined
Object frame in work object
Defined
Defined
Continued
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1.85. LoadId - Load identification of tool or payload
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Arguments
LoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj] [\ConfAngle]
[\SlowTest] [\Accuracy]
ParIdType
Data type: paridnum
Type of load identification as defined in the table below.
LoadIdType
Data type: loadidnum
Type of load identification as defined in the table below.
Tool
Data type: tooldata
Persistent variable for the tool to be identified. If argument \PayLoad is specified, the
persistent variable for the tool in use.
For load identification of tool, the following arguments \PayLoad and \WObj should not be
specified.
[ \ PayLoad ]
Data type: loaddata
Persistent variable for the payload to be identified.
This option argument must always be specified for load identification of payload.
[ \ WObj ]
Data type: wobjdata
Persistent variable for the work object in use.
This option argument must always be specified for load identification of payload with
roomfix TCP.
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively. (Mass in
specified Tool or PayLoad must be specified)
2
MASS_WITH_AX3
Unknown mass in tool or payload respectively.
Identification of mass in tool or payload will be done
with movements of axis 3
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Load identification of tool grip3 .
Condition
The following conditions should be fulfilled before load measurements with LoadId :
•
Make sure that all loads are correctly mounted on the robot
•
Check whether valid robot type with ParIdRobValid
•
Check whether valid position with ParIdPosValid :
- Axes 3, 5, and 6 not close to their corresponding working range
- Tilt housing almost horizontal, i.e. that axis 4 is in zero position
•
The following data should be defined in system parameters and in arguments to
LoadId before running LoadId
The table below illustrates the load identification of tool.
The table below illustrates the load identification of payload.
•
Operating mode and speed override:
- Slow test in manual mode reduced speed
- Load measurements in automatic mode (or manual mode full speed) with speed
override 100%
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameter)
Defined
Defined
Mass in tool
Defined
Defined
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Roomfix
TCP Mass
Unknown
Upper arm load
(System parameters)
Defined
Defined
Load data in tool
Defined
Defined
Defined
Defined
Mass in payload
Defined
Defined
Tool frame in tool
Defined
Defined
User frame in work object
Defined
Defined
Object frame in work object
Defined
Defined
Continued
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Arguments
LoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj] [\ConfAngle]
[\SlowTest] [\Accuracy]
ParIdType
Data type: paridnum
Type of load identification as defined in the table below.
LoadIdType
Data type: loadidnum
Type of load identification as defined in the table below.
Tool
Data type: tooldata
Persistent variable for the tool to be identified. If argument \PayLoad is specified, the
persistent variable for the tool in use.
For load identification of tool, the following arguments \PayLoad and \WObj should not be
specified.
[ \ PayLoad ]
Data type: loaddata
Persistent variable for the payload to be identified.
This option argument must always be specified for load identification of payload.
[ \ WObj ]
Data type: wobjdata
Persistent variable for the work object in use.
This option argument must always be specified for load identification of payload with
roomfix TCP.
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively. (Mass in
specified Tool or PayLoad must be specified)
2
MASS_WITH_AX3
Unknown mass in tool or payload respectively.
Identification of mass in tool or payload will be done
with movements of axis 3
Continued
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[ \ ConfAngle ]
Data type: num
Option argument for specification of a specific configuration angle ± degrees to be used for
the parameter identification.
xx0500002198
Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or
- 90 degrees.
[ \ SlowTest ]
Data type: switch
Option argument to specify whether only slow test for checking of free working area should
be done. See table below:
[ \ Accuracy ]
Data type: num
Variable for output of calculated measurement accuracy in % for the whole load identification
calculation (100% means maximum accuracy).
Program execution
The robot will carry out a large number of relative small transport and measurement
movements on axes 5 and 6. For identification of mass, movements will also be made with
axis 3.
After all measurements, movements, and load calculations the load data is returned in
argument Tool or PayLoad . The following load data is calculated:
•
Mass in kg (if mass is unknown otherwise not affected)
•
Center of gravity x, y, z, and axes of moment
•
Inertia ix, iy, iz in kgm
LoadId ... \SlowTest
Run only slow test
LoadId ...
Run only measurement and update tool or payload
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Arguments
LoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj] [\ConfAngle]
[\SlowTest] [\Accuracy]
ParIdType
Data type: paridnum
Type of load identification as defined in the table below.
LoadIdType
Data type: loadidnum
Type of load identification as defined in the table below.
Tool
Data type: tooldata
Persistent variable for the tool to be identified. If argument \PayLoad is specified, the
persistent variable for the tool in use.
For load identification of tool, the following arguments \PayLoad and \WObj should not be
specified.
[ \ PayLoad ]
Data type: loaddata
Persistent variable for the payload to be identified.
This option argument must always be specified for load identification of payload.
[ \ WObj ]
Data type: wobjdata
Persistent variable for the work object in use.
This option argument must always be specified for load identification of payload with
roomfix TCP.
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively. (Mass in
specified Tool or PayLoad must be specified)
2
MASS_WITH_AX3
Unknown mass in tool or payload respectively.
Identification of mass in tool or payload will be done
with movements of axis 3
Continued
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[ \ ConfAngle ]
Data type: num
Option argument for specification of a specific configuration angle ± degrees to be used for
the parameter identification.
xx0500002198
Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or
- 90 degrees.
[ \ SlowTest ]
Data type: switch
Option argument to specify whether only slow test for checking of free working area should
be done. See table below:
[ \ Accuracy ]
Data type: num
Variable for output of calculated measurement accuracy in % for the whole load identification
calculation (100% means maximum accuracy).
Program execution
The robot will carry out a large number of relative small transport and measurement
movements on axes 5 and 6. For identification of mass, movements will also be made with
axis 3.
After all measurements, movements, and load calculations the load data is returned in
argument Tool or PayLoad . The following load data is calculated:
•
Mass in kg (if mass is unknown otherwise not affected)
•
Center of gravity x, y, z, and axes of moment
•
Inertia ix, iy, iz in kgm
LoadId ... \SlowTest
Run only slow test
LoadId ...
Run only measurement and update tool or payload
Continued
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More examples
More examples of the instruction LoadId are illustrated below.
Example 1
PERS tooldata grip3 := [ FALSE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [6, [10, 10, 100], [0.5, 0.5, 0.5, 0.5], 1.2, 2.7,
0.5]];
PERS loaddata piece5 := [ 5, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0];
PERS wobjdata wobj2 := [ TRUE, TRUE, "", [ [34, 0, -45], [0.5, -
0.5, 0.5 ,-0.5] ], [ [0.56, 10, 68], [0.5, 0.5, 0.5 ,0.5] ] ];
VAR num load_accuracy;
! Do measurement and update all payload data except mass in piece5
LoadId PAY_LOAD_ID, MASS_KNOWN, grip3 \PayLoad:=piece5
\WObj:=wobj2 \Accuracy:=load_accuracy;
TPWrite " Load accuracy for piece5 (%) = " \Num:=load_accuracy;
Load identification of payload piece5 with known mass in installation with roomfix TCP.
Limitations
Usually load identification of tool or payload for the robot is done with the service routine
LoadIdentify . It is also possible to do this identification with this RAPID instruction
LoadId . Before loading or executing the program with LoadId following modules must be
loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";
Load \Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop such as
program stop, emergency stop, or power failure. The load identification movements must
then be started from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine LoadId , the system variable
ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the
program pointer is raised to the user call of LoadId .
Syntax
LoadId
[ ParIdType ’:=’ ] <expression ( IN ) of paridnum>´,’
[ LoadIdType’ :=’ ] <expression ( IN ) of loadidnum> ´,’
[ Tool ’:=’ ] <persistent ( PERS ) of tooldata>
[ ‘\’ PayLoad’ :=’ <persistent ( PERS ) of loaddata> ]
[ ‘\’ WObj’ :=’ <persistent ( PERS ) of wobjdata> ]
[ ‘\’ ConfAngle’ :=’ <expression ( IN ) of num> ]
[ ´\’ SlowTest ]
[ ´\’ Accuracy’ :=’ <variable ( VAR ) of num> ] ´;’
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[ \ ConfAngle ]
Data type: num
Option argument for specification of a specific configuration angle ± degrees to be used for
the parameter identification.
xx0500002198
Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or
- 90 degrees.
[ \ SlowTest ]
Data type: switch
Option argument to specify whether only slow test for checking of free working area should
be done. See table below:
[ \ Accuracy ]
Data type: num
Variable for output of calculated measurement accuracy in % for the whole load identification
calculation (100% means maximum accuracy).
Program execution
The robot will carry out a large number of relative small transport and measurement
movements on axes 5 and 6. For identification of mass, movements will also be made with
axis 3.
After all measurements, movements, and load calculations the load data is returned in
argument Tool or PayLoad . The following load data is calculated:
•
Mass in kg (if mass is unknown otherwise not affected)
•
Center of gravity x, y, z, and axes of moment
•
Inertia ix, iy, iz in kgm
LoadId ... \SlowTest
Run only slow test
LoadId ...
Run only measurement and update tool or payload
Continued
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1 Instructions
1.85. LoadId - Load identification of tool or payload
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction LoadId are illustrated below.
Example 1
PERS tooldata grip3 := [ FALSE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [6, [10, 10, 100], [0.5, 0.5, 0.5, 0.5], 1.2, 2.7,
0.5]];
PERS loaddata piece5 := [ 5, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0];
PERS wobjdata wobj2 := [ TRUE, TRUE, "", [ [34, 0, -45], [0.5, -
0.5, 0.5 ,-0.5] ], [ [0.56, 10, 68], [0.5, 0.5, 0.5 ,0.5] ] ];
VAR num load_accuracy;
! Do measurement and update all payload data except mass in piece5
LoadId PAY_LOAD_ID, MASS_KNOWN, grip3 \PayLoad:=piece5
\WObj:=wobj2 \Accuracy:=load_accuracy;
TPWrite " Load accuracy for piece5 (%) = " \Num:=load_accuracy;
Load identification of payload piece5 with known mass in installation with roomfix TCP.
Limitations
Usually load identification of tool or payload for the robot is done with the service routine
LoadIdentify . It is also possible to do this identification with this RAPID instruction
LoadId . Before loading or executing the program with LoadId following modules must be
loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";
Load \Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop such as
program stop, emergency stop, or power failure. The load identification movements must
then be started from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine LoadId , the system variable
ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the
program pointer is raised to the user call of LoadId .
Syntax
LoadId
[ ParIdType ’:=’ ] <expression ( IN ) of paridnum>´,’
[ LoadIdType’ :=’ ] <expression ( IN ) of loadidnum> ´,’
[ Tool ’:=’ ] <persistent ( PERS ) of tooldata>
[ ‘\’ PayLoad’ :=’ <persistent ( PERS ) of loaddata> ]
[ ‘\’ WObj’ :=’ <persistent ( PERS ) of wobjdata> ]
[ ‘\’ ConfAngle’ :=’ <expression ( IN ) of num> ]
[ ´\’ SlowTest ]
[ ´\’ Accuracy’ :=’ <variable ( VAR ) of num> ] ´;’
Continued
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
217
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - Load-
Identify, load identification and service routines
Type of parameter identification
paridnum - Type of parameter identification on page
1154
Result of ParIdRobValid
paridvalidnum - Result of ParIdRobValid on page
1156
Type of load identification
loadidnum - Type of load identification on page 1137
Valid robot type
ParIdRobValid - Valid robot type for parameter iden-
tification on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter
identification on page 913
Continued
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
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216
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction LoadId are illustrated below.
Example 1
PERS tooldata grip3 := [ FALSE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [6, [10, 10, 100], [0.5, 0.5, 0.5, 0.5], 1.2, 2.7,
0.5]];
PERS loaddata piece5 := [ 5, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0];
PERS wobjdata wobj2 := [ TRUE, TRUE, "", [ [34, 0, -45], [0.5, -
0.5, 0.5 ,-0.5] ], [ [0.56, 10, 68], [0.5, 0.5, 0.5 ,0.5] ] ];
VAR num load_accuracy;
! Do measurement and update all payload data except mass in piece5
LoadId PAY_LOAD_ID, MASS_KNOWN, grip3 \PayLoad:=piece5
\WObj:=wobj2 \Accuracy:=load_accuracy;
TPWrite " Load accuracy for piece5 (%) = " \Num:=load_accuracy;
Load identification of payload piece5 with known mass in installation with roomfix TCP.
Limitations
Usually load identification of tool or payload for the robot is done with the service routine
LoadIdentify . It is also possible to do this identification with this RAPID instruction
LoadId . Before loading or executing the program with LoadId following modules must be
loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";
Load \Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop such as
program stop, emergency stop, or power failure. The load identification movements must
then be started from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine LoadId , the system variable
ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the
program pointer is raised to the user call of LoadId .
Syntax
LoadId
[ ParIdType ’:=’ ] <expression ( IN ) of paridnum>´,’
[ LoadIdType’ :=’ ] <expression ( IN ) of loadidnum> ´,’
[ Tool ’:=’ ] <persistent ( PERS ) of tooldata>
[ ‘\’ PayLoad’ :=’ <persistent ( PERS ) of loaddata> ]
[ ‘\’ WObj’ :=’ <persistent ( PERS ) of wobjdata> ]
[ ‘\’ ConfAngle’ :=’ <expression ( IN ) of num> ]
[ ´\’ SlowTest ]
[ ´\’ Accuracy’ :=’ <variable ( VAR ) of num> ] ´;’
Continued
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
217
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - Load-
Identify, load identification and service routines
Type of parameter identification
paridnum - Type of parameter identification on page
1154
Result of ParIdRobValid
paridvalidnum - Result of ParIdRobValid on page
1156
Type of load identification
loadidnum - Type of load identification on page 1137
Valid robot type
ParIdRobValid - Valid robot type for parameter iden-
tification on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter
identification on page 913
Continued
1 Instructions
1.86. MakeDir - Create a new directory
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© Copyright 2004-2010 ABB. All rights reserved.
1.86. MakeDir - Create a new directory
Usage
MakeDir is used to create a new directory. The user must have write and execute permission
for the parent directory under which the new directory is created.
Basic examples
Basic examples of the instruction MakeDir are illustrated below.
Example 1
MakeDir "HOME:/newdir";
This example creates a new directory, called newdir , under HOME :
Arguments
MakeDir Path
Path
Data type: string
The name of the new directory specified with full or relative path.
Error handling
If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC . This
error can then be handled in the error handler.
Syntax
MakeDir
[ Path’:=’ ] < expression ( IN ) of string>’;’
Related information
For information about
See
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
217
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - Load-
Identify, load identification and service routines
Type of parameter identification
paridnum - Type of parameter identification on page
1154
Result of ParIdRobValid
paridvalidnum - Result of ParIdRobValid on page
1156
Type of load identification
loadidnum - Type of load identification on page 1137
Valid robot type
ParIdRobValid - Valid robot type for parameter iden-
tification on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter
identification on page 913
Continued
1 Instructions
1.86. MakeDir - Create a new directory
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© Copyright 2004-2010 ABB. All rights reserved.
1.86. MakeDir - Create a new directory
Usage
MakeDir is used to create a new directory. The user must have write and execute permission
for the parent directory under which the new directory is created.
Basic examples
Basic examples of the instruction MakeDir are illustrated below.
Example 1
MakeDir "HOME:/newdir";
This example creates a new directory, called newdir , under HOME :
Arguments
MakeDir Path
Path
Data type: string
The name of the new directory specified with full or relative path.
Error handling
If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC . This
error can then be handled in the error handler.
Syntax
MakeDir
[ Path’:=’ ] < expression ( IN ) of string>’;’
Related information
For information about
See
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
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© Copyright 2004-2010 ABB. All rights reserved.
1.87. ManLoadIdProc - Load identification of IRBP manipulators
Usage
ManLoadIdProc ( Manipulator Load Identification Procedure ) is used for load identification
of payload for external manipulators by executing a user defined RAPID program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
NOTE!
An easier way to identify the payload is to use the interactive dialogue RAPID program
ManLoadIdentify .This program can be started from the menu
Program Editor/Debug/Call Routine.../ManLoadIdentify .
Basic examples
Basic examples of the instruction ManLoadIdProc are illustrated below.
PERS loaddata myload := [6,[0,0,0],[1,0,0,0],0,0,0];
VAR bool defined;
ActUnit STN1;
ManLoadIdProc \ParIdType := IRBP_L
\MechUnit := STN1
\PayLoad := myload
\ConfigAngle := 60
\AlreadyActive
\DefinedFlag := defined;
DeactUnit STN1;
Load identification of payload myload mounted on the mechanical unit STN1 . The external
manipulator is of type IRBP-L . The configuration angle is set to 60 degrees. The manipulator
is activated before the load identification and deactivated after. After the identification
myload has been updated and defined it is set to TRUE .
Arguments
ManLoadIdProc [\ParIdType] [\MechUnit] | [\MechUnitName]
[\AxisNumber] [\PayLoad] [\ConfigAngle] [\DeactAll] |
[\AlreadyActive] [DefinedFlag] [DoExit]
[ \ ParIdType ]
Data type: paridnum
Type of parameter identification. Predefined constants are found under the datatype
paridnum .
[ \ MechUnit ]
Data type: mecunit
Mechanical unit used for the load identification. Can not be used together with argument
\MechUnitName .
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1 Instructions
1.86. MakeDir - Create a new directory
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218
© Copyright 2004-2010 ABB. All rights reserved.
1.86. MakeDir - Create a new directory
Usage
MakeDir is used to create a new directory. The user must have write and execute permission
for the parent directory under which the new directory is created.
Basic examples
Basic examples of the instruction MakeDir are illustrated below.
Example 1
MakeDir "HOME:/newdir";
This example creates a new directory, called newdir , under HOME :
Arguments
MakeDir Path
Path
Data type: string
The name of the new directory specified with full or relative path.
Error handling
If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC . This
error can then be handled in the error handler.
Syntax
MakeDir
[ Path’:=’ ] < expression ( IN ) of string>’;’
Related information
For information about
See
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
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© Copyright 2004-2010 ABB. All rights reserved.
1.87. ManLoadIdProc - Load identification of IRBP manipulators
Usage
ManLoadIdProc ( Manipulator Load Identification Procedure ) is used for load identification
of payload for external manipulators by executing a user defined RAPID program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
NOTE!
An easier way to identify the payload is to use the interactive dialogue RAPID program
ManLoadIdentify .This program can be started from the menu
Program Editor/Debug/Call Routine.../ManLoadIdentify .
Basic examples
Basic examples of the instruction ManLoadIdProc are illustrated below.
PERS loaddata myload := [6,[0,0,0],[1,0,0,0],0,0,0];
VAR bool defined;
ActUnit STN1;
ManLoadIdProc \ParIdType := IRBP_L
\MechUnit := STN1
\PayLoad := myload
\ConfigAngle := 60
\AlreadyActive
\DefinedFlag := defined;
DeactUnit STN1;
Load identification of payload myload mounted on the mechanical unit STN1 . The external
manipulator is of type IRBP-L . The configuration angle is set to 60 degrees. The manipulator
is activated before the load identification and deactivated after. After the identification
myload has been updated and defined it is set to TRUE .
Arguments
ManLoadIdProc [\ParIdType] [\MechUnit] | [\MechUnitName]
[\AxisNumber] [\PayLoad] [\ConfigAngle] [\DeactAll] |
[\AlreadyActive] [DefinedFlag] [DoExit]
[ \ ParIdType ]
Data type: paridnum
Type of parameter identification. Predefined constants are found under the datatype
paridnum .
[ \ MechUnit ]
Data type: mecunit
Mechanical unit used for the load identification. Can not be used together with argument
\MechUnitName .
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[ \ MechUnitName ]
Data type: string
Mechanical unit used for the load identification given as a string. Can not be used together
with argument \MechUnit .
[ \ AxisNumber ]
Data type: num
Axis number within the mechanical unit, which holds the load to be identified.
[ \ PayLoad ]
Data type: loaddata
Variable for the payload to be identified. The component mass must be specified.
This variable will be updated after the identification is done.
[ \ ConfigAngle ]
Data type: num
Specification of a specific configuration angle ± degrees to be used for the parameter
identification.
xx0500002197
Min. + or - 30 degrees. Optimum + or - 90 degrees.
[ \ DeactAll ]
Data type: switch
If this switch is used all mechanical units in the system will be deactivated before
identification is done. The mechanical unit to identify will then be activated. It cannot be used
together with argument \AlreadyActive .
[ \ AlreadyActive ]
Data type: switch
This switch is used if the mechanical unit to identify is active. It cannot be used together with
argument \DeactAll .
[ \ DefinedFlag ]
Data type: bool
This argument will be set to TRUE if the identification has been made, FALSE otherwise.
Continued
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1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
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© Copyright 2004-2010 ABB. All rights reserved.
1.87. ManLoadIdProc - Load identification of IRBP manipulators
Usage
ManLoadIdProc ( Manipulator Load Identification Procedure ) is used for load identification
of payload for external manipulators by executing a user defined RAPID program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
NOTE!
An easier way to identify the payload is to use the interactive dialogue RAPID program
ManLoadIdentify .This program can be started from the menu
Program Editor/Debug/Call Routine.../ManLoadIdentify .
Basic examples
Basic examples of the instruction ManLoadIdProc are illustrated below.
PERS loaddata myload := [6,[0,0,0],[1,0,0,0],0,0,0];
VAR bool defined;
ActUnit STN1;
ManLoadIdProc \ParIdType := IRBP_L
\MechUnit := STN1
\PayLoad := myload
\ConfigAngle := 60
\AlreadyActive
\DefinedFlag := defined;
DeactUnit STN1;
Load identification of payload myload mounted on the mechanical unit STN1 . The external
manipulator is of type IRBP-L . The configuration angle is set to 60 degrees. The manipulator
is activated before the load identification and deactivated after. After the identification
myload has been updated and defined it is set to TRUE .
Arguments
ManLoadIdProc [\ParIdType] [\MechUnit] | [\MechUnitName]
[\AxisNumber] [\PayLoad] [\ConfigAngle] [\DeactAll] |
[\AlreadyActive] [DefinedFlag] [DoExit]
[ \ ParIdType ]
Data type: paridnum
Type of parameter identification. Predefined constants are found under the datatype
paridnum .
[ \ MechUnit ]
Data type: mecunit
Mechanical unit used for the load identification. Can not be used together with argument
\MechUnitName .
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[ \ MechUnitName ]
Data type: string
Mechanical unit used for the load identification given as a string. Can not be used together
with argument \MechUnit .
[ \ AxisNumber ]
Data type: num
Axis number within the mechanical unit, which holds the load to be identified.
[ \ PayLoad ]
Data type: loaddata
Variable for the payload to be identified. The component mass must be specified.
This variable will be updated after the identification is done.
[ \ ConfigAngle ]
Data type: num
Specification of a specific configuration angle ± degrees to be used for the parameter
identification.
xx0500002197
Min. + or - 30 degrees. Optimum + or - 90 degrees.
[ \ DeactAll ]
Data type: switch
If this switch is used all mechanical units in the system will be deactivated before
identification is done. The mechanical unit to identify will then be activated. It cannot be used
together with argument \AlreadyActive .
[ \ AlreadyActive ]
Data type: switch
This switch is used if the mechanical unit to identify is active. It cannot be used together with
argument \DeactAll .
[ \ DefinedFlag ]
Data type: bool
This argument will be set to TRUE if the identification has been made, FALSE otherwise.
Continued
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[ \ DoExit]
Data type: bool
If set to TRUE the load identification will end up with an EXIT command to force the user to
set PP to main before continuing the execution. If not present or set to FALSE no EXIT will
be done. Note that ManLoadIdProc always clears the current path.
Program Execution
All arguments are optional. If an argument is not given the user will be asked for the value
from the FlexPendant (except for \DoExit ).
The user will always be asked to give the mass and if the manipulator is of type IRBP R, z in
mm.
The mechanical unit will carry out a large number of relative small transport and
measurement movements.
After all measurements, movements, and load calculations the load data is returned in
argument Payload if used. The following load data is calculated.
The calculated data will be displayed on the FlexPendant.
Limitations
Usually load identification of load for the external manipulator is done with the service
routine ManLoadIdentify . It is also possible to do this identification with this RAPID
instruction ManLoadIdProc .
Any path in progress will be cleared before the load identification. The program pointer will
be lost after the load identification if argument \DoExit:=TRUE is used.
It is not possible to restart the load identification movements after any type of stop, such as
program stop, emergency stop, or power failure. The load identification movements must be
again restarted from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the system
variable ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP , or
ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoadIdProc .
Manipulator type/
Calculated load data
IRBP-K
IRBP-L
IRBP-C
IRBP_T
IRBP-R
IRBP-A
IRBP-B
IRBP-D
Parameter PayLoad -
cog.x, cog.y, cog.z in loaddata in mm
cog.x cog.y cog.x cog.y cog.x cog.y cog.x cog.y
cog.z
Parameter PayLoad - ix, iy, iz in
loaddata in kgm2
iz
iz
ix
iy
iz
ix
iy
iz
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[ \ MechUnitName ]
Data type: string
Mechanical unit used for the load identification given as a string. Can not be used together
with argument \MechUnit .
[ \ AxisNumber ]
Data type: num
Axis number within the mechanical unit, which holds the load to be identified.
[ \ PayLoad ]
Data type: loaddata
Variable for the payload to be identified. The component mass must be specified.
This variable will be updated after the identification is done.
[ \ ConfigAngle ]
Data type: num
Specification of a specific configuration angle ± degrees to be used for the parameter
identification.
xx0500002197
Min. + or - 30 degrees. Optimum + or - 90 degrees.
[ \ DeactAll ]
Data type: switch
If this switch is used all mechanical units in the system will be deactivated before
identification is done. The mechanical unit to identify will then be activated. It cannot be used
together with argument \AlreadyActive .
[ \ AlreadyActive ]
Data type: switch
This switch is used if the mechanical unit to identify is active. It cannot be used together with
argument \DeactAll .
[ \ DefinedFlag ]
Data type: bool
This argument will be set to TRUE if the identification has been made, FALSE otherwise.
Continued
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[ \ DoExit]
Data type: bool
If set to TRUE the load identification will end up with an EXIT command to force the user to
set PP to main before continuing the execution. If not present or set to FALSE no EXIT will
be done. Note that ManLoadIdProc always clears the current path.
Program Execution
All arguments are optional. If an argument is not given the user will be asked for the value
from the FlexPendant (except for \DoExit ).
The user will always be asked to give the mass and if the manipulator is of type IRBP R, z in
mm.
The mechanical unit will carry out a large number of relative small transport and
measurement movements.
After all measurements, movements, and load calculations the load data is returned in
argument Payload if used. The following load data is calculated.
The calculated data will be displayed on the FlexPendant.
Limitations
Usually load identification of load for the external manipulator is done with the service
routine ManLoadIdentify . It is also possible to do this identification with this RAPID
instruction ManLoadIdProc .
Any path in progress will be cleared before the load identification. The program pointer will
be lost after the load identification if argument \DoExit:=TRUE is used.
It is not possible to restart the load identification movements after any type of stop, such as
program stop, emergency stop, or power failure. The load identification movements must be
again restarted from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the system
variable ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP , or
ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoadIdProc .
Manipulator type/
Calculated load data
IRBP-K
IRBP-L
IRBP-C
IRBP_T
IRBP-R
IRBP-A
IRBP-B
IRBP-D
Parameter PayLoad -
cog.x, cog.y, cog.z in loaddata in mm
cog.x cog.y cog.x cog.y cog.x cog.y cog.x cog.y
cog.z
Parameter PayLoad - ix, iy, iz in
loaddata in kgm2
iz
iz
ix
iy
iz
ix
iy
iz
Continued
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Syntax
ManLoadIdProc
[ ´\’ParIdType ’:=’ <expression ( IN ) of paridnum>]
[ ´\’MechUnit ’:=’ <variable ( VAR ) of mecunit> ]
|[´\’MechUnitName ’:=’ <expression ( IN ) of string>]
[´\’ AxisNumber ’:=’ <expression ( IN ) of num> ]
[´\’ PayLoad ’:=’ <var or pers ( INOUT ) of loaddata>
[ ´\’ ConfigAngle ’:=’ <expression ( IN ) of num>]
[ ´\’ DeactAll] | [´\’AlreadyActive]
[ ´\’ DefinedFlag ’:=’ <variable ( VAR ) of bool> ]
[ ´\’ DoExit ’:=’ <expression ( IN ) of bool> ] ´;’
Related information
For information about
See
Type of parameter identification
paridnum - Type of parameter identification on
page 1154
Mechanical unit
mecunit - Mechanical unit on page 1139
PayLoad
loaddata - Load data on page 1132
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[ \ DoExit]
Data type: bool
If set to TRUE the load identification will end up with an EXIT command to force the user to
set PP to main before continuing the execution. If not present or set to FALSE no EXIT will
be done. Note that ManLoadIdProc always clears the current path.
Program Execution
All arguments are optional. If an argument is not given the user will be asked for the value
from the FlexPendant (except for \DoExit ).
The user will always be asked to give the mass and if the manipulator is of type IRBP R, z in
mm.
The mechanical unit will carry out a large number of relative small transport and
measurement movements.
After all measurements, movements, and load calculations the load data is returned in
argument Payload if used. The following load data is calculated.
The calculated data will be displayed on the FlexPendant.
Limitations
Usually load identification of load for the external manipulator is done with the service
routine ManLoadIdentify . It is also possible to do this identification with this RAPID
instruction ManLoadIdProc .
Any path in progress will be cleared before the load identification. The program pointer will
be lost after the load identification if argument \DoExit:=TRUE is used.
It is not possible to restart the load identification movements after any type of stop, such as
program stop, emergency stop, or power failure. The load identification movements must be
again restarted from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the system
variable ERRNO is set to ERR_PID_MOVESTOP , ERR_PID_RAISE_PP , or
ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoadIdProc .
Manipulator type/
Calculated load data
IRBP-K
IRBP-L
IRBP-C
IRBP_T
IRBP-R
IRBP-A
IRBP-B
IRBP-D
Parameter PayLoad -
cog.x, cog.y, cog.z in loaddata in mm
cog.x cog.y cog.x cog.y cog.x cog.y cog.x cog.y
cog.z
Parameter PayLoad - ix, iy, iz in
loaddata in kgm2
iz
iz
ix
iy
iz
ix
iy
iz
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Syntax
ManLoadIdProc
[ ´\’ParIdType ’:=’ <expression ( IN ) of paridnum>]
[ ´\’MechUnit ’:=’ <variable ( VAR ) of mecunit> ]
|[´\’MechUnitName ’:=’ <expression ( IN ) of string>]
[´\’ AxisNumber ’:=’ <expression ( IN ) of num> ]
[´\’ PayLoad ’:=’ <var or pers ( INOUT ) of loaddata>
[ ´\’ ConfigAngle ’:=’ <expression ( IN ) of num>]
[ ´\’ DeactAll] | [´\’AlreadyActive]
[ ´\’ DefinedFlag ’:=’ <variable ( VAR ) of bool> ]
[ ´\’ DoExit ’:=’ <expression ( IN ) of bool> ] ´;’
Related information
For information about
See
Type of parameter identification
paridnum - Type of parameter identification on
page 1154
Mechanical unit
mecunit - Mechanical unit on page 1139
PayLoad
loaddata - Load data on page 1132
Continued
1 Instructions
1.88. MechUnitLoad - Defines a payload for a mechanical unit
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
Usage
MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for
the robot is defined with instruction GripLoad .)
This instruction should be used for all mechanical units with dynamic model in servo to
achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the instruction
ActUnit .
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_L of type IRBP L .
xx0500002142
Example 1
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, load0;
Activate mechanical unit IRBP_L and define the payload load0 corresponding to no load (at
all) mounted on axis 1 .
Example 2
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, fixture1;
Activate mechanical unit IRBP_L and define the payload fixture1 corresponding to fixture
fixture1 mounted on axis 1 .
Example 3
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, workpiece1;
Activate mechanical unit IRBP_L and define the payload workpiece1 corresponding to
fixture and work piece named workpiece1 mounted on axis 1 .
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Syntax
ManLoadIdProc
[ ´\’ParIdType ’:=’ <expression ( IN ) of paridnum>]
[ ´\’MechUnit ’:=’ <variable ( VAR ) of mecunit> ]
|[´\’MechUnitName ’:=’ <expression ( IN ) of string>]
[´\’ AxisNumber ’:=’ <expression ( IN ) of num> ]
[´\’ PayLoad ’:=’ <var or pers ( INOUT ) of loaddata>
[ ´\’ ConfigAngle ’:=’ <expression ( IN ) of num>]
[ ´\’ DeactAll] | [´\’AlreadyActive]
[ ´\’ DefinedFlag ’:=’ <variable ( VAR ) of bool> ]
[ ´\’ DoExit ’:=’ <expression ( IN ) of bool> ] ´;’
Related information
For information about
See
Type of parameter identification
paridnum - Type of parameter identification on
page 1154
Mechanical unit
mecunit - Mechanical unit on page 1139
PayLoad
loaddata - Load data on page 1132
Continued
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
Usage
MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for
the robot is defined with instruction GripLoad .)
This instruction should be used for all mechanical units with dynamic model in servo to
achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the instruction
ActUnit .
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_L of type IRBP L .
xx0500002142
Example 1
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, load0;
Activate mechanical unit IRBP_L and define the payload load0 corresponding to no load (at
all) mounted on axis 1 .
Example 2
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, fixture1;
Activate mechanical unit IRBP_L and define the payload fixture1 corresponding to fixture
fixture1 mounted on axis 1 .
Example 3
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, workpiece1;
Activate mechanical unit IRBP_L and define the payload workpiece1 corresponding to
fixture and work piece named workpiece1 mounted on axis 1 .
Continues on next page
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
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Arguments
MechUnitLoad MechUnit AxisNo Load
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
AxisNo
Axis Number
Data type: num
The axis number within the mechanical unit that holds the load.
Load
Data type: loaddata
The load data that describes the current payload to be defined.
Program execution
After execution of MechUnitLoad , when the robot and external axes have come to a
standstill, the specified load is defined for the specified mechanical unit and axis. This means
that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the predefined
maximal payload for this mechanical unit type.
When some other payload is used the actual payload for the mechanical unit and axis should
be redefined with this instruction. This should always be done after activation of the
mechanical unit.
The defined payload will survive a power failure restart. The defined payload will also
survive a restart of the program after manual activation of some other mechanical units from
the jogging window.
The following figure shows a payload mounted on the end-effector of a mechanical unit.
xx0500002143
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
Usage
MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for
the robot is defined with instruction GripLoad .)
This instruction should be used for all mechanical units with dynamic model in servo to
achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the instruction
ActUnit .
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_L of type IRBP L .
xx0500002142
Example 1
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, load0;
Activate mechanical unit IRBP_L and define the payload load0 corresponding to no load (at
all) mounted on axis 1 .
Example 2
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, fixture1;
Activate mechanical unit IRBP_L and define the payload fixture1 corresponding to fixture
fixture1 mounted on axis 1 .
Example 3
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, workpiece1;
Activate mechanical unit IRBP_L and define the payload workpiece1 corresponding to
fixture and work piece named workpiece1 mounted on axis 1 .
Continues on next page
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
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Arguments
MechUnitLoad MechUnit AxisNo Load
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
AxisNo
Axis Number
Data type: num
The axis number within the mechanical unit that holds the load.
Load
Data type: loaddata
The load data that describes the current payload to be defined.
Program execution
After execution of MechUnitLoad , when the robot and external axes have come to a
standstill, the specified load is defined for the specified mechanical unit and axis. This means
that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the predefined
maximal payload for this mechanical unit type.
When some other payload is used the actual payload for the mechanical unit and axis should
be redefined with this instruction. This should always be done after activation of the
mechanical unit.
The defined payload will survive a power failure restart. The defined payload will also
survive a restart of the program after manual activation of some other mechanical units from
the jogging window.
The following figure shows a payload mounted on the end-effector of a mechanical unit.
xx0500002143
Continued
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More examples
More examples of how to use the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_K of type IRBP K with three
axes.
xx0500002144
Example 1
MoveL homeside1, v1000, fine, gun1;
...
ActUnit IRBP_K;
The whole mechanical unit IRBP_K is activated.
Example 2
MechUnitLoad IRBP_K, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit IRBP_K axis 2 .
Example 3
MechUnitLoad IRBP_K, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit IRBP_K axis 3 .
Example 4
MoveL homeside2, v1000, fine, gun1;
The axes of the mechanical unit IRBP_K move to the switch position homeside2 with
mounted payload on both axes 2 and 3 .
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
MechUnitLoad cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart or Step.
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Arguments
MechUnitLoad MechUnit AxisNo Load
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
AxisNo
Axis Number
Data type: num
The axis number within the mechanical unit that holds the load.
Load
Data type: loaddata
The load data that describes the current payload to be defined.
Program execution
After execution of MechUnitLoad , when the robot and external axes have come to a
standstill, the specified load is defined for the specified mechanical unit and axis. This means
that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the predefined
maximal payload for this mechanical unit type.
When some other payload is used the actual payload for the mechanical unit and axis should
be redefined with this instruction. This should always be done after activation of the
mechanical unit.
The defined payload will survive a power failure restart. The defined payload will also
survive a restart of the program after manual activation of some other mechanical units from
the jogging window.
The following figure shows a payload mounted on the end-effector of a mechanical unit.
xx0500002143
Continued
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1.88. MechUnitLoad - Defines a payload for a mechanical unit
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More examples
More examples of how to use the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_K of type IRBP K with three
axes.
xx0500002144
Example 1
MoveL homeside1, v1000, fine, gun1;
...
ActUnit IRBP_K;
The whole mechanical unit IRBP_K is activated.
Example 2
MechUnitLoad IRBP_K, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit IRBP_K axis 2 .
Example 3
MechUnitLoad IRBP_K, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit IRBP_K axis 3 .
Example 4
MoveL homeside2, v1000, fine, gun1;
The axes of the mechanical unit IRBP_K move to the switch position homeside2 with
mounted payload on both axes 2 and 3 .
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
MechUnitLoad cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart or Step.
Continued
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Syntax
MechUnitLoad
[MechUnit ’:=’ ] <variable ( VAR ) of mecunit>’ ,’
[AxisNo ´:=’ ] <expression ( IN ) of num> ´,’
[Load ’:=’ ] <persistent ( PERS ) of loaddata>’;’
Related information
For information about
See
Identification of payload for external
mechanical units
Application manual - Additional axes and stand
alone controller
Mechanical units
mecunit - Mechanical unit on page 1139
Definition of load data
loaddata - Load data on page 1132
Definition of payload for the robot
GripLoad - Defines the payload for the robot on
page 119
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More examples
More examples of how to use the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_K of type IRBP K with three
axes.
xx0500002144
Example 1
MoveL homeside1, v1000, fine, gun1;
...
ActUnit IRBP_K;
The whole mechanical unit IRBP_K is activated.
Example 2
MechUnitLoad IRBP_K, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit IRBP_K axis 2 .
Example 3
MechUnitLoad IRBP_K, 3, workpiece2;
Defines payload workpiece2 on the mechanical unit IRBP_K axis 3 .
Example 4
MoveL homeside2, v1000, fine, gun1;
The axes of the mechanical unit IRBP_K move to the switch position homeside2 with
mounted payload on both axes 2 and 3 .
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
MechUnitLoad cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart or Step.
Continued
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Syntax
MechUnitLoad
[MechUnit ’:=’ ] <variable ( VAR ) of mecunit>’ ,’
[AxisNo ´:=’ ] <expression ( IN ) of num> ´,’
[Load ’:=’ ] <persistent ( PERS ) of loaddata>’;’
Related information
For information about
See
Identification of payload for external
mechanical units
Application manual - Additional axes and stand
alone controller
Mechanical units
mecunit - Mechanical unit on page 1139
Definition of load data
loaddata - Load data on page 1132
Definition of payload for the robot
GripLoad - Defines the payload for the robot on
page 119
Continued
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1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
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1.89. MotionSup - Deactivates/Activates motion supervision
Usage
MotionSup ( Motion Supervision ) is used to deactivate or activate the motion supervision
function for robot movements during program execution.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
Motion supervision is the name of a collection of functions for high sensitivity, model-based
supervision of the robot. Currently it contains functionality for load supervision, jam
supervision, and collision detection. Because the supervision is designed to be very sensitive
it may trip if there are large process forces acting on the robot.
If the load is not correctly defined use the load identification function to specify it. If large
external process forces are present in most parts of the application, such as during deburring,
then use the system parameters to raise the supervision level of the motion supervision until
it no longer triggers. If, however, the external forces are only temporary, such as during the
closing of a large spotweld gun, then the MotionSup instruction should be used to raise the
supervision level (or turn the function off) for those parts of the application where the
disturbance acts.
Basic examples
Basic examples of the instruction MotionSup are illustrated below.
Example 1
! If the motion supervision is active in the system parameters,
! then it is active by default during program execution
...
! If the motion supervision is deactivated through the system
! parameters,
! then it cannot be activated through the MotionSup instruction
...
! Deactivate motion supervision during program execution
MotionSup \Off;
...
! Activate motion supervision again during program execution
MotionSup \On;
...
! Tune the supervision level to 200% (makes the function less
! sensitive) of the level in
! the system parameters
MotionSup \On \TuneValue:= 200;
...
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Syntax
MechUnitLoad
[MechUnit ’:=’ ] <variable ( VAR ) of mecunit>’ ,’
[AxisNo ´:=’ ] <expression ( IN ) of num> ´,’
[Load ’:=’ ] <persistent ( PERS ) of loaddata>’;’
Related information
For information about
See
Identification of payload for external
mechanical units
Application manual - Additional axes and stand
alone controller
Mechanical units
mecunit - Mechanical unit on page 1139
Definition of load data
loaddata - Load data on page 1132
Definition of payload for the robot
GripLoad - Defines the payload for the robot on
page 119
Continued
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1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
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1.89. MotionSup - Deactivates/Activates motion supervision
Usage
MotionSup ( Motion Supervision ) is used to deactivate or activate the motion supervision
function for robot movements during program execution.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
Motion supervision is the name of a collection of functions for high sensitivity, model-based
supervision of the robot. Currently it contains functionality for load supervision, jam
supervision, and collision detection. Because the supervision is designed to be very sensitive
it may trip if there are large process forces acting on the robot.
If the load is not correctly defined use the load identification function to specify it. If large
external process forces are present in most parts of the application, such as during deburring,
then use the system parameters to raise the supervision level of the motion supervision until
it no longer triggers. If, however, the external forces are only temporary, such as during the
closing of a large spotweld gun, then the MotionSup instruction should be used to raise the
supervision level (or turn the function off) for those parts of the application where the
disturbance acts.
Basic examples
Basic examples of the instruction MotionSup are illustrated below.
Example 1
! If the motion supervision is active in the system parameters,
! then it is active by default during program execution
...
! If the motion supervision is deactivated through the system
! parameters,
! then it cannot be activated through the MotionSup instruction
...
! Deactivate motion supervision during program execution
MotionSup \Off;
...
! Activate motion supervision again during program execution
MotionSup \On;
...
! Tune the supervision level to 200% (makes the function less
! sensitive) of the level in
! the system parameters
MotionSup \On \TuneValue:= 200;
...
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1.89. MotionSup - Deactivates/Activates motion supervision
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Arguments
MotionSup[\On] | [\Off] [\TuneValue]
[ \On ]
Data type: switch
Activate the motion supervision function during program execution (if it has already been
activated in system parameters).
[ \Off ]
Data type: switch
Deactivate the motion supervision function during program execution.
One of the arguments \On or \Off must be specified.
[ \TuneValue ]
Data type: num
Tuning the motion supervision sensitivity level in percent (1 - 300%) of system parameter
level. A higher level gives more robust sensitivity. This argument can only be combined with
argument \On .
Program execution
If the function motion supervision is active both in the system parameters and in the RAPID
program and the motion supervision is triggered because of a collision etc., then
•
the robot will stop as quickly as possible
•
the robot will back up to remove any residual forces
•
the program execution will stop with an error message
If motion supervision is active in system parameters it is then active by default during
program execution ( TuneValue 100%). These values are set automatically
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Limitations
Motion supervision is never active for external axes or when one or more joints are run in
independent joint mode. When using the robot in the soft servo mode it may be necessary to
turn the motion supervision off to avoid accidental tripping.
Syntax
MotionSup
[ ’\’ On] | [ ’\’ Off ]
[’\’ Tunevalue’:=’< expression ( IN ) of num> ] ’;´
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1.89. MotionSup - Deactivates/Activates motion supervision
Usage
MotionSup ( Motion Supervision ) is used to deactivate or activate the motion supervision
function for robot movements during program execution.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
Motion supervision is the name of a collection of functions for high sensitivity, model-based
supervision of the robot. Currently it contains functionality for load supervision, jam
supervision, and collision detection. Because the supervision is designed to be very sensitive
it may trip if there are large process forces acting on the robot.
If the load is not correctly defined use the load identification function to specify it. If large
external process forces are present in most parts of the application, such as during deburring,
then use the system parameters to raise the supervision level of the motion supervision until
it no longer triggers. If, however, the external forces are only temporary, such as during the
closing of a large spotweld gun, then the MotionSup instruction should be used to raise the
supervision level (or turn the function off) for those parts of the application where the
disturbance acts.
Basic examples
Basic examples of the instruction MotionSup are illustrated below.
Example 1
! If the motion supervision is active in the system parameters,
! then it is active by default during program execution
...
! If the motion supervision is deactivated through the system
! parameters,
! then it cannot be activated through the MotionSup instruction
...
! Deactivate motion supervision during program execution
MotionSup \Off;
...
! Activate motion supervision again during program execution
MotionSup \On;
...
! Tune the supervision level to 200% (makes the function less
! sensitive) of the level in
! the system parameters
MotionSup \On \TuneValue:= 200;
...
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1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
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Arguments
MotionSup[\On] | [\Off] [\TuneValue]
[ \On ]
Data type: switch
Activate the motion supervision function during program execution (if it has already been
activated in system parameters).
[ \Off ]
Data type: switch
Deactivate the motion supervision function during program execution.
One of the arguments \On or \Off must be specified.
[ \TuneValue ]
Data type: num
Tuning the motion supervision sensitivity level in percent (1 - 300%) of system parameter
level. A higher level gives more robust sensitivity. This argument can only be combined with
argument \On .
Program execution
If the function motion supervision is active both in the system parameters and in the RAPID
program and the motion supervision is triggered because of a collision etc., then
•
the robot will stop as quickly as possible
•
the robot will back up to remove any residual forces
•
the program execution will stop with an error message
If motion supervision is active in system parameters it is then active by default during
program execution ( TuneValue 100%). These values are set automatically
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Limitations
Motion supervision is never active for external axes or when one or more joints are run in
independent joint mode. When using the robot in the soft servo mode it may be necessary to
turn the motion supervision off to avoid accidental tripping.
Syntax
MotionSup
[ ’\’ On] | [ ’\’ Off ]
[’\’ Tunevalue’:=’< expression ( IN ) of num> ] ’;´
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Collision Detection
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Related information
For information about
See
General description of the function
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Motion
supervision/collision detection
Tuning using system parameters
Technical reference manual - System parameters ,
section Motion - Motion Planner - Use Motion
Supervision
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1.89. MotionSup - Deactivates/Activates motion supervision
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Arguments
MotionSup[\On] | [\Off] [\TuneValue]
[ \On ]
Data type: switch
Activate the motion supervision function during program execution (if it has already been
activated in system parameters).
[ \Off ]
Data type: switch
Deactivate the motion supervision function during program execution.
One of the arguments \On or \Off must be specified.
[ \TuneValue ]
Data type: num
Tuning the motion supervision sensitivity level in percent (1 - 300%) of system parameter
level. A higher level gives more robust sensitivity. This argument can only be combined with
argument \On .
Program execution
If the function motion supervision is active both in the system parameters and in the RAPID
program and the motion supervision is triggered because of a collision etc., then
•
the robot will stop as quickly as possible
•
the robot will back up to remove any residual forces
•
the program execution will stop with an error message
If motion supervision is active in system parameters it is then active by default during
program execution ( TuneValue 100%). These values are set automatically
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Limitations
Motion supervision is never active for external axes or when one or more joints are run in
independent joint mode. When using the robot in the soft servo mode it may be necessary to
turn the motion supervision off to avoid accidental tripping.
Syntax
MotionSup
[ ’\’ On] | [ ’\’ Off ]
[’\’ Tunevalue’:=’< expression ( IN ) of num> ] ’;´
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Collision Detection
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
General description of the function
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Motion
supervision/collision detection
Tuning using system parameters
Technical reference manual - System parameters ,
section Motion - Motion Planner - Use Motion
Supervision
Continued
1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
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1.90. MoveAbsJ - Moves the robot to an absolute joint position
Usage
MoveAbsJ ( Move Absolute Joint ) is used to move the robot and external axes to an absolute
position defined in axes positions.
Examples of use:
•
the end point is a singular point
•
for ambiguous positions on the IRB 6400C, e.g. for movements with the tool over the
robot
The final position of the robot during a movement with MoveAbsJ is neither affected by the
given tool and work object nor by active program displacement. However, the robot uses this
data to calculate the load, TCP velocity, and the corner path. The same tools can be used in
adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveAbsJ are illustrated below.
See also More examples on page 233 .
Example 1
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute axis position,
p50 , with velocity data v1000 and zone data z50 .
Example 2
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3 is moved along a non-linear path to a stop point which is stored
as an absolute axis position in the instruction (marked with an *). The entire movement takes
5 seconds.
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Related information
For information about
See
General description of the function
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Motion
supervision/collision detection
Tuning using system parameters
Technical reference manual - System parameters ,
section Motion - Motion Planner - Use Motion
Supervision
Continued
1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
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© Copyright 2004-2010 ABB. All rights reserved.
1.90. MoveAbsJ - Moves the robot to an absolute joint position
Usage
MoveAbsJ ( Move Absolute Joint ) is used to move the robot and external axes to an absolute
position defined in axes positions.
Examples of use:
•
the end point is a singular point
•
for ambiguous positions on the IRB 6400C, e.g. for movements with the tool over the
robot
The final position of the robot during a movement with MoveAbsJ is neither affected by the
given tool and work object nor by active program displacement. However, the robot uses this
data to calculate the load, TCP velocity, and the corner path. The same tools can be used in
adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveAbsJ are illustrated below.
See also More examples on page 233 .
Example 1
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute axis position,
p50 , with velocity data v1000 and zone data z50 .
Example 2
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3 is moved along a non-linear path to a stop point which is stored
as an absolute axis position in the instruction (marked with an *). The entire movement takes
5 seconds.
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Arguments
MoveAbsJ [\Conc] ToJointPos [\ID] [\NoEOffs] Speed [\V] | [\T]
Zone [\Z] [\Inpos] Tool [\WObj]
[\Conc]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but is used to shorten the cycle time when, for example, communicating with external
equipment if synchronization is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point, the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \NoEOffs ]
No External Offsets
Data type: switch
If the argument \NoEOffs is set then the movement with MoveAbsJ is not affected by active
offsets for external axes.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
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1.90. MoveAbsJ - Moves the robot to an absolute joint position
Usage
MoveAbsJ ( Move Absolute Joint ) is used to move the robot and external axes to an absolute
position defined in axes positions.
Examples of use:
•
the end point is a singular point
•
for ambiguous positions on the IRB 6400C, e.g. for movements with the tool over the
robot
The final position of the robot during a movement with MoveAbsJ is neither affected by the
given tool and work object nor by active program displacement. However, the robot uses this
data to calculate the load, TCP velocity, and the corner path. The same tools can be used in
adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveAbsJ are illustrated below.
See also More examples on page 233 .
Example 1
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute axis position,
p50 , with velocity data v1000 and zone data z50 .
Example 2
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3 is moved along a non-linear path to a stop point which is stored
as an absolute axis position in the instruction (marked with an *). The entire movement takes
5 seconds.
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Arguments
MoveAbsJ [\Conc] ToJointPos [\ID] [\NoEOffs] Speed [\V] | [\T]
Zone [\Z] [\Inpos] Tool [\WObj]
[\Conc]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but is used to shorten the cycle time when, for example, communicating with external
equipment if synchronization is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point, the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \NoEOffs ]
No External Offsets
Data type: switch
If the argument \NoEOffs is set then the movement with MoveAbsJ is not affected by active
offsets for external axes.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone that is specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robots TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The TCP position
is used to calculate the velocity and the corner path for the movement.
[ \WObj ]
Work Object
Data type: wobjdata
The work object used during the movement.
This argument can be omitted if the tool is held by the robot. However, if the robot holds the
work object, i.e. the tool is stationary, or with coordinated external axes, then the argument
must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the system to
calculate the velocity and the corner path for the movement is defined in the work object.
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Arguments
MoveAbsJ [\Conc] ToJointPos [\ID] [\NoEOffs] Speed [\V] | [\T]
Zone [\Z] [\Inpos] Tool [\WObj]
[\Conc]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but is used to shorten the cycle time when, for example, communicating with external
equipment if synchronization is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point, the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \NoEOffs ]
No External Offsets
Data type: switch
If the argument \NoEOffs is set then the movement with MoveAbsJ is not affected by active
offsets for external axes.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
Continued
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone that is specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robots TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The TCP position
is used to calculate the velocity and the corner path for the movement.
[ \WObj ]
Work Object
Data type: wobjdata
The work object used during the movement.
This argument can be omitted if the tool is held by the robot. However, if the robot holds the
work object, i.e. the tool is stationary, or with coordinated external axes, then the argument
must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the system to
calculate the velocity and the corner path for the movement is defined in the work object.
Continued
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Program execution
A movement with MoveAbsJ is not affected by active program displacement and if executed
with switch \ NoEOffs there will be no offset for external axes. Without switch \NoEOffs the
external axes in the destination target are affected by active offset for external axes.
The tool is moved to the destination absolute joint position with interpolation of the axis
angles. This means that each axis is moved with constant axis velocity and that all axes reach
the destination joint position at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool is
reoriented and the external axes are moved at the same time as the TCP moves. If the
programmed velocity for reorientation or for the external axes cannot be attained, the velocity
of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data program execution only continues when the
robot and external axes have reached the appropriate joint position.
More examples
More examples of how to use the instruction MoveAbsJ are illustrated below.
Example 1
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. The movement is carried out with data set to v2000 and z40 . The velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Example 4
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;
Same movement as above but the movement is not affected by active offsets for external axes.
Example 5
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a non-linear
path to an absolute axis position start .
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone that is specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robots TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The TCP position
is used to calculate the velocity and the corner path for the movement.
[ \WObj ]
Work Object
Data type: wobjdata
The work object used during the movement.
This argument can be omitted if the tool is held by the robot. However, if the robot holds the
work object, i.e. the tool is stationary, or with coordinated external axes, then the argument
must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the system to
calculate the velocity and the corner path for the movement is defined in the work object.
Continued
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Program execution
A movement with MoveAbsJ is not affected by active program displacement and if executed
with switch \ NoEOffs there will be no offset for external axes. Without switch \NoEOffs the
external axes in the destination target are affected by active offset for external axes.
The tool is moved to the destination absolute joint position with interpolation of the axis
angles. This means that each axis is moved with constant axis velocity and that all axes reach
the destination joint position at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool is
reoriented and the external axes are moved at the same time as the TCP moves. If the
programmed velocity for reorientation or for the external axes cannot be attained, the velocity
of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data program execution only continues when the
robot and external axes have reached the appropriate joint position.
More examples
More examples of how to use the instruction MoveAbsJ are illustrated below.
Example 1
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. The movement is carried out with data set to v2000 and z40 . The velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Example 4
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;
Same movement as above but the movement is not affected by active offsets for external axes.
Example 5
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a non-linear
path to an absolute axis position start .
Continued
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Limitations
In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding
problems with singular points or ambiguous areas, it is essential that the subsequent
instructions fulfil certain requirements as follows (see figure below).
The figure shows limitation for backward execution with MoveAbsJ .
xx0500002201
Syntax
MoveAbsJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]
[ ’\’ NoEoffs ] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[’\’ Z ´:=’ ] < expression ( IN ) of num >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
![Image]
.
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Program execution
A movement with MoveAbsJ is not affected by active program displacement and if executed
with switch \ NoEOffs there will be no offset for external axes. Without switch \NoEOffs the
external axes in the destination target are affected by active offset for external axes.
The tool is moved to the destination absolute joint position with interpolation of the axis
angles. This means that each axis is moved with constant axis velocity and that all axes reach
the destination joint position at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool is
reoriented and the external axes are moved at the same time as the TCP moves. If the
programmed velocity for reorientation or for the external axes cannot be attained, the velocity
of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data program execution only continues when the
robot and external axes have reached the appropriate joint position.
More examples
More examples of how to use the instruction MoveAbsJ are illustrated below.
Example 1
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. The movement is carried out with data set to v2000 and z40 . The velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3 , is moved along a non-linear path to an absolute joint position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Example 4
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;
Same movement as above but the movement is not affected by active offsets for external axes.
Example 5
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a non-linear
path to an absolute axis position start .
Continued
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1.90. MoveAbsJ - Moves the robot to an absolute joint position
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Limitations
In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding
problems with singular points or ambiguous areas, it is essential that the subsequent
instructions fulfil certain requirements as follows (see figure below).
The figure shows limitation for backward execution with MoveAbsJ .
xx0500002201
Syntax
MoveAbsJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]
[ ’\’ NoEoffs ] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[’\’ Z ´:=’ ] < expression ( IN ) of num >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
![Image]
.
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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Limitations
In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding
problems with singular points or ambiguous areas, it is essential that the subsequent
instructions fulfil certain requirements as follows (see figure below).
The figure shows limitation for backward execution with MoveAbsJ .
xx0500002201
Syntax
MoveAbsJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]
[ ’\’ NoEoffs ] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[’\’ Z ´:=’ ] < expression ( IN ) of num >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
![Image]
.
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.91. MoveC - Moves the robot circularly
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1.91. MoveC - Moves the robot circularly
Usage
MoveC is used to move the tool center point (TCP) circularly to a given destination. During
the movement the orientation normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveC are illustrated below.
See also More examples on page 239 .
Example 1
MoveC p1, p2, v500, z30, tool2;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 .
Example 2
MoveC *, *, v500 \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved circularly to a fine point stored in the instruction
(marked by the second *). The circle point is also stored in the instruction (marked by the first
*). The complete movement takes 5 seconds.
Example 3
MoveL p1, v500, fine, tool1;
MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;
The figure shows how a complete circle is performed by two MoveC instructions.
xx0500002212
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.91. MoveC - Moves the robot circularly
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1.91. MoveC - Moves the robot circularly
Usage
MoveC is used to move the tool center point (TCP) circularly to a given destination. During
the movement the orientation normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveC are illustrated below.
See also More examples on page 239 .
Example 1
MoveC p1, p2, v500, z30, tool2;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 .
Example 2
MoveC *, *, v500 \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved circularly to a fine point stored in the instruction
(marked by the second *). The circle point is also stored in the instruction (marked by the first
*). The complete movement takes 5 seconds.
Example 3
MoveL p1, v500, fine, tool1;
MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;
The figure shows how a complete circle is performed by two MoveC instructions.
xx0500002212
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Arguments
MoveC [\Conc] CirPoint ToPoint [\ID] Speed [\V] | [\T] Zone [\Z]
[\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination
point, the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
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1.91. MoveC - Moves the robot circularly
Usage
MoveC is used to move the tool center point (TCP) circularly to a given destination. During
the movement the orientation normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveC are illustrated below.
See also More examples on page 239 .
Example 1
MoveC p1, p2, v500, z30, tool2;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 .
Example 2
MoveC *, *, v500 \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved circularly to a fine point stored in the instruction
(marked by the second *). The circle point is also stored in the instruction (marked by the first
*). The complete movement takes 5 seconds.
Example 3
MoveL p1, v500, fine, tool1;
MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;
The figure shows how a complete circle is performed by two MoveC instructions.
xx0500002212
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Arguments
MoveC [\Conc] CirPoint ToPoint [\ID] Speed [\V] | [\T] Zone [\Z]
[\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination
point, the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if it is then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used this
argument must be specified in order for a circle relative to the work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
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Arguments
MoveC [\Conc] CirPoint ToPoint [\ID] Speed [\V] | [\T] Zone [\Z]
[\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination
point, the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if it is then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used this
argument must be specified in order for a circle relative to the work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
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Program execution
The robot and external units are moved to the destination point as follows:
•
The TCP of the tool is moved circularly at a constant programmed velocity.
•
The tool is reoriented at a constant velocity from the orientation at the start position to
the orientation at the destination point.
•
The reorientation is performed relative to the circular path. Thus, if the orientation
relative to the path is the same at the start and the destination points, the relative
orientation remains unchanged during the movement (see figure below).
The figure shows tool orientation during circular movement.
xx0500002214
The orientation in the circle point is not reached. It is only used to distinguish between two
possible directions of reorientation. The accuracy of the reorientation along the path depends
only on the orientation at the start and destination points.
Different modes for tool orientation during circle path are described in instruction
CirPathMode .
Uncoordinated external axes are executed at constant velocity in order for them to arrive at
the destination point at the same time as the robot axes. The position in the circle position is
not used.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data, program execution only continues when the robot
and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveC are illustrated below.
Example 1
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
movement is carried out with data set to v500 and z40 ; the velocity and zone size of the TCP
are 550 mm/s and 45 mm respectively.
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[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if it is then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used this
argument must be specified in order for a circle relative to the work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
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1.91. MoveC - Moves the robot circularly
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Program execution
The robot and external units are moved to the destination point as follows:
•
The TCP of the tool is moved circularly at a constant programmed velocity.
•
The tool is reoriented at a constant velocity from the orientation at the start position to
the orientation at the destination point.
•
The reorientation is performed relative to the circular path. Thus, if the orientation
relative to the path is the same at the start and the destination points, the relative
orientation remains unchanged during the movement (see figure below).
The figure shows tool orientation during circular movement.
xx0500002214
The orientation in the circle point is not reached. It is only used to distinguish between two
possible directions of reorientation. The accuracy of the reorientation along the path depends
only on the orientation at the start and destination points.
Different modes for tool orientation during circle path are described in instruction
CirPathMode .
Uncoordinated external axes are executed at constant velocity in order for them to arrive at
the destination point at the same time as the robot axes. The position in the circle position is
not used.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data, program execution only continues when the robot
and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveC are illustrated below.
Example 1
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
movement is carried out with data set to v500 and z40 ; the velocity and zone size of the TCP
are 550 mm/s and 45 mm respectively.
Continued
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Example 2
MoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved circularly to a stop point p6 . The robot considers it to
be in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveC \Conc, *, *, v500, z40, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
circle point is also stored in the instruction. Subsequent logical instructions are executed
while the robot moves.
Example 4
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved circularly to a position, p15 via the circle point cir1 .
These positions are specified in the object coordinate system for fixture .
Limitations
There are some limitations in how the CirPoint and the ToPoint can be placed, as shown
in the figure below.
xx0500002213
•
Minimum distance between start and ToPoint is 0.1 mm
•
Minimum distance between start and CirPoint is 0.1 mm
•
Minimum angle between CirPoint and ToPoint from the start point is 1 degree
The accuracy can be poor near the limits, e.g. if the start point and the ToPoint on the circle
are close to each other then the fault caused by the leaning of the circle can be much greater
than the accuracy with which the points have been programmed.
Make sure that the robot can reach the circle point during program execution and divide the
circle segment if necessary.
A change of execution mode from forward to backward or vice versa while the robot is
stopped on a circular path is not permitted and will result in an error message.
Continued
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1.91. MoveC - Moves the robot circularly
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Program execution
The robot and external units are moved to the destination point as follows:
•
The TCP of the tool is moved circularly at a constant programmed velocity.
•
The tool is reoriented at a constant velocity from the orientation at the start position to
the orientation at the destination point.
•
The reorientation is performed relative to the circular path. Thus, if the orientation
relative to the path is the same at the start and the destination points, the relative
orientation remains unchanged during the movement (see figure below).
The figure shows tool orientation during circular movement.
xx0500002214
The orientation in the circle point is not reached. It is only used to distinguish between two
possible directions of reorientation. The accuracy of the reorientation along the path depends
only on the orientation at the start and destination points.
Different modes for tool orientation during circle path are described in instruction
CirPathMode .
Uncoordinated external axes are executed at constant velocity in order for them to arrive at
the destination point at the same time as the robot axes. The position in the circle position is
not used.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data, program execution only continues when the robot
and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveC are illustrated below.
Example 1
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
movement is carried out with data set to v500 and z40 ; the velocity and zone size of the TCP
are 550 mm/s and 45 mm respectively.
Continued
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Example 2
MoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved circularly to a stop point p6 . The robot considers it to
be in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveC \Conc, *, *, v500, z40, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
circle point is also stored in the instruction. Subsequent logical instructions are executed
while the robot moves.
Example 4
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved circularly to a position, p15 via the circle point cir1 .
These positions are specified in the object coordinate system for fixture .
Limitations
There are some limitations in how the CirPoint and the ToPoint can be placed, as shown
in the figure below.
xx0500002213
•
Minimum distance between start and ToPoint is 0.1 mm
•
Minimum distance between start and CirPoint is 0.1 mm
•
Minimum angle between CirPoint and ToPoint from the start point is 1 degree
The accuracy can be poor near the limits, e.g. if the start point and the ToPoint on the circle
are close to each other then the fault caused by the leaning of the circle can be much greater
than the accuracy with which the points have been programmed.
Make sure that the robot can reach the circle point during program execution and divide the
circle segment if necessary.
A change of execution mode from forward to backward or vice versa while the robot is
stopped on a circular path is not permitted and will result in an error message.
Continued
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1 Instructions
1.91. MoveC - Moves the robot circularly
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WARNING!
The instruction MoveC (or any other instruction including circular movement) should never
be started from the beginning with TCP between the circle point and the end point. Otherwise
the robot will not take the programmed path (positioning around the circular path in another
direction compared with that which is programmed).
To minimize the risk set the system parameter Restrict placing of circlepoints to TRUE (type
Motion Planner , topic Motion ). The parameter adds a supervision that the circle path not turns
around more than 240 degrees and that the circle point is placed in the middle part of the circle
path.
Syntax
MoveC
[ ’\’ Conc ’,’ ]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno>]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata>
[ ’\’ V ’:=’ < expression ( IN ) of num> ]
[ ’\’ T ’:=’ < expression ( IN ) of num> ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[ ’\’ Z ’:=’ < expression ( IN ) of num> ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata> ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata> ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Tool reorientation during circle
path
CirPathMode - Tool reorientation during circle path on
page 38
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Concurrent program execution
Technical reference manual - RAPID overview , section
Motion and I/O principles - Synchronization with logical
instructions
System parameters
Technical reference manual - System parameters
Continued
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Example 2
MoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved circularly to a stop point p6 . The robot considers it to
be in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveC \Conc, *, *, v500, z40, grip3;
The TCP of the tool, grip3 , is moved circularly to a position stored in the instruction. The
circle point is also stored in the instruction. Subsequent logical instructions are executed
while the robot moves.
Example 4
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved circularly to a position, p15 via the circle point cir1 .
These positions are specified in the object coordinate system for fixture .
Limitations
There are some limitations in how the CirPoint and the ToPoint can be placed, as shown
in the figure below.
xx0500002213
•
Minimum distance between start and ToPoint is 0.1 mm
•
Minimum distance between start and CirPoint is 0.1 mm
•
Minimum angle between CirPoint and ToPoint from the start point is 1 degree
The accuracy can be poor near the limits, e.g. if the start point and the ToPoint on the circle
are close to each other then the fault caused by the leaning of the circle can be much greater
than the accuracy with which the points have been programmed.
Make sure that the robot can reach the circle point during program execution and divide the
circle segment if necessary.
A change of execution mode from forward to backward or vice versa while the robot is
stopped on a circular path is not permitted and will result in an error message.
Continued
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1.91. MoveC - Moves the robot circularly
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WARNING!
The instruction MoveC (or any other instruction including circular movement) should never
be started from the beginning with TCP between the circle point and the end point. Otherwise
the robot will not take the programmed path (positioning around the circular path in another
direction compared with that which is programmed).
To minimize the risk set the system parameter Restrict placing of circlepoints to TRUE (type
Motion Planner , topic Motion ). The parameter adds a supervision that the circle path not turns
around more than 240 degrees and that the circle point is placed in the middle part of the circle
path.
Syntax
MoveC
[ ’\’ Conc ’,’ ]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno>]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata>
[ ’\’ V ’:=’ < expression ( IN ) of num> ]
[ ’\’ T ’:=’ < expression ( IN ) of num> ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[ ’\’ Z ’:=’ < expression ( IN ) of num> ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata> ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata> ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Tool reorientation during circle
path
CirPathMode - Tool reorientation during circle path on
page 38
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Concurrent program execution
Technical reference manual - RAPID overview , section
Motion and I/O principles - Synchronization with logical
instructions
System parameters
Technical reference manual - System parameters
Continued
1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
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1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
Usage
MoveCDO ( Move Circular Digital Output ) is used to move the tool center point (TCP)
circularly to a given destination. The specified digital output is set/reset in the middle of the
corner path at the destination point. During the movement the orientation normally remains
unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCDO are illustrated below.
Example 1
MoveCDO p1, p2, v500, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Output do1 is set in the middle of the corner path at p2 .
Arguments
MoveCDO CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal
Value
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
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WARNING!
The instruction MoveC (or any other instruction including circular movement) should never
be started from the beginning with TCP between the circle point and the end point. Otherwise
the robot will not take the programmed path (positioning around the circular path in another
direction compared with that which is programmed).
To minimize the risk set the system parameter Restrict placing of circlepoints to TRUE (type
Motion Planner , topic Motion ). The parameter adds a supervision that the circle path not turns
around more than 240 degrees and that the circle point is placed in the middle part of the circle
path.
Syntax
MoveC
[ ’\’ Conc ’,’ ]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget> ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno>]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata>
[ ’\’ V ’:=’ < expression ( IN ) of num> ]
[ ’\’ T ’:=’ < expression ( IN ) of num> ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata>
[ ’\’ Z ’:=’ < expression ( IN ) of num> ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata> ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata> ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Tool reorientation during circle
path
CirPathMode - Tool reorientation during circle path on
page 38
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Concurrent program execution
Technical reference manual - RAPID overview , section
Motion and I/O principles - Synchronization with logical
instructions
System parameters
Technical reference manual - System parameters
Continued
1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
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1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
Usage
MoveCDO ( Move Circular Digital Output ) is used to move the tool center point (TCP)
circularly to a given destination. The specified digital output is set/reset in the middle of the
corner path at the destination point. During the movement the orientation normally remains
unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCDO are illustrated below.
Example 1
MoveCDO p1, p2, v500, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Output do1 is set in the middle of the corner path at p2 .
Arguments
MoveCDO CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal
Value
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
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Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified in order for a circle relative to the work object to be executed.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
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1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
Usage
MoveCDO ( Move Circular Digital Output ) is used to move the tool center point (TCP)
circularly to a given destination. The specified digital output is set/reset in the middle of the
corner path at the destination point. During the movement the orientation normally remains
unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCDO are illustrated below.
Example 1
MoveCDO p1, p2, v500, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Output do1 is set in the middle of the corner path at p2 .
Arguments
MoveCDO CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal
Value
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
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Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified in order for a circle relative to the work object to be executed.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Continued
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Program execution
See the instruction MoveC for more information about circular movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveCDO .
xx0500002215
For stop points we recommend the use of“ normal” programming sequence with MoveC +
SetDO . But when using stop point in instruction MoveCDO the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Limitations
General limitations according to instruction MoveC.
Syntax
MoveCDO
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Continued
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Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified in order for a circle relative to the work object to be executed.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Continued
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Program execution
See the instruction MoveC for more information about circular movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveCDO .
xx0500002215
For stop points we recommend the use of“ normal” programming sequence with MoveC +
SetDO . But when using stop point in instruction MoveCDO the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Limitations
General limitations according to instruction MoveC.
Syntax
MoveCDO
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Continued
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1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
See the instruction MoveC for more information about circular movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveCDO .
xx0500002215
For stop points we recommend the use of“ normal” programming sequence with MoveC +
SetDO . But when using stop point in instruction MoveCDO the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Limitations
General limitations according to instruction MoveC.
Syntax
MoveCDO
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Continued
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1 Instructions
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
Usage
MoveCSync ( Move Circular Synchronously ) is used to move the tool center point (TCP)
circularly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point. During the movement the orientation
normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCSync are illustrated below.
Example 1
MoveCSync p1, p2, v500, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Procedure proc1 is executed in the middle of the corner path at p2 .
Example 2
MoveCSync p1, p2, v500, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveCSync CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj]
ProcName
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
Usage
MoveCSync ( Move Circular Synchronously ) is used to move the tool center point (TCP)
circularly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point. During the movement the orientation
normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCSync are illustrated below.
Example 1
MoveCSync p1, p2, v500, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Procedure proc1 is executed in the middle of the corner path at p2 .
Example 2
MoveCSync p1, p2, v500, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveCSync CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj]
ProcName
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
Continues on next page
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used, this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point.
Continued
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1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
Usage
MoveCSync ( Move Circular Synchronously ) is used to move the tool center point (TCP)
circularly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point. During the movement the orientation
normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCSync are illustrated below.
Example 1
MoveCSync p1, p2, v500, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved circularly to the position p2 with speed data v500 and
zone data z30 . The circle is defined from the start position, the circle point p1 , and the
destination point p2 . Procedure proc1 is executed in the middle of the corner path at p2 .
Example 2
MoveCSync p1, p2, v500, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveCSync CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj]
ProcName
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
Continues on next page
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used, this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point.
Continued
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1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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Program execution
See the instruction MoveC for more information about circular movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveCSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done at the
middle of the corner path.
xx0500002216
For stop points we recommend the use of“ normal” programming sequence with MoveC + and
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
General limitations according to instruction MoveC.
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveCSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used, this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point.
Continued
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1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
See the instruction MoveC for more information about circular movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveCSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done at the
middle of the corner path.
xx0500002216
For stop points we recommend the use of“ normal” programming sequence with MoveC + and
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
General limitations according to instruction MoveC.
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveCSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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Syntax
MoveCSync
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
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Program execution
See the instruction MoveC for more information about circular movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveCSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done at the
middle of the corner path.
xx0500002216
For stop points we recommend the use of“ normal” programming sequence with MoveC + and
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
General limitations according to instruction MoveC.
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveCSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
Continues on next page
1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
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Syntax
MoveCSync
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
1 Instructions
1.94. MoveExtJ - Move one or several mechanical units without TCP
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1.94. MoveExtJ - Move one or several mechanical units without TCP
Usage
MoveExtJ ( Move External Joints ) is used to move linear or rotating external axes. The
external axes can belong to one or several mechanical units without TCP.
This instruction can only be used with an actual program task defined as a Motion Task and
if the task controls one or several mechanical units without TCP.
Basic examples
Basic examples of the instruction MoveExtJ are illustrated below.
See also More examples on page 252 .
Example 1
MoveExtJ jpos10, vrot10, z50;
Move rotational external axes to joint position jpos10 with speed 10 degrees/s with zone
data z50 .
Example 2
MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;
Move external axes to joint position jpos20 in 5. The program execution goes forward at
once but the external axes stops in the position jpos20 until the convergence criteria in
inpos20 are fulfilled.
Arguments
MoveExtJ [\Conc] ToJointPos [\ID] [\UseEOffs] Speed [\T] Zone
[\Inpos]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the external axis is moving. The argument is
usually not used but can be used to avoid unwanted stops caused by overloaded CPU when
using fly-by points. This is useful when the programmed points are very close together at high
speeds. The argument is also useful when, for example, communicating with external
equipment and synchronization between the external equipment and robot movement is not
required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point then the subsequent
instruction is executed some time before the external axes has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
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Syntax
MoveCSync
[ CirPoint ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
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1.94. MoveExtJ - Move one or several mechanical units without TCP
Usage
MoveExtJ ( Move External Joints ) is used to move linear or rotating external axes. The
external axes can belong to one or several mechanical units without TCP.
This instruction can only be used with an actual program task defined as a Motion Task and
if the task controls one or several mechanical units without TCP.
Basic examples
Basic examples of the instruction MoveExtJ are illustrated below.
See also More examples on page 252 .
Example 1
MoveExtJ jpos10, vrot10, z50;
Move rotational external axes to joint position jpos10 with speed 10 degrees/s with zone
data z50 .
Example 2
MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;
Move external axes to joint position jpos20 in 5. The program execution goes forward at
once but the external axes stops in the position jpos20 until the convergence criteria in
inpos20 are fulfilled.
Arguments
MoveExtJ [\Conc] ToJointPos [\ID] [\UseEOffs] Speed [\T] Zone
[\Inpos]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the external axis is moving. The argument is
usually not used but can be used to avoid unwanted stops caused by overloaded CPU when
using fly-by points. This is useful when the programmed points are very close together at high
speeds. The argument is also useful when, for example, communicating with external
equipment and synchronization between the external equipment and robot movement is not
required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point then the subsequent
instruction is executed some time before the external axes has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
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ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the external axes. It is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization ID
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for MoveExtJ
instruction when the argument UseEOffs is used. See instruction EOffsSet for more
information about external offset.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the linear or
rotating external axis.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the external axes
move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a fly-by point
then the zone size describes the deceleration and acceleration for the linear or rotational
external axes.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the external axis
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Program execution
The linear or rotating external axes are moved to the programmed point with the programmed
velocity.
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1.94. MoveExtJ - Move one or several mechanical units without TCP
Usage
MoveExtJ ( Move External Joints ) is used to move linear or rotating external axes. The
external axes can belong to one or several mechanical units without TCP.
This instruction can only be used with an actual program task defined as a Motion Task and
if the task controls one or several mechanical units without TCP.
Basic examples
Basic examples of the instruction MoveExtJ are illustrated below.
See also More examples on page 252 .
Example 1
MoveExtJ jpos10, vrot10, z50;
Move rotational external axes to joint position jpos10 with speed 10 degrees/s with zone
data z50 .
Example 2
MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;
Move external axes to joint position jpos20 in 5. The program execution goes forward at
once but the external axes stops in the position jpos20 until the convergence criteria in
inpos20 are fulfilled.
Arguments
MoveExtJ [\Conc] ToJointPos [\ID] [\UseEOffs] Speed [\T] Zone
[\Inpos]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the external axis is moving. The argument is
usually not used but can be used to avoid unwanted stops caused by overloaded CPU when
using fly-by points. This is useful when the programmed points are very close together at high
speeds. The argument is also useful when, for example, communicating with external
equipment and synchronization between the external equipment and robot movement is not
required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point then the subsequent
instruction is executed some time before the external axes has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
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ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the external axes. It is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization ID
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for MoveExtJ
instruction when the argument UseEOffs is used. See instruction EOffsSet for more
information about external offset.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the linear or
rotating external axis.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the external axes
move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a fly-by point
then the zone size describes the deceleration and acceleration for the linear or rotational
external axes.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the external axis
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Program execution
The linear or rotating external axes are moved to the programmed point with the programmed
velocity.
Continued
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More examples
CONST jointtarget j1 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j2 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j3 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j4 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]];
CONST speeddata rot_ax_speed := [0, 0, 0, 45];
MoveExtJ j1, rot_ax_speed, fine;
MoveExtJ j2, rot_ax_speed, z20;
MoveExtJ j3, rot_ax_speed, z20;
MoveExtJ j4, rot_ax_speed, fine;
In this example the rotating single axis is moved to joint position 0 , 30 , 60 , and 90 degrees
with the speed of 45 degrees/s.
Syntax
MoveExtJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata >]‘;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the external axes. It is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization ID
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for MoveExtJ
instruction when the argument UseEOffs is used. See instruction EOffsSet for more
information about external offset.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the linear or
rotating external axis.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the external axes
move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a fly-by point
then the zone size describes the deceleration and acceleration for the linear or rotational
external axes.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the external axis
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Program execution
The linear or rotating external axes are moved to the programmed point with the programmed
velocity.
Continued
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1.94. MoveExtJ - Move one or several mechanical units without TCP
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More examples
CONST jointtarget j1 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j2 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j3 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j4 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]];
CONST speeddata rot_ax_speed := [0, 0, 0, 45];
MoveExtJ j1, rot_ax_speed, fine;
MoveExtJ j2, rot_ax_speed, z20;
MoveExtJ j3, rot_ax_speed, z20;
MoveExtJ j4, rot_ax_speed, fine;
In this example the rotating single axis is moved to joint position 0 , 30 , 60 , and 90 degrees
with the speed of 45 degrees/s.
Syntax
MoveExtJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata >]‘;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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1.95. MoveJ - Moves the robot by joint movement
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1.95. MoveJ - Moves the robot by joint movement
Usage
MoveJ is used to move the robot quickly from one point to another when that movement does
not have to be in a straight line.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJ are illustrated below.
See also More examples on page 255 .
Example 1
MoveJ p1, vmax, z30, tool2;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 .
Example 2
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a stop point stored in the
instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ [\Conc] ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos]
Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point, the subsequent instruction is
executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
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More examples
CONST jointtarget j1 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j2 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j3 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j4 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]];
CONST speeddata rot_ax_speed := [0, 0, 0, 45];
MoveExtJ j1, rot_ax_speed, fine;
MoveExtJ j2, rot_ax_speed, z20;
MoveExtJ j3, rot_ax_speed, z20;
MoveExtJ j4, rot_ax_speed, fine;
In this example the rotating single axis is moved to joint position 0 , 30 , 60 , and 90 degrees
with the speed of 45 degrees/s.
Syntax
MoveExtJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata >]‘;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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1.95. MoveJ - Moves the robot by joint movement
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1.95. MoveJ - Moves the robot by joint movement
Usage
MoveJ is used to move the robot quickly from one point to another when that movement does
not have to be in a straight line.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJ are illustrated below.
See also More examples on page 255 .
Example 1
MoveJ p1, vmax, z30, tool2;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 .
Example 2
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a stop point stored in the
instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ [\Conc] ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos]
Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point, the subsequent instruction is
executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
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ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Continued
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1.95. MoveJ - Moves the robot by joint movement
Usage
MoveJ is used to move the robot quickly from one point to another when that movement does
not have to be in a straight line.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJ are illustrated below.
See also More examples on page 255 .
Example 1
MoveJ p1, vmax, z30, tool2;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 .
Example 2
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a stop point stored in the
instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ [\Conc] ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos]
Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point, the subsequent instruction is
executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
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ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Continued
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Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Program execution
The tool center point is moved to the destination point with interpolation of the axis angles.
This means that each axis is moved with constant axis velocity and that all axes reach the
destination point at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at the approximate programmed velocity (regardless
of whether or not the external axes are coordinated). The tool is reoriented and the external
axes are moved at the same time that the TCP moves. If the programmed velocity for
reorientation or for the external axes cannot be attained then the velocity of the TCP will be
reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data the program execution only continues when
the robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveJ are illustrated below.
Example 1
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40 ; the velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveJ p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved in a non-linear path to a stop point p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveJ \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Continued
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ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Continued
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Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Program execution
The tool center point is moved to the destination point with interpolation of the axis angles.
This means that each axis is moved with constant axis velocity and that all axes reach the
destination point at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at the approximate programmed velocity (regardless
of whether or not the external axes are coordinated). The tool is reoriented and the external
axes are moved at the same time that the TCP moves. If the programmed velocity for
reorientation or for the external axes cannot be attained then the velocity of the TCP will be
reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data the program execution only continues when
the robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveJ are illustrated below.
Example 1
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40 ; the velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveJ p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved in a non-linear path to a stop point p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveJ \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Continued
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Example 4
MoveJ start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved along a non-linear path to a position, start . This
position is specified in the object coordinate system for fixture .
Syntax
MoveJ
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ‘:=’ < expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool’ :=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Program execution
The tool center point is moved to the destination point with interpolation of the axis angles.
This means that each axis is moved with constant axis velocity and that all axes reach the
destination point at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at the approximate programmed velocity (regardless
of whether or not the external axes are coordinated). The tool is reoriented and the external
axes are moved at the same time that the TCP moves. If the programmed velocity for
reorientation or for the external axes cannot be attained then the velocity of the TCP will be
reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data the program execution only continues when
the robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveJ are illustrated below.
Example 1
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40 ; the velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveJ p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved in a non-linear path to a stop point p5 . The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata .
Example 3
MoveJ \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved along a non-linear path to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Continued
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1.95. MoveJ - Moves the robot by joint movement
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Example 4
MoveJ start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved along a non-linear path to a position, start . This
position is specified in the object coordinate system for fixture .
Syntax
MoveJ
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ‘:=’ < expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool’ :=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
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1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the
corner
Usage
MoveJDO ( Move Joint Digital Output ) is used to move the robot quickly from one point to
another when that movement does not have to be in a straight line. The specified digital output
signal is set/reset at the middle of the corner path.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJDO are illustrated below.
Example 1
MoveJDO p1, vmax, z30, tool2, do1, 1;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Output do1 is set in the middle of the
corner path at p1 .
Arguments
MoveJDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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Example 4
MoveJ start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved along a non-linear path to a position, start . This
position is specified in the object coordinate system for fixture .
Syntax
MoveJ
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ ’:=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ‘:=’ < expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool’ :=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
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1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the
corner
Usage
MoveJDO ( Move Joint Digital Output ) is used to move the robot quickly from one point to
another when that movement does not have to be in a straight line. The specified digital output
signal is set/reset at the middle of the corner path.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJDO are illustrated below.
Example 1
MoveJDO p1, vmax, z30, tool2, do1, 1;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Output do1 is set in the middle of the
corner path at p1 .
Arguments
MoveJDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveJ for more information about joint movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveJDO .
xx0500002196
For stop points we recommend the use of“ normal” programming sequence with MoveJ +
SetDO . But when using stop point in instruction MoveJDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the
corner
Usage
MoveJDO ( Move Joint Digital Output ) is used to move the robot quickly from one point to
another when that movement does not have to be in a straight line. The specified digital output
signal is set/reset at the middle of the corner path.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJDO are illustrated below.
Example 1
MoveJDO p1, vmax, z30, tool2, do1, 1;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Output do1 is set in the middle of the
corner path at p1 .
Arguments
MoveJDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveJ for more information about joint movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveJDO .
xx0500002196
For stop points we recommend the use of“ normal” programming sequence with MoveJ +
SetDO . But when using stop point in instruction MoveJDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
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Syntax
MoveJDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo>] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Synchronization with logical instructions
Continued
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveJ for more information about joint movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveJDO .
xx0500002196
For stop points we recommend the use of“ normal” programming sequence with MoveJ +
SetDO . But when using stop point in instruction MoveJDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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Syntax
MoveJDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo>] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Synchronization with logical instructions
Continued
1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID
procedure
Usage
MoveJSync ( Move Joint Synchronously ) is used to move the robot quickly from one point
to another when that movement does not have to be in a straight line. The specified RAPID
procedure is ordered to execute at the middle of the corner path in the destination point.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJSync are illustrated below.
Example 1
MoveJSync p1, vmax, z30, tool2, "proc1";
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Procedure proc1 is executed in the
middle of the corner path at p1 .
Example 2
MoveJSync p1, vmax, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveJSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
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Syntax
MoveJDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata>
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo>] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Synchronization with logical instructions
Continued
1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID
procedure
Usage
MoveJSync ( Move Joint Synchronously ) is used to move the robot quickly from one point
to another when that movement does not have to be in a straight line. The specified RAPID
procedure is ordered to execute at the middle of the corner path in the destination point.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJSync are illustrated below.
Example 1
MoveJSync p1, vmax, z30, tool2, "proc1";
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Procedure proc1 is executed in the
middle of the corner path at p1 .
Example 2
MoveJSync p1, vmax, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveJSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
Continues on next page
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Program execution
See the instruction MoveJ for more information about joint movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveJSync instruction, as shown in the figure
below.
xx0500002195
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID
procedure
Usage
MoveJSync ( Move Joint Synchronously ) is used to move the robot quickly from one point
to another when that movement does not have to be in a straight line. The specified RAPID
procedure is ordered to execute at the middle of the corner path in the destination point.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJSync are illustrated below.
Example 1
MoveJSync p1, vmax, z30, tool2, "proc1";
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1 , with speed data vmax and zone data z30 . Procedure proc1 is executed in the
middle of the corner path at p1 .
Example 2
MoveJSync p1, vmax, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveJSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
Continues on next page
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Program execution
See the instruction MoveJ for more information about joint movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveJSync instruction, as shown in the figure
below.
xx0500002195
Continued
Continues on next page
1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
For stop points we recommend the use of “normal” programming sequence with MoveJ +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveJSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Syntax
MoveJSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num >] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata >´,´
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Program execution
See the instruction MoveJ for more information about joint movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveJSync instruction, as shown in the figure
below.
xx0500002195
Continued
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1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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262
© Copyright 2004-2010 ABB. All rights reserved.
For stop points we recommend the use of “normal” programming sequence with MoveJ +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveJSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Syntax
MoveJSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num >] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata >´,´
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on page
588
Continued
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
For stop points we recommend the use of “normal” programming sequence with MoveJ +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveJSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Syntax
MoveJSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num >] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata >´,´
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ’;’
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on page
588
Continued
1 Instructions
1.98. MoveL - Moves the robot linearly
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1.98. MoveL - Moves the robot linearly
Usage
MoveL is used to move the tool center point (TCP) linearly to a given destination. When the
TCP is to remain stationary then this instruction can also be used to reorientate the tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveL are illustrated below.
See also More examples on page 266 .
Example 1
MoveL p1, v1000, z30, tool2;
The TCP of the tool, tool2 , is moved linearly to the position p1, with speed data v1000
and zone data z30 .
Example 2
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point stored in the instruction (marked
with an *). The complete movement takes 5 seconds.
Arguments
MoveL [\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone [\Z] [\Inpos]
Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O principles - Coordinate systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on page
588
Continued
1 Instructions
1.98. MoveL - Moves the robot linearly
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1.98. MoveL - Moves the robot linearly
Usage
MoveL is used to move the tool center point (TCP) linearly to a given destination. When the
TCP is to remain stationary then this instruction can also be used to reorientate the tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveL are illustrated below.
See also More examples on page 266 .
Example 1
MoveL p1, v1000, z30, tool2;
The TCP of the tool, tool2 , is moved linearly to the position p1, with speed data v1000
and zone data z30 .
Example 2
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point stored in the instruction (marked
with an *). The complete movement takes 5 seconds.
Arguments
MoveL [\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone [\Z] [\Inpos]
Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
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1.98. MoveL - Moves the robot linearly
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1.98. MoveL - Moves the robot linearly
Usage
MoveL is used to move the tool center point (TCP) linearly to a given destination. When the
TCP is to remain stationary then this instruction can also be used to reorientate the tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveL are illustrated below.
See also More examples on page 266 .
Example 1
MoveL p1, v1000, z30, tool2;
The TCP of the tool, tool2 , is moved linearly to the position p1, with speed data v1000
and zone data z30 .
Example 2
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point stored in the instruction (marked
with an *). The complete movement takes 5 seconds.
Arguments
MoveL [\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone [\Z] [\Inpos]
Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
Continued
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[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary tool or coordinated external axes are used then this
argument must be specified in order to perform a linear movement relative to the work object.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
The robot and external units are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at constant programmed velocity.
•
The tool is reoriented at equal intervals along the path.
•
Uncoordinated external axes are executed at a constant velocity in order for them to
arrive at the destination point at the same time as the robot axes.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes then the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data then program execution only continues when the
robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveL are illustrated below.
Example 1
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction. The
movement is carried out with data set to v2000 and z40 . The velocity and zone size of the
TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveL p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point p5 . The robot considers it to be
in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveL \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction.
Subsequent logical instructions are executed while the robot moves.
Continued
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[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
Continued
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[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary tool or coordinated external axes are used then this
argument must be specified in order to perform a linear movement relative to the work object.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
The robot and external units are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at constant programmed velocity.
•
The tool is reoriented at equal intervals along the path.
•
Uncoordinated external axes are executed at a constant velocity in order for them to
arrive at the destination point at the same time as the robot axes.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes then the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data then program execution only continues when the
robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveL are illustrated below.
Example 1
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction. The
movement is carried out with data set to v2000 and z40 . The velocity and zone size of the
TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveL p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point p5 . The robot considers it to be
in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveL \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction.
Subsequent logical instructions are executed while the robot moves.
Continued
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1.98. MoveL - Moves the robot linearly
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Example 4
MoveL start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved linearly to a position, start . This position is specified
in the object coordinate system for fixture .
Syntax
MoveL
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ’:=’< expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary tool or coordinated external axes are used then this
argument must be specified in order to perform a linear movement relative to the work object.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
The robot and external units are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at constant programmed velocity.
•
The tool is reoriented at equal intervals along the path.
•
Uncoordinated external axes are executed at a constant velocity in order for them to
arrive at the destination point at the same time as the robot axes.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes then the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data then program execution only continues when the
robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveL are illustrated below.
Example 1
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction. The
movement is carried out with data set to v2000 and z40 . The velocity and zone size of the
TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveL p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3 , is moved linearly to a stop point p5 . The robot considers it to be
in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveL \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3 , is moved linearly to a position stored in the instruction.
Subsequent logical instructions are executed while the robot moves.
Continued
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Example 4
MoveL start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved linearly to a position, start . This position is specified
in the object coordinate system for fixture .
Syntax
MoveL
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ’:=’< expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
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1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
Usage
MoveLDO ( Move Linearly Digital Output ) is used to move the tool center point (TCP) linearly
to a given destination. The specified digital output signal is set/reset at the middle of the
corner path.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLDO are illustrated below.
Example 1
MoveLDO p1, v1000, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Output do1 is set in the middle of the corner path at p1 .
Arguments
MoveLDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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Example 4
MoveL start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3 , is moved linearly to a position, start . This position is specified
in the object coordinate system for fixture .
Syntax
MoveL
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ V ’:=’ < expression ( IN ) of num > ]
| [ ’\’ T’ :=’ < expression ( IN ) of num > ] ’,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Z ’:=’< expression ( IN ) of num > ]
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
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1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
Usage
MoveLDO ( Move Linearly Digital Output ) is used to move the tool center point (TCP) linearly
to a given destination. The specified digital output signal is set/reset at the middle of the
corner path.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLDO are illustrated below.
Example 1
MoveLDO p1, v1000, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Output do1 is set in the middle of the corner path at p1 .
Arguments
MoveLDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Continues on next page
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveL for more information about linear movements.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in the figure below.
The figure shows set/reset of digital output signal in the corner path with MoveLDO .
xx0500002193
For stop points we recommend the use of“ normal” programming sequence with MoveL +
SetDO . But when using stop point in instruction MoveLDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
Usage
MoveLDO ( Move Linearly Digital Output ) is used to move the tool center point (TCP) linearly
to a given destination. The specified digital output signal is set/reset at the middle of the
corner path.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLDO are illustrated below.
Example 1
MoveLDO p1, v1000, z30, tool2, do1,1;
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Output do1 is set in the middle of the corner path at p1 .
Arguments
MoveLDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Continues on next page
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveL for more information about linear movements.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in the figure below.
The figure shows set/reset of digital output signal in the corner path with MoveLDO .
xx0500002193
For stop points we recommend the use of“ normal” programming sequence with MoveL +
SetDO . But when using stop point in instruction MoveLDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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Syntax
MoveLDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ ] < persistent ( PERS ) of wobjdata > ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo >] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
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Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveL for more information about linear movements.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in the figure below.
The figure shows set/reset of digital output signal in the corner path with MoveLDO .
xx0500002193
For stop points we recommend the use of“ normal” programming sequence with MoveL +
SetDO . But when using stop point in instruction MoveLDO , the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Continued
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Syntax
MoveLDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ ] < persistent ( PERS ) of wobjdata > ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo >] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
Usage
MoveLSync ( Move Linearly Synchronously ) is used to move the tool center point (TCP)
linearly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLSync are illustrated below.
Example 1
MoveLSync p1, v1000, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Procedure proc1 is executed in the middle of the corner path at p1 .
Example 2
MoveLSync p1, v1000, z30, tool2, "proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveLSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
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Syntax
MoveLDO
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ ] < persistent ( PERS ) of wobjdata > ’,’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo >] ´,’
[ Value ´:=’ ] < expression ( IN ) of dionum > ] ’;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Synchronization
with logical instructions
Continued
1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
Usage
MoveLSync ( Move Linearly Synchronously ) is used to move the tool center point (TCP)
linearly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLSync are illustrated below.
Example 1
MoveLSync p1, v1000, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Procedure proc1 is executed in the middle of the corner path at p1 .
Example 2
MoveLSync p1, v1000, z30, tool2, "proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveLSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
Continues on next page
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Continued
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1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
Usage
MoveLSync ( Move Linearly Synchronously ) is used to move the tool center point (TCP)
linearly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLSync are illustrated below.
Example 1
MoveLSync p1, v1000, z30, tool2, "proc1";
The TCP of the tool, tool2 , is moved linearly to the position p1 with speed data v1000 and
zone data z30 . Procedure proc1 is executed in the middle of the corner path at p1 .
Example 2
MoveLSync p1, v1000, z30, tool2, "proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveLSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
Continues on next page
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Continued
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1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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Program execution
See the instruction MoveL for more information about linear movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveLSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done in the
middle of the corner path.
xx0500002194
For stop points we recommend the use of“ normal” programming sequence with MoveL +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveLSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode:
Execution of RAPID procedure:
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
Continued
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1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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Program execution
See the instruction MoveL for more information about linear movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveLSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done in the
middle of the corner path.
xx0500002194
For stop points we recommend the use of“ normal” programming sequence with MoveL +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveLSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode:
Execution of RAPID procedure:
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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Syntax
MoveLSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ´;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
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Program execution
See the instruction MoveL for more information about linear movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveLSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done in the
middle of the corner path.
xx0500002194
For stop points we recommend the use of“ normal” programming sequence with MoveL +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveLSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Execution mode:
Execution of RAPID procedure:
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Continued
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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Syntax
MoveLSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ´;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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275
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© Copyright 2004-2010 ABB. All rights reserved.
1.101. MToolRotCalib - Calibration of rotation for moving tool
Usage
MToolRotCalib (Moving Tool Rotation Calibration) is used to calibrate the rotation of a
moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPenda nt, section Programming and testing ).
Description
To define the tool orientation, you need a world fixed tip within the robot’s working space.
Before using the instruction MToolRotCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold (TRUE) .
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
The TCP value of the tool must already be defined. The calibration can be done with
the instruction MToolTCPCalib.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip (origin of the
tool coordinate system) and define a jointtarget for the reference point RefTip.
•
Jog the robot without changing the tool orientation so the world fixed tip is pointing
at some point on the positive z-axis of the tool coordinate system, and define a
jointtarget for point ZPos.
•
Optionally jog the robot without changing the tool orientation so the world fixed tip is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a jointtarget for point XPos.
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
See the figure below for a definition of jointtarget for RefTip , ZPos , and optional XPos .
xx0500002192
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
MoveLSync
[ ToPoint ’:=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[ Zone ’:=’ ] < expression ( IN ) of zonedata > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj ´:=’ < persistent ( PERS ) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression ( IN ) of string > ] ´;’
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview ,
section Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
Continued
1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
RobotWare - OS
275
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© Copyright 2004-2010 ABB. All rights reserved.
1.101. MToolRotCalib - Calibration of rotation for moving tool
Usage
MToolRotCalib (Moving Tool Rotation Calibration) is used to calibrate the rotation of a
moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPenda nt, section Programming and testing ).
Description
To define the tool orientation, you need a world fixed tip within the robot’s working space.
Before using the instruction MToolRotCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold (TRUE) .
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
The TCP value of the tool must already be defined. The calibration can be done with
the instruction MToolTCPCalib.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip (origin of the
tool coordinate system) and define a jointtarget for the reference point RefTip.
•
Jog the robot without changing the tool orientation so the world fixed tip is pointing
at some point on the positive z-axis of the tool coordinate system, and define a
jointtarget for point ZPos.
•
Optionally jog the robot without changing the tool orientation so the world fixed tip is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a jointtarget for point XPos.
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
See the figure below for a definition of jointtarget for RefTip , ZPos , and optional XPos .
xx0500002192
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions RefTip , ZPos , and XPos in the instruction
MToolRotCalib .
Basic examples
Basic examples of the instruction MToolRotCalib are illustrated below.
Example 1
! Created with the world fixed tip pointing at origin, positive
! z-axis, and positive x-axis of the wanted tool coordinate
! system.
CONST jointtarget pos_tip := [...];
CONST jointtarget pos_z := [...];
CONST jointtarget pos_x := [...];
PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
! Instructions for creating or ModPos of pos_tip, pos_z, and pos_x
MoveAbsJ pos_tip, v10, fine, tool0;
MoveAbsJ pos_z, v10, fine, tool0;
MoveAbsJ pos_x, v10, fine, tool0;
! Only tool calibration in the z direction
MToolRotCalib pos_tip, pos_z, tool1;
The tool orientation ( tframe.rot) in the z direction of tool1 is calculated. The x and y
directions of the tool orientation are calculated to coincide with the wrist coordinate system.
Example 2
! Calibration with complete tool orientation
MToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;
The complete tool orientation ( tframe.rot ) of tool1 is calculated.
Arguments
MToolRotCalib RefTip ZPos [\XPos]Tool
RefTip
Data type: jointtarget
The point where the TCP of the tool is pointing at the world fixed tip.
ZPos
Data type: jointtarget
The elongator point that defines the positive z direction.
Continued
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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275
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© Copyright 2004-2010 ABB. All rights reserved.
1.101. MToolRotCalib - Calibration of rotation for moving tool
Usage
MToolRotCalib (Moving Tool Rotation Calibration) is used to calibrate the rotation of a
moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPenda nt, section Programming and testing ).
Description
To define the tool orientation, you need a world fixed tip within the robot’s working space.
Before using the instruction MToolRotCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold (TRUE) .
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
The TCP value of the tool must already be defined. The calibration can be done with
the instruction MToolTCPCalib.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip (origin of the
tool coordinate system) and define a jointtarget for the reference point RefTip.
•
Jog the robot without changing the tool orientation so the world fixed tip is pointing
at some point on the positive z-axis of the tool coordinate system, and define a
jointtarget for point ZPos.
•
Optionally jog the robot without changing the tool orientation so the world fixed tip is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a jointtarget for point XPos.
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
See the figure below for a definition of jointtarget for RefTip , ZPos , and optional XPos .
xx0500002192
Continues on next page
1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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276
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions RefTip , ZPos , and XPos in the instruction
MToolRotCalib .
Basic examples
Basic examples of the instruction MToolRotCalib are illustrated below.
Example 1
! Created with the world fixed tip pointing at origin, positive
! z-axis, and positive x-axis of the wanted tool coordinate
! system.
CONST jointtarget pos_tip := [...];
CONST jointtarget pos_z := [...];
CONST jointtarget pos_x := [...];
PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
! Instructions for creating or ModPos of pos_tip, pos_z, and pos_x
MoveAbsJ pos_tip, v10, fine, tool0;
MoveAbsJ pos_z, v10, fine, tool0;
MoveAbsJ pos_x, v10, fine, tool0;
! Only tool calibration in the z direction
MToolRotCalib pos_tip, pos_z, tool1;
The tool orientation ( tframe.rot) in the z direction of tool1 is calculated. The x and y
directions of the tool orientation are calculated to coincide with the wrist coordinate system.
Example 2
! Calibration with complete tool orientation
MToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;
The complete tool orientation ( tframe.rot ) of tool1 is calculated.
Arguments
MToolRotCalib RefTip ZPos [\XPos]Tool
RefTip
Data type: jointtarget
The point where the TCP of the tool is pointing at the world fixed tip.
ZPos
Data type: jointtarget
The elongator point that defines the positive z direction.
Continued
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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[\XPos]
Data type: jointtarget
The elongator point that defines the x positive direction. If this point is omitted then the x and
y directions of the tool will coincide with the corresponding axes in the wrist coordinate
system.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Program execution
The system calculates and updates the tool orientation ( tfame.rot ) in the specified tooldata.
The calculation is based on the specified 2 or 3 jointtarget . The remaining data in tooldata
such as TCP (tframe.trans ) is not changed.
Syntax
MToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of jointtarget >
[ ’\’XPos ’:=’ < expression ( IN ) of jointtarget > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
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1.101. MToolRotCalib - Calibration of rotation for moving tool
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276
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions RefTip , ZPos , and XPos in the instruction
MToolRotCalib .
Basic examples
Basic examples of the instruction MToolRotCalib are illustrated below.
Example 1
! Created with the world fixed tip pointing at origin, positive
! z-axis, and positive x-axis of the wanted tool coordinate
! system.
CONST jointtarget pos_tip := [...];
CONST jointtarget pos_z := [...];
CONST jointtarget pos_x := [...];
PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
! Instructions for creating or ModPos of pos_tip, pos_z, and pos_x
MoveAbsJ pos_tip, v10, fine, tool0;
MoveAbsJ pos_z, v10, fine, tool0;
MoveAbsJ pos_x, v10, fine, tool0;
! Only tool calibration in the z direction
MToolRotCalib pos_tip, pos_z, tool1;
The tool orientation ( tframe.rot) in the z direction of tool1 is calculated. The x and y
directions of the tool orientation are calculated to coincide with the wrist coordinate system.
Example 2
! Calibration with complete tool orientation
MToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;
The complete tool orientation ( tframe.rot ) of tool1 is calculated.
Arguments
MToolRotCalib RefTip ZPos [\XPos]Tool
RefTip
Data type: jointtarget
The point where the TCP of the tool is pointing at the world fixed tip.
ZPos
Data type: jointtarget
The elongator point that defines the positive z direction.
Continued
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
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[\XPos]
Data type: jointtarget
The elongator point that defines the x positive direction. If this point is omitted then the x and
y directions of the tool will coincide with the corresponding axes in the wrist coordinate
system.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Program execution
The system calculates and updates the tool orientation ( tfame.rot ) in the specified tooldata.
The calculation is based on the specified 2 or 3 jointtarget . The remaining data in tooldata
such as TCP (tframe.trans ) is not changed.
Syntax
MToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of jointtarget >
[ ’\’XPos ’:=’ < expression ( IN ) of jointtarget > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
3HAC 16581-1 Revision: J
278
© Copyright 2004-2010 ABB. All rights reserved.
1.102. MToolTCPCalib - Calibration of TCP for moving tool
Usage
MToolTCPCalib ( Moving Tool TCP Calibration ) is used to calibrate Tool Center Point -
TCP for a moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant , section Programming and testing ).
Description
To define the TCP of a tool you need a world fixed tip within the robot’s working space.
Before using the instruction MToolTCPCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold ( TRUE ).
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip and define a
jointtarget for the first point p1 .
•
Define the further three positions ( p2 , p3 , and p4 ) all with different orientations.
Definition of 4 jointtargets p1....p4, see figure below.
xx0500002191
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
MToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
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1.101. MToolRotCalib - Calibration of rotation for moving tool
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[\XPos]
Data type: jointtarget
The elongator point that defines the x positive direction. If this point is omitted then the x and
y directions of the tool will coincide with the corresponding axes in the wrist coordinate
system.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Program execution
The system calculates and updates the tool orientation ( tfame.rot ) in the specified tooldata.
The calculation is based on the specified 2 or 3 jointtarget . The remaining data in tooldata
such as TCP (tframe.trans ) is not changed.
Syntax
MToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of jointtarget >
[ ’\’XPos ’:=’ < expression ( IN ) of jointtarget > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
3HAC 16581-1 Revision: J
278
© Copyright 2004-2010 ABB. All rights reserved.
1.102. MToolTCPCalib - Calibration of TCP for moving tool
Usage
MToolTCPCalib ( Moving Tool TCP Calibration ) is used to calibrate Tool Center Point -
TCP for a moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant , section Programming and testing ).
Description
To define the TCP of a tool you need a world fixed tip within the robot’s working space.
Before using the instruction MToolTCPCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold ( TRUE ).
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip and define a
jointtarget for the first point p1 .
•
Define the further three positions ( p2 , p3 , and p4 ) all with different orientations.
Definition of 4 jointtargets p1....p4, see figure below.
xx0500002191
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
MToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Continues on next page
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
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279
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© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the instruction MToolTCPCalib are illustrated below.
Example 1
! Created with actual TCP pointing at the world fixed tip
CONST jointtarget p1 := [...];
CONST jointtarget p2 := [...];
CONST jointtarget p3 := [...];
CONST jointtarget p4 := [...];
PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
...
! Instructions for createing or ModPos of p1 - p4
MoveAbsJ p1, v10, fine, tool0;
MoveAbsJ p2, v10, fine, tool0;
MoveAbsJ p3, v10, fine, tool0;
MoveAbsJ p4, v10, fine, tool0;
...
MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max. error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: jointtarget
The first approach point.
Pos2
Data type: jointtarget
The second approach point.
Pos3
Data type: jointtarget
The third approach point.
Pos4
Data type: jointtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Continued
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1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
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278
© Copyright 2004-2010 ABB. All rights reserved.
1.102. MToolTCPCalib - Calibration of TCP for moving tool
Usage
MToolTCPCalib ( Moving Tool TCP Calibration ) is used to calibrate Tool Center Point -
TCP for a moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant , section Programming and testing ).
Description
To define the TCP of a tool you need a world fixed tip within the robot’s working space.
Before using the instruction MToolTCPCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold ( TRUE ).
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
tool0 , wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip and define a
jointtarget for the first point p1 .
•
Define the further three positions ( p2 , p3 , and p4 ) all with different orientations.
Definition of 4 jointtargets p1....p4, see figure below.
xx0500002191
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
MToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Continues on next page
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
279
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the instruction MToolTCPCalib are illustrated below.
Example 1
! Created with actual TCP pointing at the world fixed tip
CONST jointtarget p1 := [...];
CONST jointtarget p2 := [...];
CONST jointtarget p3 := [...];
CONST jointtarget p4 := [...];
PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
...
! Instructions for createing or ModPos of p1 - p4
MoveAbsJ p1, v10, fine, tool0;
MoveAbsJ p2, v10, fine, tool0;
MoveAbsJ p3, v10, fine, tool0;
MoveAbsJ p4, v10, fine, tool0;
...
MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max. error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: jointtarget
The first approach point.
Pos2
Data type: jointtarget
The second approach point.
Pos3
Data type: jointtarget
The third approach point.
Pos4
Data type: jointtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Continued
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1.102. MToolTCPCalib - Calibration of TCP for moving tool
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MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the tip.
Program execution
The system calculates and updates the TCP value in the wrist coordinate system
( tfame.trans ) in the specified tooldata . The calculation is based on the specified 4
jointtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
MToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation for
stationary tool on page 504
Continued
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Basic examples
Basic examples of the instruction MToolTCPCalib are illustrated below.
Example 1
! Created with actual TCP pointing at the world fixed tip
CONST jointtarget p1 := [...];
CONST jointtarget p2 := [...];
CONST jointtarget p3 := [...];
CONST jointtarget p4 := [...];
PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
...
! Instructions for createing or ModPos of p1 - p4
MoveAbsJ p1, v10, fine, tool0;
MoveAbsJ p2, v10, fine, tool0;
MoveAbsJ p3, v10, fine, tool0;
MoveAbsJ p4, v10, fine, tool0;
...
MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max. error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: jointtarget
The first approach point.
Pos2
Data type: jointtarget
The second approach point.
Pos3
Data type: jointtarget
The third approach point.
Pos4
Data type: jointtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Continued
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1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
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MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the tip.
Program execution
The system calculates and updates the TCP value in the wrist coordinate system
( tfame.trans ) in the specified tooldata . The calculation is based on the specified 4
jointtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
MToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation for
stationary tool on page 504
Continued
1 Instructions
1.103. Open - Opens a file or serial channel
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1.103. Open - Opens a file or serial channel
Usage
Open is used to open a file or serial channel for reading or writing.
Basic examples
Basic examples of the instruction Open are illustrated below.
See also More examples on page 283 .
Example 1
VAR iodev logfile;
...
Open "HOME:" \File:= "LOGFILE1.DOC", logfile \Write;
The file LOGFILE1.DOC in unit HOME: is opened for writing. The reference name logfile
is used later in the program when writing to the file.
Example 2
VAR iodev logfile;
...
Open "LOGFILE1.DOC", logfile \Write;
Same result as example 1.The default directory is HOME: .
Arguments
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]
Object
Data type: string
The I/O object (I/O device) that is to be opened, e.g. "HOME:" , "TEMP:" , "com1:" or
"pc:" (option).
The table describes different I/O devices on the robot controller.
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/hd0a/xxxx/HOME/" 2
Flashdisk or Hard
Drive
"TEMP:" or disktemp 1
"/hd0a/temp/"
Flashdisk or Hard
Drive
"RemovableDisk1:" or usbdisk1 1
"RemovableDisk2:" or usbdisk2 1
"RemovableDisk3:" or usbdisk3 1
"RemovableDisk4:" or usbdisk4 1
"RemovableDisk5:" or usbdisk5 1
"RemovableDisk6:" or usbdisk6 1
"RemovableDisk7:" or usbdisk7 1
"RemovableDisk8:" or usbdisk8 1
"RemovableDisk9:" or usbdisk9 1
"RemovableDisk10:" or usbdisk10 1
"/bd0/"
"/bd1/"
"/bd2/"
"/bd3/"
"/bd4/"
"/bd5/"
"/bd6/"
"/bd7/"
"/bd8/"
"/bd9/"
e.g. USB memory
stick 3
"com1:" 4
"com2:" 4
"com3:" 4
-
Serial channel
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MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the tip.
Program execution
The system calculates and updates the TCP value in the wrist coordinate system
( tfame.trans ) in the specified tooldata . The calculation is based on the specified 4
jointtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
MToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of jointtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation for
stationary tool on page 504
Continued
1 Instructions
1.103. Open - Opens a file or serial channel
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1.103. Open - Opens a file or serial channel
Usage
Open is used to open a file or serial channel for reading or writing.
Basic examples
Basic examples of the instruction Open are illustrated below.
See also More examples on page 283 .
Example 1
VAR iodev logfile;
...
Open "HOME:" \File:= "LOGFILE1.DOC", logfile \Write;
The file LOGFILE1.DOC in unit HOME: is opened for writing. The reference name logfile
is used later in the program when writing to the file.
Example 2
VAR iodev logfile;
...
Open "LOGFILE1.DOC", logfile \Write;
Same result as example 1.The default directory is HOME: .
Arguments
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]
Object
Data type: string
The I/O object (I/O device) that is to be opened, e.g. "HOME:" , "TEMP:" , "com1:" or
"pc:" (option).
The table describes different I/O devices on the robot controller.
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/hd0a/xxxx/HOME/" 2
Flashdisk or Hard
Drive
"TEMP:" or disktemp 1
"/hd0a/temp/"
Flashdisk or Hard
Drive
"RemovableDisk1:" or usbdisk1 1
"RemovableDisk2:" or usbdisk2 1
"RemovableDisk3:" or usbdisk3 1
"RemovableDisk4:" or usbdisk4 1
"RemovableDisk5:" or usbdisk5 1
"RemovableDisk6:" or usbdisk6 1
"RemovableDisk7:" or usbdisk7 1
"RemovableDisk8:" or usbdisk8 1
"RemovableDisk9:" or usbdisk9 1
"RemovableDisk10:" or usbdisk10 1
"/bd0/"
"/bd1/"
"/bd2/"
"/bd3/"
"/bd4/"
"/bd5/"
"/bd6/"
"/bd7/"
"/bd8/"
"/bd9/"
e.g. USB memory
stick 3
"com1:" 4
"com2:" 4
"com3:" 4
-
Serial channel
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1.103. Open - Opens a file or serial channel
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1. RAPID string defining device name
2. "xxxx" means the system name defined when booting the system
3. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
4. User defined serial channel name defined in system parameters
5. Application protocol, server path defined in system parameters
6. Application protocol, server path defined in system parameters
The following table describes different I/O devices on the virtual controller.
1. RAPID string defining the device name
2. "xxxx" means the path to the system directory defined when creating the system
3. "yyyy" means a directory named as System ID
4. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
[\File]
Data type: string
The name of the file to be opened, e.g. "LOGFILE1.DOC" or "LOGDIR/LOGFILE1.DOC"
The complete path can also be specified in the argument Object , "HOME:/LOGDIR/
LOGFILE.DOC".
IODevice
Data type: iodev
A reference to the file or serial channel to open. This reference is then used for reading from
and writing to the file or serial channel.
[\Read]
Data type: switch
Opens a file or serial channel for reading. When reading from a file the reading is started from
the beginning of the file.
"pc:" 5
"/c:/temp/" 6
Mounted disk
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/xxxx/HOME/" 2
"TEMP:" or disktemp
"/c:/temp/yyyy/" 3
Hard Drive
"RemovableDisk1:" or usbdisk1
"RemovableDisk2 :" or usbdisk2
"RemovableDisk3:" or usbdisk3
"RemovableDisk4:" or usbdisk4
"/xxxx/HOME/
RemovableDisk1/"
"/xxxx/HOME/
RemovableDisk2/"
"/xxxx/HOME/
RemovableDisk3/"
"/xxxx/HOME/
RemovableDisk4/"
e.g. USB memory stick 4
I/O device name
Full file path
Type of I/O device
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1.103. Open - Opens a file or serial channel
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1.103. Open - Opens a file or serial channel
Usage
Open is used to open a file or serial channel for reading or writing.
Basic examples
Basic examples of the instruction Open are illustrated below.
See also More examples on page 283 .
Example 1
VAR iodev logfile;
...
Open "HOME:" \File:= "LOGFILE1.DOC", logfile \Write;
The file LOGFILE1.DOC in unit HOME: is opened for writing. The reference name logfile
is used later in the program when writing to the file.
Example 2
VAR iodev logfile;
...
Open "LOGFILE1.DOC", logfile \Write;
Same result as example 1.The default directory is HOME: .
Arguments
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]
Object
Data type: string
The I/O object (I/O device) that is to be opened, e.g. "HOME:" , "TEMP:" , "com1:" or
"pc:" (option).
The table describes different I/O devices on the robot controller.
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/hd0a/xxxx/HOME/" 2
Flashdisk or Hard
Drive
"TEMP:" or disktemp 1
"/hd0a/temp/"
Flashdisk or Hard
Drive
"RemovableDisk1:" or usbdisk1 1
"RemovableDisk2:" or usbdisk2 1
"RemovableDisk3:" or usbdisk3 1
"RemovableDisk4:" or usbdisk4 1
"RemovableDisk5:" or usbdisk5 1
"RemovableDisk6:" or usbdisk6 1
"RemovableDisk7:" or usbdisk7 1
"RemovableDisk8:" or usbdisk8 1
"RemovableDisk9:" or usbdisk9 1
"RemovableDisk10:" or usbdisk10 1
"/bd0/"
"/bd1/"
"/bd2/"
"/bd3/"
"/bd4/"
"/bd5/"
"/bd6/"
"/bd7/"
"/bd8/"
"/bd9/"
e.g. USB memory
stick 3
"com1:" 4
"com2:" 4
"com3:" 4
-
Serial channel
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1.103. Open - Opens a file or serial channel
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© Copyright 2004-2010 ABB. All rights reserved.
1. RAPID string defining device name
2. "xxxx" means the system name defined when booting the system
3. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
4. User defined serial channel name defined in system parameters
5. Application protocol, server path defined in system parameters
6. Application protocol, server path defined in system parameters
The following table describes different I/O devices on the virtual controller.
1. RAPID string defining the device name
2. "xxxx" means the path to the system directory defined when creating the system
3. "yyyy" means a directory named as System ID
4. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
[\File]
Data type: string
The name of the file to be opened, e.g. "LOGFILE1.DOC" or "LOGDIR/LOGFILE1.DOC"
The complete path can also be specified in the argument Object , "HOME:/LOGDIR/
LOGFILE.DOC".
IODevice
Data type: iodev
A reference to the file or serial channel to open. This reference is then used for reading from
and writing to the file or serial channel.
[\Read]
Data type: switch
Opens a file or serial channel for reading. When reading from a file the reading is started from
the beginning of the file.
"pc:" 5
"/c:/temp/" 6
Mounted disk
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/xxxx/HOME/" 2
"TEMP:" or disktemp
"/c:/temp/yyyy/" 3
Hard Drive
"RemovableDisk1:" or usbdisk1
"RemovableDisk2 :" or usbdisk2
"RemovableDisk3:" or usbdisk3
"RemovableDisk4:" or usbdisk4
"/xxxx/HOME/
RemovableDisk1/"
"/xxxx/HOME/
RemovableDisk2/"
"/xxxx/HOME/
RemovableDisk3/"
"/xxxx/HOME/
RemovableDisk4/"
e.g. USB memory stick 4
I/O device name
Full file path
Type of I/O device
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[\Write]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then its contents
are deleted. Anything subsequently written is written at the start of the file.
[\Append]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then anything
subsequently written is written at the end of the file.
Open a file or serial channel with \Append and without the \Bin arguments. The instruction
opens a character-based file or serial channel for writing.
Open a file or serial channel with \Append and \Bin arguments. The instruction opens a
binary file or serial channel for both reading and writing. The arguments \Read , \Write ,
\Append are mutually exclusive. If none of these are specified then the instruction acts in the
same way as the \Write argument for character-based files or a serial channel (instruction
without \Bin argument) and in the same way as the \Append argument for binary files or a
serial channel (instruction with \Bin argument).
[\Bin]
Data type: switch
The file or serial channel is opened in a binary mode. If none of the arguments \Read ,
\Write or \Append are specified then the instruction opens a binary file or serial channel
for both reading and writing, with the file pointer at the end of the file.
The Rewind instruction can be used to set the file pointer to the beginning of the file if
desirable.
The set of instructions to access a binary file or serial channel is different from the set of
instructions to access a character-based file.
More examples
More examples of how to use the instruction Open are illustrated below.
Example 1
VAR iodev printer;
...
Open "com2:", printer \Bin;
WriteStrBin printer, "This is a message to the printer\0D";
Close printer;
The serial channel com2: is opened for binary reading and writing. The reference name
printer is used later when writing to and closing the serial channel.
Continued
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1.103. Open - Opens a file or serial channel
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1. RAPID string defining device name
2. "xxxx" means the system name defined when booting the system
3. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
4. User defined serial channel name defined in system parameters
5. Application protocol, server path defined in system parameters
6. Application protocol, server path defined in system parameters
The following table describes different I/O devices on the virtual controller.
1. RAPID string defining the device name
2. "xxxx" means the path to the system directory defined when creating the system
3. "yyyy" means a directory named as System ID
4. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
[\File]
Data type: string
The name of the file to be opened, e.g. "LOGFILE1.DOC" or "LOGDIR/LOGFILE1.DOC"
The complete path can also be specified in the argument Object , "HOME:/LOGDIR/
LOGFILE.DOC".
IODevice
Data type: iodev
A reference to the file or serial channel to open. This reference is then used for reading from
and writing to the file or serial channel.
[\Read]
Data type: switch
Opens a file or serial channel for reading. When reading from a file the reading is started from
the beginning of the file.
"pc:" 5
"/c:/temp/" 6
Mounted disk
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome 1
"/xxxx/HOME/" 2
"TEMP:" or disktemp
"/c:/temp/yyyy/" 3
Hard Drive
"RemovableDisk1:" or usbdisk1
"RemovableDisk2 :" or usbdisk2
"RemovableDisk3:" or usbdisk3
"RemovableDisk4:" or usbdisk4
"/xxxx/HOME/
RemovableDisk1/"
"/xxxx/HOME/
RemovableDisk2/"
"/xxxx/HOME/
RemovableDisk3/"
"/xxxx/HOME/
RemovableDisk4/"
e.g. USB memory stick 4
I/O device name
Full file path
Type of I/O device
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1.103. Open - Opens a file or serial channel
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[\Write]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then its contents
are deleted. Anything subsequently written is written at the start of the file.
[\Append]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then anything
subsequently written is written at the end of the file.
Open a file or serial channel with \Append and without the \Bin arguments. The instruction
opens a character-based file or serial channel for writing.
Open a file or serial channel with \Append and \Bin arguments. The instruction opens a
binary file or serial channel for both reading and writing. The arguments \Read , \Write ,
\Append are mutually exclusive. If none of these are specified then the instruction acts in the
same way as the \Write argument for character-based files or a serial channel (instruction
without \Bin argument) and in the same way as the \Append argument for binary files or a
serial channel (instruction with \Bin argument).
[\Bin]
Data type: switch
The file or serial channel is opened in a binary mode. If none of the arguments \Read ,
\Write or \Append are specified then the instruction opens a binary file or serial channel
for both reading and writing, with the file pointer at the end of the file.
The Rewind instruction can be used to set the file pointer to the beginning of the file if
desirable.
The set of instructions to access a binary file or serial channel is different from the set of
instructions to access a character-based file.
More examples
More examples of how to use the instruction Open are illustrated below.
Example 1
VAR iodev printer;
...
Open "com2:", printer \Bin;
WriteStrBin printer, "This is a message to the printer\0D";
Close printer;
The serial channel com2: is opened for binary reading and writing. The reference name
printer is used later when writing to and closing the serial channel.
Continued
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1.103. Open - Opens a file or serial channel
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Program execution
The specified file or serial channel is opened so that it is possible to read from or write to it.
It is possible to open the same physical file several times at the same time but each invocation
of the Open instruction will return a different reference to the file (data type iodev ). E.g. it
is possible to have one write pointer and one different read pointer to the same file at the same
time.
The iodev variable used when opening a file or serial channel must be free from use. If it has
been used previously to open a file then this file must be closed prior to issuing a new Open
instruction with the same iodev variable.
At Program Stop and moved PP to Main, any open file or serial channel in the program task
will be closed and the I/O descriptor in the variable of type iodev will be reset. An exception
to the rule is variables that are installed shared in the system of type global VAR or LOCAL
VAR. Such file or serial channel belonging to the whole system will still be open.
At power fail restart, any open file or serial channel in the system will be closed and the I/O
descriptor in the variable of type iodev will be reset.
Error handling
If a file cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN . This error
can then be handled in the error handler.
Syntax
Open [Object’ :=’] <expression ( IN ) of string>
[’\’File’:=’ <expression ( IN ) of string>] ’,’
[IODevice ’:=’] <variable ( VAR ) of iodev>
[’\’Read] |
[’\’Write] |
[’\’Append]
[’\’Bin] ’;’
Related information
For information about
See
Writing to, reading from and closing files
or serial channels
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
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1.103. Open - Opens a file or serial channel
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[\Write]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then its contents
are deleted. Anything subsequently written is written at the start of the file.
[\Append]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then anything
subsequently written is written at the end of the file.
Open a file or serial channel with \Append and without the \Bin arguments. The instruction
opens a character-based file or serial channel for writing.
Open a file or serial channel with \Append and \Bin arguments. The instruction opens a
binary file or serial channel for both reading and writing. The arguments \Read , \Write ,
\Append are mutually exclusive. If none of these are specified then the instruction acts in the
same way as the \Write argument for character-based files or a serial channel (instruction
without \Bin argument) and in the same way as the \Append argument for binary files or a
serial channel (instruction with \Bin argument).
[\Bin]
Data type: switch
The file or serial channel is opened in a binary mode. If none of the arguments \Read ,
\Write or \Append are specified then the instruction opens a binary file or serial channel
for both reading and writing, with the file pointer at the end of the file.
The Rewind instruction can be used to set the file pointer to the beginning of the file if
desirable.
The set of instructions to access a binary file or serial channel is different from the set of
instructions to access a character-based file.
More examples
More examples of how to use the instruction Open are illustrated below.
Example 1
VAR iodev printer;
...
Open "com2:", printer \Bin;
WriteStrBin printer, "This is a message to the printer\0D";
Close printer;
The serial channel com2: is opened for binary reading and writing. The reference name
printer is used later when writing to and closing the serial channel.
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1.103. Open - Opens a file or serial channel
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Program execution
The specified file or serial channel is opened so that it is possible to read from or write to it.
It is possible to open the same physical file several times at the same time but each invocation
of the Open instruction will return a different reference to the file (data type iodev ). E.g. it
is possible to have one write pointer and one different read pointer to the same file at the same
time.
The iodev variable used when opening a file or serial channel must be free from use. If it has
been used previously to open a file then this file must be closed prior to issuing a new Open
instruction with the same iodev variable.
At Program Stop and moved PP to Main, any open file or serial channel in the program task
will be closed and the I/O descriptor in the variable of type iodev will be reset. An exception
to the rule is variables that are installed shared in the system of type global VAR or LOCAL
VAR. Such file or serial channel belonging to the whole system will still be open.
At power fail restart, any open file or serial channel in the system will be closed and the I/O
descriptor in the variable of type iodev will be reset.
Error handling
If a file cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN . This error
can then be handled in the error handler.
Syntax
Open [Object’ :=’] <expression ( IN ) of string>
[’\’File’:=’ <expression ( IN ) of string>] ’,’
[IODevice ’:=’] <variable ( VAR ) of iodev>
[’\’Read] |
[’\’Write] |
[’\’Append]
[’\’Bin] ’;’
Related information
For information about
See
Writing to, reading from and closing files
or serial channels
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Continued
1 Instructions
1.104. OpenDir - Open a directory
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1.104. OpenDir - Open a directory
Usage
OpenDir is used to open a directory for further investigation.
Basic examples
Basic examples of the instruction OpenDir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Arguments
OpenDir Dev Path
Dev
Data type: dir
A variable with reference to the directory, fetched by OpenDir . This variable is then used for
reading from the directory.
Path
Data type: string
Path to the directory.
Limitations
Open directories should always be closed by the user after reading (instruction CloseDir ).
Error handling
If the path points to a non-existing directory or if there are too many directories open at the
same time then the system variable ERRNO is set to ERR_FILEACC . This error can then be
handled in the error handler.
Syntax
OpenDir
[ Dev’:=’ ] < variable ( VAR ) of dir>’,’
[ Path’:=’ ] < expression ( IN ) of string>’;’
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Program execution
The specified file or serial channel is opened so that it is possible to read from or write to it.
It is possible to open the same physical file several times at the same time but each invocation
of the Open instruction will return a different reference to the file (data type iodev ). E.g. it
is possible to have one write pointer and one different read pointer to the same file at the same
time.
The iodev variable used when opening a file or serial channel must be free from use. If it has
been used previously to open a file then this file must be closed prior to issuing a new Open
instruction with the same iodev variable.
At Program Stop and moved PP to Main, any open file or serial channel in the program task
will be closed and the I/O descriptor in the variable of type iodev will be reset. An exception
to the rule is variables that are installed shared in the system of type global VAR or LOCAL
VAR. Such file or serial channel belonging to the whole system will still be open.
At power fail restart, any open file or serial channel in the system will be closed and the I/O
descriptor in the variable of type iodev will be reset.
Error handling
If a file cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN . This error
can then be handled in the error handler.
Syntax
Open [Object’ :=’] <expression ( IN ) of string>
[’\’File’:=’ <expression ( IN ) of string>] ’,’
[IODevice ’:=’] <variable ( VAR ) of iodev>
[’\’Read] |
[’\’Write] |
[’\’Append]
[’\’Bin] ’;’
Related information
For information about
See
Writing to, reading from and closing files
or serial channels
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Continued
1 Instructions
1.104. OpenDir - Open a directory
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1.104. OpenDir - Open a directory
Usage
OpenDir is used to open a directory for further investigation.
Basic examples
Basic examples of the instruction OpenDir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Arguments
OpenDir Dev Path
Dev
Data type: dir
A variable with reference to the directory, fetched by OpenDir . This variable is then used for
reading from the directory.
Path
Data type: string
Path to the directory.
Limitations
Open directories should always be closed by the user after reading (instruction CloseDir ).
Error handling
If the path points to a non-existing directory or if there are too many directories open at the
same time then the system variable ERRNO is set to ERR_FILEACC . This error can then be
handled in the error handler.
Syntax
OpenDir
[ Dev’:=’ ] < variable ( VAR ) of dir>’,’
[ Path’:=’ ] < expression ( IN ) of string>’;’
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Related information
For information about
See
Directory
dir - File directory structure on page 1103
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Read a directory
ReadDir - Read next entry in a directory on page
944
Close a directory
CloseDir - Close a directory on page 56
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
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1.104. OpenDir - Open a directory
Usage
OpenDir is used to open a directory for further investigation.
Basic examples
Basic examples of the instruction OpenDir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Arguments
OpenDir Dev Path
Dev
Data type: dir
A variable with reference to the directory, fetched by OpenDir . This variable is then used for
reading from the directory.
Path
Data type: string
Path to the directory.
Limitations
Open directories should always be closed by the user after reading (instruction CloseDir ).
Error handling
If the path points to a non-existing directory or if there are too many directories open at the
same time then the system variable ERRNO is set to ERR_FILEACC . This error can then be
handled in the error handler.
Syntax
OpenDir
[ Dev’:=’ ] < variable ( VAR ) of dir>’,’
[ Path’:=’ ] < expression ( IN ) of string>’;’
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Related information
For information about
See
Directory
dir - File directory structure on page 1103
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Read a directory
ReadDir - Read next entry in a directory on page
944
Close a directory
CloseDir - Close a directory on page 56
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
Continued
1 Instructions
1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
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1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
Usage
PackDNHeader is used to pack the header of a DeviceNet explicit message into a container
of type rawbytes .
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes .
Basic examples
Basic examples of the instruction PackDNHeader are illustrated below.
Example 1
VAR rawbytes raw_data;
PackDNHeader "0E", "6,20 01 24 01 30 06,9,4", raw_data;
Pack the header for DeviceNet explicit message with service code "0E" and path string
"6,20 01 24 01 30 06,9,4" into raw_data corresponding to get the serial number from
some I/O unit.
This message is ready to send without filling the message with additional data.
Example 2
VAR rawbytes raw_data;
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet explicit message with service code "10" and path string
"20 1D 24 01 30 64" into raw_data corresponding to set the filter time for the rising
edge on insignal 1 for some I/O unit.
This message must be increased with data for the filter time. This can be done with instruction
PackRawBytes starting at index RawBytesLen(raw_data)+1 (done after
PackDNHeader ).
Arguments
PackDNHeader Service Path RawData
Service
Data type: string
The service to be done such as get or set attribute. To be specified with a hexadecimal code
in a string e.g. "IF" .
The values for the Service is found in the EDS file. For a more detailed description see the
Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
String length
2 characters
Format
’0’ -’ 9’, ’a’ -’f’, ’A’ - ’F’
Range
"00" - "FF
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Related information
For information about
See
Directory
dir - File directory structure on page 1103
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Read a directory
ReadDir - Read next entry in a directory on page
944
Close a directory
CloseDir - Close a directory on page 56
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
Continued
1 Instructions
1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
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1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
Usage
PackDNHeader is used to pack the header of a DeviceNet explicit message into a container
of type rawbytes .
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes .
Basic examples
Basic examples of the instruction PackDNHeader are illustrated below.
Example 1
VAR rawbytes raw_data;
PackDNHeader "0E", "6,20 01 24 01 30 06,9,4", raw_data;
Pack the header for DeviceNet explicit message with service code "0E" and path string
"6,20 01 24 01 30 06,9,4" into raw_data corresponding to get the serial number from
some I/O unit.
This message is ready to send without filling the message with additional data.
Example 2
VAR rawbytes raw_data;
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet explicit message with service code "10" and path string
"20 1D 24 01 30 64" into raw_data corresponding to set the filter time for the rising
edge on insignal 1 for some I/O unit.
This message must be increased with data for the filter time. This can be done with instruction
PackRawBytes starting at index RawBytesLen(raw_data)+1 (done after
PackDNHeader ).
Arguments
PackDNHeader Service Path RawData
Service
Data type: string
The service to be done such as get or set attribute. To be specified with a hexadecimal code
in a string e.g. "IF" .
The values for the Service is found in the EDS file. For a more detailed description see the
Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
String length
2 characters
Format
’0’ -’ 9’, ’a’ -’f’, ’A’ - ’F’
Range
"00" - "FF
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Path
Data type: string
The values for the Path is found in the EDS file. For a more detailed description see the Open
DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
Support for both long string format (e.g. " 6,20 1D 24 01 30 64,8,1 ") and short string
format (e.g. " 20 1D 24 01 30 64 ").
RawData
Data type: rawbytes
Variable container to be packed with message header data starting at index 1 in RawData .
Program execution
During program execution the DeviceNet message RawData container is:
•
first completely cleared
•
and then the header part is packed with data
Format DeviceNet Header
The instruction PackDNHeader will create a DeviceNet message header with following
format:
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes starting at index fetched with ( RawBytesLen(my_rawdata)+1) .
Syntax
PackDNHeader
[Service ´:=´ ] < expression ( IN ) of string> ´,´
[Path ´:=´ ] < expression ( IN ) of string> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes> ´;´
RawData
Header Format
No of
bytes
Note
Format
1
Internal IRC5 code for DeviceNet
Service
1
Hex code for service
Size of Path
1
In bytes
Path
x
ASCII chars
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1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
Usage
PackDNHeader is used to pack the header of a DeviceNet explicit message into a container
of type rawbytes .
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes .
Basic examples
Basic examples of the instruction PackDNHeader are illustrated below.
Example 1
VAR rawbytes raw_data;
PackDNHeader "0E", "6,20 01 24 01 30 06,9,4", raw_data;
Pack the header for DeviceNet explicit message with service code "0E" and path string
"6,20 01 24 01 30 06,9,4" into raw_data corresponding to get the serial number from
some I/O unit.
This message is ready to send without filling the message with additional data.
Example 2
VAR rawbytes raw_data;
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet explicit message with service code "10" and path string
"20 1D 24 01 30 64" into raw_data corresponding to set the filter time for the rising
edge on insignal 1 for some I/O unit.
This message must be increased with data for the filter time. This can be done with instruction
PackRawBytes starting at index RawBytesLen(raw_data)+1 (done after
PackDNHeader ).
Arguments
PackDNHeader Service Path RawData
Service
Data type: string
The service to be done such as get or set attribute. To be specified with a hexadecimal code
in a string e.g. "IF" .
The values for the Service is found in the EDS file. For a more detailed description see the
Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
String length
2 characters
Format
’0’ -’ 9’, ’a’ -’f’, ’A’ - ’F’
Range
"00" - "FF
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Path
Data type: string
The values for the Path is found in the EDS file. For a more detailed description see the Open
DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
Support for both long string format (e.g. " 6,20 1D 24 01 30 64,8,1 ") and short string
format (e.g. " 20 1D 24 01 30 64 ").
RawData
Data type: rawbytes
Variable container to be packed with message header data starting at index 1 in RawData .
Program execution
During program execution the DeviceNet message RawData container is:
•
first completely cleared
•
and then the header part is packed with data
Format DeviceNet Header
The instruction PackDNHeader will create a DeviceNet message header with following
format:
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes starting at index fetched with ( RawBytesLen(my_rawdata)+1) .
Syntax
PackDNHeader
[Service ´:=´ ] < expression ( IN ) of string> ´,´
[Path ´:=´ ] < expression ( IN ) of string> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes> ´;´
RawData
Header Format
No of
bytes
Note
Format
1
Internal IRC5 code for DeviceNet
Service
1
Hex code for service
Size of Path
1
In bytes
Path
x
ASCII chars
Continued
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data on
page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of rawbytes
data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of rawbytes data
on page 67
Pack data to rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page 725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page 352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes data
on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
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Path
Data type: string
The values for the Path is found in the EDS file. For a more detailed description see the Open
DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0 .
Support for both long string format (e.g. " 6,20 1D 24 01 30 64,8,1 ") and short string
format (e.g. " 20 1D 24 01 30 64 ").
RawData
Data type: rawbytes
Variable container to be packed with message header data starting at index 1 in RawData .
Program execution
During program execution the DeviceNet message RawData container is:
•
first completely cleared
•
and then the header part is packed with data
Format DeviceNet Header
The instruction PackDNHeader will create a DeviceNet message header with following
format:
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes starting at index fetched with ( RawBytesLen(my_rawdata)+1) .
Syntax
PackDNHeader
[Service ´:=´ ] < expression ( IN ) of string> ´,´
[Path ´:=´ ] < expression ( IN ) of string> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes> ´;´
RawData
Header Format
No of
bytes
Note
Format
1
Internal IRC5 code for DeviceNet
Service
1
Hex code for service
Size of Path
1
In bytes
Path
x
ASCII chars
Continued
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data on
page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of rawbytes
data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of rawbytes data
on page 67
Pack data to rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page 725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page 352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes data
on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
Continued
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1.106. PackRawBytes - Pack data into rawbytes data
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1.106. PackRawBytes - Pack data into rawbytes data
Usage
PackRawBytes is used to pack the contents of variables of type num , dnum , byte , or string
into a container of type rawbytes.
Basic examples
Basic examples of the instruction PackRawBytes are illustrated below.
VAR rawbytes raw_data;
VAR num integer := 8;
VAR dnum bigInt := 4294967295;
VAR num float := 13.4;
VAR byte data1 := 122;
VAR byte byte1;
VAR string string1:="abcdefg";
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet into raw_data .
Then pack requested field bus data in raw_data with PackRawBytes . The example below
shows how different data can be added.
Example 1
PackRawBytes integer, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
DINT;
The contents of the next 4 bytes after the header in raw_data will be 8 decimal.
Example 2
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
UDINT;
The contents of the next 4 bytes after the header in raw_data will be 4294967295 decimal.
Example 3
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
LINT;
The contents of the next 8 bytes after the header in raw_data will be 4294967295 decimal.
Example 4
PackRawBytes float, raw_data, RawBytesLen(raw_data)+1) \Float4;
The contents of the next 4 bytes in raw_data will be 13.4 decimal.
Example 5
PackRawBytes data1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of the next byte in raw_data will be 122 , the ASCII code for "z".
Example 6
PackRawBytes string1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of next 7 bytes in raw_data will be "abcdefg" , coded in ASCII.
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1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data on
page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of rawbytes
data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of rawbytes data
on page 67
Pack data to rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page 725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page 352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes data
on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
Continued
1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
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1.106. PackRawBytes - Pack data into rawbytes data
Usage
PackRawBytes is used to pack the contents of variables of type num , dnum , byte , or string
into a container of type rawbytes.
Basic examples
Basic examples of the instruction PackRawBytes are illustrated below.
VAR rawbytes raw_data;
VAR num integer := 8;
VAR dnum bigInt := 4294967295;
VAR num float := 13.4;
VAR byte data1 := 122;
VAR byte byte1;
VAR string string1:="abcdefg";
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet into raw_data .
Then pack requested field bus data in raw_data with PackRawBytes . The example below
shows how different data can be added.
Example 1
PackRawBytes integer, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
DINT;
The contents of the next 4 bytes after the header in raw_data will be 8 decimal.
Example 2
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
UDINT;
The contents of the next 4 bytes after the header in raw_data will be 4294967295 decimal.
Example 3
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
LINT;
The contents of the next 8 bytes after the header in raw_data will be 4294967295 decimal.
Example 4
PackRawBytes float, raw_data, RawBytesLen(raw_data)+1) \Float4;
The contents of the next 4 bytes in raw_data will be 13.4 decimal.
Example 5
PackRawBytes data1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of the next byte in raw_data will be 122 , the ASCII code for "z".
Example 6
PackRawBytes string1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of next 7 bytes in raw_data will be "abcdefg" , coded in ASCII.
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1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
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Example 7
byte1 := StrToByte("1F" \Hex);
PackRawBytes byte1, raw_data, (RawBytesLen(raw_data)+1) \Hex1;
The contents of the next byte in raw_data will be "1F" , hexadecimal.
Arguments
PackRawBytes Value RawData [ \Network ] StartIndex
[ \Hex1 ] | [ \IntX ] | [ \Float4 ] | [ \ASCII ]
Value
Data type: anytype
Data to be packed into RawData .
Allowed data types are: num , dnum, byte , or string . Array can not be used.
RawData
Data type: rawbytes
Variable container to be packed with data.
[ \Network ]
Data type: switch
Indicates that integer and float shall be packed in big-endian (network order)
representation in RawData . ProfiBus and InterBus use big-endian.
Without this switch, integer and float will be packed in little-endian (not network order)
representation in RawData . DeviceNet uses little-endian.
Only relevant together with option parameter \IntX - UINT , UDINT , INT , DINT and
\Float4 .
StartIndex
Data type: num
StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be
placed in RawData .
[ \Hex1 ]
Data type: switch
The Value to be packed has byte format and shall be converted to hexadecimal format and
stored in 1 byte in RawData .
[ \IntX ]
Data type: inttypes
The Value to be packed has num or dnum format. It is an integer and shall be stored in
RawData according to this specified constant of data type inttypes .
See Predefined data on page 293 .
[ \Float4 ]
Data type: switch
The Value to be packed has num format and shall be stored as float, 4 bytes, in RawData .
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1.106. PackRawBytes - Pack data into rawbytes data
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1.106. PackRawBytes - Pack data into rawbytes data
Usage
PackRawBytes is used to pack the contents of variables of type num , dnum , byte , or string
into a container of type rawbytes.
Basic examples
Basic examples of the instruction PackRawBytes are illustrated below.
VAR rawbytes raw_data;
VAR num integer := 8;
VAR dnum bigInt := 4294967295;
VAR num float := 13.4;
VAR byte data1 := 122;
VAR byte byte1;
VAR string string1:="abcdefg";
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet into raw_data .
Then pack requested field bus data in raw_data with PackRawBytes . The example below
shows how different data can be added.
Example 1
PackRawBytes integer, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
DINT;
The contents of the next 4 bytes after the header in raw_data will be 8 decimal.
Example 2
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
UDINT;
The contents of the next 4 bytes after the header in raw_data will be 4294967295 decimal.
Example 3
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
LINT;
The contents of the next 8 bytes after the header in raw_data will be 4294967295 decimal.
Example 4
PackRawBytes float, raw_data, RawBytesLen(raw_data)+1) \Float4;
The contents of the next 4 bytes in raw_data will be 13.4 decimal.
Example 5
PackRawBytes data1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of the next byte in raw_data will be 122 , the ASCII code for "z".
Example 6
PackRawBytes string1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of next 7 bytes in raw_data will be "abcdefg" , coded in ASCII.
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1.106. PackRawBytes - Pack data into rawbytes data
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Example 7
byte1 := StrToByte("1F" \Hex);
PackRawBytes byte1, raw_data, (RawBytesLen(raw_data)+1) \Hex1;
The contents of the next byte in raw_data will be "1F" , hexadecimal.
Arguments
PackRawBytes Value RawData [ \Network ] StartIndex
[ \Hex1 ] | [ \IntX ] | [ \Float4 ] | [ \ASCII ]
Value
Data type: anytype
Data to be packed into RawData .
Allowed data types are: num , dnum, byte , or string . Array can not be used.
RawData
Data type: rawbytes
Variable container to be packed with data.
[ \Network ]
Data type: switch
Indicates that integer and float shall be packed in big-endian (network order)
representation in RawData . ProfiBus and InterBus use big-endian.
Without this switch, integer and float will be packed in little-endian (not network order)
representation in RawData . DeviceNet uses little-endian.
Only relevant together with option parameter \IntX - UINT , UDINT , INT , DINT and
\Float4 .
StartIndex
Data type: num
StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be
placed in RawData .
[ \Hex1 ]
Data type: switch
The Value to be packed has byte format and shall be converted to hexadecimal format and
stored in 1 byte in RawData .
[ \IntX ]
Data type: inttypes
The Value to be packed has num or dnum format. It is an integer and shall be stored in
RawData according to this specified constant of data type inttypes .
See Predefined data on page 293 .
[ \Float4 ]
Data type: switch
The Value to be packed has num format and shall be stored as float, 4 bytes, in RawData .
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1.106. PackRawBytes - Pack data into rawbytes data
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[ \ASCII ]
Data type: switch
The Value to be packed has byte or string format.
If the Value to be packed has byte format then it will be stored in RawData as 1 byte
interpreting Value as ASCII code for a character.
If the Value to be packed has string format (1-80 characters) then it will be stored in
RawData as ASCII characters with the same number of characters as contained in Value .
String data is not NULL terminated by the system in data of type rawbytes . It is up to the
programmer to add string header if necessary (required for DeviceNet).
One of the arguments \Hex1 , \IntX , \Float4 , or \ASCII must be programmed.
The following combinations are allowed:
*) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , SINT , INT or DINT .
**) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , ULINT , SINT , INT , DINT or LINT .
Program execution
During program execution the data is packed from the variable of type anytype into a
container of type rawbytes .
The current length of valid bytes in the RawData variable is set to:
•
( StartIndex + packed_number_of_bytes - 1)
•
The current length of valid bytes in the RawData variable is not changed if the
complete pack operation is done inside the old current length of valid bytes in the
RawData variable.
Data type of Value:
Allowed option parameters:
num *)
\IntX
dnum **)
\IntX
num
\Float4
string
\ASCII (1-80 characters)
byte
\Hex1 \ASCII ob
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Example 7
byte1 := StrToByte("1F" \Hex);
PackRawBytes byte1, raw_data, (RawBytesLen(raw_data)+1) \Hex1;
The contents of the next byte in raw_data will be "1F" , hexadecimal.
Arguments
PackRawBytes Value RawData [ \Network ] StartIndex
[ \Hex1 ] | [ \IntX ] | [ \Float4 ] | [ \ASCII ]
Value
Data type: anytype
Data to be packed into RawData .
Allowed data types are: num , dnum, byte , or string . Array can not be used.
RawData
Data type: rawbytes
Variable container to be packed with data.
[ \Network ]
Data type: switch
Indicates that integer and float shall be packed in big-endian (network order)
representation in RawData . ProfiBus and InterBus use big-endian.
Without this switch, integer and float will be packed in little-endian (not network order)
representation in RawData . DeviceNet uses little-endian.
Only relevant together with option parameter \IntX - UINT , UDINT , INT , DINT and
\Float4 .
StartIndex
Data type: num
StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be
placed in RawData .
[ \Hex1 ]
Data type: switch
The Value to be packed has byte format and shall be converted to hexadecimal format and
stored in 1 byte in RawData .
[ \IntX ]
Data type: inttypes
The Value to be packed has num or dnum format. It is an integer and shall be stored in
RawData according to this specified constant of data type inttypes .
See Predefined data on page 293 .
[ \Float4 ]
Data type: switch
The Value to be packed has num format and shall be stored as float, 4 bytes, in RawData .
Continued
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1.106. PackRawBytes - Pack data into rawbytes data
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[ \ASCII ]
Data type: switch
The Value to be packed has byte or string format.
If the Value to be packed has byte format then it will be stored in RawData as 1 byte
interpreting Value as ASCII code for a character.
If the Value to be packed has string format (1-80 characters) then it will be stored in
RawData as ASCII characters with the same number of characters as contained in Value .
String data is not NULL terminated by the system in data of type rawbytes . It is up to the
programmer to add string header if necessary (required for DeviceNet).
One of the arguments \Hex1 , \IntX , \Float4 , or \ASCII must be programmed.
The following combinations are allowed:
*) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , SINT , INT or DINT .
**) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , ULINT , SINT , INT , DINT or LINT .
Program execution
During program execution the data is packed from the variable of type anytype into a
container of type rawbytes .
The current length of valid bytes in the RawData variable is set to:
•
( StartIndex + packed_number_of_bytes - 1)
•
The current length of valid bytes in the RawData variable is not changed if the
complete pack operation is done inside the old current length of valid bytes in the
RawData variable.
Data type of Value:
Allowed option parameters:
num *)
\IntX
dnum **)
\IntX
num
\Float4
string
\ASCII (1-80 characters)
byte
\Hex1 \ASCII ob
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1.106. PackRawBytes - Pack data into rawbytes data
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Predefined data
The following symbolic constants of the data type inttypes are predefined and can be used
to specify the integer in parameter \IntX .
*) RAPID limitation for storage of integer in data type num .
**) RAPID limitation for storage of integer in data type dnum .
***) Range when using a dnum variable and inttype DINT .
****) Range when using a dnum variable and inttype UDINT .
Syntax
PackRawBytes
[Value ´:=´ ] < expression ( IN ) of anytype> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes>
[ ’\’ Network ] ´,´
[StartIndex ´:=´ ] < expression ( IN ) of num>
[ ’\’ Hex1 ]
| [ ’\’ IntX’ :=’ < expression ( IN ) of inttypes>]
|[ ’\’ Float4 ]
| [ ’\’ ASCII]’ ;’
Symbolic
constant
Constant
value
Integer format
Integer value range
USINT
1
Unsigned 1 byte integer
0 ... 255
UINT
2
Unsigned 2 byte integer
0 ... 65 535
UDINT
4
Unsigned 4 byte integer
0 ... 8 388 608 *)
0 ... 4 294 967 295 ****)
ULINT
8
Unsigned 8 byte integer
0 ... 4 503 599 627 370 496**)
SINT
- 1
Signed 1 byte integer
- 128... 127
INT
- 2
Signed 2 byte integer
- 32 768 ... 32 767
DINT
- 4
Signed 4 byte integer
- 8 388 607 ... 8 388 608 *)
-2 147 483 648 ... 2 147 483
647 ***)
LINT
- 8
Signed 8 byte integer
- 4 503 599 627 370 496... 4
503 599 627 370 496 **)
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[ \ASCII ]
Data type: switch
The Value to be packed has byte or string format.
If the Value to be packed has byte format then it will be stored in RawData as 1 byte
interpreting Value as ASCII code for a character.
If the Value to be packed has string format (1-80 characters) then it will be stored in
RawData as ASCII characters with the same number of characters as contained in Value .
String data is not NULL terminated by the system in data of type rawbytes . It is up to the
programmer to add string header if necessary (required for DeviceNet).
One of the arguments \Hex1 , \IntX , \Float4 , or \ASCII must be programmed.
The following combinations are allowed:
*) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , SINT , INT or DINT .
**) Must be an integer within the value range of selected symbolic constant USINT , UINT ,
UDINT , ULINT , SINT , INT , DINT or LINT .
Program execution
During program execution the data is packed from the variable of type anytype into a
container of type rawbytes .
The current length of valid bytes in the RawData variable is set to:
•
( StartIndex + packed_number_of_bytes - 1)
•
The current length of valid bytes in the RawData variable is not changed if the
complete pack operation is done inside the old current length of valid bytes in the
RawData variable.
Data type of Value:
Allowed option parameters:
num *)
\IntX
dnum **)
\IntX
num
\Float4
string
\ASCII (1-80 characters)
byte
\Hex1 \ASCII ob
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1.106. PackRawBytes - Pack data into rawbytes data
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Predefined data
The following symbolic constants of the data type inttypes are predefined and can be used
to specify the integer in parameter \IntX .
*) RAPID limitation for storage of integer in data type num .
**) RAPID limitation for storage of integer in data type dnum .
***) Range when using a dnum variable and inttype DINT .
****) Range when using a dnum variable and inttype UDINT .
Syntax
PackRawBytes
[Value ´:=´ ] < expression ( IN ) of anytype> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes>
[ ’\’ Network ] ´,´
[StartIndex ´:=´ ] < expression ( IN ) of num>
[ ’\’ Hex1 ]
| [ ’\’ IntX’ :=’ < expression ( IN ) of inttypes>]
|[ ’\’ Float4 ]
| [ ’\’ ASCII]’ ;’
Symbolic
constant
Constant
value
Integer format
Integer value range
USINT
1
Unsigned 1 byte integer
0 ... 255
UINT
2
Unsigned 2 byte integer
0 ... 65 535
UDINT
4
Unsigned 4 byte integer
0 ... 8 388 608 *)
0 ... 4 294 967 295 ****)
ULINT
8
Unsigned 8 byte integer
0 ... 4 503 599 627 370 496**)
SINT
- 1
Signed 1 byte integer
- 128... 127
INT
- 2
Signed 2 byte integer
- 32 768 ... 32 767
DINT
- 4
Signed 4 byte integer
- 8 388 607 ... 8 388 608 *)
-2 147 483 648 ... 2 147 483
647 ***)
LINT
- 8
Signed 8 byte integer
- 4 503 599 627 370 496... 4
503 599 627 370 496 **)
Continued
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1.106. PackRawBytes - Pack data into rawbytes data
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics -
Bit Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
Continued
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Predefined data
The following symbolic constants of the data type inttypes are predefined and can be used
to specify the integer in parameter \IntX .
*) RAPID limitation for storage of integer in data type num .
**) RAPID limitation for storage of integer in data type dnum .
***) Range when using a dnum variable and inttype DINT .
****) Range when using a dnum variable and inttype UDINT .
Syntax
PackRawBytes
[Value ´:=´ ] < expression ( IN ) of anytype> ´,´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes>
[ ’\’ Network ] ´,´
[StartIndex ´:=´ ] < expression ( IN ) of num>
[ ’\’ Hex1 ]
| [ ’\’ IntX’ :=’ < expression ( IN ) of inttypes>]
|[ ’\’ Float4 ]
| [ ’\’ ASCII]’ ;’
Symbolic
constant
Constant
value
Integer format
Integer value range
USINT
1
Unsigned 1 byte integer
0 ... 255
UINT
2
Unsigned 2 byte integer
0 ... 65 535
UDINT
4
Unsigned 4 byte integer
0 ... 8 388 608 *)
0 ... 4 294 967 295 ****)
ULINT
8
Unsigned 8 byte integer
0 ... 4 503 599 627 370 496**)
SINT
- 1
Signed 1 byte integer
- 128... 127
INT
- 2
Signed 2 byte integer
- 32 768 ... 32 767
DINT
- 4
Signed 4 byte integer
- 8 388 607 ... 8 388 608 *)
-2 147 483 648 ... 2 147 483
647 ***)
LINT
- 8
Signed 8 byte integer
- 4 503 599 627 370 496... 4
503 599 627 370 496 **)
Continued
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1.106. PackRawBytes - Pack data into rawbytes data
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics -
Bit Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
Continued
1 Instructions
1.107. PathAccLim - Reduce TCP acceleration along the path
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1.107. PathAccLim - Reduce TCP acceleration along the path
Usage
PathAccLim ( Path Acceleration Limitation ) is used to set or reset limitations on TCP
acceleration and/or TCP deceleration along the movement path.
The limitation will be performed along the movement path, i.e. the acceleration in the path
frame. It is the tangential acceleration/deceleration in the path direction that will be limited.
The instruction does not limit the total acceleration of the equipment, i.e. the acceleration in
world frame, so it can not be directly used to protect the equipment from large accelerations.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
xx0500002184
Basic examples
Basic examples of the instruction PathAccLim are illustrated below.
See also More examples on page 296 .
Example 1
PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4;
TCP acceleration and TCP deceleration are limited to 4 m/s 2 .
Example 2
PathAccLim FALSE, FALSE;
The TCP acceleration and deceleration is reset to maximum (default).
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Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics -
Bit Functions
String functions
Technical reference manual - RAPID overview ,
section RAPID Summary - String Functions
Continued
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1.107. PathAccLim - Reduce TCP acceleration along the path
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1.107. PathAccLim - Reduce TCP acceleration along the path
Usage
PathAccLim ( Path Acceleration Limitation ) is used to set or reset limitations on TCP
acceleration and/or TCP deceleration along the movement path.
The limitation will be performed along the movement path, i.e. the acceleration in the path
frame. It is the tangential acceleration/deceleration in the path direction that will be limited.
The instruction does not limit the total acceleration of the equipment, i.e. the acceleration in
world frame, so it can not be directly used to protect the equipment from large accelerations.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
xx0500002184
Basic examples
Basic examples of the instruction PathAccLim are illustrated below.
See also More examples on page 296 .
Example 1
PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4;
TCP acceleration and TCP deceleration are limited to 4 m/s 2 .
Example 2
PathAccLim FALSE, FALSE;
The TCP acceleration and deceleration is reset to maximum (default).
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Arguments
PathAccLim AccLim [\AccMax] DecelLim [\DecelMax]
AccLim
Data type: bool
TRUE if there is to be a limitation of the acceleration, FALSE otherwise.
[ \AccMax ]
Data type: num
The absolute value of the acceleration limitation in m/s 2 . Only to be used when AccLim is
TRUE.
DecelLim
Data type: bool
TRUE if there is to be a limitation of the deceleration, FALSE otherwise.
[ \DecelMax ]
Data type: num
The absolute value of the deceleration limitation in m/s 2 . Only to be used when DecelLim is
TRUE.
Program execution
The acceleration/deceleration limitations applies for the next executed robot segment and is
valid until a new PathAccLim instruction is executed.
The maximum acceleration/deceleration ( PathAccLim FALSE, FALSE ) are automatically
set
•
at a cold start-up
•
when a new program is loaded
•
when starting program execution from the beginning.
If there is a combination of instructions AccSet and PathAccLim the system reduces the
acceleration/deceleration in the following order:
•
according AccSet
•
according PathAccLim
More examples
More examples of how to use the instruction PathAccLim are illustrated below.
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1.107. PathAccLim - Reduce TCP acceleration along the path
Usage
PathAccLim ( Path Acceleration Limitation ) is used to set or reset limitations on TCP
acceleration and/or TCP deceleration along the movement path.
The limitation will be performed along the movement path, i.e. the acceleration in the path
frame. It is the tangential acceleration/deceleration in the path direction that will be limited.
The instruction does not limit the total acceleration of the equipment, i.e. the acceleration in
world frame, so it can not be directly used to protect the equipment from large accelerations.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
xx0500002184
Basic examples
Basic examples of the instruction PathAccLim are illustrated below.
See also More examples on page 296 .
Example 1
PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4;
TCP acceleration and TCP deceleration are limited to 4 m/s 2 .
Example 2
PathAccLim FALSE, FALSE;
The TCP acceleration and deceleration is reset to maximum (default).
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Arguments
PathAccLim AccLim [\AccMax] DecelLim [\DecelMax]
AccLim
Data type: bool
TRUE if there is to be a limitation of the acceleration, FALSE otherwise.
[ \AccMax ]
Data type: num
The absolute value of the acceleration limitation in m/s 2 . Only to be used when AccLim is
TRUE.
DecelLim
Data type: bool
TRUE if there is to be a limitation of the deceleration, FALSE otherwise.
[ \DecelMax ]
Data type: num
The absolute value of the deceleration limitation in m/s 2 . Only to be used when DecelLim is
TRUE.
Program execution
The acceleration/deceleration limitations applies for the next executed robot segment and is
valid until a new PathAccLim instruction is executed.
The maximum acceleration/deceleration ( PathAccLim FALSE, FALSE ) are automatically
set
•
at a cold start-up
•
when a new program is loaded
•
when starting program execution from the beginning.
If there is a combination of instructions AccSet and PathAccLim the system reduces the
acceleration/deceleration in the following order:
•
according AccSet
•
according PathAccLim
More examples
More examples of how to use the instruction PathAccLim are illustrated below.
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Example 1
MoveL p1, v1000, fine, tool0;
PathAccLim TRUE\AccMax := 4, FALSE;
MoveL p2, v1000, z30, tool0;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 4 m/s 2 between p1 and p3 .
Example 2
MoveL p1, v1000, fine, tool0;
MoveL p2, v1000, z30, tool0;
PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 3 m/s 2 between p2’ and p3 .
TCP deceleration is limited to 4 m/s 2 between p2’ and p3.
Error handling
If the parameters \AccMax or \DecelMax is set to a value too low, the system variable
ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler.
Limitations
The minimum acceleration/deceleration allowed is 0.5 m/s 2 .
Syntax
PathAccLim
[ AccLim ’:=’ ] < expression ( IN ) of bool >
[´\’AccMax’ :=’ <expression ( IN ) of num >]’,’
[DecelLim ´:=’ ] < expression ( IN ) of bool>
[´\’DecelMax ´:=’ <expression ( IN ) of num >]’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Motion settings data
motsetdata - Motion settings data on page 1141
Reduction of acceleration
AccSet - Reduces the acceleration on page 15
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Arguments
PathAccLim AccLim [\AccMax] DecelLim [\DecelMax]
AccLim
Data type: bool
TRUE if there is to be a limitation of the acceleration, FALSE otherwise.
[ \AccMax ]
Data type: num
The absolute value of the acceleration limitation in m/s 2 . Only to be used when AccLim is
TRUE.
DecelLim
Data type: bool
TRUE if there is to be a limitation of the deceleration, FALSE otherwise.
[ \DecelMax ]
Data type: num
The absolute value of the deceleration limitation in m/s 2 . Only to be used when DecelLim is
TRUE.
Program execution
The acceleration/deceleration limitations applies for the next executed robot segment and is
valid until a new PathAccLim instruction is executed.
The maximum acceleration/deceleration ( PathAccLim FALSE, FALSE ) are automatically
set
•
at a cold start-up
•
when a new program is loaded
•
when starting program execution from the beginning.
If there is a combination of instructions AccSet and PathAccLim the system reduces the
acceleration/deceleration in the following order:
•
according AccSet
•
according PathAccLim
More examples
More examples of how to use the instruction PathAccLim are illustrated below.
xx0500002183
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Example 1
MoveL p1, v1000, fine, tool0;
PathAccLim TRUE\AccMax := 4, FALSE;
MoveL p2, v1000, z30, tool0;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 4 m/s 2 between p1 and p3 .
Example 2
MoveL p1, v1000, fine, tool0;
MoveL p2, v1000, z30, tool0;
PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 3 m/s 2 between p2’ and p3 .
TCP deceleration is limited to 4 m/s 2 between p2’ and p3.
Error handling
If the parameters \AccMax or \DecelMax is set to a value too low, the system variable
ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler.
Limitations
The minimum acceleration/deceleration allowed is 0.5 m/s 2 .
Syntax
PathAccLim
[ AccLim ’:=’ ] < expression ( IN ) of bool >
[´\’AccMax’ :=’ <expression ( IN ) of num >]’,’
[DecelLim ´:=’ ] < expression ( IN ) of bool>
[´\’DecelMax ´:=’ <expression ( IN ) of num >]’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Motion settings data
motsetdata - Motion settings data on page 1141
Reduction of acceleration
AccSet - Reduces the acceleration on page 15
Continued
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
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1.108. PathRecMoveBwd - Move path recorder backwards
Usage
PathRecMoveBwd is used to move the robot backwards along a recorded path.
Basic examples
Basic examples of the instruction PathRecMoveBwd are illustrated below.
See also More examples on page 300 .
Example 1
VAR pathrecid fixture_id;
PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;
The robot is moved backwards to the position in the program where the instruction
PathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Z direction
and the speed is set to 500 mm/s.
Arguments
PathRecMoveBwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move backward to. Data type pathrecid is a non-
value type, only used as an identifier for naming the recording position.
If no ID position is specified then the backward movement is in a single system done to the
closest recorded ID position. But in a MultiMove Synchronized Mode, the backward
movements is done to the closest of the following positions:
•
Back to the position where the synchronized movement started
•
Back to the closest recorded ID position
[\ToolOffs]
Tool Offset
Data type: pos
Provides clearance offset for TCP during motion. A cartesian offset coordinate is applied to
the TCP coordinates. Positive Z offset value indicates clearance. This is useful when the robot
runs a process adding material. If running synchronized motion then all or none of the
mechanical units needs to use the argument. If no offset is desired for some of the mechanical
units then a zero offset can be applied. Even non TCP mechanical units need to use the
argument if a TCP robot in a different task is used.
[\Speed]
Data type: speeddata
Speed replaces the speed original used during forward motion. Speeddata defines the velocity
for the tool center point, the tool reorientation, and the external axis. If present, this speed will
be used throughout the backward movement. If omitted, the backward motion will execute
with the speed in the original motion instructions.
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Example 1
MoveL p1, v1000, fine, tool0;
PathAccLim TRUE\AccMax := 4, FALSE;
MoveL p2, v1000, z30, tool0;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 4 m/s 2 between p1 and p3 .
Example 2
MoveL p1, v1000, fine, tool0;
MoveL p2, v1000, z30, tool0;
PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 3 m/s 2 between p2’ and p3 .
TCP deceleration is limited to 4 m/s 2 between p2’ and p3.
Error handling
If the parameters \AccMax or \DecelMax is set to a value too low, the system variable
ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler.
Limitations
The minimum acceleration/deceleration allowed is 0.5 m/s 2 .
Syntax
PathAccLim
[ AccLim ’:=’ ] < expression ( IN ) of bool >
[´\’AccMax’ :=’ <expression ( IN ) of num >]’,’
[DecelLim ´:=’ ] < expression ( IN ) of bool>
[´\’DecelMax ´:=’ <expression ( IN ) of num >]’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Motion settings data
motsetdata - Motion settings data on page 1141
Reduction of acceleration
AccSet - Reduces the acceleration on page 15
Continued
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
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1.108. PathRecMoveBwd - Move path recorder backwards
Usage
PathRecMoveBwd is used to move the robot backwards along a recorded path.
Basic examples
Basic examples of the instruction PathRecMoveBwd are illustrated below.
See also More examples on page 300 .
Example 1
VAR pathrecid fixture_id;
PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;
The robot is moved backwards to the position in the program where the instruction
PathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Z direction
and the speed is set to 500 mm/s.
Arguments
PathRecMoveBwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move backward to. Data type pathrecid is a non-
value type, only used as an identifier for naming the recording position.
If no ID position is specified then the backward movement is in a single system done to the
closest recorded ID position. But in a MultiMove Synchronized Mode, the backward
movements is done to the closest of the following positions:
•
Back to the position where the synchronized movement started
•
Back to the closest recorded ID position
[\ToolOffs]
Tool Offset
Data type: pos
Provides clearance offset for TCP during motion. A cartesian offset coordinate is applied to
the TCP coordinates. Positive Z offset value indicates clearance. This is useful when the robot
runs a process adding material. If running synchronized motion then all or none of the
mechanical units needs to use the argument. If no offset is desired for some of the mechanical
units then a zero offset can be applied. Even non TCP mechanical units need to use the
argument if a TCP robot in a different task is used.
[\Speed]
Data type: speeddata
Speed replaces the speed original used during forward motion. Speeddata defines the velocity
for the tool center point, the tool reorientation, and the external axis. If present, this speed will
be used throughout the backward movement. If omitted, the backward motion will execute
with the speed in the original motion instructions.
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1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
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Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started then all move instructions will be recorded and the robot can be moved
backwards along its recorded path at any point by executing PathRecMoveBwd .
Synchronized motion
Running the path recorder in synchronization motion adds a few considerations.
•
All tasks involved in the synchronization recorded motion must order
PathRecMoveBwd before any of the robots start to move.
•
All synchronization handling is recorded and executed in reverse. For example, if
PathRecMoveBwd is ordered from within a synchronization block to an independent
position then the path recorder will automatically change state to independent at the
SyncMoveOn instruction.
•
SyncMoveOn is considered as a breakpoint without path identifier. That is, if the path
recorder has been started by means of PathRecStart and PathRecMoveBwd without
the optional argument \ID is executed within a synchronized motion block, then the
robot will move backwards to the position the robot was at when SyncMoveOn was
executed. Since the backward movement stops before SyncMoveOn , the state will be
changed to independent.
•
WaitSyncTask is considered as a breakpoint without path identifier. That is, if the
path recorder has been started by the means of PathRecStart and
PathRecMoveBwd is executed then the robot will move back no longer than to the
position the robot was at when WaitSyncTask was executed.
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1.108. PathRecMoveBwd - Move path recorder backwards
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1.108. PathRecMoveBwd - Move path recorder backwards
Usage
PathRecMoveBwd is used to move the robot backwards along a recorded path.
Basic examples
Basic examples of the instruction PathRecMoveBwd are illustrated below.
See also More examples on page 300 .
Example 1
VAR pathrecid fixture_id;
PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;
The robot is moved backwards to the position in the program where the instruction
PathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Z direction
and the speed is set to 500 mm/s.
Arguments
PathRecMoveBwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move backward to. Data type pathrecid is a non-
value type, only used as an identifier for naming the recording position.
If no ID position is specified then the backward movement is in a single system done to the
closest recorded ID position. But in a MultiMove Synchronized Mode, the backward
movements is done to the closest of the following positions:
•
Back to the position where the synchronized movement started
•
Back to the closest recorded ID position
[\ToolOffs]
Tool Offset
Data type: pos
Provides clearance offset for TCP during motion. A cartesian offset coordinate is applied to
the TCP coordinates. Positive Z offset value indicates clearance. This is useful when the robot
runs a process adding material. If running synchronized motion then all or none of the
mechanical units needs to use the argument. If no offset is desired for some of the mechanical
units then a zero offset can be applied. Even non TCP mechanical units need to use the
argument if a TCP robot in a different task is used.
[\Speed]
Data type: speeddata
Speed replaces the speed original used during forward motion. Speeddata defines the velocity
for the tool center point, the tool reorientation, and the external axis. If present, this speed will
be used throughout the backward movement. If omitted, the backward motion will execute
with the speed in the original motion instructions.
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
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Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started then all move instructions will be recorded and the robot can be moved
backwards along its recorded path at any point by executing PathRecMoveBwd .
Synchronized motion
Running the path recorder in synchronization motion adds a few considerations.
•
All tasks involved in the synchronization recorded motion must order
PathRecMoveBwd before any of the robots start to move.
•
All synchronization handling is recorded and executed in reverse. For example, if
PathRecMoveBwd is ordered from within a synchronization block to an independent
position then the path recorder will automatically change state to independent at the
SyncMoveOn instruction.
•
SyncMoveOn is considered as a breakpoint without path identifier. That is, if the path
recorder has been started by means of PathRecStart and PathRecMoveBwd without
the optional argument \ID is executed within a synchronized motion block, then the
robot will move backwards to the position the robot was at when SyncMoveOn was
executed. Since the backward movement stops before SyncMoveOn , the state will be
changed to independent.
•
WaitSyncTask is considered as a breakpoint without path identifier. That is, if the
path recorder has been started by the means of PathRecStart and
PathRecMoveBwd is executed then the robot will move back no longer than to the
position the robot was at when WaitSyncTask was executed.
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
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More examples
More examples of how to use the instruction PathRecMoveBwd are illustrated below.
Example 1 - Independent motion
VAR pathrecid safe_id;
CONST robtarget p0 := [...];
...
CONST robtarget p4 := [...];
VAR num choice;
MoveJ p0, vmax, z50, tool1;
PathRecStart safe_id;
MoveJ p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
ERROR:
TPReadFK choice,"Go to
safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
IF choice=5 THEN
IF PathRecValidBwd(\ID:=safe_id) THEN
StorePath;
PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
Stop;
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
ENDIF
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Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started then all move instructions will be recorded and the robot can be moved
backwards along its recorded path at any point by executing PathRecMoveBwd .
Synchronized motion
Running the path recorder in synchronization motion adds a few considerations.
•
All tasks involved in the synchronization recorded motion must order
PathRecMoveBwd before any of the robots start to move.
•
All synchronization handling is recorded and executed in reverse. For example, if
PathRecMoveBwd is ordered from within a synchronization block to an independent
position then the path recorder will automatically change state to independent at the
SyncMoveOn instruction.
•
SyncMoveOn is considered as a breakpoint without path identifier. That is, if the path
recorder has been started by means of PathRecStart and PathRecMoveBwd without
the optional argument \ID is executed within a synchronized motion block, then the
robot will move backwards to the position the robot was at when SyncMoveOn was
executed. Since the backward movement stops before SyncMoveOn , the state will be
changed to independent.
•
WaitSyncTask is considered as a breakpoint without path identifier. That is, if the
path recorder has been started by the means of PathRecStart and
PathRecMoveBwd is executed then the robot will move back no longer than to the
position the robot was at when WaitSyncTask was executed.
Continued
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1.108. PathRecMoveBwd - Move path recorder backwards
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More examples
More examples of how to use the instruction PathRecMoveBwd are illustrated below.
Example 1 - Independent motion
VAR pathrecid safe_id;
CONST robtarget p0 := [...];
...
CONST robtarget p4 := [...];
VAR num choice;
MoveJ p0, vmax, z50, tool1;
PathRecStart safe_id;
MoveJ p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
ERROR:
TPReadFK choice,"Go to
safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
IF choice=5 THEN
IF PathRecValidBwd(\ID:=safe_id) THEN
StorePath;
PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
Stop;
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
ENDIF
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1.108. PathRecMoveBwd - Move path recorder backwards
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xx0500002135
This example shows how the path recorder can be utilized to extract the robot from narrow
spaces upon error without programming a designated path.
A part is being manufactured. At the approach point, p0 , the path recorder is started and
given the path recorder identifier safe_id . Assume that when the robot moves from p3 to
p4 that a recoverable error arises. At that point the path is stored by executing StorePath .
By storing the path the error handler can start a new movement and later on restart the original
movement. When the path has been stored the path recorder is used to move the robot out to
the safe position, p0 , by executing PathRecMoveBwd .
Note that a tool offset is applied to provide clearance from, for example, a newly added weld.
When the robot has been moved out the operator can do what is necessary to fix the error (for
example clean the torch of welding). Then the robot is moved back to the error location by
the means of PathRecMoveFwd . At the error location the path level is switched back to base
level by RestoPath and a retry attempt is made.
![Image]
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More examples
More examples of how to use the instruction PathRecMoveBwd are illustrated below.
Example 1 - Independent motion
VAR pathrecid safe_id;
CONST robtarget p0 := [...];
...
CONST robtarget p4 := [...];
VAR num choice;
MoveJ p0, vmax, z50, tool1;
PathRecStart safe_id;
MoveJ p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
ERROR:
TPReadFK choice,"Go to
safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
IF choice=5 THEN
IF PathRecValidBwd(\ID:=safe_id) THEN
StorePath;
PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
Stop;
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
ENDIF
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
301
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002135
This example shows how the path recorder can be utilized to extract the robot from narrow
spaces upon error without programming a designated path.
A part is being manufactured. At the approach point, p0 , the path recorder is started and
given the path recorder identifier safe_id . Assume that when the robot moves from p3 to
p4 that a recoverable error arises. At that point the path is stored by executing StorePath .
By storing the path the error handler can start a new movement and later on restart the original
movement. When the path has been stored the path recorder is used to move the robot out to
the safe position, p0 , by executing PathRecMoveBwd .
Note that a tool offset is applied to provide clearance from, for example, a newly added weld.
When the robot has been moved out the operator can do what is necessary to fix the error (for
example clean the torch of welding). Then the robot is moved back to the error location by
the means of PathRecMoveFwd . At the error location the path level is switched back to base
level by RestoPath and a retry attempt is made.
![Image]
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
3HAC 16581-1 Revision: J
302
© Copyright 2004-2010 ABB. All rights reserved.
Example 2 - Synchronized motion
T_ROB1
VAR pathrecid HomeROB1;
CONST robtarget pR1_10:=[...];
...
CONST robtarget pR1_60:=[...];
PathRecStart HomeROB1;
MoveJ pR1_10, v1000, z50, tGun;
MoveJ pR1_20, v1000, z50, tGun;
MoveJ pR1_30, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR1_40 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_50 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_60 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ID:= HomeROB1\ToolOffs:=[0,0,10];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB2
VAR pathrecid HomeROB2;
CONST robtarget pR2_10:=[...];
...
CONST robtarget pR2_50:=[...];
PathRecStart HomeROB2;
MoveJ pR2_10, v1000, z50, tGun;
MoveJ pR2_20, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR2_30 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_40 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_50 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,10];
Continued
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| 304
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
301
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002135
This example shows how the path recorder can be utilized to extract the robot from narrow
spaces upon error without programming a designated path.
A part is being manufactured. At the approach point, p0 , the path recorder is started and
given the path recorder identifier safe_id . Assume that when the robot moves from p3 to
p4 that a recoverable error arises. At that point the path is stored by executing StorePath .
By storing the path the error handler can start a new movement and later on restart the original
movement. When the path has been stored the path recorder is used to move the robot out to
the safe position, p0 , by executing PathRecMoveBwd .
Note that a tool offset is applied to provide clearance from, for example, a newly added weld.
When the robot has been moved out the operator can do what is necessary to fix the error (for
example clean the torch of welding). Then the robot is moved back to the error location by
the means of PathRecMoveFwd . At the error location the path level is switched back to base
level by RestoPath and a retry attempt is made.
![Image]
Continued
Continues on next page
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
3HAC 16581-1 Revision: J
302
© Copyright 2004-2010 ABB. All rights reserved.
Example 2 - Synchronized motion
T_ROB1
VAR pathrecid HomeROB1;
CONST robtarget pR1_10:=[...];
...
CONST robtarget pR1_60:=[...];
PathRecStart HomeROB1;
MoveJ pR1_10, v1000, z50, tGun;
MoveJ pR1_20, v1000, z50, tGun;
MoveJ pR1_30, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR1_40 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_50 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_60 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ID:= HomeROB1\ToolOffs:=[0,0,10];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB2
VAR pathrecid HomeROB2;
CONST robtarget pR2_10:=[...];
...
CONST robtarget pR2_50:=[...];
PathRecStart HomeROB2;
MoveJ pR2_10, v1000, z50, tGun;
MoveJ pR2_20, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR2_30 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_40 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_50 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,10];
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
303
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB3
VAR pathrecid HomePOS1;
CONST jointtarget jP1_10:=[...];
...
CONST jointtarget jP1_40:=[...];
PathRecStart HomePOS1;
MoveExtJ jP1_10, v1000, z50;
SyncMoveOn sync1, tasklist;
MoveExtJ jP1_20 \ID:=1, v1000, z50;
MoveExtJ jP1_30 \ID:=2, v1000, z50;
MoveExtJ jP1_40 \ID:=3, v1000, z50;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,0];
DEFAULT:
PathRecMoveBwd \ID:=HomePOS1\ToolOffs:=[0,0,0];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
A system is consisting of three manipulators that all run in separate tasks. Assume that
T_ROB1 experiences an error ERR_PATH_STOP within the synchronized block, sync1 . Upon
error it is desired to move back to the home position marked with the path recorder identifier
HomeROB1 to perform service of the robot’s external equipment. This is done by using
PathRecMoveBwd and suppling the pathrecid identifier.
Since the error occurred during synchronized motion it is necessary that the second TCP
robot T_ROB2 and the external axis T_POS1 also orders PathRecMoveBwd . These
manipulators do not have to move back further than before the synchronized motion started.
By not suppling PathRecMoveBwd at ERR_PATH_STOP with a path recorder identifier the
path recorder ability to stop after SyncMoveOn is utilized. Note that the external axis that does
not have a TCP still adds a zero tool offset to enable the possibility for the TCP robots to do
so.
The DEFAULT behavior in the ERROR handler in this example is that all manipulators first do
the synchronized movements backwards and then the independent movements backwards to
the start point of the recorded path. This is obtained by specifying \ID in PathRecMoveBwd
for all manipulators.
Continued
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| 305
|
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
3HAC 16581-1 Revision: J
302
© Copyright 2004-2010 ABB. All rights reserved.
Example 2 - Synchronized motion
T_ROB1
VAR pathrecid HomeROB1;
CONST robtarget pR1_10:=[...];
...
CONST robtarget pR1_60:=[...];
PathRecStart HomeROB1;
MoveJ pR1_10, v1000, z50, tGun;
MoveJ pR1_20, v1000, z50, tGun;
MoveJ pR1_30, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR1_40 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_50 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_60 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ID:= HomeROB1\ToolOffs:=[0,0,10];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB2
VAR pathrecid HomeROB2;
CONST robtarget pR2_10:=[...];
...
CONST robtarget pR2_50:=[...];
PathRecStart HomeROB2;
MoveJ pR2_10, v1000, z50, tGun;
MoveJ pR2_20, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR2_30 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_40 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_50 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,10];
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
303
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB3
VAR pathrecid HomePOS1;
CONST jointtarget jP1_10:=[...];
...
CONST jointtarget jP1_40:=[...];
PathRecStart HomePOS1;
MoveExtJ jP1_10, v1000, z50;
SyncMoveOn sync1, tasklist;
MoveExtJ jP1_20 \ID:=1, v1000, z50;
MoveExtJ jP1_30 \ID:=2, v1000, z50;
MoveExtJ jP1_40 \ID:=3, v1000, z50;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,0];
DEFAULT:
PathRecMoveBwd \ID:=HomePOS1\ToolOffs:=[0,0,0];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
A system is consisting of three manipulators that all run in separate tasks. Assume that
T_ROB1 experiences an error ERR_PATH_STOP within the synchronized block, sync1 . Upon
error it is desired to move back to the home position marked with the path recorder identifier
HomeROB1 to perform service of the robot’s external equipment. This is done by using
PathRecMoveBwd and suppling the pathrecid identifier.
Since the error occurred during synchronized motion it is necessary that the second TCP
robot T_ROB2 and the external axis T_POS1 also orders PathRecMoveBwd . These
manipulators do not have to move back further than before the synchronized motion started.
By not suppling PathRecMoveBwd at ERR_PATH_STOP with a path recorder identifier the
path recorder ability to stop after SyncMoveOn is utilized. Note that the external axis that does
not have a TCP still adds a zero tool offset to enable the possibility for the TCP robots to do
so.
The DEFAULT behavior in the ERROR handler in this example is that all manipulators first do
the synchronized movements backwards and then the independent movements backwards to
the start point of the recorded path. This is obtained by specifying \ID in PathRecMoveBwd
for all manipulators.
Continued
Continues on next page
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
3HAC 16581-1 Revision: J
304
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Movements using the path recorder cannot be performed on base level, i.e. StorePath has
to be executed prior to PathRecMoveBwd .
It is never possible to move backwards through a SynchMoveOff statement.
It is never possible to move backwards through a WaitSyncTask statement.
SyncMoveOn must be preceded by at least one independent movement if it is desired to move
back to the position where the synchronized movement started.
If it is not desired to return to the point where PathRecMoveBwd was executed (by executing
PathRecMoveFwd ) then the PathRecorder has to be stopped by the means of PathRecStop .
PathRecStop\Clear also clears the recorded path.
PathRecMoveBwd cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset or Step.
Syntax
PathRecMoveBwd
[ ´\’ ID ´:=’ < variable ( VAR ) of pathrecid > ]
[ ´\’ ToolOffs´:=’ <expression ( IN ) of pos> ]
[ ´\’ Speed‘:=’ <expression ( IN ) of speeddata> ]’;’
Related information
For information about
See
Path Recorder Identifier
pathrecid - Path recorder identifier on page 1158
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Move path recorder forward
PathRecMoveFwd - Move path recorder forward
on page 305
Store - restore paths
StorePath - Stores the path when an interrupt
occurs on page 521
RestoPath - Restores the path after an interrupt
on page 362
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Error Recovery
Technical reference manual - RAPID overview ,
section Basic characteristics - Error recovery
Continued
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
303
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB3
VAR pathrecid HomePOS1;
CONST jointtarget jP1_10:=[...];
...
CONST jointtarget jP1_40:=[...];
PathRecStart HomePOS1;
MoveExtJ jP1_10, v1000, z50;
SyncMoveOn sync1, tasklist;
MoveExtJ jP1_20 \ID:=1, v1000, z50;
MoveExtJ jP1_30 \ID:=2, v1000, z50;
MoveExtJ jP1_40 \ID:=3, v1000, z50;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,0];
DEFAULT:
PathRecMoveBwd \ID:=HomePOS1\ToolOffs:=[0,0,0];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
A system is consisting of three manipulators that all run in separate tasks. Assume that
T_ROB1 experiences an error ERR_PATH_STOP within the synchronized block, sync1 . Upon
error it is desired to move back to the home position marked with the path recorder identifier
HomeROB1 to perform service of the robot’s external equipment. This is done by using
PathRecMoveBwd and suppling the pathrecid identifier.
Since the error occurred during synchronized motion it is necessary that the second TCP
robot T_ROB2 and the external axis T_POS1 also orders PathRecMoveBwd . These
manipulators do not have to move back further than before the synchronized motion started.
By not suppling PathRecMoveBwd at ERR_PATH_STOP with a path recorder identifier the
path recorder ability to stop after SyncMoveOn is utilized. Note that the external axis that does
not have a TCP still adds a zero tool offset to enable the possibility for the TCP robots to do
so.
The DEFAULT behavior in the ERROR handler in this example is that all manipulators first do
the synchronized movements backwards and then the independent movements backwards to
the start point of the recorded path. This is obtained by specifying \ID in PathRecMoveBwd
for all manipulators.
Continued
Continues on next page
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
3HAC 16581-1 Revision: J
304
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Movements using the path recorder cannot be performed on base level, i.e. StorePath has
to be executed prior to PathRecMoveBwd .
It is never possible to move backwards through a SynchMoveOff statement.
It is never possible to move backwards through a WaitSyncTask statement.
SyncMoveOn must be preceded by at least one independent movement if it is desired to move
back to the position where the synchronized movement started.
If it is not desired to return to the point where PathRecMoveBwd was executed (by executing
PathRecMoveFwd ) then the PathRecorder has to be stopped by the means of PathRecStop .
PathRecStop\Clear also clears the recorded path.
PathRecMoveBwd cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset or Step.
Syntax
PathRecMoveBwd
[ ´\’ ID ´:=’ < variable ( VAR ) of pathrecid > ]
[ ´\’ ToolOffs´:=’ <expression ( IN ) of pos> ]
[ ´\’ Speed‘:=’ <expression ( IN ) of speeddata> ]’;’
Related information
For information about
See
Path Recorder Identifier
pathrecid - Path recorder identifier on page 1158
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Move path recorder forward
PathRecMoveFwd - Move path recorder forward
on page 305
Store - restore paths
StorePath - Stores the path when an interrupt
occurs on page 521
RestoPath - Restores the path after an interrupt
on page 362
Other positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Error Recovery
Technical reference manual - RAPID overview ,
section Basic characteristics - Error recovery
Continued
1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
305
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.109. PathRecMoveFwd - Move path recorder forward
Usage
PathRecMoveFwd is used to move the robot back to the position where PathRecMoveBwd
was executed. It is also possible to move the robot partly forward by supplying an identifier
that has been passed during the backward movement.
Basic examples
Basic examples of how to use the instruction PathRecMoveFwd are illustrated below.
See also More examples on page 306 .
Example 1
PathRecMoveFwd;
The robot is moved back to the position where the path recorder started the backward
movement.
Arguments
PathRecMoveFwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move forward to. Data type pathrecid is a non-
value type only used as an identifier for naming the recording position.
If no ID position is specified then the forward movement will always be done to interrupt
position on the original path.
[\ToolOffs]
Tool Offset
Data type: pos
Provides clearance offset for TCP during motion. A cartesian coordinate is applied to the TCP
coordinates. This is useful when the robot runs a process adding material.
[\Speed]
Data type: speeddata
Speed overrides the original speed used during forward motion. Speeddata defines the
velocity for the tool center point, the tool reorientation, and the external axis. If present, this
speed will be used throughout the forward movement. If omitted, the forward motion will
execute with the speed in the original motion instructions.
Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started the robot can be moved backwards along its executed path by executing
PathRecMoveBwd . The robot can thereafter be ordered back to the position where the
backward execution started by calling PathRecMoveFwd . It is also possible to move the
robot partly forward by supplying an identifier that has been passed during the backward
movement.
Continues on next page
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