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ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 407 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 408 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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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 allowe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 409 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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Program execution
See the instruction MoveC for information about circular movement.
The movement is always ended with a stop point, i.e. the robot stops at ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 410 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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The figure shows how a match is made on the wrong side of the object because the wrong
zone data was used.
xx0500002238
WARNING!
Limitations for searching if c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 411 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detec... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 412 | 1 Instructions
1.146. SearchC - Searches circularly using the robot
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Related information
For information about
See
Linear searches
SearchL - Searches linearly using the robot on page
416
Writes to a corrections entry
CorrWrite -... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 413 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
Usage
SearchExtJ ( Search External Joints ) is used to sear... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 414 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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[ \PStop ]
Path Stop
Data type: switch
The movement is stopped with path stop (Program Stop) when the value of the search signal
change... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 415 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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© Copyright 2004-2010 ABB. All rights reserved.
SearchJointPos
Data type: jointtarget
The position of the external axes when the search signal has been triggered. The position
takes a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 416 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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Program execution
See the instruction MoveExtJ for information about movement of mechanical units without
TCP.
The movement always end... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 417 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
An error is reported during a search when:
•
No signal detection occurred - this generates the error ERR_WHLSEARCH.
•
Mor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 418 | 1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
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If the signal is already active at the beginning of the search process or the communication
with the signal is lost, a user dialog will ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 419 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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1.148. SearchL - Searches linearly using the robot
Usage
SearchL ( Search Linear ) is used to search for a position when moving the tool center point
(TCP) line... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 420 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Arguments
SearchL [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchPoint ToPoint [\ID] Speed [\V] | [\T] Tool [\WObj]
[\Corr]
[ \Stop ]
Stiff Stop
D... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 421 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 422 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the external axes, and the tool r... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 423 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Program execution
See the instruction MoveL for information about linear movement.
The movement always ends with a stop point, i.e. the robot stops at the dest... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 424 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Limitations
Zone data for the positioning instruction that precedes SearchL must be used carefully. The
start of the search, i.e. when the I/O signal is ready ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 425 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Limitations for searching on a conveyor:
•
a search will stop the robot when hit or if the search fails, so make the search in the
same direction as the conveyor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 426 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchL instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES"... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 427 | 1 Instructions
1.148. SearchL - Searches linearly using the robot
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Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview , section
RAPID summary - Er... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 428 | 1 Instructions
1.149. SenDevice - connect to a sensor device
Sensor Interface
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1.149. SenDevice - connect to a sensor device
Usage
SenDevice is used to connect to a sensor device connected to the serial sensor interface.
The sensor interface ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 429 | 1 Instructions
1.149. SenDevice - connect to a sensor device
Sensor Interface
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Arguments
SenDevice device
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
Syntax
ReadBlock
[ device‘ :=’ ] < expression( I... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 430 | 1 Instructions
1.150. Set - Sets a digital output signal
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1.150. Set - Sets a digital output signal
Usage
Set is used to set the value of a digital output signal to one.
Basic examples
Basic examples of the instruction Set ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 431 | 1 Instructions
1.150. Set - Sets a digital output signal
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Related information
For information about
See
Setting a digital output signal to zero
Reset - Resets a digital output signal on page
359
Change the value of a digital out... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 432 | 1 Instructions
1.151. SetAllDataVal - Set a value to all data objects in a defined set
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1.151. SetAllDataVal - Set a value to all data objects in a defined set
Usage
SetAllDataVal ( Set All Data Value ) makes it possible to set ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 433 | 1 Instructions
1.151. SetAllDataVal - Set a value to all data objects in a defined set
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Program running
The instruction will fail if the specification for Type or TypeMod is wrong.
If the matching data object is an array the... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 434 | 1 Instructions
1.152. SetAO - Changes the value of an analog output signal
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1.152. SetAO - Changes the value of an analog output signal
Usage
SetAO is used to change the value of an analog output signal.
Basic examples
Basic ex... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 435 | 1 Instructions
1.152. SetAO - Changes the value of an analog output signal
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Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
E... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 436 | 1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
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1.153. SetDataSearch - Define the symbol set in a search sequence
Usage
SetDataSearch is used together with function GetNextSym to retrieve dat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 437 | 1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
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The available meta character set is shown below.
The default behavior is to accept any symbols but if one or several of following PersSym ,
VarSy... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 438 | 1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
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[ \InTask ]
In Task
Data type: switch
Start the search at the task level. At the task level all loaded global symbols are located plus
the handle... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 439 | 1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
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Limitations
Array data objects cannot be defined in the symbol search set and cannot be found in a search
sequence.
For a semivalue data type it i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 440 | 1 Instructions
1.154. SetDataVal - Set the value of a data object
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1.154. SetDataVal - Set the value of a data object
Usage
SetDataVal ( Set Data Value ) makes it possible to set a value for a data object that is
specified with... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 441 | 1 Instructions
1.154. SetDataVal - Set the value of a data object
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[\TaskRef]
Task Reference
Data type: taskid
The program task identity in which to search for the data object specified. When using this
argument, you may search... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 442 | 1 Instructions
1.154. SetDataVal - Set the value of a data object
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Syntax
SetDataVal
[ Object ’:=’ ] < expression ( IN) of string >
[’\’Block’ :=’<variable ( VAR ) of datapos>]
|[ ’\’TaskRef’ :=’ <variable ( VAR ) of taskid>]
|... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 443 | 1 Instructions
1.155. SetDO - Changes the value of a digital output signal
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1.155. SetDO - Changes the value of a digital output signal
Usage
SetDO is used to change the value of a digital output signal, with or without a time ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 444 | 1 Instructions
1.155. SetDO - Changes the value of a digital output signal
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Value
Data type: dionum
The desired value of the signal 0 or 1.
Program execution
The true value depends on the configuration of the signal. If the sig... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 445 | 1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
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1.156. SetGO - Changes the value of a group of digital output signals
Usage
SetGO is used to change the value of a group of digital output si... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 446 | 1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
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Dvalue
Data type: dnum
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is depende... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 447 | 1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
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Program execution
The programmed value is converted to an unsigned binary number. This binary number is sent
on the signal group with the resu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 448 | 1 Instructions
1.157. SetSysData - Set system data
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1.157. SetSysData - Set system data
Usage
SetSysData activates the specified system data name for the specified data type.
With this instruction it is possible to change the c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 449 | 1 Instructions
1.157. SetSysData - Set system data
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Syntax
SetSysData
[ SourceObject’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’:=’ < expression ( IN ) of string> ] ’;’
Related information
For information about
See
Def... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 450 | 1 Instructions
1.158. SingArea - Defines interpolation around singular points
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1.158. SingArea - Defines interpolation around singular points
Usage
SingArea is used to define how the robot is to move in the proximity of singula... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 451 | 1 Instructions
1.158. SingArea - Defines interpolation around singular points
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Program execution
If the arguments \Wrist is specified then the orientation is joint-interpolated to avoid
singular points. In this way the TCP fol... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 452 | 1 Instructions
1.159. SkipWarn - Skip the latest warning
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1.159. SkipWarn - Skip the latest warning
Usage
SkipWarn ( Skip Warning ) is used to skip the latest generated warning message to be stored
in the Event Log during executi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 453 | 1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
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1.160. SocketAccept - Accept an incoming connection
Usage
SocketAccept is used to accept incoming connection requests. SocketAccept can only be
used for se... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 454 | 1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
451
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\Time]
Data type: num
The maximum amount of time [s] that program execution waits for incoming connections. If
this time runs out before any incoming connec... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 455 | 1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
3HAC 16581-1 Revision: J
452
© Copyright 2004-2010 ABB. All rights reserved.
After that the server is ready for a connection from the same or some other client in the WHILE
loop. If PP is moved to main in the program then all open soc... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 456 | 1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
453
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.161. SocketBind - Bind a socket to my IP-address and port
Usage
SocketBind is used to bind a socket to the specified server IP-address and port num... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 457 | 1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
3HAC 16581-1 Revision: J
454
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 458 | 1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
455
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.162. SocketClose - Close a socket
Usage
SocketClose is used when a socket connection is no longer going to be used.
After a socket has been closed it cannot be used in any... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 459 | 1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
3HAC 16581-1 Revision: J
456
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a n... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 460 | 1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
457
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.163. SocketConnect - Connect to a remote computer
Usage
SocketConnect is used to connect the socket to a remote computer in a client application.
Basic exa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 461 | 1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
3HAC 16581-1 Revision: J
458
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction SocketConnect are illustrated below.
Example 1
VAR num retry_no := 0;
VAR socketdev my_socket;
...
SocketCrea... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 462 | 1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
459
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
Described in:
Socket communication in general
Application manual - Robot communication and
I/O control
Create a new ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 463 | 1 Instructions
1.164. SocketCreate - Create a new socket
Socket Messaging
3HAC 16581-1 Revision: J
460
© Copyright 2004-2010 ABB. All rights reserved.
1.164. SocketCreate - Create a new socket
Usage
SocketCreate is used to create a new socket for connection based communication.
The socket messaging is of stream type ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 464 | 1 Instructions
1.164. SocketCreate - Create a new socket
Socket Messaging
461
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control , section Socket Messaging
Conne... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 465 | 1 Instructions
1.165. SocketListen - Listen for incoming connections
Socket Messaging
3HAC 16581-1 Revision: J
462
© Copyright 2004-2010 ABB. All rights reserved.
1.165. SocketListen - Listen for incoming connections
Usage
SocketListen is used to start listening for incoming connections, i.e. start acting as a server... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 466 | 1 Instructions
1.165. SocketListen - Listen for incoming connections
Socket Messaging
463
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control , section Socket Mes... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 467 | 1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
3HAC 16581-1 Revision: J
464
© Copyright 2004-2010 ABB. All rights reserved.
1.166. SocketReceive - Receive data from remote computer
Usage
SocketReceive is used for receiving data from a remote computer. SocketReceive can
be u... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 468 | 1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
465
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ \ReadNoOfBytes ]
Read number of Bytes
Data type: num
The number of bytes to read. The minimum value of bytes to read is 1, and the maximum
amount is t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 469 | 1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
3HAC 16581-1 Revision: J
466
© Copyright 2004-2010 ABB. All rights reserved.
It is possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 470 | 1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
467
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDPROC
This is an example of a server program with creation, binding, listening, and accepting of
sockets in error handlers. In this way the progr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 471 | 1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
3HAC 16581-1 Revision: J
468
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 472 | 1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
469
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.167. SocketSend - Send data to remote computer
Usage
SocketSend is used to send data to a remote computer. SocketSend can be used both for
client and server... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 473 | 1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
3HAC 16581-1 Revision: J
470
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The specified data is sent to the remote computer. If the connection is broken an error is
generated.
The data that is transferred on the cable... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 474 | 1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
471
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
ENDIF
ENDPROC
This is an example of a client program with creation and connection of ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 475 | 1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
3HAC 16581-1 Revision: J
472
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SocketSend
[ Socket ´:=´ ] < variable ( VAR ) of socketdev >
[ \Str ´:=´ < expression ( IN ) of string > ]
| [ \RawData ´:=´ < variable ( VAR ) of rawdata... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 476 | 1 Instructions
1.168. SoftAct - Activating the soft servo
RobotWare - OS
473
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.168. SoftAct - Activating the soft servo
Usage
SoftAct ( Soft Servo Activate ) is used to activate the so called “soft” servo on any axis of the
robot or external mec... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 477 | 1 Instructions
1.168. SoftAct - Activating the soft servo
RobotWare - OS
3HAC 16581-1 Revision: J
474
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Softness is activated at the value specified for the current axis. The softness value is valid for
all movement until a new softness value is programme... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 478 | 1 Instructions
1.169. SoftDeact - Deactivating the soft servo
RobotWare - OS
475
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.169. SoftDeact - Deactivating the soft servo
Usage
SoftDeact ( Soft Servo Deactivate ) is used to deactivate the so called “soft” servo.
Basic examples
Basic exam... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 479 | 1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
3HAC 16581-1 Revision: J
476
© Copyright 2004-2010 ABB. All rights reserved.
1.170. SpeedRefresh - Update speed override for ongoing movement
Usage
SpeedRefresh is used to change the movement speed for the ongoing robot mov... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 480 | 1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
477
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR intnum time_int;
VAR num override;
...
CONNECT t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 481 | 1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
3HAC 16581-1 Revision: J
478
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Note that with SpeedRefresh the speed override will not be done momentary. Instead there
will be a lag of 0,3 - 0,5 seconds between o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 482 | 1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
479
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.171. SpyStart - Start recording of execution time data
Usage
SpyStart is used to start the recording of instruction and time data during execution.
The ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 483 | 1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
3HAC 16581-1 Revision: J
480
© Copyright 2004-2010 ABB. All rights reserved.
File format
TASK column shows executed program task.
INSTR column shows executed instruction in specified program task.
IN column shows the time in ms when... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 484 | 1 Instructions
1.172. SpyStop - Stop recording of time execution data
RobotWare - OS
481
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.172. SpyStop - Stop recording of time execution data
Usage
SpyStop is used to stop the recording of time data during execution.
The data, which can be use... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 485 | 1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
3HAC 16581-1 Revision: J
482
© Copyright 2004-2010 ABB. All rights reserved.
1.173. StartLoad - Load a program module during execution
Usage
StartLoad is used to start the loading of a program module into the program memory during... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 486 | 1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
483
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the instruction StartLoad are illustrated below.
See also More examples on page 484 .
Example 1
VAR loadsession load1;... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 487 | 1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
3HAC 16581-1 Revision: J
484
© Copyright 2004-2010 ABB. All rights reserved.
LoadNo
Data type: loadsession
This is a reference to the load session that should be used in the instruction WaitLoad to
connect the loaded program mod... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 488 | 1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
485
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StartLoad
[´\´Dynamic ´,´]
[FilePath’ :=’] <expression ( IN ) of string>
[’\’File ’:=’ <expression ( IN ) of string> ] ’,’
[LoadNo ’:=’] <variable ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 489 | 1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
486
© Copyright 2004-2010 ABB. All rights reserved.
1.174. StartMove - Restarts robot movement
Usage
StartMove is used to resume robot, external axes movement and belonging process after
the movement has been stopped
•
b... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 490 | 1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
487
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
StartMove [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Restart the movement of all mechanical units in the system. The switch
[\AllMotionTasks] can ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 491 | 1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
488
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove -
StartMove sequence against some motion task.
It is not possible to do an... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 492 | 1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
489
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.175. StartMoveRetry - Restarts robot movement and execution
Usage
StartMoveRetry is used to resume robot and external axes movements and belonging
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 493 | 1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
3HAC 16581-1 Revision: J
490
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
StartMoveRetry does the following sequence:
•
regain to path
•
restart any processes associated with the stopped movement
•
restart... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 494 | 1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
491
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restart... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 495 | 1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
492
© Copyright 2004-2010 ABB. All rights reserved.
1.176. STCalib - Calibrate a Servo Tool
Usage
STCalib is used to calibrate the distance between the tool tips. This is necessary after tip
change or tool change, and i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 496 | 1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
493
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Example 7
Example of non valid combination:
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear \Conc;
Perform a tip wear calibration. Continue with the next Rapid instr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 497 | 1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
494
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Calibration modes
If the mechanical unit exists then the servo tool is ordered to calibrate. The calibration is done
according to the switches, see be... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 498 | 1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
495
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN .
If the gun is not open when STC... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 499 | 1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
496
© Copyright 2004-2010 ABB. All rights reserved.
1.177. STClose - Close a Servo Tool
Usage
STClose is used to close the Servo Tool.
Basic examples
Basic examples of the instruction STClose are illustrated below.
Exampl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 500 | 1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
497
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]
ToolName
Data type: string
The name of the mechanical unit.
TipForce
Data type: num
The desired tip f... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 501 | 1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
498
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN .
If the gun is not open when STClose... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 502 | 1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
499
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.178. StepBwdPath - Move backwards one step on path
Usage
StepBwdPath is used to move the TCP backwards on the robot path from a RESTART event
routine.
It ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 503 | 1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
3HAC 16581-1 Revision: J
500
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
After the program has been stopped it is possible to step backwards on the path with the
following limits:
•
The 1st StepBwdPath movements step w... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 504 | 1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
501
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.179. STIndGun - Sets the gun in independent mode
Usage
STIndGun ( Servo Tool independent gun ) is used to set the gun in independent mode and
thereafter m... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 505 | 1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
3HAC 16581-1 Revision: J
502
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002342
The position p1 depends on the position of the gun given in the robtarget just performed by
the robot.
Arguments
STIndGun ToolName GunPos
ToolNa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 506 | 1 Instructions
1.180. STIndGunReset - Resets the gun from independent mode
Servo Tool Control
503
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.180. STIndGunReset - Resets the gun from independent mode
Usage
STIndGunReset ( Servo Tool independent gun reset ) is used to reset the gun from
... |
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