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ABB_Technical_Reference_Manual
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
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404
© Copyright 2004-2010 ABB. All rights reserved.
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint .
If the argument \Stop , \PStop , \SStop , or \Sup is omitted (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup )
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted then only the positive edge of the signal is valid for a
search hit, and a signal supervision will be activated at the beginning of a search process. This
means that if the signal has a positive value already at the beginning of the search process or
the communication with the signal is lost, then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). However, the robot is moved a small
distance before it stops and is not moved back to the start position. A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be dealt with by the error handler.
SearchPoint
Data type: robtarget
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
CirPoint
Data type: robtarget
The circle point of the robot. See the instruction MoveC for a more detailed description of
circular movement. The circle point is defined as a named position or stored directly in the
instruction (marked with an * in the instruction).
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). SearchC always uses a stop
point as zone data for the destination.
Continued
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1 Instructions
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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 tool center
point, the external axes and the tool reorientation.
[ \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.
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 position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot positions in the instruction are
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 for a linear movement relative to the work object to be performed.
[ \Corr ]
Correction
Data type: switch
When this argument is present the correction data written to a corrections entry by the
instruction CorrWrite will be added to the path and destination position.
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
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406
© Copyright 2004-2010 ABB. All rights reserved.
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 the destination point.
When a flying search is used, i.e. the \Sup argument is specified or none switch at all is
specified, the robot movement always continues to the programmed destination point. When
a search is made using the switch \Stop , \PStop , or \SStop the robot movement stops
when the first search hit is detected.
The SearchC instruction returns the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002237
More examples
More examples of how to use the instruction SearchC are illustrated below.
Example 1
SearchC \Sup, di1\Flanks, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then program generates an error.
Limitations
General limitations according to instruction MoveC .
Zone data for the positioning instruction that precedes SearchC must be used carefully. The
start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figure below illustrates an example of something that may go wrong
when zone data other than fine is used.
The instruction SearchC should never be restarted after the circle point has been passed.
Otherwise the robot will not take the programmed path (positioning around the circular path
in another direction compared to that which is programmed).
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ \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 external axes and the tool reorientation.
[ \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.
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 position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot positions in the instruction are
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 for a linear movement relative to the work object to be performed.
[ \Corr ]
Correction
Data type: switch
When this argument is present the correction data written to a corrections entry by the
instruction CorrWrite will be added to the path and destination position.
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
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406
© Copyright 2004-2010 ABB. All rights reserved.
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 the destination point.
When a flying search is used, i.e. the \Sup argument is specified or none switch at all is
specified, the robot movement always continues to the programmed destination point. When
a search is made using the switch \Stop , \PStop , or \SStop the robot movement stops
when the first search hit is detected.
The SearchC instruction returns the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002237
More examples
More examples of how to use the instruction SearchC are illustrated below.
Example 1
SearchC \Sup, di1\Flanks, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then program generates an error.
Limitations
General limitations according to instruction MoveC .
Zone data for the positioning instruction that precedes SearchC must be used carefully. The
start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figure below illustrates an example of something that may go wrong
when zone data other than fine is used.
The instruction SearchC should never be restarted after the circle point has been passed.
Otherwise the robot will not take the programmed path (positioning around the circular path
in another direction compared to that which is programmed).
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t possible to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
3HAC 16581-1 Revision: J
406
© Copyright 2004-2010 ABB. All rights reserved.
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 the destination point.
When a flying search is used, i.e. the \Sup argument is specified or none switch at all is
specified, the robot movement always continues to the programmed destination point. When
a search is made using the switch \Stop , \PStop , or \SStop the robot movement stops
when the first search hit is detected.
The SearchC instruction returns the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002237
More examples
More examples of how to use the instruction SearchC are illustrated below.
Example 1
SearchC \Sup, di1\Flanks, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then program generates an error.
Limitations
General limitations according to instruction MoveC .
Zone data for the positioning instruction that precedes SearchC must be used carefully. The
start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figure below illustrates an example of something that may go wrong
when zone data other than fine is used.
The instruction SearchC should never be restarted after the circle point has been passed.
Otherwise the robot will not take the programmed path (positioning around the circular path
in another direction compared to that which is programmed).
Continued
Continues on next page
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
407
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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 coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t possible to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
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408
© 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.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost. This generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Syntax
SearchC
[ ’\’ Stop’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’ ] | [ ’\’
Sup ’,’ ]
[ Signal’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’:=’ ] < var or pers ( INOUT ) of robtarget > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’:=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Continued
Continues on next page
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
407
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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 coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t possible to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Continued
Continues on next page
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
3HAC 16581-1 Revision: J
408
© 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.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost. This generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Syntax
SearchC
[ ’\’ Stop’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’ ] | [ ’\’
Sup ’,’ ]
[ Signal’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’:=’ ] < var or pers ( INOUT ) of robtarget > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’:=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Continued
Continues on next page
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
409
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear searches
SearchL - Searches linearly using the robot on page
416
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Circular movement
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview ,
section RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Continued
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
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408
© 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.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost. This generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Syntax
SearchC
[ ’\’ Stop’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’ ] | [ ’\’
Sup ’,’ ]
[ Signal’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’:=’ ] < var or pers ( INOUT ) of robtarget > ’,’
[ 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 > ] ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’:=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Continued
Continues on next page
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
409
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear searches
SearchL - Searches linearly using the robot on page
416
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Circular movement
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview ,
section RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Continued
1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
1.147. SearchExtJ - Search with one or several mechanical units without TCP
Usage
SearchExtJ ( Search External Joints ) is used to search for an external axes position when
moving only linear or rotating external axes. The external axes can belong to one or several
mechanical units without TCP.
During the movement the system supervises a digital input signal. When the value of the
signal changes to the requested one the system immediately reads the current position.
This instruction can only be used if:
•
The actual program task is defined as a Motion Task
•
The task controls one or several mechanical units without TCP
When using search instructions it is important to configure the I/O system to have a very short
time delay from setting the physical signal until the system gets the information about the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet, the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give a short time delay since they are using the connection type Change of
State. If using other fieldbuses, make sure the network is properly configured in order to get
the correct conditions.
Basic examples
Basic examples of the instruction SearchExtJ are illustrated below.
See also More examples on page 413 .
Example 1
SearchExtJ di1, searchp, jpos10, vrot20;
The mec. unit with rotational axes is moved towards the position jpos10 at a speed of
vrot20 . When the value of the signal di1 changes to active, the position is stored in
searchp .
Example 2
SearchExJ \Stop, di2, posx, jpos20, vlin50;
The mec. unit with linear axis is moved towards the position jpos20 . When the value of the
signal di2 changes to active, the position is stored in posx and the ongoing movement is
stopped immediately.
Arguments
SearchExtJ [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchJointPos ToJointPos [\ID] [\UseEOffs] Speed [\T]
[ \Stop ]
Stiff Stop
Data type: switch
The movement is stopped as quickly as possible with hard stop when the value of the search
signal changes to active. However, the external axes are moved a small distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
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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 - Writes to a correction generator on page
77
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Circular movement
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview ,
section RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
Continued
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 search for an external axes position when
moving only linear or rotating external axes. The external axes can belong to one or several
mechanical units without TCP.
During the movement the system supervises a digital input signal. When the value of the
signal changes to the requested one the system immediately reads the current position.
This instruction can only be used if:
•
The actual program task is defined as a Motion Task
•
The task controls one or several mechanical units without TCP
When using search instructions it is important to configure the I/O system to have a very short
time delay from setting the physical signal until the system gets the information about the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet, the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give a short time delay since they are using the connection type Change of
State. If using other fieldbuses, make sure the network is properly configured in order to get
the correct conditions.
Basic examples
Basic examples of the instruction SearchExtJ are illustrated below.
See also More examples on page 413 .
Example 1
SearchExtJ di1, searchp, jpos10, vrot20;
The mec. unit with rotational axes is moved towards the position jpos10 at a speed of
vrot20 . When the value of the signal di1 changes to active, the position is stored in
searchp .
Example 2
SearchExJ \Stop, di2, posx, jpos20, vlin50;
The mec. unit with linear axis is moved towards the position jpos20 . When the value of the
signal di2 changes to active, the position is stored in posx and the ongoing movement is
stopped immediately.
Arguments
SearchExtJ [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchJointPos ToJointPos [\ID] [\UseEOffs] Speed [\T]
[ \Stop ]
Stiff Stop
Data type: switch
The movement is stopped as quickly as possible with hard stop when the value of the search
signal changes to active. However, the external axes are moved a small distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
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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
changes to active. However, the external axes are moved a rather long distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
[ \SStop ]
Soft Stop
Data type: switch
The movement is stopped as quickly as possible with fast soft stop when the value of the
search signal changes to active. However, the external axes are moved only a small distance
before they stop and are not moved back to the searched position, i.e. to the position where
the signal changed.
Stop is faster compare to SStop . SStop is faster compare to PStop.
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search a recoverable error is generated with the mec. units in the
ToJointPos.
If the argument \Stop , \PStop , \SStop or \Sup is omitted (no switch used at all):
•
The movement continues (flying search) to the position specified in the ToJointPos
argument (same as with argument \Sup )
•
An error is reported for one search hit but is not reported for more than one search hit
(the first search hit is returned as the SearchJointPos )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal already has the positive value at the beginning of a search process or the
communication with the signal is lost, the movement is stopped as quickly as possible with
soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be
handled in the error handler.
Continued
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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 search for an external axes position when
moving only linear or rotating external axes. The external axes can belong to one or several
mechanical units without TCP.
During the movement the system supervises a digital input signal. When the value of the
signal changes to the requested one the system immediately reads the current position.
This instruction can only be used if:
•
The actual program task is defined as a Motion Task
•
The task controls one or several mechanical units without TCP
When using search instructions it is important to configure the I/O system to have a very short
time delay from setting the physical signal until the system gets the information about the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet, the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give a short time delay since they are using the connection type Change of
State. If using other fieldbuses, make sure the network is properly configured in order to get
the correct conditions.
Basic examples
Basic examples of the instruction SearchExtJ are illustrated below.
See also More examples on page 413 .
Example 1
SearchExtJ di1, searchp, jpos10, vrot20;
The mec. unit with rotational axes is moved towards the position jpos10 at a speed of
vrot20 . When the value of the signal di1 changes to active, the position is stored in
searchp .
Example 2
SearchExJ \Stop, di2, posx, jpos20, vlin50;
The mec. unit with linear axis is moved towards the position jpos20 . When the value of the
signal di2 changes to active, the position is stored in posx and the ongoing movement is
stopped immediately.
Arguments
SearchExtJ [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchJointPos ToJointPos [\ID] [\UseEOffs] Speed [\T]
[ \Stop ]
Stiff Stop
Data type: switch
The movement is stopped as quickly as possible with hard stop when the value of the search
signal changes to active. However, the external axes are moved a small distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
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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
changes to active. However, the external axes are moved a rather long distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
[ \SStop ]
Soft Stop
Data type: switch
The movement is stopped as quickly as possible with fast soft stop when the value of the
search signal changes to active. However, the external axes are moved only a small distance
before they stop and are not moved back to the searched position, i.e. to the position where
the signal changed.
Stop is faster compare to SStop . SStop is faster compare to PStop.
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search a recoverable error is generated with the mec. units in the
ToJointPos.
If the argument \Stop , \PStop , \SStop or \Sup is omitted (no switch used at all):
•
The movement continues (flying search) to the position specified in the ToJointPos
argument (same as with argument \Sup )
•
An error is reported for one search hit but is not reported for more than one search hit
(the first search hit is returned as the SearchJointPos )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal already has the positive value at the beginning of a search process or the
communication with the signal is lost, the movement is stopped as quickly as possible with
soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be
handled in the error handler.
Continued
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
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SearchJointPos
Data type: jointtarget
The position of the external axes when the search signal has been triggered. The position
takes any active ExtOffs into consideration.
ToJointPos
Data type: jointtarget
The destination point for the external axes. It is defined as a named position or stored directly
in the instruction (marked with an * in the instruction). SearchExtJ always uses a stop point
as zone data for the destination.
[ \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.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for SearchExtJ
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 mec. units move.
It is then substituted for the corresponding speed data.
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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
changes to active. However, the external axes are moved a rather long distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
[ \SStop ]
Soft Stop
Data type: switch
The movement is stopped as quickly as possible with fast soft stop when the value of the
search signal changes to active. However, the external axes are moved only a small distance
before they stop and are not moved back to the searched position, i.e. to the position where
the signal changed.
Stop is faster compare to SStop . SStop is faster compare to PStop.
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search a recoverable error is generated with the mec. units in the
ToJointPos.
If the argument \Stop , \PStop , \SStop or \Sup is omitted (no switch used at all):
•
The movement continues (flying search) to the position specified in the ToJointPos
argument (same as with argument \Sup )
•
An error is reported for one search hit but is not reported for more than one search hit
(the first search hit is returned as the SearchJointPos )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal already has the positive value at the beginning of a search process or the
communication with the signal is lost, the movement is stopped as quickly as possible with
soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be
handled in the error handler.
Continued
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
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SearchJointPos
Data type: jointtarget
The position of the external axes when the search signal has been triggered. The position
takes any active ExtOffs into consideration.
ToJointPos
Data type: jointtarget
The destination point for the external axes. It is defined as a named position or stored directly
in the instruction (marked with an * in the instruction). SearchExtJ always uses a stop point
as zone data for the destination.
[ \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.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for SearchExtJ
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 mec. units move.
It is then substituted for the corresponding speed data.
Continued
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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 ends with a stop point, i.e. the external axes stop at the destination
point. If a flying search is used, that is, the \Sup argument is specified or no switch is
specified the movement always continues to the programmed destination point. If a search is
made using the switch \Stop , \PStop or \SStop , the movement stops when the first search
hit is detected.
The SearchExtJ instruction stores the position of the external axes when the value of the
digital signal changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is only stored
when the signal is changed the first time).
xx0500002243
More examples
More examples of how to use the instruction SearchExtJ are illustrated below.
Example 1
SearchExtJ \Sup, di1\Flanks, searchp,jpos10, vrot20;
The mec. unit is moved towards the position jpos10 . When the value of the signal di1
changes to active or passive, the position is stored in searchp . If the value of the signal
changes twice, the program generates an error after the search process is finished.
Example 2
SearchExtJ \Stop, di1, sp, jpos20, vlin50;
MoveExtJ sp, vlin50, fine \Inpos := inpos50;
A check on the signal dil will be made at the beginning of the search process and if the signal
already has a positive value or the communication with the signal is lost, the movement stops.
Otherwise the mec. unit is moved towards the position jpos20 . When the value of the signal
di1 changes to active, the position is stored in sp. The mec. unit is moved back to this point
using an accurately defined stop point.
Continued
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SearchJointPos
Data type: jointtarget
The position of the external axes when the search signal has been triggered. The position
takes any active ExtOffs into consideration.
ToJointPos
Data type: jointtarget
The destination point for the external axes. It is defined as a named position or stored directly
in the instruction (marked with an * in the instruction). SearchExtJ always uses a stop point
as zone data for the destination.
[ \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.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet , is activated for SearchExtJ
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 mec. units move.
It is then substituted for the corresponding speed data.
Continued
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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 ends with a stop point, i.e. the external axes stop at the destination
point. If a flying search is used, that is, the \Sup argument is specified or no switch is
specified the movement always continues to the programmed destination point. If a search is
made using the switch \Stop , \PStop or \SStop , the movement stops when the first search
hit is detected.
The SearchExtJ instruction stores the position of the external axes when the value of the
digital signal changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is only stored
when the signal is changed the first time).
xx0500002243
More examples
More examples of how to use the instruction SearchExtJ are illustrated below.
Example 1
SearchExtJ \Sup, di1\Flanks, searchp,jpos10, vrot20;
The mec. unit is moved towards the position jpos10 . When the value of the signal di1
changes to active or passive, the position is stored in searchp . If the value of the signal
changes twice, the program generates an error after the search process is finished.
Example 2
SearchExtJ \Stop, di1, sp, jpos20, vlin50;
MoveExtJ sp, vlin50, fine \Inpos := inpos50;
A check on the signal dil will be made at the beginning of the search process and if the signal
already has a positive value or the communication with the signal is lost, the movement stops.
Otherwise the mec. unit is moved towards the position jpos20 . When the value of the signal
di1 changes to active, the position is stored in sp. The mec. unit is moved back to this point
using an accurately defined stop point.
Continued
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
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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 detection occurred – this generates the error
ERR_WHLSEARCH, but only if the \Sup argument is used.
•
The signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH, but only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search movement. The system variable ERRNO is set to ERR_SIGSUPSEARCH
and the error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution, the instruction just carries out
the movement without any signal supervision.
Example
VAR num fk;
...
MoveExtJ jpos10, vrot100, fine;
SearchExtJ \Stop, di1, sp, jpos20, vrot5;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveExtJ jpos10, vrot50, fine;
RestoPath;
RETRY;
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchExtJ instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveExtJ jpos10, vrot50, fine;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
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Program execution
See the instruction MoveExtJ for information about movement of mechanical units without
TCP.
The movement always ends with a stop point, i.e. the external axes stop at the destination
point. If a flying search is used, that is, the \Sup argument is specified or no switch is
specified the movement always continues to the programmed destination point. If a search is
made using the switch \Stop , \PStop or \SStop , the movement stops when the first search
hit is detected.
The SearchExtJ instruction stores the position of the external axes when the value of the
digital signal changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is only stored
when the signal is changed the first time).
xx0500002243
More examples
More examples of how to use the instruction SearchExtJ are illustrated below.
Example 1
SearchExtJ \Sup, di1\Flanks, searchp,jpos10, vrot20;
The mec. unit is moved towards the position jpos10 . When the value of the signal di1
changes to active or passive, the position is stored in searchp . If the value of the signal
changes twice, the program generates an error after the search process is finished.
Example 2
SearchExtJ \Stop, di1, sp, jpos20, vlin50;
MoveExtJ sp, vlin50, fine \Inpos := inpos50;
A check on the signal dil will be made at the beginning of the search process and if the signal
already has a positive value or the communication with the signal is lost, the movement stops.
Otherwise the mec. unit is moved towards the position jpos20 . When the value of the signal
di1 changes to active, the position is stored in sp. The mec. unit is moved back to this point
using an accurately defined stop point.
Continued
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
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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 detection occurred – this generates the error
ERR_WHLSEARCH, but only if the \Sup argument is used.
•
The signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH, but only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search movement. The system variable ERRNO is set to ERR_SIGSUPSEARCH
and the error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution, the instruction just carries out
the movement without any signal supervision.
Example
VAR num fk;
...
MoveExtJ jpos10, vrot100, fine;
SearchExtJ \Stop, di1, sp, jpos20, vrot5;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveExtJ jpos10, vrot50, fine;
RestoPath;
RETRY;
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchExtJ instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveExtJ jpos10, vrot50, fine;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
Continued
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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 be activated ( TPReadFK ...; ). Reset the signal and
push YES on the user dialog and the mec. unit moves back to jpos10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process, the mec. unit searches from
position jpos10 to jpos20 . If no signal detection occurs, the robot moves back to jpos10
and tries once more.
Limitations
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in another program task, it is only possible to use flying search with
switch \Sup . Besides that, it is only possible to do error recovery with TRYNEXT .
•
It is possible to use all searching functions if using some of the instructions SearchL ,
SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hits from the same digital input signal.
This will generate search hits synchronously in all search instructions. Any error
recovery must also be the same in all involved program tasks.
•
While searching is active, it isn’t possible to store current path with instruction
StorePath .
Syntax
SearchExtJ
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchJointPos’ :=’ ] < var or pers ( INOUT ) of jointtarget > ’,’
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Move mec. units without TCP
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Using error handlers
Technical reference manual - RAPID overview , section
RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
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1.147. SearchExtJ - Search with one or several mechanical units without TCP
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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 detection occurred – this generates the error
ERR_WHLSEARCH, but only if the \Sup argument is used.
•
The signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH, but only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search movement. The system variable ERRNO is set to ERR_SIGSUPSEARCH
and the error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution, the instruction just carries out
the movement without any signal supervision.
Example
VAR num fk;
...
MoveExtJ jpos10, vrot100, fine;
SearchExtJ \Stop, di1, sp, jpos20, vrot5;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveExtJ jpos10, vrot50, fine;
RestoPath;
RETRY;
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchExtJ instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveExtJ jpos10, vrot50, fine;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
Continued
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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 be activated ( TPReadFK ...; ). Reset the signal and
push YES on the user dialog and the mec. unit moves back to jpos10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process, the mec. unit searches from
position jpos10 to jpos20 . If no signal detection occurs, the robot moves back to jpos10
and tries once more.
Limitations
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in another program task, it is only possible to use flying search with
switch \Sup . Besides that, it is only possible to do error recovery with TRYNEXT .
•
It is possible to use all searching functions if using some of the instructions SearchL ,
SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hits from the same digital input signal.
This will generate search hits synchronously in all search instructions. Any error
recovery must also be the same in all involved program tasks.
•
While searching is active, it isn’t possible to store current path with instruction
StorePath .
Syntax
SearchExtJ
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchJointPos’ :=’ ] < var or pers ( INOUT ) of jointtarget > ’,’
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Move mec. units without TCP
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Using error handlers
Technical reference manual - RAPID overview , section
RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
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) linearly.
During the movement the robot supervises a digital input signal. When the value of the signal
changes to the requested one the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for surface
detection. Using the SearchL instruction the outline coordinates of a work object can be
obtained.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
When using search instructions it is important to configure the I/O system to have a very short
time from setting the physical signal to the system to getting the information regarding the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give short times since they are using connection type Change of State. If
using other fieldbuses make sure to configure the network in a proper way to get right
conditions.
Basic examples
Basic examples of the instruction SearchL are illustrated below.
See also More examples on page 420 .
Example 1
SearchL di1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of v100 . When
the value of the signal di1 changes to active the position is stored in sp .
Example 2
SearchL \Stop, di2, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di2 changes to active the position is stored in sp and the robot stops immediately.
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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 be activated ( TPReadFK ...; ). Reset the signal and
push YES on the user dialog and the mec. unit moves back to jpos10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process, the mec. unit searches from
position jpos10 to jpos20 . If no signal detection occurs, the robot moves back to jpos10
and tries once more.
Limitations
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in another program task, it is only possible to use flying search with
switch \Sup . Besides that, it is only possible to do error recovery with TRYNEXT .
•
It is possible to use all searching functions if using some of the instructions SearchL ,
SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hits from the same digital input signal.
This will generate search hits synchronously in all search instructions. Any error
recovery must also be the same in all involved program tasks.
•
While searching is active, it isn’t possible to store current path with instruction
StorePath .
Syntax
SearchExtJ
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchJointPos’ :=’ ] < var or pers ( INOUT ) of jointtarget > ’,’
[ ToJointPos’ :=’ ] < expression ( IN ) of jointtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Move mec. units without TCP
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Using error handlers
Technical reference manual - RAPID overview , section
RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
1 Instructions
1.148. SearchL - Searches linearly using the robot
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416
© Copyright 2004-2010 ABB. All rights reserved.
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) linearly.
During the movement the robot supervises a digital input signal. When the value of the signal
changes to the requested one the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for surface
detection. Using the SearchL instruction the outline coordinates of a work object can be
obtained.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
When using search instructions it is important to configure the I/O system to have a very short
time from setting the physical signal to the system to getting the information regarding the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give short times since they are using connection type Change of State. If
using other fieldbuses make sure to configure the network in a proper way to get right
conditions.
Basic examples
Basic examples of the instruction SearchL are illustrated below.
See also More examples on page 420 .
Example 1
SearchL di1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of v100 . When
the value of the signal di1 changes to active the position is stored in sp .
Example 2
SearchL \Stop, di2, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di2 changes to active the position is stored in sp and the robot stops immediately.
Continues on next page
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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
Data type: switch
The robot movement is stopped as quickly as possible without keeping the TCP on the path
(hard stop) when the value of the search signal changes to active. However, the robot is
moved a small distance before it stops and is not moved back to the searched position, i.e. to
the position where the signal changed.
-
WARNING!
To stop the searching with stiff stop (switch \Stop ) is only allowed if the TCP-speed is lower
than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable
directions.
[ \PStop ]
Path Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft
stop) when the value of the search signal changes to active. However, the robot is moved a
distance before it stops and is not moved back to the searched position, i.e. to the position
where the signal changed.
[ \SStop ]
Soft Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP close to or on
the path (soft stop) when the value of the search signal changes to active. However, the robot
is only moved a small distance before it stops and is not moved back to the searched position,
i.e. to the position where the signal changed. SStop is faster than PStop . But when the robot
is running faster than 100 mm/s it stops in the direction of the tangent of the movement which
causes it to marginally slide off the path.
Continued
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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) linearly.
During the movement the robot supervises a digital input signal. When the value of the signal
changes to the requested one the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for surface
detection. Using the SearchL instruction the outline coordinates of a work object can be
obtained.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
When using search instructions it is important to configure the I/O system to have a very short
time from setting the physical signal to the system to getting the information regarding the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give short times since they are using connection type Change of State. If
using other fieldbuses make sure to configure the network in a proper way to get right
conditions.
Basic examples
Basic examples of the instruction SearchL are illustrated below.
See also More examples on page 420 .
Example 1
SearchL di1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of v100 . When
the value of the signal di1 changes to active the position is stored in sp .
Example 2
SearchL \Stop, di2, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di2 changes to active the position is stored in sp and the robot stops immediately.
Continues on next page
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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
Data type: switch
The robot movement is stopped as quickly as possible without keeping the TCP on the path
(hard stop) when the value of the search signal changes to active. However, the robot is
moved a small distance before it stops and is not moved back to the searched position, i.e. to
the position where the signal changed.
-
WARNING!
To stop the searching with stiff stop (switch \Stop ) is only allowed if the TCP-speed is lower
than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable
directions.
[ \PStop ]
Path Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft
stop) when the value of the search signal changes to active. However, the robot is moved a
distance before it stops and is not moved back to the searched position, i.e. to the position
where the signal changed.
[ \SStop ]
Soft Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP close to or on
the path (soft stop) when the value of the search signal changes to active. However, the robot
is only moved a small distance before it stops and is not moved back to the searched position,
i.e. to the position where the signal changed. SStop is faster than PStop . But when the robot
is running faster than 100 mm/s it stops in the direction of the tangent of the movement which
causes it to marginally slide off the path.
Continued
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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 the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint .
If the argument \Stop , \PStop , \SStop , or \Sup is omitted then (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup )
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal has the positive value already at the beginning of a search process or the
communication with the signal is lost then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler.
SearchPoint
Data type: robtarget
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
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). SearchL always uses a stop
point as zone data for the destination.
[ \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.
Continued
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Arguments
SearchL [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchPoint ToPoint [\ID] Speed [\V] | [\T] Tool [\WObj]
[\Corr]
[ \Stop ]
Stiff Stop
Data type: switch
The robot movement is stopped as quickly as possible without keeping the TCP on the path
(hard stop) when the value of the search signal changes to active. However, the robot is
moved a small distance before it stops and is not moved back to the searched position, i.e. to
the position where the signal changed.
-
WARNING!
To stop the searching with stiff stop (switch \Stop ) is only allowed if the TCP-speed is lower
than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable
directions.
[ \PStop ]
Path Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft
stop) when the value of the search signal changes to active. However, the robot is moved a
distance before it stops and is not moved back to the searched position, i.e. to the position
where the signal changed.
[ \SStop ]
Soft Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP close to or on
the path (soft stop) when the value of the search signal changes to active. However, the robot
is only moved a small distance before it stops and is not moved back to the searched position,
i.e. to the position where the signal changed. SStop is faster than PStop . But when the robot
is running faster than 100 mm/s it stops in the direction of the tangent of the movement which
causes it to marginally slide off the path.
Continued
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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 the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint .
If the argument \Stop , \PStop , \SStop , or \Sup is omitted then (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup )
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal has the positive value already at the beginning of a search process or the
communication with the signal is lost then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler.
SearchPoint
Data type: robtarget
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
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). SearchL always uses a stop
point as zone data for the destination.
[ \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.
Continued
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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 reorientation.
[ \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.
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 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 for a linear movement relative to the work object to be performed.
[ \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.
Continued
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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 the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint .
If the argument \Stop , \PStop , \SStop , or \Sup is omitted then (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup )
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint )
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal has the positive value already at the beginning of a search process or the
communication with the signal is lost then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler.
SearchPoint
Data type: robtarget
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
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). SearchL always uses a stop
point as zone data for the destination.
[ \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.
Continued
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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 reorientation.
[ \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.
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 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 for a linear movement relative to the work object to be performed.
[ \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.
Continued
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1.148. SearchL - Searches linearly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 destination point. If a
flying search is used, i.e. the \Sup argument is specified or none switch at all is specified
then the robot movement always continues to the programmed destination point. If a search
is made using the switch \Stop , \PStop , or \SStop the robot movement stops when the
first search hit is detected.
The SearchL instruction stores the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002243
More examples
More examples of how to use the instruction SearchL are illustrated below.
Example 1
SearchL \Sup, di1\Flanks, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then the program generates an error after the search process is finished.
Example 2
SearchL \Stop, di1, sp, p10, v100, tool1;
MoveL sp, v100, fine \Inpos := inpos50, tool1;
PDispOn *, tool1;
MoveL p100, v100, z10, tool1;
MoveL p110, v100, z10, tool1;
MoveL p120, v100, z10, tool1;
PDispOff;
At the beginning of the search process, a check on the signal di1 will be done and if the signal
already has a positive value or the communication with the signal is lost, the robot stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10 . When the value of
the signal di1 changes to active, the position is stored in sp. The robot is moved back to
this point using an accurately defined stop point. Using program displacement, the robot then
moves relative to the searched position, sp .
Continued
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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 reorientation.
[ \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.
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 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 for a linear movement relative to the work object to be performed.
[ \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.
Continued
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1 Instructions
1.148. SearchL - Searches linearly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 destination point. If a
flying search is used, i.e. the \Sup argument is specified or none switch at all is specified
then the robot movement always continues to the programmed destination point. If a search
is made using the switch \Stop , \PStop , or \SStop the robot movement stops when the
first search hit is detected.
The SearchL instruction stores the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002243
More examples
More examples of how to use the instruction SearchL are illustrated below.
Example 1
SearchL \Sup, di1\Flanks, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then the program generates an error after the search process is finished.
Example 2
SearchL \Stop, di1, sp, p10, v100, tool1;
MoveL sp, v100, fine \Inpos := inpos50, tool1;
PDispOn *, tool1;
MoveL p100, v100, z10, tool1;
MoveL p110, v100, z10, tool1;
MoveL p120, v100, z10, tool1;
PDispOff;
At the beginning of the search process, a check on the signal di1 will be done and if the signal
already has a positive value or the communication with the signal is lost, the robot stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10 . When the value of
the signal di1 changes to active, the position is stored in sp. The robot is moved back to
this point using an accurately defined stop point. Using program displacement, the robot then
moves relative to the searched position, sp .
Continued
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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 to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figures below illustrate examples of things that may go wrong when zone
data other than fine is used.
The following figure shows that a match is made on the wrong side of the object because the
wrong zone data was used.
xx0500002244
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002245
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002246
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t allowed to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
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1.148. SearchL - Searches linearly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 destination point. If a
flying search is used, i.e. the \Sup argument is specified or none switch at all is specified
then the robot movement always continues to the programmed destination point. If a search
is made using the switch \Stop , \PStop , or \SStop the robot movement stops when the
first search hit is detected.
The SearchL instruction stores the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002243
More examples
More examples of how to use the instruction SearchL are illustrated below.
Example 1
SearchL \Sup, di1\Flanks, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 . When the value of the
signal di1 changes to active or passive the position is stored in sp . If the value of the signal
changes twice then the program generates an error after the search process is finished.
Example 2
SearchL \Stop, di1, sp, p10, v100, tool1;
MoveL sp, v100, fine \Inpos := inpos50, tool1;
PDispOn *, tool1;
MoveL p100, v100, z10, tool1;
MoveL p110, v100, z10, tool1;
MoveL p120, v100, z10, tool1;
PDispOff;
At the beginning of the search process, a check on the signal di1 will be done and if the signal
already has a positive value or the communication with the signal is lost, the robot stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10 . When the value of
the signal di1 changes to active, the position is stored in sp. The robot is moved back to
this point using an accurately defined stop point. Using program displacement, the robot then
moves relative to the searched position, sp .
Continued
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1 Instructions
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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 to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figures below illustrate examples of things that may go wrong when zone
data other than fine is used.
The following figure shows that a match is made on the wrong side of the object because the
wrong zone data was used.
xx0500002244
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002245
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002246
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t allowed to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
Continued
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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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH No position is
returned and the movement always stops as quickly as possible at the beginning of the
search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Example
VAR num fk;
...
MoveL p10, v100, fine, tool1;
SearchL \Stop, di1, sp, p20, v100, tool1;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveL p10, v100, fine, tool1;
RestoPath;
RETRY;
Continued
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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 to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figures below illustrate examples of things that may go wrong when zone
data other than fine is used.
The following figure shows that a match is made on the wrong side of the object because the
wrong zone data was used.
xx0500002244
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002245
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002246
Limitations for searching if coordinated synchronized movements:
•
If using SearchL , SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup . Besides that, only possible to do error recovery with TRYNEXT .
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL , SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t allowed to store current path with instruction StorePath .
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop ) 1-3 mm
•
with TCP on path (switch \PStop ) 15-25 mm
•
with TCP near path (switch \SStop ) 4-8 mm
Continued
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1 Instructions
1.148. SearchL - Searches linearly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH No position is
returned and the movement always stops as quickly as possible at the beginning of the
search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Example
VAR num fk;
...
MoveL p10, v100, fine, tool1;
SearchL \Stop, di1, sp, p20, v100, tool1;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveL p10, v100, fine, tool1;
RestoPath;
RETRY;
Continued
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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","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveL p10, v100, fine, tool1;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
If the signal is already active at the beginning of the search process or the communication
with the signal is lost then a user dialog will be activated ( TPReadFK ...; ). Reset the signal
and push YES on the user dialog, and the robot moves back to p10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process then the robot searches from
position p10 to p20 . If no signal detection occurs then the robot moves back to p10 and tries
once more.
Syntax
SearchL
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’ :=’ ] < var or pers ( INOUT ) 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 > ] ’,’
[ Tool ´:=´ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Circular searches
SearchC - Searches circularly using the robot on page
402
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Linear movement
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Continued
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1.148. SearchL - Searches linearly using the robot
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© Copyright 2004-2010 ABB. All rights reserved.
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 moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH No position is
returned and the movement always stops as quickly as possible at the beginning of the
search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward : During backward execution the instruction carries out the
movement without any signal supervision.
Example
VAR num fk;
...
MoveL p10, v100, fine, tool1;
SearchL \Stop, di1, sp, p20, v100, tool1;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveL p10, v100, fine, tool1;
RestoPath;
RETRY;
Continued
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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","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveL p10, v100, fine, tool1;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
If the signal is already active at the beginning of the search process or the communication
with the signal is lost then a user dialog will be activated ( TPReadFK ...; ). Reset the signal
and push YES on the user dialog, and the robot moves back to p10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process then the robot searches from
position p10 to p20 . If no signal detection occurs then the robot moves back to p10 and tries
once more.
Syntax
SearchL
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’ :=’ ] < var or pers ( INOUT ) 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 > ] ’,’
[ Tool ´:=´ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Circular searches
SearchC - Searches circularly using the robot on page
402
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Linear movement
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Continued
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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 - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
For information about
See
Continued
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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","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveL p10, v100, fine, tool1;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
If the signal is already active at the beginning of the search process or the communication
with the signal is lost then a user dialog will be activated ( TPReadFK ...; ). Reset the signal
and push YES on the user dialog, and the robot moves back to p10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process then the robot searches from
position p10 to p20 . If no signal detection occurs then the robot moves back to p10 and tries
once more.
Syntax
SearchL
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’ :=’ ] < var or pers ( INOUT ) 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 > ] ’,’
[ Tool ´:=´ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Circular searches
SearchC - Searches circularly using the robot on page
402
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Linear movement
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Continued
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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 - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
For information about
See
Continued
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 communicates with sensors over serial channels using the RTP1
transport protocol.
This is an example of a sensor channel configuration.
COM_PHY_CHANNEL:
•
Name “COM1:”
•
Connector “COM1”
•
Baudrate 19200
COM_TRP:
•
Name “sen1:”
•
Type “RTP1”
•
PhyChannel “COM1”
Basic examples
Basic examples of the instruction SenDevice are illustrated below.
Example 1
! Define variable numbers
CONST num SensorOn := 6;
CONST num XCoord := 8;
CONST num YCoord := 9;
CONST num ZCoord := 10;
VAR pos SensorPos;
! Connect to the sensor device“ sen1:” (defined in sio.cfg).
SenDevice "sen1:";
! Request start of sensor meassurements
WriteVar "sen1:", SensorOn, 1;
! Read a cartesian position from the sensor.
SensorPos.x := ReadVar "sen1:", XCoord;
SensorPos.y := ReadVar "sen1:", YCoord;
SensorPos.z := ReadVar "sen1:", ZCoord;
! Stop sensor
WriteVar "sen1:", SensorOn, 0;
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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 - Error recovery
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
For information about
See
Continued
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 communicates with sensors over serial channels using the RTP1
transport protocol.
This is an example of a sensor channel configuration.
COM_PHY_CHANNEL:
•
Name “COM1:”
•
Connector “COM1”
•
Baudrate 19200
COM_TRP:
•
Name “sen1:”
•
Type “RTP1”
•
PhyChannel “COM1”
Basic examples
Basic examples of the instruction SenDevice are illustrated below.
Example 1
! Define variable numbers
CONST num SensorOn := 6;
CONST num XCoord := 8;
CONST num YCoord := 9;
CONST num ZCoord := 10;
VAR pos SensorPos;
! Connect to the sensor device“ sen1:” (defined in sio.cfg).
SenDevice "sen1:";
! Request start of sensor meassurements
WriteVar "sen1:", SensorOn, 1;
! Read a cartesian position from the sensor.
SensorPos.x := ReadVar "sen1:", XCoord;
SensorPos.y := ReadVar "sen1:", YCoord;
SensorPos.z := ReadVar "sen1:", ZCoord;
! Stop sensor
WriteVar "sen1:", SensorOn, 0;
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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( IN ) of string>’,’
[ BlockNo’ :=’ ] < expression ( IN ) of num > ‘,’
[ FileName’ :=’ ] < expression ( IN ) of string > ‘;’
Related information
For information about
See
Write a sensor variable
WriteVar - write variable on page 729
Read a sensor variable
ReadVar - Read variable from a device on page 958
Write a sensor data block
WriteBlock - write block of data to device on page 719
Configuration of sensor com-
munication
Technical reference manual - System parameters , section
Communication
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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 communicates with sensors over serial channels using the RTP1
transport protocol.
This is an example of a sensor channel configuration.
COM_PHY_CHANNEL:
•
Name “COM1:”
•
Connector “COM1”
•
Baudrate 19200
COM_TRP:
•
Name “sen1:”
•
Type “RTP1”
•
PhyChannel “COM1”
Basic examples
Basic examples of the instruction SenDevice are illustrated below.
Example 1
! Define variable numbers
CONST num SensorOn := 6;
CONST num XCoord := 8;
CONST num YCoord := 9;
CONST num ZCoord := 10;
VAR pos SensorPos;
! Connect to the sensor device“ sen1:” (defined in sio.cfg).
SenDevice "sen1:";
! Request start of sensor meassurements
WriteVar "sen1:", SensorOn, 1;
! Read a cartesian position from the sensor.
SensorPos.x := ReadVar "sen1:", XCoord;
SensorPos.y := ReadVar "sen1:", YCoord;
SensorPos.z := ReadVar "sen1:", ZCoord;
! Stop sensor
WriteVar "sen1:", SensorOn, 0;
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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( IN ) of string>’,’
[ BlockNo’ :=’ ] < expression ( IN ) of num > ‘,’
[ FileName’ :=’ ] < expression ( IN ) of string > ‘;’
Related information
For information about
See
Write a sensor variable
WriteVar - write variable on page 729
Read a sensor variable
ReadVar - Read variable from a device on page 958
Write a sensor data block
WriteBlock - write block of data to device on page 719
Configuration of sensor com-
munication
Technical reference manual - System parameters , section
Communication
Continued
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 are illustrated below.
Example 1
Set do15;
The signal do15 is set to 1.
Example 2
Set weldon;
The signal weldon is set to 1.
Arguments
Set Signal
Signal
Data type: signaldo
The name of the signal to be set to one.
Program execution
There is a short delay before the signal physically gets its new value. If you do not want the
program execution to continue until the signal has got its new value then you can use the
instruction SetDO with the optional parameter \Sync .
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then this instruction causes the physical channel to be set to zero.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Syntax
Set
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
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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( IN ) of string>’,’
[ BlockNo’ :=’ ] < expression ( IN ) of num > ‘,’
[ FileName’ :=’ ] < expression ( IN ) of string > ‘;’
Related information
For information about
See
Write a sensor variable
WriteVar - write variable on page 729
Read a sensor variable
ReadVar - Read variable from a device on page 958
Write a sensor data block
WriteBlock - write block of data to device on page 719
Configuration of sensor com-
munication
Technical reference manual - System parameters , section
Communication
Continued
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 are illustrated below.
Example 1
Set do15;
The signal do15 is set to 1.
Example 2
Set weldon;
The signal weldon is set to 1.
Arguments
Set Signal
Signal
Data type: signaldo
The name of the signal to be set to one.
Program execution
There is a short delay before the signal physically gets its new value. If you do not want the
program execution to continue until the signal has got its new value then you can use the
instruction SetDO with the optional parameter \Sync .
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then this instruction causes the physical channel to be set to zero.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Syntax
Set
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
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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 output signal SetDO - Changes the value of a digital output
signal on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
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1.150. 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 are illustrated below.
Example 1
Set do15;
The signal do15 is set to 1.
Example 2
Set weldon;
The signal weldon is set to 1.
Arguments
Set Signal
Signal
Data type: signaldo
The name of the signal to be set to one.
Program execution
There is a short delay before the signal physically gets its new value. If you do not want the
program execution to continue until the signal has got its new value then you can use the
instruction SetDO with the optional parameter \Sync .
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then this instruction causes the physical channel to be set to zero.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Syntax
Set
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’;’
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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 output signal SetDO - Changes the value of a digital output
signal on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
1 Instructions
1.151. 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 a new value to all data objects
of a certain type that match the given grammar.
Basic examples
Basic examples of the instruction SetAllDataVal are illustrated below.
VAR mydata mydata0:=0;
...
SetAllDataVal "mydata"\TypeMod:="mytypes"\Hidden,mydata0;
This will set all data objects of data type mydata in the system to the same value that the
variable mydata0 has (in the example to 0 ). The user defined data type mydata is defined in
the module mytypes .
Arguments
SetAllDataVal Type [\TypeMod] [\Object] [\Hidden] Value
Type
Data type: string
The type name of the data objects to be set.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data object of the data type above but this option makes it
possible to name one or several objects with a regular expression. (see also instruction
SetDataSearch )
[ \Hidden ]
Data type: switch
This also matches data objects that are in routines (routine data or parameters) hidden by
some routine in the call chain.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the object to be set.
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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 output signal SetDO - Changes the value of a digital output
signal on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
1 Instructions
1.151. 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 a new value to all data objects
of a certain type that match the given grammar.
Basic examples
Basic examples of the instruction SetAllDataVal are illustrated below.
VAR mydata mydata0:=0;
...
SetAllDataVal "mydata"\TypeMod:="mytypes"\Hidden,mydata0;
This will set all data objects of data type mydata in the system to the same value that the
variable mydata0 has (in the example to 0 ). The user defined data type mydata is defined in
the module mytypes .
Arguments
SetAllDataVal Type [\TypeMod] [\Object] [\Hidden] Value
Type
Data type: string
The type name of the data objects to be set.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data object of the data type above but this option makes it
possible to name one or several objects with a regular expression. (see also instruction
SetDataSearch )
[ \Hidden ]
Data type: switch
This also matches data objects that are in routines (routine data or parameters) hidden by
some routine in the call chain.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the object to be 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 then all elements of the array will be set to the specified
value.
If the matching data object is read-only data then the value will not be changed.
If the system doesn’t have any matching data objects then the instruction will accept it and
return successfully.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
It is not possible to set a value to a variable declared as LOCAL in a built in RAPID module.
Syntax
SetAllDataVal
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod’ :=’<expression ( IN ) of string>]
[’\’Object’ :=’<expression ( IN ) of string>]
[’\’Hidden ] ’,’
[ Value ’:=’] <variable ( VAR ) of anytype>’;’
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page 110
Set the value of a data object
SetDataVal - Set the value of a data object on page 437
The related data type datapos
datapos - Enclosing block for a data object on page 1101
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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 a new value to all data objects
of a certain type that match the given grammar.
Basic examples
Basic examples of the instruction SetAllDataVal are illustrated below.
VAR mydata mydata0:=0;
...
SetAllDataVal "mydata"\TypeMod:="mytypes"\Hidden,mydata0;
This will set all data objects of data type mydata in the system to the same value that the
variable mydata0 has (in the example to 0 ). The user defined data type mydata is defined in
the module mytypes .
Arguments
SetAllDataVal Type [\TypeMod] [\Object] [\Hidden] Value
Type
Data type: string
The type name of the data objects to be set.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data object of the data type above but this option makes it
possible to name one or several objects with a regular expression. (see also instruction
SetDataSearch )
[ \Hidden ]
Data type: switch
This also matches data objects that are in routines (routine data or parameters) hidden by
some routine in the call chain.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the object to be 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 then all elements of the array will be set to the specified
value.
If the matching data object is read-only data then the value will not be changed.
If the system doesn’t have any matching data objects then the instruction will accept it and
return successfully.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
It is not possible to set a value to a variable declared as LOCAL in a built in RAPID module.
Syntax
SetAllDataVal
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod’ :=’<expression ( IN ) of string>]
[’\’Object’ :=’<expression ( IN ) of string>]
[’\’Hidden ] ’,’
[ Value ’:=’] <variable ( VAR ) of anytype>’;’
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page 110
Set the value of a data object
SetDataVal - Set the value of a data object on page 437
The related data type datapos
datapos - Enclosing block for a data object on page 1101
Continued
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 examples of the instruction SetAO are illustrated below.
See also More examples on page 432 .
Example 1
SetAO ao2, 5.5;
The signal ao2 is set to 5.5.
Arguments
SetAO Signal Value
Signal
Data type: signalao
The name of the analog output signal to be changed.
Value
Data type: num
The desired value of the signal.
Program execution
The programmed value is scaled (in accordance with the system parameters) before it is sent
on the physical channel. A diagram of how analog signal values are scaled is shown in the
figure below.
xx0500002408
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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 then all elements of the array will be set to the specified
value.
If the matching data object is read-only data then the value will not be changed.
If the system doesn’t have any matching data objects then the instruction will accept it and
return successfully.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
It is not possible to set a value to a variable declared as LOCAL in a built in RAPID module.
Syntax
SetAllDataVal
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod’ :=’<expression ( IN ) of string>]
[’\’Object’ :=’<expression ( IN ) of string>]
[’\’Hidden ] ’,’
[ Value ’:=’] <variable ( VAR ) of anytype>’;’
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page 110
Set the value of a data object
SetDataVal - Set the value of a data object on page 437
The related data type datapos
datapos - Enclosing block for a data object on page 1101
Continued
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 examples of the instruction SetAO are illustrated below.
See also More examples on page 432 .
Example 1
SetAO ao2, 5.5;
The signal ao2 is set to 5.5.
Arguments
SetAO Signal Value
Signal
Data type: signalao
The name of the analog output signal to be changed.
Value
Data type: num
The desired value of the signal.
Program execution
The programmed value is scaled (in accordance with the system parameters) before it is sent
on the physical channel. A diagram of how analog signal values are scaled is shown in the
figure below.
xx0500002408
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Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed Value argument for the specified analog output signal Signal is outside
limits.
More examples
More examples of the instruction SetAO are illustrated below.
Example 1
SetAO weldcurr, curr_outp;
The signal weldcurr is set to the same value as the current value of the variable curr_outp .
Syntax
SetAO
[ Signal ’:=’ ] < variable ( VAR ) of signalao > ’,’
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Input/Output functionality in general Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
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1.152. 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 examples of the instruction SetAO are illustrated below.
See also More examples on page 432 .
Example 1
SetAO ao2, 5.5;
The signal ao2 is set to 5.5.
Arguments
SetAO Signal Value
Signal
Data type: signalao
The name of the analog output signal to be changed.
Value
Data type: num
The desired value of the signal.
Program execution
The programmed value is scaled (in accordance with the system parameters) before it is sent
on the physical channel. A diagram of how analog signal values are scaled is shown in the
figure below.
xx0500002408
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Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed Value argument for the specified analog output signal Signal is outside
limits.
More examples
More examples of the instruction SetAO are illustrated below.
Example 1
SetAO weldcurr, curr_outp;
The signal weldcurr is set to the same value as the current value of the variable curr_outp .
Syntax
SetAO
[ Signal ’:=’ ] < variable ( VAR ) of signalao > ’,’
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Input/Output functionality in general Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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 data objects from
the system.
Basic examples
Basic examples of the instruction SetDataSearch are illustrated below.
Example 1
VAR datapos block;
VAR string name;
...
SetDataSearch "robtarget"\InTask;
WHILE GetNextSym(name,block \Recursive) DO
...
This session will find all robtarget ’s object in the task.
Arguments
SetDataSearch Type [\TypeMod] [\Object] [\PersSym]
[\VarSym][\ConstSym] [\InTask] | [\InMod]
[\InRout][\GlobalSym] | [\LocalSym]
Type
Data type: string
The data type name of the data objects to be retrieved.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined, if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data objects of the data type above, but this option makes it
possible to name one or several data objects with a regular expression.
A regular expression is a powerful mechanism to specify a grammar to match the data object
names. The string could consist of either ordinary characters and meta characters. A meta
character is a special operator used to represent one or more ordinary characters in the string
with the purpose to extend the search. It is possible to see if a string matches a specified
pattern as a whole or search within a string for a substring matching a specified pattern.
Within a regular expression all alphanumeric characters match themselves. That is to say that
the pattern "abc" will only match a data object named "abc". To match all data object names
containing the character sequence "abc" it is necessary to add some meta characters. The
regular expression for this is ".*abc.*".
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Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed Value argument for the specified analog output signal Signal is outside
limits.
More examples
More examples of the instruction SetAO are illustrated below.
Example 1
SetAO weldcurr, curr_outp;
The signal weldcurr is set to the same value as the current value of the variable curr_outp .
Syntax
SetAO
[ Signal ’:=’ ] < variable ( VAR ) of signalao > ’,’
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Input/Output functionality in general Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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 data objects from
the system.
Basic examples
Basic examples of the instruction SetDataSearch are illustrated below.
Example 1
VAR datapos block;
VAR string name;
...
SetDataSearch "robtarget"\InTask;
WHILE GetNextSym(name,block \Recursive) DO
...
This session will find all robtarget ’s object in the task.
Arguments
SetDataSearch Type [\TypeMod] [\Object] [\PersSym]
[\VarSym][\ConstSym] [\InTask] | [\InMod]
[\InRout][\GlobalSym] | [\LocalSym]
Type
Data type: string
The data type name of the data objects to be retrieved.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined, if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data objects of the data type above, but this option makes it
possible to name one or several data objects with a regular expression.
A regular expression is a powerful mechanism to specify a grammar to match the data object
names. The string could consist of either ordinary characters and meta characters. A meta
character is a special operator used to represent one or more ordinary characters in the string
with the purpose to extend the search. It is possible to see if a string matches a specified
pattern as a whole or search within a string for a substring matching a specified pattern.
Within a regular expression all alphanumeric characters match themselves. That is to say that
the pattern "abc" will only match a data object named "abc". To match all data object names
containing the character sequence "abc" it is necessary to add some meta characters. The
regular expression for this is ".*abc.*".
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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 ,
VarSym , or ConstSym is specified then only symbols that match the specification are
accepted:
[ \PersSym ]
Persistent Symbols
Data type: switch
Accept persistent variable ( PERS ) symbols.
[ \VarSym ]
Variable Symbols
Data type: switch
Accept variable ( VAR ) symbols.
[ \ConstSym ]
Constant Symbols
Data type: switch
Accept constant ( CONST ) symbols.
If not one of the flags \ InTask or \ InMod are specified then the search is started at system
level. The system level is the root to all other symbol definitions in the symbol tree. At the
system level all build- in symbols are located plus the handle to the task level. At the task
level all loaded global symbols are located plus the handle to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the system level.
Expression
Meaning
.
Any single character.
[s]
Any single character in the non-empty set s, where s is a
sequence of characters. Ranges may be specified as c-c.
[^s]
Any single character not in the set s.
r*
Zero or more occurrences of the regular expression r.
r+
One or more occurrences of the regular expression r
r?
Zero or one occurrence of the regular expression r.
(r)
The regular expression r. Used for separate that regular
expression from another.
r | r’
The regular expressions r or r’.
.*
Any character sequence (zero, one, or several characters).
Continued
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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 data objects from
the system.
Basic examples
Basic examples of the instruction SetDataSearch are illustrated below.
Example 1
VAR datapos block;
VAR string name;
...
SetDataSearch "robtarget"\InTask;
WHILE GetNextSym(name,block \Recursive) DO
...
This session will find all robtarget ’s object in the task.
Arguments
SetDataSearch Type [\TypeMod] [\Object] [\PersSym]
[\VarSym][\ConstSym] [\InTask] | [\InMod]
[\InRout][\GlobalSym] | [\LocalSym]
Type
Data type: string
The data type name of the data objects to be retrieved.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined, if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data objects of the data type above, but this option makes it
possible to name one or several data objects with a regular expression.
A regular expression is a powerful mechanism to specify a grammar to match the data object
names. The string could consist of either ordinary characters and meta characters. A meta
character is a special operator used to represent one or more ordinary characters in the string
with the purpose to extend the search. It is possible to see if a string matches a specified
pattern as a whole or search within a string for a substring matching a specified pattern.
Within a regular expression all alphanumeric characters match themselves. That is to say that
the pattern "abc" will only match a data object named "abc". To match all data object names
containing the character sequence "abc" it is necessary to add some meta characters. The
regular expression for this is ".*abc.*".
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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 ,
VarSym , or ConstSym is specified then only symbols that match the specification are
accepted:
[ \PersSym ]
Persistent Symbols
Data type: switch
Accept persistent variable ( PERS ) symbols.
[ \VarSym ]
Variable Symbols
Data type: switch
Accept variable ( VAR ) symbols.
[ \ConstSym ]
Constant Symbols
Data type: switch
Accept constant ( CONST ) symbols.
If not one of the flags \ InTask or \ InMod are specified then the search is started at system
level. The system level is the root to all other symbol definitions in the symbol tree. At the
system level all build- in symbols are located plus the handle to the task level. At the task
level all loaded global symbols are located plus the handle to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the system level.
Expression
Meaning
.
Any single character.
[s]
Any single character in the non-empty set s, where s is a
sequence of characters. Ranges may be specified as c-c.
[^s]
Any single character not in the set s.
r*
Zero or more occurrences of the regular expression r.
r+
One or more occurrences of the regular expression r
r?
Zero or one occurrence of the regular expression r.
(r)
The regular expression r. Used for separate that regular
expression from another.
r | r’
The regular expressions r or r’.
.*
Any character sequence (zero, one, or several characters).
Continued
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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 to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the task level.
[ \InMod ]
In Module
Data type: string
Start the search at the specified module level. At the module level all loaded global and local
symbols declared in the specified module are located plus the handle to the routines level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
routines below the specified module level (declared in the specified module).
[ \InRout ]
In Routine
Data type: string
Search only at the specified routine level.
The module name for the routine must be specified in the argument \ InMod.
The default behavior is to match both local and global module symbols, but if one of
following \ GlobalSym or \ LocalSym is specified then only symbols that match the
specification are accepted:
[ \GlobalSym ]
Global Symbols
Data type: switch
Skip local module symbols.
[ \LocalSym ]
Local Symbols
Data type: switch
Skip global module symbols.
Program running
The instruction will fail if the specification for one of Type , TypeMod , InMod , or InRout is
wrong.
If the system doesn’t have any matching objects the instruction will accept it and return
successfully but the first GetNextSym will return FALSE .
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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 ,
VarSym , or ConstSym is specified then only symbols that match the specification are
accepted:
[ \PersSym ]
Persistent Symbols
Data type: switch
Accept persistent variable ( PERS ) symbols.
[ \VarSym ]
Variable Symbols
Data type: switch
Accept variable ( VAR ) symbols.
[ \ConstSym ]
Constant Symbols
Data type: switch
Accept constant ( CONST ) symbols.
If not one of the flags \ InTask or \ InMod are specified then the search is started at system
level. The system level is the root to all other symbol definitions in the symbol tree. At the
system level all build- in symbols are located plus the handle to the task level. At the task
level all loaded global symbols are located plus the handle to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the system level.
Expression
Meaning
.
Any single character.
[s]
Any single character in the non-empty set s, where s is a
sequence of characters. Ranges may be specified as c-c.
[^s]
Any single character not in the set s.
r*
Zero or more occurrences of the regular expression r.
r+
One or more occurrences of the regular expression r
r?
Zero or one occurrence of the regular expression r.
(r)
The regular expression r. Used for separate that regular
expression from another.
r | r’
The regular expressions r or r’.
.*
Any character sequence (zero, one, or several characters).
Continued
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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 to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the task level.
[ \InMod ]
In Module
Data type: string
Start the search at the specified module level. At the module level all loaded global and local
symbols declared in the specified module are located plus the handle to the routines level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
routines below the specified module level (declared in the specified module).
[ \InRout ]
In Routine
Data type: string
Search only at the specified routine level.
The module name for the routine must be specified in the argument \ InMod.
The default behavior is to match both local and global module symbols, but if one of
following \ GlobalSym or \ LocalSym is specified then only symbols that match the
specification are accepted:
[ \GlobalSym ]
Global Symbols
Data type: switch
Skip local module symbols.
[ \LocalSym ]
Local Symbols
Data type: switch
Skip global module symbols.
Program running
The instruction will fail if the specification for one of Type , TypeMod , InMod , or InRout is
wrong.
If the system doesn’t have any matching objects the instruction will accept it and return
successfully but the first GetNextSym will return FALSE .
Continued
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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 is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
Installed built-in symbols declared as LOCAL will never be found, irrespective of use of
argument \GlobalSym , \LocalSym or none of these.
Installed built-in symbols declared as global or as TASK will always be found, irrespective of
use of argument \GlobalSym , \LocalSym or none of these.
It is not possible to use SetDataSearch for searching for data of some ALIAS data type
defined with RAPID code. No limitation for predefined ALIAS data type.
Syntax
SetDataSearch
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod ’:=’<expression ( IN ) of string>]
[’\’Object ’:=’<expression ( IN ) of string>]
[’\’PersSym ]
[’\’VarSym ]
[’\’ConstSym ]
[’\’InTask ]
| [’\’InMod’ :=’<expression ( IN ) of string>]
[’\’InRout ’:=’<expression ( IN ) of string>]
[’\’GlobalSym ]
| [’\’LocalSym]’ ;’
Related information
For information about
See
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
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[ \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 to the modules level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the task level.
[ \InMod ]
In Module
Data type: string
Start the search at the specified module level. At the module level all loaded global and local
symbols declared in the specified module are located plus the handle to the routines level.
If the \ Recursive flag is set in GetNextSym then the search session will enter all loaded
routines below the specified module level (declared in the specified module).
[ \InRout ]
In Routine
Data type: string
Search only at the specified routine level.
The module name for the routine must be specified in the argument \ InMod.
The default behavior is to match both local and global module symbols, but if one of
following \ GlobalSym or \ LocalSym is specified then only symbols that match the
specification are accepted:
[ \GlobalSym ]
Global Symbols
Data type: switch
Skip local module symbols.
[ \LocalSym ]
Local Symbols
Data type: switch
Skip global module symbols.
Program running
The instruction will fail if the specification for one of Type , TypeMod , InMod , or InRout is
wrong.
If the system doesn’t have any matching objects the instruction will accept it and return
successfully but the first GetNextSym will return FALSE .
Continued
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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 is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
Installed built-in symbols declared as LOCAL will never be found, irrespective of use of
argument \GlobalSym , \LocalSym or none of these.
Installed built-in symbols declared as global or as TASK will always be found, irrespective of
use of argument \GlobalSym , \LocalSym or none of these.
It is not possible to use SetDataSearch for searching for data of some ALIAS data type
defined with RAPID code. No limitation for predefined ALIAS data type.
Syntax
SetDataSearch
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod ’:=’<expression ( IN ) of string>]
[’\’Object ’:=’<expression ( IN ) of string>]
[’\’PersSym ]
[’\’VarSym ]
[’\’ConstSym ]
[’\’InTask ]
| [’\’InMod’ :=’<expression ( IN ) of string>]
[’\’InRout ’:=’<expression ( IN ) of string>]
[’\’GlobalSym ]
| [’\’LocalSym]’ ;’
Related information
For information about
See
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
1 Instructions
1.154. 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 a string variable.
Basic examples
Basic examples of the instruction SetDataVal are illustrated below.
Example 1
VAR num value:=3;
...
SetDataVal "reg"+ValToStr(ReadNum(mycom)),value;
This will set the value 3 to a register with a number that is received from the serial channel
mycom .
Example 2
VAR datapos block;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool that begin with my in the module mymod to TRUE .
Example 3
VAR string StringArrVar_copy{2};
...
StringArrVar_copy{1} := "test1";
StringArrVar_copy{2} := "test2";
SetDataVal "StringArrVar", StringArrVar_copy;
This session will set the array StringArrVar to contain the two strings test1 and test2.
Arguments
SetDataVal Object [\Block]|[\TaskRef]|[\TaskName] Value
Object
Data type: string
The name of the data object.
[ \Block ]
Data type: datapos
The enclosed block to the data object. This can only be fetched with the GetNextSym
function.
If this argument is omitted then the value of the visible data object in the current program
execution scope will be set.
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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 is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai .
Installed built-in symbols declared as LOCAL will never be found, irrespective of use of
argument \GlobalSym , \LocalSym or none of these.
Installed built-in symbols declared as global or as TASK will always be found, irrespective of
use of argument \GlobalSym , \LocalSym or none of these.
It is not possible to use SetDataSearch for searching for data of some ALIAS data type
defined with RAPID code. No limitation for predefined ALIAS data type.
Syntax
SetDataSearch
[ Type ’:=’ ] < expression ( IN ) of string >
[’\’TypeMod ’:=’<expression ( IN ) of string>]
[’\’Object ’:=’<expression ( IN ) of string>]
[’\’PersSym ]
[’\’VarSym ]
[’\’ConstSym ]
[’\’InTask ]
| [’\’InMod’ :=’<expression ( IN ) of string>]
[’\’InRout ’:=’<expression ( IN ) of string>]
[’\’GlobalSym ]
| [’\’LocalSym]’ ;’
Related information
For information about
See
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
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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 a string variable.
Basic examples
Basic examples of the instruction SetDataVal are illustrated below.
Example 1
VAR num value:=3;
...
SetDataVal "reg"+ValToStr(ReadNum(mycom)),value;
This will set the value 3 to a register with a number that is received from the serial channel
mycom .
Example 2
VAR datapos block;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool that begin with my in the module mymod to TRUE .
Example 3
VAR string StringArrVar_copy{2};
...
StringArrVar_copy{1} := "test1";
StringArrVar_copy{2} := "test2";
SetDataVal "StringArrVar", StringArrVar_copy;
This session will set the array StringArrVar to contain the two strings test1 and test2.
Arguments
SetDataVal Object [\Block]|[\TaskRef]|[\TaskName] Value
Object
Data type: string
The name of the data object.
[ \Block ]
Data type: datapos
The enclosed block to the data object. This can only be fetched with the GetNextSym
function.
If this argument is omitted then the value of the visible data object in the current program
execution scope will be set.
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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 for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the data object to be set. The set value must be fetched from a variable but can be stored
in a variable or persistent.
Error handling
The system variable ERRNO is set to ERR_SYM_ACCESS if:
•
the data object is non-existent
•
the data object is read-only data
•
the data object is routine data or routine parameter and not located in the current active
routine
•
searching in other tasks for other declarations then PERS or TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
declarations in other tasks, any other declarations will result in an error and the system
variable ERRNO is set to ERR_SYM_ACCESS . Searching for a PERS declared as LOCAL in other
tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS .
The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in
argument Value have different dimensions.
The error can be handled in the error handler of the routine.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then no search hit for signal signaldi will be obtained and if
searching for num then no search hit for signals signalgi or signalai will be obtained.
It is not possible to set a value to a variable declared as LOCAL in a built-in RAPID module.
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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 a string variable.
Basic examples
Basic examples of the instruction SetDataVal are illustrated below.
Example 1
VAR num value:=3;
...
SetDataVal "reg"+ValToStr(ReadNum(mycom)),value;
This will set the value 3 to a register with a number that is received from the serial channel
mycom .
Example 2
VAR datapos block;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool that begin with my in the module mymod to TRUE .
Example 3
VAR string StringArrVar_copy{2};
...
StringArrVar_copy{1} := "test1";
StringArrVar_copy{2} := "test2";
SetDataVal "StringArrVar", StringArrVar_copy;
This session will set the array StringArrVar to contain the two strings test1 and test2.
Arguments
SetDataVal Object [\Block]|[\TaskRef]|[\TaskName] Value
Object
Data type: string
The name of the data object.
[ \Block ]
Data type: datapos
The enclosed block to the data object. This can only be fetched with the GetNextSym
function.
If this argument is omitted then the value of the visible data object in the current program
execution scope will be set.
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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 for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the data object to be set. The set value must be fetched from a variable but can be stored
in a variable or persistent.
Error handling
The system variable ERRNO is set to ERR_SYM_ACCESS if:
•
the data object is non-existent
•
the data object is read-only data
•
the data object is routine data or routine parameter and not located in the current active
routine
•
searching in other tasks for other declarations then PERS or TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
declarations in other tasks, any other declarations will result in an error and the system
variable ERRNO is set to ERR_SYM_ACCESS . Searching for a PERS declared as LOCAL in other
tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS .
The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in
argument Value have different dimensions.
The error can be handled in the error handler of the routine.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then no search hit for signal signaldi will be obtained and if
searching for num then no search hit for signals signalgi or signalai will be obtained.
It is not possible to set a value to a variable declared as LOCAL in a built-in RAPID module.
Continued
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Syntax
SetDataVal
[ Object ’:=’ ] < expression ( IN) of string >
[’\’Block’ :=’<variable ( VAR ) of datapos>]
|[ ’\’TaskRef’ :=’ <variable ( VAR ) of taskid>]
|[ ’\’TaskName’ :=’ <expression ( IN ) of string>] ’,’]
[ Value ’:=’ ] <variable ( VAR ) of anytype>]’;’
Related information
For information about
See
Define a symbol set in a search session
SetDataSearch - Define the symbol set in a
search sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page
855
Get the value of a data object
GetDataVal - Get the value of a data object on
page 110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on
page 1101
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[\TaskRef]
Task Reference
Data type: taskid
The program task identity in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the data object to be set. The set value must be fetched from a variable but can be stored
in a variable or persistent.
Error handling
The system variable ERRNO is set to ERR_SYM_ACCESS if:
•
the data object is non-existent
•
the data object is read-only data
•
the data object is routine data or routine parameter and not located in the current active
routine
•
searching in other tasks for other declarations then PERS or TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
declarations in other tasks, any other declarations will result in an error and the system
variable ERRNO is set to ERR_SYM_ACCESS . Searching for a PERS declared as LOCAL in other
tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS .
The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in
argument Value have different dimensions.
The error can be handled in the error handler of the routine.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then no search hit for signal signaldi will be obtained and if
searching for num then no search hit for signals signalgi or signalai will be obtained.
It is not possible to set a value to a variable declared as LOCAL in a built-in RAPID module.
Continued
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Syntax
SetDataVal
[ Object ’:=’ ] < expression ( IN) of string >
[’\’Block’ :=’<variable ( VAR ) of datapos>]
|[ ’\’TaskRef’ :=’ <variable ( VAR ) of taskid>]
|[ ’\’TaskName’ :=’ <expression ( IN ) of string>] ’,’]
[ Value ’:=’ ] <variable ( VAR ) of anytype>]’;’
Related information
For information about
See
Define a symbol set in a search session
SetDataSearch - Define the symbol set in a
search sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page
855
Get the value of a data object
GetDataVal - Get the value of a data object on
page 110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on
page 1101
Continued
1 Instructions
1.155. 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 delay or
synchronization.
Basic examples
Basic examples of the instruction SetDO are illustrated below.
Example 1
SetDO do15, 1;
The signal do15 is set to 1.
Example 2
SetDO weld, off;
The signal weld is set to off.
Example 3
SetDO \SDelay := 0.2, weld, high;
The signal weld is set to high with a delay of 0.2 s. However, program execution continues
with the next instruction.
Example 4
SetDO \Sync ,do1, 0;
The signal do1 is set to 0 . Program execution waits until the signal is physically set to the
specified value.
Arguments
SetDO [ \SDelay ]|[ \Sync ] Signal Value
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the amount of time given in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the given time delay the signal is changed
without the rest of the program execution being affected.
[ \Sync ]
Synchronization
Data type: switch
If this argument is used then the program execution will wait until the signal is physically set
to the specified value.
Signal
Data type: signaldo
The name of the signal to be changed.
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Syntax
SetDataVal
[ Object ’:=’ ] < expression ( IN) of string >
[’\’Block’ :=’<variable ( VAR ) of datapos>]
|[ ’\’TaskRef’ :=’ <variable ( VAR ) of taskid>]
|[ ’\’TaskName’ :=’ <expression ( IN ) of string>] ’,’]
[ Value ’:=’ ] <variable ( VAR ) of anytype>]’;’
Related information
For information about
See
Define a symbol set in a search session
SetDataSearch - Define the symbol set in a
search sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page
855
Get the value of a data object
GetDataVal - Get the value of a data object on
page 110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on
page 1101
Continued
1 Instructions
1.155. 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 delay or
synchronization.
Basic examples
Basic examples of the instruction SetDO are illustrated below.
Example 1
SetDO do15, 1;
The signal do15 is set to 1.
Example 2
SetDO weld, off;
The signal weld is set to off.
Example 3
SetDO \SDelay := 0.2, weld, high;
The signal weld is set to high with a delay of 0.2 s. However, program execution continues
with the next instruction.
Example 4
SetDO \Sync ,do1, 0;
The signal do1 is set to 0 . Program execution waits until the signal is physically set to the
specified value.
Arguments
SetDO [ \SDelay ]|[ \Sync ] Signal Value
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the amount of time given in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the given time delay the signal is changed
without the rest of the program execution being affected.
[ \Sync ]
Synchronization
Data type: switch
If this argument is used then the program execution will wait until the signal is physically set
to the specified value.
Signal
Data type: signaldo
The name of the signal to be changed.
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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 signal is inverted in the
system parameters then the value of the physical channel is the opposite.
If neither of the arguments \SDelay or \Sync are used then the signal will be set as fast as
possible, and the next instruction will be executed at once without waiting for the signal to be
physically set.
Limitations
If a SetDO with a \SDelay argument is followed by a new SetDO on the same signal, with
or without \SDelay argument, then the first SetDO will be cancelled if the second SetDO is
executed before the delay time of the first SetDO have expired.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
|[ ’\’ Sync ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’,’
[ Value ’:=’ ] < expression ( IN ) of dionum > ’;’
Related information
Specified Value
Set digital output to
0
0
Any value except 0
1
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
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1.155. 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 delay or
synchronization.
Basic examples
Basic examples of the instruction SetDO are illustrated below.
Example 1
SetDO do15, 1;
The signal do15 is set to 1.
Example 2
SetDO weld, off;
The signal weld is set to off.
Example 3
SetDO \SDelay := 0.2, weld, high;
The signal weld is set to high with a delay of 0.2 s. However, program execution continues
with the next instruction.
Example 4
SetDO \Sync ,do1, 0;
The signal do1 is set to 0 . Program execution waits until the signal is physically set to the
specified value.
Arguments
SetDO [ \SDelay ]|[ \Sync ] Signal Value
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the amount of time given in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the given time delay the signal is changed
without the rest of the program execution being affected.
[ \Sync ]
Synchronization
Data type: switch
If this argument is used then the program execution will wait until the signal is physically set
to the specified value.
Signal
Data type: signaldo
The name of the signal to be changed.
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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 signal is inverted in the
system parameters then the value of the physical channel is the opposite.
If neither of the arguments \SDelay or \Sync are used then the signal will be set as fast as
possible, and the next instruction will be executed at once without waiting for the signal to be
physically set.
Limitations
If a SetDO with a \SDelay argument is followed by a new SetDO on the same signal, with
or without \SDelay argument, then the first SetDO will be cancelled if the second SetDO is
executed before the delay time of the first SetDO have expired.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
|[ ’\’ Sync ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’,’
[ Value ’:=’ ] < expression ( IN ) of dionum > ’;’
Related information
Specified Value
Set digital output to
0
0
Any value except 0
1
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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 signals with or without a time
delay.
Basic examples
Basic examples of the instruction SetGO are illustrated below.
Example 1
SetGO go2, 12;
The signal go2 is set to 12 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
7 are set to zero while outputs 8 and 9 are set to one.
Example 2
SetGO \SDelay := 0.4, go2, 10;
The signal go2 is set to 10 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
8 are set to zero while outputs 7 and 9 are set to one with a delay of 0.4 s. However program
execution continues with the next instruction.
Example 3
SetGO go32, 4294967295;
The signal go32 is set to 4294967295 . go32 comprises 32 signals, which are all set to one.
Arguments
SetGO [ \SDelay ] Signal Value | Dvalue
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the period of time stated in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the specified time delay the value of the
signals is changed without the rest of the program execution being affected.
If the argument is omitted then the signal values are changed directly.
Signal
Data type: signalgo
The name of the signal group to be changed.
Value
Data type: num
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is dependent on the number of signals in the group. A num datatype can
hold the value for a group of 23 signals or less.
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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 signal is inverted in the
system parameters then the value of the physical channel is the opposite.
If neither of the arguments \SDelay or \Sync are used then the signal will be set as fast as
possible, and the next instruction will be executed at once without waiting for the signal to be
physically set.
Limitations
If a SetDO with a \SDelay argument is followed by a new SetDO on the same signal, with
or without \SDelay argument, then the first SetDO will be cancelled if the second SetDO is
executed before the delay time of the first SetDO have expired.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
|[ ’\’ Sync ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’,’
[ Value ’:=’ ] < expression ( IN ) of dionum > ’;’
Related information
Specified Value
Set digital output to
0
0
Any value except 0
1
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
3HAC 16581-1 Revision: J
442
© Copyright 2004-2010 ABB. All rights reserved.
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 signals with or without a time
delay.
Basic examples
Basic examples of the instruction SetGO are illustrated below.
Example 1
SetGO go2, 12;
The signal go2 is set to 12 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
7 are set to zero while outputs 8 and 9 are set to one.
Example 2
SetGO \SDelay := 0.4, go2, 10;
The signal go2 is set to 10 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
8 are set to zero while outputs 7 and 9 are set to one with a delay of 0.4 s. However program
execution continues with the next instruction.
Example 3
SetGO go32, 4294967295;
The signal go32 is set to 4294967295 . go32 comprises 32 signals, which are all set to one.
Arguments
SetGO [ \SDelay ] Signal Value | Dvalue
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the period of time stated in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the specified time delay the value of the
signals is changed without the rest of the program execution being affected.
If the argument is omitted then the signal values are changed directly.
Signal
Data type: signalgo
The name of the signal group to be changed.
Value
Data type: num
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is dependent on the number of signals in the group. A num datatype can
hold the value for a group of 23 signals or less.
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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 dependent on the number of signals in the group. A dnum datatype can
hold the value for a group of 32 signals or less.
*) The Value argument of type num can only hold up to 23 signals compared to the Dvalue
argument of type dnum that can hold up to 32 signals.
No. of signals
Permitted Value
Permitted Dvalue
1
0-1
0-1
2
0-3
0-3
3
0-7
0-7
4
0-15
0-15
5
0-31
0-31
6
0-63
0-63
7
0-127
0-127
8
0-255
0-255
9
0-511
0-511
10
0-1023
0-1023
11
0-2047
0-2047
12
0-4095
0-4095
13
0-8191
0-8191
14
0-16383
0-16383
15
0-32767
0-32767
16
0-65535
0-65535
17
0-131071
0-131071
18
0-262143
0-262143
19
0-524287
0-524287
20
0-1048575
0-1048575
21
0-2097151
0-2097151
22
0-4194303
0-4194303
23
0-8388607
0-8388607
24
*
0-16777215
25
*
0-33554431
26
*
0-67108863
27
*
0-134217727
28
*
0-268435455
29
*
0-536870911
30
*
0-1073741823
31
*
0-2147483647
32
*
0-4294967295
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
3HAC 16581-1 Revision: J
442
© Copyright 2004-2010 ABB. All rights reserved.
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 signals with or without a time
delay.
Basic examples
Basic examples of the instruction SetGO are illustrated below.
Example 1
SetGO go2, 12;
The signal go2 is set to 12 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
7 are set to zero while outputs 8 and 9 are set to one.
Example 2
SetGO \SDelay := 0.4, go2, 10;
The signal go2 is set to 10 . If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
8 are set to zero while outputs 7 and 9 are set to one with a delay of 0.4 s. However program
execution continues with the next instruction.
Example 3
SetGO go32, 4294967295;
The signal go32 is set to 4294967295 . go32 comprises 32 signals, which are all set to one.
Arguments
SetGO [ \SDelay ] Signal Value | Dvalue
[ \SDelay ]
Signal Delay
Data type: num
Delays the change for the period of time stated in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the specified time delay the value of the
signals is changed without the rest of the program execution being affected.
If the argument is omitted then the signal values are changed directly.
Signal
Data type: signalgo
The name of the signal group to be changed.
Value
Data type: num
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is dependent on the number of signals in the group. A num datatype can
hold the value for a group of 23 signals or less.
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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 dependent on the number of signals in the group. A dnum datatype can
hold the value for a group of 32 signals or less.
*) The Value argument of type num can only hold up to 23 signals compared to the Dvalue
argument of type dnum that can hold up to 32 signals.
No. of signals
Permitted Value
Permitted Dvalue
1
0-1
0-1
2
0-3
0-3
3
0-7
0-7
4
0-15
0-15
5
0-31
0-31
6
0-63
0-63
7
0-127
0-127
8
0-255
0-255
9
0-511
0-511
10
0-1023
0-1023
11
0-2047
0-2047
12
0-4095
0-4095
13
0-8191
0-8191
14
0-16383
0-16383
15
0-32767
0-32767
16
0-65535
0-65535
17
0-131071
0-131071
18
0-262143
0-262143
19
0-524287
0-524287
20
0-1048575
0-1048575
21
0-2097151
0-2097151
22
0-4194303
0-4194303
23
0-8388607
0-8388607
24
*
0-16777215
25
*
0-33554431
26
*
0-67108863
27
*
0-134217727
28
*
0-268435455
29
*
0-536870911
30
*
0-1073741823
31
*
0-2147483647
32
*
0-4294967295
Continued
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
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444
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The programmed value is converted to an unsigned binary number. This binary number is sent
on the signal group with the result that individual signals in the group are set to 0 or 1. Due
to internal delays the value of the signal may be undefined for a short period of time.
Limitations
Maximum number of signals that can be used for a group is 23 if argument Value is used and
32 if argument Dvalue is used. This limitation is valid for all instructions and functions using
group signals.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
ERR_GO_LIM
if the programmed Value or Dvalue argument for the specified digital group output signal
Signal is outside limits.
Syntax
SetGO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’,’
[ Value ’:=’ ] < expression ( IN ) of num >
| [ Dvalue’ :=’ ] < expression ( IN ) of dnum > ’;’
Related information
For information about
See
Other input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O (system parameters) Technical reference manual - System parameters
Continued
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
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© Copyright 2004-2010 ABB. All rights reserved.
Dvalue
Data type: dnum
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is dependent on the number of signals in the group. A dnum datatype can
hold the value for a group of 32 signals or less.
*) The Value argument of type num can only hold up to 23 signals compared to the Dvalue
argument of type dnum that can hold up to 32 signals.
No. of signals
Permitted Value
Permitted Dvalue
1
0-1
0-1
2
0-3
0-3
3
0-7
0-7
4
0-15
0-15
5
0-31
0-31
6
0-63
0-63
7
0-127
0-127
8
0-255
0-255
9
0-511
0-511
10
0-1023
0-1023
11
0-2047
0-2047
12
0-4095
0-4095
13
0-8191
0-8191
14
0-16383
0-16383
15
0-32767
0-32767
16
0-65535
0-65535
17
0-131071
0-131071
18
0-262143
0-262143
19
0-524287
0-524287
20
0-1048575
0-1048575
21
0-2097151
0-2097151
22
0-4194303
0-4194303
23
0-8388607
0-8388607
24
*
0-16777215
25
*
0-33554431
26
*
0-67108863
27
*
0-134217727
28
*
0-268435455
29
*
0-536870911
30
*
0-1073741823
31
*
0-2147483647
32
*
0-4294967295
Continued
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
3HAC 16581-1 Revision: J
444
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The programmed value is converted to an unsigned binary number. This binary number is sent
on the signal group with the result that individual signals in the group are set to 0 or 1. Due
to internal delays the value of the signal may be undefined for a short period of time.
Limitations
Maximum number of signals that can be used for a group is 23 if argument Value is used and
32 if argument Dvalue is used. This limitation is valid for all instructions and functions using
group signals.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
ERR_GO_LIM
if the programmed Value or Dvalue argument for the specified digital group output signal
Signal is outside limits.
Syntax
SetGO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’,’
[ Value ’:=’ ] < expression ( IN ) of num >
| [ Dvalue’ :=’ ] < expression ( IN ) of dnum > ’;’
Related information
For information about
See
Other input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O (system parameters) Technical reference manual - System parameters
Continued
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 current active Tool, Work Object, or PayLoad
for the robot in actual or connected motion task.
Basic examples
Basic examples of the instruction SetSysData are illustrated below.
Example 1
SetSysData tool5;
The tool tool5 is activated.
SetSysData tool0 \ObjectName := "tool6";
The tool tool6 is activated.
SetSysData anytool \ObjectName := "tool2";
The tool tool2 is activated.
Arguments
SetSysData SourceObject [\ObjectName]
SourceObject
Data type: anytype
Persistent variable that should be active as current system data.
The data type of this argument also specifies the type of system data to be activated for the
robot in actual or connected motion task.
Entire array or record component can not be used.
[ \ObjectName ]
Data type: string
If this optional argument is specified then it specifies the name of the data object to be active
(overrides name specified in argument SourceObject ). The data type of the data object to
be active is always fetched from the argument SourceObject .
Program execution
The current active system data object for the Tool, Work Object, or PayLoad is set according
to the arguments.
Note that this instruction only activates a new data object (or the same as before) and never
changes the value of any data object.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
3HAC 16581-1 Revision: J
444
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The programmed value is converted to an unsigned binary number. This binary number is sent
on the signal group with the result that individual signals in the group are set to 0 or 1. Due
to internal delays the value of the signal may be undefined for a short period of time.
Limitations
Maximum number of signals that can be used for a group is 23 if argument Value is used and
32 if argument Dvalue is used. This limitation is valid for all instructions and functions using
group signals.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
ERR_GO_LIM
if the programmed Value or Dvalue argument for the specified digital group output signal
Signal is outside limits.
Syntax
SetGO
[ ’\’ SDelay ’:=’ < expression ( IN ) of num > ’,’ ]
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’,’
[ Value ’:=’ ] < expression ( IN ) of num >
| [ Dvalue’ :=’ ] < expression ( IN ) of dnum > ’;’
Related information
For information about
See
Other input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O principles
Configuration of I/O (system parameters) Technical reference manual - System parameters
Continued
1 Instructions
1.157. SetSysData - Set system data
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© Copyright 2004-2010 ABB. All rights reserved.
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 current active Tool, Work Object, or PayLoad
for the robot in actual or connected motion task.
Basic examples
Basic examples of the instruction SetSysData are illustrated below.
Example 1
SetSysData tool5;
The tool tool5 is activated.
SetSysData tool0 \ObjectName := "tool6";
The tool tool6 is activated.
SetSysData anytool \ObjectName := "tool2";
The tool tool2 is activated.
Arguments
SetSysData SourceObject [\ObjectName]
SourceObject
Data type: anytype
Persistent variable that should be active as current system data.
The data type of this argument also specifies the type of system data to be activated for the
robot in actual or connected motion task.
Entire array or record component can not be used.
[ \ObjectName ]
Data type: string
If this optional argument is specified then it specifies the name of the data object to be active
(overrides name specified in argument SourceObject ). The data type of the data object to
be active is always fetched from the argument SourceObject .
Program execution
The current active system data object for the Tool, Work Object, or PayLoad is set according
to the arguments.
Note that this instruction only activates a new data object (or the same as before) and never
changes the value of any data object.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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1 Instructions
1.157. SetSysData - Set system data
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SetSysData
[ SourceObject’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’:=’ < expression ( IN ) of string> ] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Get system data
GetSysData - Get system data on page 113
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1 Instructions
1.157. SetSysData - Set system data
RobotWare - OS
445
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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 current active Tool, Work Object, or PayLoad
for the robot in actual or connected motion task.
Basic examples
Basic examples of the instruction SetSysData are illustrated below.
Example 1
SetSysData tool5;
The tool tool5 is activated.
SetSysData tool0 \ObjectName := "tool6";
The tool tool6 is activated.
SetSysData anytool \ObjectName := "tool2";
The tool tool2 is activated.
Arguments
SetSysData SourceObject [\ObjectName]
SourceObject
Data type: anytype
Persistent variable that should be active as current system data.
The data type of this argument also specifies the type of system data to be activated for the
robot in actual or connected motion task.
Entire array or record component can not be used.
[ \ObjectName ]
Data type: string
If this optional argument is specified then it specifies the name of the data object to be active
(overrides name specified in argument SourceObject ). The data type of the data object to
be active is always fetched from the argument SourceObject .
Program execution
The current active system data object for the Tool, Work Object, or PayLoad is set according
to the arguments.
Note that this instruction only activates a new data object (or the same as before) and never
changes the value of any data object.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
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1 Instructions
1.157. SetSysData - Set system data
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SetSysData
[ SourceObject’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’:=’ < expression ( IN ) of string> ] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Get system data
GetSysData - Get system data on page 113
Continued
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 singular points.
SingArea is also used to define linear and circular interpolation for robots with less than six
axes.
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 SingArea are illustrated below.
Example 1
SingArea \Wrist;
The orientation of the tool may be changed slightly in order to pass a singular point (axes 4
and 6 in line).
Robots with less than six axes may not be able to reach an interpolated tool orientation. By
using SingArea \Wrist the robot can achieve the movement but the orientation of the tool
will be slightly changed.
Example 2
SingArea \Off;
The tool orientation is not allowed to differ from the programmed orientation. If a singular
point is passed then one or more axes may perform a sweeping movement resulting in a
reduction in velocity.
Robots with less than six axes may not be able to reach a programmed tool orientation. As a
result the robot will stop.
Arguments
SingArea [\Wrist]|[\Off]
[ \Wrist ]
Data type: switch
The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used
when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for linear and circular
interpolation of robots with less than six axes where the tool orientation is allowed to differ.
[ \Off ]
Data type: switch
The tool orientation is not allowed to differ. Used when no singular points are passed or when
the orientation is not permitted to be changed.
If none of the arguments are specified the system will be set to \Off .
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1 Instructions
1.157. SetSysData - Set system data
RobotWare - OS
3HAC 16581-1 Revision: J
446
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SetSysData
[ SourceObject’:=’] < persistent( PERS ) of anytype>
[’\’ObjectName’:=’ < expression ( IN ) of string> ] ’;’
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Get system data
GetSysData - Get system data on page 113
Continued
1 Instructions
1.158. SingArea - Defines interpolation around singular points
RobotWare - OS
447
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.158. SingArea - Defines interpolation around singular points
Usage
SingArea is used to define how the robot is to move in the proximity of singular points.
SingArea is also used to define linear and circular interpolation for robots with less than six
axes.
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 SingArea are illustrated below.
Example 1
SingArea \Wrist;
The orientation of the tool may be changed slightly in order to pass a singular point (axes 4
and 6 in line).
Robots with less than six axes may not be able to reach an interpolated tool orientation. By
using SingArea \Wrist the robot can achieve the movement but the orientation of the tool
will be slightly changed.
Example 2
SingArea \Off;
The tool orientation is not allowed to differ from the programmed orientation. If a singular
point is passed then one or more axes may perform a sweeping movement resulting in a
reduction in velocity.
Robots with less than six axes may not be able to reach a programmed tool orientation. As a
result the robot will stop.
Arguments
SingArea [\Wrist]|[\Off]
[ \Wrist ]
Data type: switch
The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used
when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for linear and circular
interpolation of robots with less than six axes where the tool orientation is allowed to differ.
[ \Off ]
Data type: switch
The tool orientation is not allowed to differ. Used when no singular points are passed or when
the orientation is not permitted to be changed.
If none of the arguments are specified the system will be set to \Off .
Continues on next page
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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 follows the correct path, but the orientation of the tool
deviates somewhat. This will also happen when a singular point is not passed.
The specified interpolation applies to all subsequent movements until a new SingArea
instruction is executed.
The movement is only affected on execution of linear or circular interpolation.
By default, program execution automatically uses the Off argument for robots with six axes.
Robots with less than six axes may use either the Off argument or the /Wrist argument by
default. This is automatically set in event routine SYS_RESET .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
SingArea
[ ’\’ Wrist ] | [’\’ Off ] ’;’
Related information
For information about
See
Singularity
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Singularities
Interpolation
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Continued
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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 singular points.
SingArea is also used to define linear and circular interpolation for robots with less than six
axes.
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 SingArea are illustrated below.
Example 1
SingArea \Wrist;
The orientation of the tool may be changed slightly in order to pass a singular point (axes 4
and 6 in line).
Robots with less than six axes may not be able to reach an interpolated tool orientation. By
using SingArea \Wrist the robot can achieve the movement but the orientation of the tool
will be slightly changed.
Example 2
SingArea \Off;
The tool orientation is not allowed to differ from the programmed orientation. If a singular
point is passed then one or more axes may perform a sweeping movement resulting in a
reduction in velocity.
Robots with less than six axes may not be able to reach a programmed tool orientation. As a
result the robot will stop.
Arguments
SingArea [\Wrist]|[\Off]
[ \Wrist ]
Data type: switch
The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used
when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for linear and circular
interpolation of robots with less than six axes where the tool orientation is allowed to differ.
[ \Off ]
Data type: switch
The tool orientation is not allowed to differ. Used when no singular points are passed or when
the orientation is not permitted to be changed.
If none of the arguments are specified the system will be set to \Off .
Continues on next page
1 Instructions
1.158. SingArea - Defines interpolation around singular points
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
If the arguments \Wrist is specified then the orientation is joint-interpolated to avoid
singular points. In this way the TCP follows the correct path, but the orientation of the tool
deviates somewhat. This will also happen when a singular point is not passed.
The specified interpolation applies to all subsequent movements until a new SingArea
instruction is executed.
The movement is only affected on execution of linear or circular interpolation.
By default, program execution automatically uses the Off argument for robots with six axes.
Robots with less than six axes may use either the Off argument or the /Wrist argument by
default. This is automatically set in event routine SYS_RESET .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
SingArea
[ ’\’ Wrist ] | [’\’ Off ] ’;’
Related information
For information about
See
Singularity
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Singularities
Interpolation
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Continued
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 execution in running mode continuously or cycle (no warnings
skipped in FWD or BWD step).
With SkipWarn it is possible to repeatedly do error recovery in RAPID without filling the
Event Log with only warning messages.
Basic examples
Basic examples of the instruction SkipWarn are illustrated below.
Example 1
%"notexistingproc"%;
nextinstruction;
ERROR
IF ERRNO = ERR_REFUNKPRC THEN
SkipWarn;
TRYNEXT;
ENDIF
ENDPROC
The program will execute the nextinstruction and no warning message will be stored in
the Event Log.
Syntax
SkipWarn ’;’
Related information
For information about
See
Error recovery
Technical reference manual - RAPID overview , section
RAPID Summary - Error Recovery
Technical reference manual - RAPID overview , section
Basic Characteristics - Error Recovery
Error number
errnum - Error number on page 1108
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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 follows the correct path, but the orientation of the tool
deviates somewhat. This will also happen when a singular point is not passed.
The specified interpolation applies to all subsequent movements until a new SingArea
instruction is executed.
The movement is only affected on execution of linear or circular interpolation.
By default, program execution automatically uses the Off argument for robots with six axes.
Robots with less than six axes may use either the Off argument or the /Wrist argument by
default. This is automatically set in event routine SYS_RESET .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
SingArea
[ ’\’ Wrist ] | [’\’ Off ] ’;’
Related information
For information about
See
Singularity
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Singularities
Interpolation
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Continued
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 execution in running mode continuously or cycle (no warnings
skipped in FWD or BWD step).
With SkipWarn it is possible to repeatedly do error recovery in RAPID without filling the
Event Log with only warning messages.
Basic examples
Basic examples of the instruction SkipWarn are illustrated below.
Example 1
%"notexistingproc"%;
nextinstruction;
ERROR
IF ERRNO = ERR_REFUNKPRC THEN
SkipWarn;
TRYNEXT;
ENDIF
ENDPROC
The program will execute the nextinstruction and no warning message will be stored in
the Event Log.
Syntax
SkipWarn ’;’
Related information
For information about
See
Error recovery
Technical reference manual - RAPID overview , section
RAPID Summary - Error Recovery
Technical reference manual - RAPID overview , section
Basic Characteristics - Error Recovery
Error number
errnum - Error number on page 1108
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 server applications.
Basic examples
Basic examples of the instruction SocketAccept are illustrated below.
See also More examples on page 451 .
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket,"192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept waits for any incoming
connections, accepts the connection request, and returns a client socket for the established
connection.
Arguments
SocketAccept Socket ClientSocket [\ClientAddress] [ \Time ]
Socket
Data type: socketdev
The server sockets that are waiting for incoming connections. The socket must already be
created, bounded, and ready for listening.
ClientSocket
Data type: socketdev
The returned new client socket that will be updated with the accepted incoming connection
request.
[\ClientAddress]
Data type: string
The variable that will be updated with the IP-address of the accepted incoming connection
request.
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1 Instructions
1.159. SkipWarn - Skip the latest warning
RobotWare-OS
449
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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 execution in running mode continuously or cycle (no warnings
skipped in FWD or BWD step).
With SkipWarn it is possible to repeatedly do error recovery in RAPID without filling the
Event Log with only warning messages.
Basic examples
Basic examples of the instruction SkipWarn are illustrated below.
Example 1
%"notexistingproc"%;
nextinstruction;
ERROR
IF ERRNO = ERR_REFUNKPRC THEN
SkipWarn;
TRYNEXT;
ENDIF
ENDPROC
The program will execute the nextinstruction and no warning message will be stored in
the Event Log.
Syntax
SkipWarn ’;’
Related information
For information about
See
Error recovery
Technical reference manual - RAPID overview , section
RAPID Summary - Error Recovery
Technical reference manual - RAPID overview , section
Basic Characteristics - Error Recovery
Error number
errnum - Error number on page 1108
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 server applications.
Basic examples
Basic examples of the instruction SocketAccept are illustrated below.
See also More examples on page 451 .
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket,"192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept waits for any incoming
connections, accepts the connection request, and returns a client socket for the established
connection.
Arguments
SocketAccept Socket ClientSocket [\ClientAddress] [ \Time ]
Socket
Data type: socketdev
The server sockets that are waiting for incoming connections. The socket must already be
created, bounded, and ready for listening.
ClientSocket
Data type: socketdev
The returned new client socket that will be updated with the accepted incoming connection
request.
[\ClientAddress]
Data type: string
The variable that will be updated with the IP-address of the accepted incoming connection
request.
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1.160. SocketAccept - Accept an incoming connection
Socket Messaging
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[\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 connection then the error handler will be called, if
there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The server socket will wait for any incoming connection requests. When accepting the
incoming connection request the instruction is ready and the returned client socket is by
default connected and can be used in SocketSend and SocketReceive instructions.
More examples
More examples of the instruction SocketAccept are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE TRUE DO
SocketAccept server_socket, client_socket
\ClientAddress:=client_ip;
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with ip-address "
+client_ip;
! Wait for client acknowledge
...
SocketClose client_socket;
ENDWHILE
ERROR
RETRY;
UNDO
SocketClose server_socket;
SocketClose client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept will accept the incoming
connection from some client and store the client address in the string client_ip . Then the
server receives a string message from the client and stores the message in receive_string .
Then the server responds with the message " Hello client with ip-address
xxx.xxx.x.x" and closes the client connection.
Continued
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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 server applications.
Basic examples
Basic examples of the instruction SocketAccept are illustrated below.
See also More examples on page 451 .
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket,"192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept waits for any incoming
connections, accepts the connection request, and returns a client socket for the established
connection.
Arguments
SocketAccept Socket ClientSocket [\ClientAddress] [ \Time ]
Socket
Data type: socketdev
The server sockets that are waiting for incoming connections. The socket must already be
created, bounded, and ready for listening.
ClientSocket
Data type: socketdev
The returned new client socket that will be updated with the accepted incoming connection
request.
[\ClientAddress]
Data type: string
The variable that will be updated with the IP-address of the accepted incoming connection
request.
Continues on next page
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1.160. SocketAccept - Accept an incoming connection
Socket Messaging
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[\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 connection then the error handler will be called, if
there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The server socket will wait for any incoming connection requests. When accepting the
incoming connection request the instruction is ready and the returned client socket is by
default connected and can be used in SocketSend and SocketReceive instructions.
More examples
More examples of the instruction SocketAccept are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE TRUE DO
SocketAccept server_socket, client_socket
\ClientAddress:=client_ip;
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with ip-address "
+client_ip;
! Wait for client acknowledge
...
SocketClose client_socket;
ENDWHILE
ERROR
RETRY;
UNDO
SocketClose server_socket;
SocketClose client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept will accept the incoming
connection from some client and store the client address in the string client_ip . Then the
server receives a string message from the client and stores the message in receive_string .
Then the server responds with the message " Hello client with ip-address
xxx.xxx.x.x" and closes the client connection.
Continued
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1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
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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 sockets are closed ( SocketClose
can always be done even if the socket is not created).
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketAccept
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ ClientSocket ´:=´ ] < variable ( VAR ) of socketdev >
[ ’\’ ClientAddress ´:=´ < variable ( VAR ) of string> ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time out time
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example of server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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Socket Messaging
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[\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 connection then the error handler will be called, if
there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The server socket will wait for any incoming connection requests. When accepting the
incoming connection request the instruction is ready and the returned client socket is by
default connected and can be used in SocketSend and SocketReceive instructions.
More examples
More examples of the instruction SocketAccept are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE TRUE DO
SocketAccept server_socket, client_socket
\ClientAddress:=client_ip;
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with ip-address "
+client_ip;
! Wait for client acknowledge
...
SocketClose client_socket;
ENDWHILE
ERROR
RETRY;
UNDO
SocketClose server_socket;
SocketClose client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept will accept the incoming
connection from some client and store the client address in the string client_ip . Then the
server receives a string message from the client and stores the message in receive_string .
Then the server responds with the message " Hello client with ip-address
xxx.xxx.x.x" and closes the client connection.
Continued
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1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
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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 sockets are closed ( SocketClose
can always be done even if the socket is not created).
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketAccept
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ ClientSocket ´:=´ ] < variable ( VAR ) of socketdev >
[ ’\’ ClientAddress ´:=´ < variable ( VAR ) of string> ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time out time
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example of server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
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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 number.
SocketBind can only be used for server applications.
Basic examples
Basic examples of the instruction SocketBind are illustrated below.
Example 1
VAR socketdev server_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . The server socket can now be used in an SocketListen instruction to listen
for incoming connections on this port and address.
Arguments
SocketBind Socket LocalAddress LocalPort
Socket
Data type: socketdev
The server socket to bind. The socket must be created but not already bound.
LocalAddress
Data type: string
The server network address to bind the socket to. The only valid addresses are any public
LAN addresses or the controller service port address 192.168.125.1.
LocalPort
Data type: num
The server port number to bind the socket to. Generally ports 1025-4999 are free to use. Ports
below 1025 can already be taken.
Program execution
The server socked is bound to the specified server port and IP-address.
An error is generated if the specified port is already in use.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
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Socket Messaging
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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 sockets are closed ( SocketClose
can always be done even if the socket is not created).
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketAccept
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ ClientSocket ´:=´ ] < variable ( VAR ) of socketdev >
[ ’\’ ClientAddress ´:=´ < variable ( VAR ) of string> ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time out time
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example of server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
453
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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 number.
SocketBind can only be used for server applications.
Basic examples
Basic examples of the instruction SocketBind are illustrated below.
Example 1
VAR socketdev server_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . The server socket can now be used in an SocketListen instruction to listen
for incoming connections on this port and address.
Arguments
SocketBind Socket LocalAddress LocalPort
Socket
Data type: socketdev
The server socket to bind. The socket must be created but not already bound.
LocalAddress
Data type: string
The server network address to bind the socket to. The only valid addresses are any public
LAN addresses or the controller service port address 192.168.125.1.
LocalPort
Data type: num
The server port number to bind the socket to. Generally ports 1025-4999 are free to use. Ports
below 1025 can already be taken.
Program execution
The server socked is bound to the specified server port and IP-address.
An error is generated if the specified port is already in use.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Continues on next page
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 set to:
Syntax
SocketBind
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ LocalAddress ´:=´ ] < expression ( IN ) of string > ’,’
[ LocalPort ´:=´ ] < expression ( IN ) of num > ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created)
Use SocketCreate to create a new socket.
ERR_SOCK_ADDR_INUSE
The address and port is already in use and can not be used
again. Use a different port number..
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
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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 number.
SocketBind can only be used for server applications.
Basic examples
Basic examples of the instruction SocketBind are illustrated below.
Example 1
VAR socketdev server_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . The server socket can now be used in an SocketListen instruction to listen
for incoming connections on this port and address.
Arguments
SocketBind Socket LocalAddress LocalPort
Socket
Data type: socketdev
The server socket to bind. The socket must be created but not already bound.
LocalAddress
Data type: string
The server network address to bind the socket to. The only valid addresses are any public
LAN addresses or the controller service port address 192.168.125.1.
LocalPort
Data type: num
The server port number to bind the socket to. Generally ports 1025-4999 are free to use. Ports
below 1025 can already be taken.
Program execution
The server socked is bound to the specified server port and IP-address.
An error is generated if the specified port is already in use.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Continues on next page
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 set to:
Syntax
SocketBind
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ LocalAddress ´:=´ ] < expression ( IN ) of string > ’,’
[ LocalPort ´:=´ ] < expression ( IN ) of num > ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created)
Use SocketCreate to create a new socket.
ERR_SOCK_ADDR_INUSE
The address and port is already in use and can not be used
again. Use a different port number..
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
455
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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 socket call except SocketCreate .
Basic examples
Basic examples of the instruction SocketClose are illustrated below.
Example 1
SocketClose socket1;
The socket is closed and can not be used anymore.
Arguments
SocketClose Socket
Socket
Data type: socketdev
The socket to be closed.
Program execution
The socket will be closed and its allocated resources will be released.
Any socket can be closed at any time. The socket can not be used after closing. However it
can be reused for a new connection after a call to SocketCreate .
Limitations
Closing the socket connection immediately after sending the data with SocketSend can lead
to loss of sent data. This is because TCP/IP socket has built-in functionality to resend the data
if there is some communication problem.
To avoid such problems with loss of data, do the following before SocketClose :
•
handshake the shutdown or
•
WaitTime 2
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketClose
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
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Socket Messaging
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Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketBind
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ LocalAddress ´:=´ ] < expression ( IN ) of string > ’,’
[ LocalPort ´:=´ ] < expression ( IN ) of num > ’;’
Related information
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created)
Use SocketCreate to create a new socket.
ERR_SOCK_ADDR_INUSE
The address and port is already in use and can not be used
again. Use a different port number..
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
455
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© 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 socket call except SocketCreate .
Basic examples
Basic examples of the instruction SocketClose are illustrated below.
Example 1
SocketClose socket1;
The socket is closed and can not be used anymore.
Arguments
SocketClose Socket
Socket
Data type: socketdev
The socket to be closed.
Program execution
The socket will be closed and its allocated resources will be released.
Any socket can be closed at any time. The socket can not be used after closing. However it
can be reused for a new connection after a call to SocketCreate .
Limitations
Closing the socket connection immediately after sending the data with SocketSend can lead
to loss of sent data. This is because TCP/IP socket has built-in functionality to resend the data
if there is some communication problem.
To avoid such problems with loss of data, do the following before SocketClose :
•
handshake the shutdown or
•
WaitTime 2
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketClose
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
Continues on next page
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 new socket
SocketCreate - Create a new socket on page 460
Connect to a remote computer
(only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450 t
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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1.162. SocketClose - Close a socket
Socket Messaging
455
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© 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 socket call except SocketCreate .
Basic examples
Basic examples of the instruction SocketClose are illustrated below.
Example 1
SocketClose socket1;
The socket is closed and can not be used anymore.
Arguments
SocketClose Socket
Socket
Data type: socketdev
The socket to be closed.
Program execution
The socket will be closed and its allocated resources will be released.
Any socket can be closed at any time. The socket can not be used after closing. However it
can be reused for a new connection after a call to SocketCreate .
Limitations
Closing the socket connection immediately after sending the data with SocketSend can lead
to loss of sent data. This is because TCP/IP socket has built-in functionality to resend the data
if there is some communication problem.
To avoid such problems with loss of data, do the following before SocketClose :
•
handshake the shutdown or
•
WaitTime 2
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketClose
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
Continues on next page
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 new socket
SocketCreate - Create a new socket on page 460
Connect to a remote computer
(only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450 t
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
457
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© 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 examples
Basic examples of the instruction SocketConnect are illustrated below.
See also More examples on page 458 .
Example 1
SocketConnect socket1, "192.168.0.1", 1025;
Trying to connect to a remote computer at ip-address 192.168.0.1 and port 1025 .
Arguments
SocketConnect Socket Address Port [\Time]
Socket
Data type: socketdev
The client socket to connect. The socket must be created but not already connected.
Address
Data type: string
The address of the remote computer. The remote computer must be specified as an IP address.
It is not possible to use the name of the remote computer.
Port
Data type: num
The port on the remote computer. Generally ports 1025-4999 are free to use. Ports below 1025
can already be taken.
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the connection to be
accepted or denied. If this time runs out before the condition is met then the error handler will
be called, if there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler
then the execution will be stopped.
If parameter \Time is not used the waiting time is 60 s. To wait forever, use the predefined
constant WAIT_MAX .
Program execution
The socket tries to connect to the remote computer on the specified address and port. The
program execution will wait until the connection is established, failed, or a timeout occurs.
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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 new socket
SocketCreate - Create a new socket on page 460
Connect to a remote computer
(only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450 t
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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 examples
Basic examples of the instruction SocketConnect are illustrated below.
See also More examples on page 458 .
Example 1
SocketConnect socket1, "192.168.0.1", 1025;
Trying to connect to a remote computer at ip-address 192.168.0.1 and port 1025 .
Arguments
SocketConnect Socket Address Port [\Time]
Socket
Data type: socketdev
The client socket to connect. The socket must be created but not already connected.
Address
Data type: string
The address of the remote computer. The remote computer must be specified as an IP address.
It is not possible to use the name of the remote computer.
Port
Data type: num
The port on the remote computer. Generally ports 1025-4999 are free to use. Ports below 1025
can already be taken.
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the connection to be
accepted or denied. If this time runs out before the condition is met then the error handler will
be called, if there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler
then the execution will be stopped.
If parameter \Time is not used the waiting time is 60 s. To wait forever, use the predefined
constant WAIT_MAX .
Program execution
The socket tries to connect to the remote computer on the specified address and port. The
program execution will wait until the connection is established, failed, or a timeout occurs.
Continues on next page
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;
...
SocketCreate my_socket;
SocketConnect my_socket, "192.168.0.1", 1025;
...
ERROR
IF ERRNO = ERR_SOCK_TIMEOUT THEN
IF retry_no < 5 THEN
WaitTime 1;
retry_no := retry_no + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF
A socket is created and tries to connect to a remote computer. If the connection is not
established within the default time-out time, i.e. 60 seconds, then the error handler retries to
connect. Four retries are attemped then the error is reported to the user.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketConnect
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ Address ´:=´ ] < expression ( IN ) of string > ’,’
[ Port ´:=´ ] < expression ( IN ) of num >
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time-out time.
Continued
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1.163. SocketConnect - Connect to a remote computer
Socket Messaging
457
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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 examples
Basic examples of the instruction SocketConnect are illustrated below.
See also More examples on page 458 .
Example 1
SocketConnect socket1, "192.168.0.1", 1025;
Trying to connect to a remote computer at ip-address 192.168.0.1 and port 1025 .
Arguments
SocketConnect Socket Address Port [\Time]
Socket
Data type: socketdev
The client socket to connect. The socket must be created but not already connected.
Address
Data type: string
The address of the remote computer. The remote computer must be specified as an IP address.
It is not possible to use the name of the remote computer.
Port
Data type: num
The port on the remote computer. Generally ports 1025-4999 are free to use. Ports below 1025
can already be taken.
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the connection to be
accepted or denied. If this time runs out before the condition is met then the error handler will
be called, if there is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler
then the execution will be stopped.
If parameter \Time is not used the waiting time is 60 s. To wait forever, use the predefined
constant WAIT_MAX .
Program execution
The socket tries to connect to the remote computer on the specified address and port. The
program execution will wait until the connection is established, failed, or a timeout occurs.
Continues on next page
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;
...
SocketCreate my_socket;
SocketConnect my_socket, "192.168.0.1", 1025;
...
ERROR
IF ERRNO = ERR_SOCK_TIMEOUT THEN
IF retry_no < 5 THEN
WaitTime 1;
retry_no := retry_no + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF
A socket is created and tries to connect to a remote computer. If the connection is not
established within the default time-out time, i.e. 60 seconds, then the error handler retries to
connect. Four retries are attemped then the error is reported to the user.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketConnect
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ Address ´:=´ ] < expression ( IN ) of string > ’,’
[ Port ´:=´ ] < expression ( IN ) of num >
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time-out time.
Continued
Continues on next page
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 socket
SocketCreate - Create a new socket on page 460
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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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;
...
SocketCreate my_socket;
SocketConnect my_socket, "192.168.0.1", 1025;
...
ERROR
IF ERRNO = ERR_SOCK_TIMEOUT THEN
IF retry_no < 5 THEN
WaitTime 1;
retry_no := retry_no + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF
A socket is created and tries to connect to a remote computer. If the connection is not
established within the default time-out time, i.e. 60 seconds, then the error handler retries to
connect. Four retries are attemped then the error is reported to the user.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketConnect
[ Socket ´:=´ ] < variable ( VAR ) of socketdev > ’,’
[ Address ´:=´ ] < expression ( IN ) of string > ’,’
[ Port ´:=´ ] < expression ( IN ) of num >
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time-out time.
Continued
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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 socket
SocketCreate - Create a new socket on page 460
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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 protocol TCP/IP with delivery guarantee. Both server
and client application can be developed. Datagram protocol UDP/IP with broadcast is not
supported.
Basic examples
Basic examples of the instruction SocketCreate are illustrated below.
Example 1
VAR socketdev socket1;
...
SocketCreate socket1;
A new socket device is created and assigned into the variable socket1 .
Arguments
SocketCreate Socket
Socket
Data type: socketdev
The variable for storage of the system’s internal socket data.
Program execution
The instruction creates a new socket device.
The socket must not already be in use. The socket is in use between SocketCreate and
SocketClose .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketCreate
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
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1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
459
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© 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 socket
SocketCreate - Create a new socket on page 460
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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 protocol TCP/IP with delivery guarantee. Both server
and client application can be developed. Datagram protocol UDP/IP with broadcast is not
supported.
Basic examples
Basic examples of the instruction SocketCreate are illustrated below.
Example 1
VAR socketdev socket1;
...
SocketCreate socket1;
A new socket device is created and assigned into the variable socket1 .
Arguments
SocketCreate Socket
Socket
Data type: socketdev
The variable for storage of the system’s internal socket data.
Program execution
The instruction creates a new socket device.
The socket must not already be in use. The socket is in use between SocketCreate and
SocketClose .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketCreate
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
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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
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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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 protocol TCP/IP with delivery guarantee. Both server
and client application can be developed. Datagram protocol UDP/IP with broadcast is not
supported.
Basic examples
Basic examples of the instruction SocketCreate are illustrated below.
Example 1
VAR socketdev socket1;
...
SocketCreate socket1;
A new socket device is created and assigned into the variable socket1 .
Arguments
SocketCreate Socket
Socket
Data type: socketdev
The variable for storage of the system’s internal socket data.
Program execution
The instruction creates a new socket device.
The socket must not already be in use. The socket is in use between SocketCreate and
SocketClose .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Avoid fast loops with SocketCreate ... SocketClose , because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketCreate
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
Continues on next page
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
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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.
SocketListen can only used for server applications.
Basic examples
Basic examples of the instruction SocketListen are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE listening DO;
! Waiting for a connection request
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address.
Arguments
SocketListen Socket
Socket
Data type: socketdev
The server socket that should start listening for incoming connections. The socket must
already be created and bound.
Program execution
The server socket start listening for incoming connections. When the instruction is ready the
socket is ready to accept an incoming connection.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketListen
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
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1 Instructions
1.164. SocketCreate - Create a new socket
Socket Messaging
461
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© 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
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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.
SocketListen can only used for server applications.
Basic examples
Basic examples of the instruction SocketListen are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE listening DO;
! Waiting for a connection request
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address.
Arguments
SocketListen Socket
Socket
Data type: socketdev
The server socket that should start listening for incoming connections. The socket must
already be created and bound.
Program execution
The server socket start listening for incoming connections. When the instruction is ready the
socket is ready to accept an incoming connection.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketListen
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
Continues on next page
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 Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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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.
SocketListen can only used for server applications.
Basic examples
Basic examples of the instruction SocketListen are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE listening DO;
! Waiting for a connection request
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1 . After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address.
Arguments
SocketListen Socket
Socket
Data type: socketdev
The server socket that should start listening for incoming connections. The socket must
already be created and bound.
Program execution
The server socket start listening for incoming connections. When the instruction is ready the
socket is ready to accept an incoming connection.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Syntax
SocketListen
[ Socket ’:=’ ] < variable ( VAR ) of socketdev > ’;’
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
Continues on next page
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 Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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 used both for client and server applications.
Basic examples
Basic examples of the instruction SocketReceive are illustrated below.
See also More examples on page 466 .
Example 1
VAR string str_data;
...
SocketReceive socket1 \Str := str_data;
Receive data from a remote computer and store it in the string variable str_data .
Arguments
SocketReceive Socket [ \Str ] | [ \RawData ] | [ \Data ]
[\ReadNoOfBytes] [\NoRecBytes] [\Time]
Socket
Data type: socketdev
In a client application where the socket receives the data, the socket must already be created
and connected.
In a server application where the socket receives the data, the socket must already be
accepted.
[ \Str ]
Data type: string
The variable in which the received string data should be stored. Max. number of characters
80 can be handled.
[ \RawData ]
Data type: rawbytes
The variable in which the received rawbytes data should be stored. Max. number of
rawbytes 1024 can be handled.
[ \Data ]
Data type: array of byte
The variable in which the received byte data should be stored. Max. number of byte 1024
can be handled.
Only one of the optional parameters \Str , \RawData , and \Data can be used at the same
time.
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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 Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Continued
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 used both for client and server applications.
Basic examples
Basic examples of the instruction SocketReceive are illustrated below.
See also More examples on page 466 .
Example 1
VAR string str_data;
...
SocketReceive socket1 \Str := str_data;
Receive data from a remote computer and store it in the string variable str_data .
Arguments
SocketReceive Socket [ \Str ] | [ \RawData ] | [ \Data ]
[\ReadNoOfBytes] [\NoRecBytes] [\Time]
Socket
Data type: socketdev
In a client application where the socket receives the data, the socket must already be created
and connected.
In a server application where the socket receives the data, the socket must already be
accepted.
[ \Str ]
Data type: string
The variable in which the received string data should be stored. Max. number of characters
80 can be handled.
[ \RawData ]
Data type: rawbytes
The variable in which the received rawbytes data should be stored. Max. number of
rawbytes 1024 can be handled.
[ \Data ]
Data type: array of byte
The variable in which the received byte data should be stored. Max. number of byte 1024
can be handled.
Only one of the optional parameters \Str , \RawData , and \Data can be used at the same
time.
Continues on next page
1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
465
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© 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 the value of the size of the data type used, i.e. 80 bytes if using a variable of the
data type string .
If communicating with a client that always sends a fixed number of bytes, this optional
parameter can be used to specify that the same amount of bytes should be read for each
SocketReceive instruction.
If the sender sends RawData, the receiver needs to specify that 4 bytes should be received for
each rawbytes sent.
[ \NoRecBytes ]
Number Received Bytes
Data type: num
Variable for storage of the number of bytes needed from the specified socketdev .
The same result can also be achieved with
•
function StrLen on varable in argument \Str
•
function RawBytesLen on variable in argument \RawData
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the data to be received. If
this time runs out before the data is transferred then the error handler will be called, if there
is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The execution of SocketReceive will wait until the data is available or fail with a timeout
error.
The amount of bytes read is specified by the the data type used in the instruction. If using a
string data type to receive data in, 80 bytes is received if there is 80 bytes that can be read.
If using optional argument ReadNoOfBytes the user can specify how many bytes that should
be received for each SocketReceive .
The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
Continued
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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 used both for client and server applications.
Basic examples
Basic examples of the instruction SocketReceive are illustrated below.
See also More examples on page 466 .
Example 1
VAR string str_data;
...
SocketReceive socket1 \Str := str_data;
Receive data from a remote computer and store it in the string variable str_data .
Arguments
SocketReceive Socket [ \Str ] | [ \RawData ] | [ \Data ]
[\ReadNoOfBytes] [\NoRecBytes] [\Time]
Socket
Data type: socketdev
In a client application where the socket receives the data, the socket must already be created
and connected.
In a server application where the socket receives the data, the socket must already be
accepted.
[ \Str ]
Data type: string
The variable in which the received string data should be stored. Max. number of characters
80 can be handled.
[ \RawData ]
Data type: rawbytes
The variable in which the received rawbytes data should be stored. Max. number of
rawbytes 1024 can be handled.
[ \Data ]
Data type: array of byte
The variable in which the received byte data should be stored. Max. number of byte 1024
can be handled.
Only one of the optional parameters \Str , \RawData , and \Data can be used at the same
time.
Continues on next page
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1.166. SocketReceive - Receive data from remote computer
Socket Messaging
465
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© 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 the value of the size of the data type used, i.e. 80 bytes if using a variable of the
data type string .
If communicating with a client that always sends a fixed number of bytes, this optional
parameter can be used to specify that the same amount of bytes should be read for each
SocketReceive instruction.
If the sender sends RawData, the receiver needs to specify that 4 bytes should be received for
each rawbytes sent.
[ \NoRecBytes ]
Number Received Bytes
Data type: num
Variable for storage of the number of bytes needed from the specified socketdev .
The same result can also be achieved with
•
function StrLen on varable in argument \Str
•
function RawBytesLen on variable in argument \RawData
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the data to be received. If
this time runs out before the data is transferred then the error handler will be called, if there
is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The execution of SocketReceive will wait until the data is available or fail with a timeout
error.
The amount of bytes read is specified by the the data type used in the instruction. If using a
string data type to receive data in, 80 bytes is received if there is 80 bytes that can be read.
If using optional argument ReadNoOfBytes the user can specify how many bytes that should
be received for each SocketReceive .
The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
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It is possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketReceive are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string client_ip;
PROC server_messaging()
VAR string receive_string;
...
! Create, bind, listen and accept of sockets in error handlers
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with
ip-address "+client_ip;
! Wait for acknowlegde from client
...
SocketClose server_socket;
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=SOCK_CLOSED THEN
server_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC server_recover()
SocketClose server_socket;
SocketClose client_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket,
client_socket\ClientAddress:=client_ip;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
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[ \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 the value of the size of the data type used, i.e. 80 bytes if using a variable of the
data type string .
If communicating with a client that always sends a fixed number of bytes, this optional
parameter can be used to specify that the same amount of bytes should be read for each
SocketReceive instruction.
If the sender sends RawData, the receiver needs to specify that 4 bytes should be received for
each rawbytes sent.
[ \NoRecBytes ]
Number Received Bytes
Data type: num
Variable for storage of the number of bytes needed from the specified socketdev .
The same result can also be achieved with
•
function StrLen on varable in argument \Str
•
function RawBytesLen on variable in argument \RawData
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the data to be received. If
this time runs out before the data is transferred then the error handler will be called, if there
is one, with the error code ERR_SOCK_TIMEOUT . If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX .
Program execution
The execution of SocketReceive will wait until the data is available or fail with a timeout
error.
The amount of bytes read is specified by the the data type used in the instruction. If using a
string data type to receive data in, 80 bytes is received if there is 80 bytes that can be read.
If using optional argument ReadNoOfBytes the user can specify how many bytes that should
be received for each SocketReceive .
The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
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Socket Messaging
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It is possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketReceive are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string client_ip;
PROC server_messaging()
VAR string receive_string;
...
! Create, bind, listen and accept of sockets in error handlers
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with
ip-address "+client_ip;
! Wait for acknowlegde from client
...
SocketClose server_socket;
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=SOCK_CLOSED THEN
server_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC server_recover()
SocketClose server_socket;
SocketClose client_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket,
client_socket\ClientAddress:=client_ip;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
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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 program can handle power fail restart.
In the procedure server_recover , a server socket is created and bound to port 1025 on the
controller network address 192.168.0.1 . After execution of SocketListen the server
socket starts to listen for incoming connections on this port and address. SocketAccept will
accept the incoming connection from some client and store the client address in the string
client_ip .
In the communication procedure server_messaging the server receives a string message
from the client and stores the message in receive_string . Then the server responds with
the message "Hello client with ip-address xxx.xxx.x.x" .
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It is up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before next sequence of
SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The maximum size of the data that can be received in one call is limited to 1024 bytes.
Syntax
SocketReceive
[ Socket ’:=’ ] < variable ( VAR ) of socketdev >
[ ’\’ Str’ :=’ < variable ( VAR ) of string > ]
| [ ’\’ RawData ´:=´ < variable ( VAR ) of rawbytes > ]
| [ ’\’ Data ´:=´ < array {*} ( VAR ) of byte > ]
[ ’\’ ReadNoOfBytes’ :=’ < expression ( IN ) of num > ]
[ ’\’ NoRecBytes’ :=’ < variable ( VAR ) of num > ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
ERR_SOCK_TIMEOUT
No data was received within the time out time.
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It is possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketReceive are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string client_ip;
PROC server_messaging()
VAR string receive_string;
...
! Create, bind, listen and accept of sockets in error handlers
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with
ip-address "+client_ip;
! Wait for acknowlegde from client
...
SocketClose server_socket;
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=SOCK_CLOSED THEN
server_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC server_recover()
SocketClose server_socket;
SocketClose client_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket,
client_socket\ClientAddress:=client_ip;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
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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 program can handle power fail restart.
In the procedure server_recover , a server socket is created and bound to port 1025 on the
controller network address 192.168.0.1 . After execution of SocketListen the server
socket starts to listen for incoming connections on this port and address. SocketAccept will
accept the incoming connection from some client and store the client address in the string
client_ip .
In the communication procedure server_messaging the server receives a string message
from the client and stores the message in receive_string . Then the server responds with
the message "Hello client with ip-address xxx.xxx.x.x" .
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It is up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before next sequence of
SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The maximum size of the data that can be received in one call is limited to 1024 bytes.
Syntax
SocketReceive
[ Socket ’:=’ ] < variable ( VAR ) of socketdev >
[ ’\’ Str’ :=’ < variable ( VAR ) of string > ]
| [ ’\’ RawData ´:=´ < variable ( VAR ) of rawbytes > ]
| [ ’\’ Data ´:=´ < array {*} ( VAR ) of byte > ]
[ ’\’ ReadNoOfBytes’ :=’ < expression ( IN ) of num > ]
[ ’\’ NoRecBytes’ :=’ < variable ( VAR ) of num > ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
ERR_SOCK_TIMEOUT
No data was received within the time out time.
Continued
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Socket Messaging
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Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
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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 program can handle power fail restart.
In the procedure server_recover , a server socket is created and bound to port 1025 on the
controller network address 192.168.0.1 . After execution of SocketListen the server
socket starts to listen for incoming connections on this port and address. SocketAccept will
accept the incoming connection from some client and store the client address in the string
client_ip .
In the communication procedure server_messaging the server receives a string message
from the client and stores the message in receive_string . Then the server responds with
the message "Hello client with ip-address xxx.xxx.x.x" .
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It is up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before next sequence of
SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The maximum size of the data that can be received in one call is limited to 1024 bytes.
Syntax
SocketReceive
[ Socket ’:=’ ] < variable ( VAR ) of socketdev >
[ ’\’ Str’ :=’ < variable ( VAR ) of string > ]
| [ ’\’ RawData ´:=´ < variable ( VAR ) of rawbytes > ]
| [ ’\’ Data ´:=´ < array {*} ( VAR ) of byte > ]
[ ’\’ ReadNoOfBytes’ :=’ < expression ( IN ) of num > ]
[ ’\’ NoRecBytes’ :=’ < variable ( VAR ) of num > ]
[ ’\’ Time ´:=´ < expression ( IN ) of num > ] ’;’
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
ERR_SOCK_TIMEOUT
No data was received within the time out time.
Continued
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1.166. SocketReceive - Receive data from remote computer
Socket Messaging
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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 Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Continued
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Socket Messaging
469
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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 applications.
Basic examples
Basic examples of the instruction SocketSend are illustrated below.
See also More examples on page 470 .
Example 1
SocketSend socket1 \Str := "Hello world";
Sends the message "Hello world" to the remote computer.
Arguments
SocketSend Socket [ \Str ] | [ \RawData ] | [ \Data] [ \NoOfBytes ]
Socket
Data type: socketdev
In client application the socket to send from must already be created and connected.
In server application the socket to send to must already be accepted.
[ \Str ]
Data type: string
The string to send to the remote computer.
[ \RawData ]
Data type: rawbytes
The rawbytes data to send to the remote computer.
[ \Data ]
Data type: array of byte
The data in the byte array to send to the remote computer.
Only one of the option parameters \Str , \RawData , or \Data can be used at the same time.
[ \NoOfBytes ]
Data type: num
If this argument is specified only this number of bytes will be sent to the remote computer.
The call to SocketSend will fail if \NoOfBytes is larger than the actual number of bytes in
the data structure to send.
If this argument is not specified then the whole data structure (valid part of rawbytes ) will
be sent to the remote computer.
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Socket Messaging
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Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Continued
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Socket Messaging
469
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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 applications.
Basic examples
Basic examples of the instruction SocketSend are illustrated below.
See also More examples on page 470 .
Example 1
SocketSend socket1 \Str := "Hello world";
Sends the message "Hello world" to the remote computer.
Arguments
SocketSend Socket [ \Str ] | [ \RawData ] | [ \Data] [ \NoOfBytes ]
Socket
Data type: socketdev
In client application the socket to send from must already be created and connected.
In server application the socket to send to must already be accepted.
[ \Str ]
Data type: string
The string to send to the remote computer.
[ \RawData ]
Data type: rawbytes
The rawbytes data to send to the remote computer.
[ \Data ]
Data type: array of byte
The data in the byte array to send to the remote computer.
Only one of the option parameters \Str , \RawData , or \Data can be used at the same time.
[ \NoOfBytes ]
Data type: num
If this argument is specified only this number of bytes will be sent to the remote computer.
The call to SocketSend will fail if \NoOfBytes is larger than the actual number of bytes in
the data structure to send.
If this argument is not specified then the whole data structure (valid part of rawbytes ) will
be sent to the remote computer.
Continues on next page
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1.167. SocketSend - Send data to remote computer
Socket Messaging
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470
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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 is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
It’s possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketSend are illustrated below.
Example 1
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Create and connect the socket in error handlers
SocketSend client_socket \Str := "Hello server";
SocketReceive client_socket \Str := receive_string;
...
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
client_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC client_recover()
SocketClose client_socket;
SocketCreate client_socket;
SocketConnect client_socket, "192.168.0.2", 1025;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
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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 applications.
Basic examples
Basic examples of the instruction SocketSend are illustrated below.
See also More examples on page 470 .
Example 1
SocketSend socket1 \Str := "Hello world";
Sends the message "Hello world" to the remote computer.
Arguments
SocketSend Socket [ \Str ] | [ \RawData ] | [ \Data] [ \NoOfBytes ]
Socket
Data type: socketdev
In client application the socket to send from must already be created and connected.
In server application the socket to send to must already be accepted.
[ \Str ]
Data type: string
The string to send to the remote computer.
[ \RawData ]
Data type: rawbytes
The rawbytes data to send to the remote computer.
[ \Data ]
Data type: array of byte
The data in the byte array to send to the remote computer.
Only one of the option parameters \Str , \RawData , or \Data can be used at the same time.
[ \NoOfBytes ]
Data type: num
If this argument is specified only this number of bytes will be sent to the remote computer.
The call to SocketSend will fail if \NoOfBytes is larger than the actual number of bytes in
the data structure to send.
If this argument is not specified then the whole data structure (valid part of rawbytes ) will
be sent to the remote computer.
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Socket Messaging
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470
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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 is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
It’s possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketSend are illustrated below.
Example 1
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Create and connect the socket in error handlers
SocketSend client_socket \Str := "Hello server";
SocketReceive client_socket \Str := receive_string;
...
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
client_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC client_recover()
SocketClose client_socket;
SocketCreate client_socket;
SocketConnect client_socket, "192.168.0.2", 1025;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
Continued
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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 socket in error
handlers. In this way the program can handle power fail restart.
In the procedure client_recover the client socket is created and connected to a remote
computer server with IP-address 192.168.0.2 on port 1025 .
In the communication procedure client_messaging the client sends "Hello server" to
the server and the server responds with "Hello client" to the client, which is stored in the
variable receive_string .
Example 2
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Send cr and lf to the server
SocketSend client_socket \Str := "\0D\0A";
...
ENDPROC
This is an example of a client program that sends non printable characters (binary data) in a
string. This can be useful if communicating with sensors or other clients that requires such
characters.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It’s up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before the next sequence
of SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The size of the data to send is limited to 1024 bytes.
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
Continued
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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 is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
It’s possible to mix the used data type ( string , rawbytes , or array of byte ) between
SocketSend and SocketReceive .
More examples
More examples of the instruction SocketSend are illustrated below.
Example 1
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Create and connect the socket in error handlers
SocketSend client_socket \Str := "Hello server";
SocketReceive client_socket \Str := receive_string;
...
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
client_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC client_recover()
SocketClose client_socket;
SocketCreate client_socket;
SocketConnect client_socket, "192.168.0.2", 1025;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
Continued
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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 socket in error
handlers. In this way the program can handle power fail restart.
In the procedure client_recover the client socket is created and connected to a remote
computer server with IP-address 192.168.0.2 on port 1025 .
In the communication procedure client_messaging the client sends "Hello server" to
the server and the server responds with "Hello client" to the client, which is stored in the
variable receive_string .
Example 2
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Send cr and lf to the server
SocketSend client_socket \Str := "\0D\0A";
...
ENDPROC
This is an example of a client program that sends non printable characters (binary data) in a
string. This can be useful if communicating with sensors or other clients that requires such
characters.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It’s up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before the next sequence
of SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The size of the data to send is limited to 1024 bytes.
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
Continued
Continues on next page
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 > ]
| [ \Data ´:=´ < array {*} ( IN ) of byte > ]
[ ’\’ NoOfBytes ´:=´ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Use of non printable characters (binary
data) in string literals.
Technical reference manual - RAPID kernel ,
section String literals
Continued
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| 474
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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 socket in error
handlers. In this way the program can handle power fail restart.
In the procedure client_recover the client socket is created and connected to a remote
computer server with IP-address 192.168.0.2 on port 1025 .
In the communication procedure client_messaging the client sends "Hello server" to
the server and the server responds with "Hello client" to the client, which is stored in the
variable receive_string .
Example 2
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Send cr and lf to the server
SocketSend client_socket \Str := "\0D\0A";
...
ENDPROC
This is an example of a client program that sends non printable characters (binary data) in a
string. This can be useful if communicating with sensors or other clients that requires such
characters.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It’s up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend -
SocketReceive in the client or server program must be completed before the next sequence
of SocketSend - SocketReceive ).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The size of the data to send is limited to 1024 bytes.
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
Continued
Continues on next page
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 > ]
| [ \Data ´:=´ < array {*} ( IN ) of byte > ]
[ ’\’ NoOfBytes ´:=´ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Use of non printable characters (binary
data) in string literals.
Technical reference manual - RAPID kernel ,
section String literals
Continued
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 mechanical unit.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any motion tasks.
Basic examples
Basic examples of the instruction SoftAct are illustrated below.
Example 1
SoftAct 3, 20;
Activation of soft servo on robot axis 3 with softness value 20% .
Example 2
SoftAct 1, 90 \Ramp:=150;
Activation of the soft servo on robot axis 1 with softness value 90% and ramp factor 150% .
Example 3
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;
Activation of soft servo on axis 1 for the mechanical unit orbit1 with softness value 40%
and ramp factor 120% .
Arguments
SoftAct[\MechUnit] Axis Softness [\Ramp]
[ \MechUnit ]
Mechanical Unit
Data type: mecunit
The name of the mechanical unit. If this argument is omitted then it means activation of the
soft servo for specified robot axis in the current program task.
Axis
Data type: num
Number of the robot or external axis to work with soft servo.
Softness
Data type: num
Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness), and 100%
denotes max. softness.
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the engagement of the
soft servo. A factor 100% denotes the normal value; with greater values the soft servo is
engaged more slowly (longer ramp). The default value for ramp factor is 100 %.
Continues on next page
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ABB_Technical_Reference_Manual
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| 475
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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 > ]
| [ \Data ´:=´ < array {*} ( IN ) of byte > ]
[ ’\’ NoOfBytes ´:=´ < expression ( IN ) of num > ] ’;’
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control , section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Use of non printable characters (binary
data) in string literals.
Technical reference manual - RAPID kernel ,
section String literals
Continued
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 mechanical unit.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any motion tasks.
Basic examples
Basic examples of the instruction SoftAct are illustrated below.
Example 1
SoftAct 3, 20;
Activation of soft servo on robot axis 3 with softness value 20% .
Example 2
SoftAct 1, 90 \Ramp:=150;
Activation of the soft servo on robot axis 1 with softness value 90% and ramp factor 150% .
Example 3
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;
Activation of soft servo on axis 1 for the mechanical unit orbit1 with softness value 40%
and ramp factor 120% .
Arguments
SoftAct[\MechUnit] Axis Softness [\Ramp]
[ \MechUnit ]
Mechanical Unit
Data type: mecunit
The name of the mechanical unit. If this argument is omitted then it means activation of the
soft servo for specified robot axis in the current program task.
Axis
Data type: num
Number of the robot or external axis to work with soft servo.
Softness
Data type: num
Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness), and 100%
denotes max. softness.
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the engagement of the
soft servo. A factor 100% denotes the normal value; with greater values the soft servo is
engaged more slowly (longer ramp). The default value for ramp factor is 100 %.
Continues on next page
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 programmed for the current axis or until the soft
servo is deactivated by the instruction SoftDeact .
Limitations
Soft servo for any robot or external axis is always deactivated when there is a power failure.
This limitation can be handled in the user program when restarting after a power failure.
The same axis must not be activated twice unless there is a moving instruction in between.
Thus, the following program sequence should be avoided. Otherwise there will be a jerk in
the robot movement:
SoftAct n , x ;
SoftAct n , y ;
(n = robot axis n, x, and y softness values)
Syntax
SoftAct
[’\’MechUnit ’:=’ < variable ( VAR ) of mecunit>´,´]
[Axis ’:=’ ] < expression ( IN ) of num> ’,’
[Softness’:=’ ] < expression ( IN ) of num> ´,´
[ ’\’Ramp’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Deactivate soft servo
SoftDeact - Deactivating the soft servo on page
475
Behavior with the soft servo engaged
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Configuration of external axes
Application manual - Additional axes and stand
alone controller , section Axes Configuration - Soft
servo
Continued
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| 476
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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 mechanical unit.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any motion tasks.
Basic examples
Basic examples of the instruction SoftAct are illustrated below.
Example 1
SoftAct 3, 20;
Activation of soft servo on robot axis 3 with softness value 20% .
Example 2
SoftAct 1, 90 \Ramp:=150;
Activation of the soft servo on robot axis 1 with softness value 90% and ramp factor 150% .
Example 3
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;
Activation of soft servo on axis 1 for the mechanical unit orbit1 with softness value 40%
and ramp factor 120% .
Arguments
SoftAct[\MechUnit] Axis Softness [\Ramp]
[ \MechUnit ]
Mechanical Unit
Data type: mecunit
The name of the mechanical unit. If this argument is omitted then it means activation of the
soft servo for specified robot axis in the current program task.
Axis
Data type: num
Number of the robot or external axis to work with soft servo.
Softness
Data type: num
Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness), and 100%
denotes max. softness.
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the engagement of the
soft servo. A factor 100% denotes the normal value; with greater values the soft servo is
engaged more slowly (longer ramp). The default value for ramp factor is 100 %.
Continues on next page
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 programmed for the current axis or until the soft
servo is deactivated by the instruction SoftDeact .
Limitations
Soft servo for any robot or external axis is always deactivated when there is a power failure.
This limitation can be handled in the user program when restarting after a power failure.
The same axis must not be activated twice unless there is a moving instruction in between.
Thus, the following program sequence should be avoided. Otherwise there will be a jerk in
the robot movement:
SoftAct n , x ;
SoftAct n , y ;
(n = robot axis n, x, and y softness values)
Syntax
SoftAct
[’\’MechUnit ’:=’ < variable ( VAR ) of mecunit>´,´]
[Axis ’:=’ ] < expression ( IN ) of num> ’,’
[Softness’:=’ ] < expression ( IN ) of num> ´,´
[ ’\’Ramp’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Deactivate soft servo
SoftDeact - Deactivating the soft servo on page
475
Behavior with the soft servo engaged
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Configuration of external axes
Application manual - Additional axes and stand
alone controller , section Axes Configuration - Soft
servo
Continued
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 examples of the instruction SoftDeact are illustrated below.
Example 1
SoftDeact;
Deactivating the soft servo on all axes.
Example 2
SoftDeact \Ramp:=150;
Deactivating the soft servo on all axes, with ramp factor 150 %.
Arguments
SoftDeact
[\Ramp]
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100 %). The ramp factor is used to control the deactivating of the
soft servo. A factor 100% denotes the normal value. With greater values the soft servo is
deactivated more slowly (longer ramp). The default value for ramp factor is 100 %.
Program execution
The soft servo is deactivated for the mechanical units that are controlled from current
program task. If SoftDeact is done from a non-motion task, the soft servo is deactivated for
the mechanical unit controlled by the connected motion task. Executing a SoftDeact when
in synchronized movement mode, soft servo will be deactivated for all mechanical units that
are synchronized.
When deactivating soft servo with SoftDeact the robot will move to the programmed
position even if the robot has moved out of position during soft servo activation.
Syntax
SoftDeact
[ ’\’Ramp ’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Activating the soft servo
SoftAct - Activating the soft servo on page 473
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ABB_Technical_Reference_Manual
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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 programmed for the current axis or until the soft
servo is deactivated by the instruction SoftDeact .
Limitations
Soft servo for any robot or external axis is always deactivated when there is a power failure.
This limitation can be handled in the user program when restarting after a power failure.
The same axis must not be activated twice unless there is a moving instruction in between.
Thus, the following program sequence should be avoided. Otherwise there will be a jerk in
the robot movement:
SoftAct n , x ;
SoftAct n , y ;
(n = robot axis n, x, and y softness values)
Syntax
SoftAct
[’\’MechUnit ’:=’ < variable ( VAR ) of mecunit>´,´]
[Axis ’:=’ ] < expression ( IN ) of num> ’,’
[Softness’:=’ ] < expression ( IN ) of num> ´,´
[ ’\’Ramp’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Deactivate soft servo
SoftDeact - Deactivating the soft servo on page
475
Behavior with the soft servo engaged
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Configuration of external axes
Application manual - Additional axes and stand
alone controller , section Axes Configuration - Soft
servo
Continued
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 examples of the instruction SoftDeact are illustrated below.
Example 1
SoftDeact;
Deactivating the soft servo on all axes.
Example 2
SoftDeact \Ramp:=150;
Deactivating the soft servo on all axes, with ramp factor 150 %.
Arguments
SoftDeact
[\Ramp]
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100 %). The ramp factor is used to control the deactivating of the
soft servo. A factor 100% denotes the normal value. With greater values the soft servo is
deactivated more slowly (longer ramp). The default value for ramp factor is 100 %.
Program execution
The soft servo is deactivated for the mechanical units that are controlled from current
program task. If SoftDeact is done from a non-motion task, the soft servo is deactivated for
the mechanical unit controlled by the connected motion task. Executing a SoftDeact when
in synchronized movement mode, soft servo will be deactivated for all mechanical units that
are synchronized.
When deactivating soft servo with SoftDeact the robot will move to the programmed
position even if the robot has moved out of position during soft servo activation.
Syntax
SoftDeact
[ ’\’Ramp ’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Activating the soft servo
SoftAct - Activating the soft servo on page 473
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 movement in
current motion program task. With this instruction it is possible to create some type of coarse
speed adaptation from some sensor input.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any Motion tasks.
Basic examples
Basic examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR num change_speed:=70;
SpeedRefresh change_speed;
This will change the current speed override to 70%.
Arguments
SpeedRefresh Override
Override
Data type: num
The speed override value within range 0 ... 100 %.
Program execution
The actual speed override value for the ongoing movements of robot and external units in
current motion program task will be updated.
All speed data components for any mechanical units in current motion task will be influenced.
This speed override value generated with this instruction will replace any speed override
value generated from FlexPendant for this motion task (no influence on other motion tasks).
If the override speed used for the instruction SpeedRefresh exceeds the value set from the
FlexPendant, the lowest value will be used. This means, that the speed can not be increased
above the speed set from the FlexPendant.
If a PP to main is done or if a new program is loaded, the speed that was set with
SpeedRefresh will be resetted, and the speed set from the FlexPendant will be applied.
Continues on next page
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| 478
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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 examples of the instruction SoftDeact are illustrated below.
Example 1
SoftDeact;
Deactivating the soft servo on all axes.
Example 2
SoftDeact \Ramp:=150;
Deactivating the soft servo on all axes, with ramp factor 150 %.
Arguments
SoftDeact
[\Ramp]
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100 %). The ramp factor is used to control the deactivating of the
soft servo. A factor 100% denotes the normal value. With greater values the soft servo is
deactivated more slowly (longer ramp). The default value for ramp factor is 100 %.
Program execution
The soft servo is deactivated for the mechanical units that are controlled from current
program task. If SoftDeact is done from a non-motion task, the soft servo is deactivated for
the mechanical unit controlled by the connected motion task. Executing a SoftDeact when
in synchronized movement mode, soft servo will be deactivated for all mechanical units that
are synchronized.
When deactivating soft servo with SoftDeact the robot will move to the programmed
position even if the robot has moved out of position during soft servo activation.
Syntax
SoftDeact
[ ’\’Ramp ’:=’ < expression ( IN ) of num> ]’;’
Related information
For information about
See
Activating the soft servo
SoftAct - Activating the soft servo on page 473
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 movement in
current motion program task. With this instruction it is possible to create some type of coarse
speed adaptation from some sensor input.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any Motion tasks.
Basic examples
Basic examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR num change_speed:=70;
SpeedRefresh change_speed;
This will change the current speed override to 70%.
Arguments
SpeedRefresh Override
Override
Data type: num
The speed override value within range 0 ... 100 %.
Program execution
The actual speed override value for the ongoing movements of robot and external units in
current motion program task will be updated.
All speed data components for any mechanical units in current motion task will be influenced.
This speed override value generated with this instruction will replace any speed override
value generated from FlexPendant for this motion task (no influence on other motion tasks).
If the override speed used for the instruction SpeedRefresh exceeds the value set from the
FlexPendant, the lowest value will be used. This means, that the speed can not be increased
above the speed set from the FlexPendant.
If a PP to main is done or if a new program is loaded, the speed that was set with
SpeedRefresh will be resetted, and the speed set from the FlexPendant will be applied.
Continues on next page
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1.170. SpeedRefresh - Update speed override for ongoing movement
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© 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 time_int WITH speed_refresh;
ITimer 0.1, time_int;
ISleep time_int;
...
MoveL p1, v100, fine, tool2;
! Read current speed override set from FlexPendant
override := CSpeedOverride (\CTask);
IWatch time_int;
MoveL p2, v100, fine, tool2;
IDelete time_int;
! Reset to FlexPendant old speed override
WaitTime 0.5;
SpeedRefresh override;
...
TRAP speed_refresh
VAR speed_corr;
! Analog input signal value from sensor, value 0 ... 10
speed_corr := (ai_sensor * 10);
SpeedRefresh speed_corr;
ERROR
IF ERRNO = ERR_SPEED_REFRESH_LIM THEN
IF speed_corr > 100 speed_corr := 100;
IF speed_corr < 0 speed_corr := 0;
RETRY;
ENDIF
ENDTRAP
During the robot movement from position p1 to p2 , the speed override value is updated every
0.1 s in the TRAP speed_refresh . The analog input signal ai_sensor is used for
calculation of Overide value for the instruction SpeedRefresh . There is no TRAP
execution before and after the robot movement between p1 and p2 . The manual speed
override from FlexPendant is restored. After that the robot has to reach p2 .
Error handling
If Override has a value outside the range of 0 to 100 % then the ERRNO variable will be s et
to ERR_SPEED_REFRESH_LIM . This error is recoverable and can be handled in the ERROR
handler.
Continued
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1.170. SpeedRefresh - Update speed override for ongoing movement
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© 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 movement in
current motion program task. With this instruction it is possible to create some type of coarse
speed adaptation from some sensor input.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any Motion tasks.
Basic examples
Basic examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR num change_speed:=70;
SpeedRefresh change_speed;
This will change the current speed override to 70%.
Arguments
SpeedRefresh Override
Override
Data type: num
The speed override value within range 0 ... 100 %.
Program execution
The actual speed override value for the ongoing movements of robot and external units in
current motion program task will be updated.
All speed data components for any mechanical units in current motion task will be influenced.
This speed override value generated with this instruction will replace any speed override
value generated from FlexPendant for this motion task (no influence on other motion tasks).
If the override speed used for the instruction SpeedRefresh exceeds the value set from the
FlexPendant, the lowest value will be used. This means, that the speed can not be increased
above the speed set from the FlexPendant.
If a PP to main is done or if a new program is loaded, the speed that was set with
SpeedRefresh will be resetted, and the speed set from the FlexPendant will be applied.
Continues on next page
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 time_int WITH speed_refresh;
ITimer 0.1, time_int;
ISleep time_int;
...
MoveL p1, v100, fine, tool2;
! Read current speed override set from FlexPendant
override := CSpeedOverride (\CTask);
IWatch time_int;
MoveL p2, v100, fine, tool2;
IDelete time_int;
! Reset to FlexPendant old speed override
WaitTime 0.5;
SpeedRefresh override;
...
TRAP speed_refresh
VAR speed_corr;
! Analog input signal value from sensor, value 0 ... 10
speed_corr := (ai_sensor * 10);
SpeedRefresh speed_corr;
ERROR
IF ERRNO = ERR_SPEED_REFRESH_LIM THEN
IF speed_corr > 100 speed_corr := 100;
IF speed_corr < 0 speed_corr := 0;
RETRY;
ENDIF
ENDTRAP
During the robot movement from position p1 to p2 , the speed override value is updated every
0.1 s in the TRAP speed_refresh . The analog input signal ai_sensor is used for
calculation of Overide value for the instruction SpeedRefresh . There is no TRAP
execution before and after the robot movement between p1 and p2 . The manual speed
override from FlexPendant is restored. After that the robot has to reach p2 .
Error handling
If Override has a value outside the range of 0 to 100 % then the ERRNO variable will be s et
to ERR_SPEED_REFRESH_LIM . This error is recoverable and can be handled in the ERROR
handler.
Continued
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1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
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© 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 order and influence on the physical robot.
The user is responsible to reset the speed override value from the RAPID program after the
SpeedRefresh sequence.
The override speed can not be increased above the speed override set from the FlexPendant.
If SpeedRefresh is used in the START or in the RESET event routine, the speed that is set
is always the actual FlexPendant speed override.
Syntax
SpeedRefresh
[ Override ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID
overview , section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Read current speed override
CSpeedOverride - Reads the current override
speed on page 810
Continued
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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 time_int WITH speed_refresh;
ITimer 0.1, time_int;
ISleep time_int;
...
MoveL p1, v100, fine, tool2;
! Read current speed override set from FlexPendant
override := CSpeedOverride (\CTask);
IWatch time_int;
MoveL p2, v100, fine, tool2;
IDelete time_int;
! Reset to FlexPendant old speed override
WaitTime 0.5;
SpeedRefresh override;
...
TRAP speed_refresh
VAR speed_corr;
! Analog input signal value from sensor, value 0 ... 10
speed_corr := (ai_sensor * 10);
SpeedRefresh speed_corr;
ERROR
IF ERRNO = ERR_SPEED_REFRESH_LIM THEN
IF speed_corr > 100 speed_corr := 100;
IF speed_corr < 0 speed_corr := 0;
RETRY;
ENDIF
ENDTRAP
During the robot movement from position p1 to p2 , the speed override value is updated every
0.1 s in the TRAP speed_refresh . The analog input signal ai_sensor is used for
calculation of Overide value for the instruction SpeedRefresh . There is no TRAP
execution before and after the robot movement between p1 and p2 . The manual speed
override from FlexPendant is restored. After that the robot has to reach p2 .
Error handling
If Override has a value outside the range of 0 to 100 % then the ERRNO variable will be s et
to ERR_SPEED_REFRESH_LIM . This error is recoverable and can be handled in the ERROR
handler.
Continued
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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 order and influence on the physical robot.
The user is responsible to reset the speed override value from the RAPID program after the
SpeedRefresh sequence.
The override speed can not be increased above the speed override set from the FlexPendant.
If SpeedRefresh is used in the START or in the RESET event routine, the speed that is set
is always the actual FlexPendant speed override.
Syntax
SpeedRefresh
[ Override ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID
overview , section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Read current speed override
CSpeedOverride - Reads the current override
speed on page 810
Continued
1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
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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 execution data will be stored in a file for later analysis.
The stored data is intended for debugging RAPID programs, specifically for multi-tasking
systems (only necessary to have SpyStart - SpyStop in one program task).
Basic examples
Basic examples of the instruction SpyStart are illustrated below.
Example 1
SpyStart "HOME:/spy.log";
Starts recording the execution time data in the file spy.log on the HOME : disk.
Arguments
SpyStart File
File
Data type: string
The file path and the file name to the file that will contain the execution data.
Program execution
The specified file is opened for writing and the execution time data begins recording in the
file.
Recording of execution time data is active until:
•
execution of instruction SpyStop
•
starting program execution from the beginning
•
loading a new program
•
next warm start-up
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Error handling
If the file in the SpyStart instruction can’t be opened then the system variable ERRNO is set
to ERR_FILEOPEN (see "Data types - errnum "). This error can then be handled in the error
handler.
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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 order and influence on the physical robot.
The user is responsible to reset the speed override value from the RAPID program after the
SpeedRefresh sequence.
The override speed can not be increased above the speed override set from the FlexPendant.
If SpeedRefresh is used in the START or in the RESET event routine, the speed that is set
is always the actual FlexPendant speed override.
Syntax
SpeedRefresh
[ Override ’:=’ ] < expression ( IN ) of num > ’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID
overview , section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Read current speed override
CSpeedOverride - Reads the current override
speed on page 810
Continued
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 execution data will be stored in a file for later analysis.
The stored data is intended for debugging RAPID programs, specifically for multi-tasking
systems (only necessary to have SpyStart - SpyStop in one program task).
Basic examples
Basic examples of the instruction SpyStart are illustrated below.
Example 1
SpyStart "HOME:/spy.log";
Starts recording the execution time data in the file spy.log on the HOME : disk.
Arguments
SpyStart File
File
Data type: string
The file path and the file name to the file that will contain the execution data.
Program execution
The specified file is opened for writing and the execution time data begins recording in the
file.
Recording of execution time data is active until:
•
execution of instruction SpyStop
•
starting program execution from the beginning
•
loading a new program
•
next warm start-up
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Error handling
If the file in the SpyStart instruction can’t be opened then the system variable ERRNO is set
to ERR_FILEOPEN (see "Data types - errnum "). This error can then be handled in the error
handler.
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1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
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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 entering the executed instruction.
CODE column shows if the instruction is READY or the instruction WAIT for completion at
OUT time.
OUT column shows the time in ms upon leaving the executed instruction.
All times are given in ms (relative values).
SYSTEM TRAP means that the system is doing something else than execution of RAPID
instructions.
If the procedure calls to some NOSTEPIN procedure (module) then the output list shows only
the name of the called procedure. This is repeated for every executed instruction in the
NOSTEPIN routine.
Syntax
SpyStart
[File’:=’]<expression ( IN ) of string>’;’
Related information
TASK
INSTR
IN
CODE
OUT
MAIN
FOR i FROM 1 TO 3 DO
0
READY
0
MAIN
mynum:=mynum+i;
1
READY
1
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
3
MAIN
SetDo1,1;
3
READY
3
MAIN
IF di1=0 THEN
3
READY
4
MAIN
MoveL p1, v1000, fine, tool0;
4
WAIT
14
SYSTEM
TRAP
MAIN
MoveL p1, v1000, fine, tool0;
111
READY
111
MAIN
ENDIF
108
READY
108
MAIN
MoveL p2, v1000, fine, tool0;
111
WAIT
118
SYSTEM
TRAP
MAIN
MoveL p2, v1000, fine, tool0;
326
READY
326
MAIN
SpyStop;
326
READY
For information about
See
Stop recording of execution data
SpyStop - Stop recording of time execution
data on page 481
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1 Instructions
1.171. SpyStart - Start recording of execution time data
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479
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© 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 execution data will be stored in a file for later analysis.
The stored data is intended for debugging RAPID programs, specifically for multi-tasking
systems (only necessary to have SpyStart - SpyStop in one program task).
Basic examples
Basic examples of the instruction SpyStart are illustrated below.
Example 1
SpyStart "HOME:/spy.log";
Starts recording the execution time data in the file spy.log on the HOME : disk.
Arguments
SpyStart File
File
Data type: string
The file path and the file name to the file that will contain the execution data.
Program execution
The specified file is opened for writing and the execution time data begins recording in the
file.
Recording of execution time data is active until:
•
execution of instruction SpyStop
•
starting program execution from the beginning
•
loading a new program
•
next warm start-up
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Error handling
If the file in the SpyStart instruction can’t be opened then the system variable ERRNO is set
to ERR_FILEOPEN (see "Data types - errnum "). This error can then be handled in the error
handler.
Continues on next page
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 entering the executed instruction.
CODE column shows if the instruction is READY or the instruction WAIT for completion at
OUT time.
OUT column shows the time in ms upon leaving the executed instruction.
All times are given in ms (relative values).
SYSTEM TRAP means that the system is doing something else than execution of RAPID
instructions.
If the procedure calls to some NOSTEPIN procedure (module) then the output list shows only
the name of the called procedure. This is repeated for every executed instruction in the
NOSTEPIN routine.
Syntax
SpyStart
[File’:=’]<expression ( IN ) of string>’;’
Related information
TASK
INSTR
IN
CODE
OUT
MAIN
FOR i FROM 1 TO 3 DO
0
READY
0
MAIN
mynum:=mynum+i;
1
READY
1
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
3
MAIN
SetDo1,1;
3
READY
3
MAIN
IF di1=0 THEN
3
READY
4
MAIN
MoveL p1, v1000, fine, tool0;
4
WAIT
14
SYSTEM
TRAP
MAIN
MoveL p1, v1000, fine, tool0;
111
READY
111
MAIN
ENDIF
108
READY
108
MAIN
MoveL p2, v1000, fine, tool0;
111
WAIT
118
SYSTEM
TRAP
MAIN
MoveL p2, v1000, fine, tool0;
326
READY
326
MAIN
SpyStop;
326
READY
For information about
See
Stop recording of execution data
SpyStop - Stop recording of time execution
data on page 481
Continued
1 Instructions
1.172. SpyStop - Stop recording of time execution data
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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 useful for optimizing the execution cycle time, is stored in a file for
later analysis.
Basic examples
Basic examples of the instruction SpyStop are illustrated below.
See also More examples on page 481 .
Example 1
SpyStop;
Stops recording the execution time data in the file specified by the previous SpyStart
instruction.
Program execution
The execution data recording is stopped and the file specified by the previous SpyStart
instruction is closed. If no SpyStart instruction has been executed before then the SpyStop
instruction is ignored.
More examples
More examples of the instruction SpyStop are illustrated below.
Example 1
IF debug = TRUE SpyStart "HOME:/spy.log";
produce_sheets;
IF debug = TRUE SpyStop;
If the debug flag is true then start recording execution data in the file spy.log on the HOME :
disk. Perform actual production; stop recording, and close the file spy.log .
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Syntax
SpyStop’;’
Related information
For information about
See
Start recording of execution data
SpyStart - Start recording of execution time data
on page 479
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1.171. SpyStart - Start recording of execution time data
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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 entering the executed instruction.
CODE column shows if the instruction is READY or the instruction WAIT for completion at
OUT time.
OUT column shows the time in ms upon leaving the executed instruction.
All times are given in ms (relative values).
SYSTEM TRAP means that the system is doing something else than execution of RAPID
instructions.
If the procedure calls to some NOSTEPIN procedure (module) then the output list shows only
the name of the called procedure. This is repeated for every executed instruction in the
NOSTEPIN routine.
Syntax
SpyStart
[File’:=’]<expression ( IN ) of string>’;’
Related information
TASK
INSTR
IN
CODE
OUT
MAIN
FOR i FROM 1 TO 3 DO
0
READY
0
MAIN
mynum:=mynum+i;
1
READY
1
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
3
MAIN
SetDo1,1;
3
READY
3
MAIN
IF di1=0 THEN
3
READY
4
MAIN
MoveL p1, v1000, fine, tool0;
4
WAIT
14
SYSTEM
TRAP
MAIN
MoveL p1, v1000, fine, tool0;
111
READY
111
MAIN
ENDIF
108
READY
108
MAIN
MoveL p2, v1000, fine, tool0;
111
WAIT
118
SYSTEM
TRAP
MAIN
MoveL p2, v1000, fine, tool0;
326
READY
326
MAIN
SpyStop;
326
READY
For information about
See
Stop recording of execution data
SpyStop - Stop recording of time execution
data on page 481
Continued
1 Instructions
1.172. SpyStop - Stop recording of time execution data
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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 useful for optimizing the execution cycle time, is stored in a file for
later analysis.
Basic examples
Basic examples of the instruction SpyStop are illustrated below.
See also More examples on page 481 .
Example 1
SpyStop;
Stops recording the execution time data in the file specified by the previous SpyStart
instruction.
Program execution
The execution data recording is stopped and the file specified by the previous SpyStart
instruction is closed. If no SpyStart instruction has been executed before then the SpyStop
instruction is ignored.
More examples
More examples of the instruction SpyStop are illustrated below.
Example 1
IF debug = TRUE SpyStart "HOME:/spy.log";
produce_sheets;
IF debug = TRUE SpyStop;
If the debug flag is true then start recording execution data in the file spy.log on the HOME :
disk. Perform actual production; stop recording, and close the file spy.log .
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Syntax
SpyStop’;’
Related information
For information about
See
Start recording of execution data
SpyStart - Start recording of execution time data
on page 479
1 Instructions
1.173. StartLoad - Load a program module during execution
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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
execution.
When loading is in progress other instructions can be executed in parallel. The loaded module
must be connected to the program task with the instruction WaitLoad before any of its
symbols/routines can be used.
The loaded program module will be added to the modules already existing in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode. Depending
on the used mode, some operations will unload the module or not affect the module at all.
Static mode
The following table shows how two different operations affect a static loaded program or
system modules.
Dynamic mode
The following table shows how two different operations affect a dynamic loaded program or
system modules.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Set PP to main from TP
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Set PP to main from TP
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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1 Instructions
1.172. SpyStop - Stop recording of time execution data
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© 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 useful for optimizing the execution cycle time, is stored in a file for
later analysis.
Basic examples
Basic examples of the instruction SpyStop are illustrated below.
See also More examples on page 481 .
Example 1
SpyStop;
Stops recording the execution time data in the file specified by the previous SpyStart
instruction.
Program execution
The execution data recording is stopped and the file specified by the previous SpyStart
instruction is closed. If no SpyStart instruction has been executed before then the SpyStop
instruction is ignored.
More examples
More examples of the instruction SpyStop are illustrated below.
Example 1
IF debug = TRUE SpyStart "HOME:/spy.log";
produce_sheets;
IF debug = TRUE SpyStop;
If the debug flag is true then start recording execution data in the file spy.log on the HOME :
disk. Perform actual production; stop recording, and close the file spy.log .
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Syntax
SpyStop’;’
Related information
For information about
See
Start recording of execution data
SpyStart - Start recording of execution time data
on page 479
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
execution.
When loading is in progress other instructions can be executed in parallel. The loaded module
must be connected to the program task with the instruction WaitLoad before any of its
symbols/routines can be used.
The loaded program module will be added to the modules already existing in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode. Depending
on the used mode, some operations will unload the module or not affect the module at all.
Static mode
The following table shows how two different operations affect a static loaded program or
system modules.
Dynamic mode
The following table shows how two different operations affect a dynamic loaded program or
system modules.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Set PP to main from TP
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Set PP to main from TP
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
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© 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;
! Start loading of new program module PART_B containing routine
routine_b in dynamic mode
StartLoad \Dynamic, diskhome \File:="PART_B.MOD", load1;
! Executing in parallel in old module PART_A containing routine_a
%"routine_a"%;
! Unload of old program module PART_A
UnLoad diskhome \File:="PART_A.MOD";
! Wait until loading and linking of new program module PART_B is
ready
WaitLoad load1;
! Execution in new program module PART_B
%"routine_b"%;
Starts the loading of program module PART_B.MOD from diskhome into the program
memory with instruction StartLoad . In parallel with the loading the program executes
routine_a in module PART_A.MOD . Then instruction WaitLoad waits until the loading
and linking is finished. The module is loaded in dynamic mode.
Variable load1 holds the identity of the load session updated by StartLoad and referenced
by WaitLoad .
To save linking time the instruction UnLoad and WaitLoad can be combined in the
instruction WaitLoad by using the option argument \UnLoadPath.
Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo
[\Dynamic]
Data type: switch
The switch enables loading of a program module in dynamic mode. Otherwise the loading 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 it must be defined with this
argument.
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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
execution.
When loading is in progress other instructions can be executed in parallel. The loaded module
must be connected to the program task with the instruction WaitLoad before any of its
symbols/routines can be used.
The loaded program module will be added to the modules already existing in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode. Depending
on the used mode, some operations will unload the module or not affect the module at all.
Static mode
The following table shows how two different operations affect a static loaded program or
system modules.
Dynamic mode
The following table shows how two different operations affect a dynamic loaded program or
system modules.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad .
Set PP to main from TP
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Set PP to main from TP
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
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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;
! Start loading of new program module PART_B containing routine
routine_b in dynamic mode
StartLoad \Dynamic, diskhome \File:="PART_B.MOD", load1;
! Executing in parallel in old module PART_A containing routine_a
%"routine_a"%;
! Unload of old program module PART_A
UnLoad diskhome \File:="PART_A.MOD";
! Wait until loading and linking of new program module PART_B is
ready
WaitLoad load1;
! Execution in new program module PART_B
%"routine_b"%;
Starts the loading of program module PART_B.MOD from diskhome into the program
memory with instruction StartLoad . In parallel with the loading the program executes
routine_a in module PART_A.MOD . Then instruction WaitLoad waits until the loading
and linking is finished. The module is loaded in dynamic mode.
Variable load1 holds the identity of the load session updated by StartLoad and referenced
by WaitLoad .
To save linking time the instruction UnLoad and WaitLoad can be combined in the
instruction WaitLoad by using the option argument \UnLoadPath.
Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo
[\Dynamic]
Data type: switch
The switch enables loading of a program module in dynamic mode. Otherwise the loading 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 it must be defined with this
argument.
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1 Instructions
1.173. StartLoad - Load a program module during execution
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© 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 module to the program task.
Program execution
Execution of StartLoad will only order the loading and then proceed directly with the next
instruction without waiting for the loading to be completed.
The instruction WaitLoad will then wait at first for the loading to be completed if it is not
already finished, and then it will be linked and initialized. The initiation of the loaded module
sets all variables at module level to their initial values.
Unresolved references will default be accepted for this loading operation StartLoad -
WaitLoad , but it will be a run time error on execution of an unresolved reference.
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 instruction Load .
More examples
More examples of how to use the instruction StartLoad are illustrated below.
Example 1
StartLoad \Dynamic, "HOME:/DOORDIR/DOOR1.MOD", load1;
Loads the program module DOOR1.MOD from the HOME: at the directory DOORDIR into the
program memory. The program module is loaded in dynamic mode.
Example 2
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in example 1 but with another syntax.
Example 3
StartLoad "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in examples 1 and 2 above but the module is loaded in static mode.
Example 4
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
WaitLoad load1;
is the same as
Load \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD";
Error handling
If the file specified in the instruction cannot be found then the system variable ERRNO is set
to ERR_FILNOTFND . This error can then be handled in the error handler.
If the variable specified in argument LoadNo is already in use then the system variable
ERRNO is set to ERR_LOADNO_INUSE . This error can then be handled in the error handler.
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1 Instructions
1.173. StartLoad - Load a program module during execution
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© 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;
! Start loading of new program module PART_B containing routine
routine_b in dynamic mode
StartLoad \Dynamic, diskhome \File:="PART_B.MOD", load1;
! Executing in parallel in old module PART_A containing routine_a
%"routine_a"%;
! Unload of old program module PART_A
UnLoad diskhome \File:="PART_A.MOD";
! Wait until loading and linking of new program module PART_B is
ready
WaitLoad load1;
! Execution in new program module PART_B
%"routine_b"%;
Starts the loading of program module PART_B.MOD from diskhome into the program
memory with instruction StartLoad . In parallel with the loading the program executes
routine_a in module PART_A.MOD . Then instruction WaitLoad waits until the loading
and linking is finished. The module is loaded in dynamic mode.
Variable load1 holds the identity of the load session updated by StartLoad and referenced
by WaitLoad .
To save linking time the instruction UnLoad and WaitLoad can be combined in the
instruction WaitLoad by using the option argument \UnLoadPath.
Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo
[\Dynamic]
Data type: switch
The switch enables loading of a program module in dynamic mode. Otherwise the loading 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 it must be defined with this
argument.
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1 Instructions
1.173. StartLoad - Load a program module during execution
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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 module to the program task.
Program execution
Execution of StartLoad will only order the loading and then proceed directly with the next
instruction without waiting for the loading to be completed.
The instruction WaitLoad will then wait at first for the loading to be completed if it is not
already finished, and then it will be linked and initialized. The initiation of the loaded module
sets all variables at module level to their initial values.
Unresolved references will default be accepted for this loading operation StartLoad -
WaitLoad , but it will be a run time error on execution of an unresolved reference.
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 instruction Load .
More examples
More examples of how to use the instruction StartLoad are illustrated below.
Example 1
StartLoad \Dynamic, "HOME:/DOORDIR/DOOR1.MOD", load1;
Loads the program module DOOR1.MOD from the HOME: at the directory DOORDIR into the
program memory. The program module is loaded in dynamic mode.
Example 2
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in example 1 but with another syntax.
Example 3
StartLoad "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in examples 1 and 2 above but the module is loaded in static mode.
Example 4
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
WaitLoad load1;
is the same as
Load \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD";
Error handling
If the file specified in the instruction cannot be found then the system variable ERRNO is set
to ERR_FILNOTFND . This error can then be handled in the error handler.
If the variable specified in argument LoadNo is already in use then the system variable
ERRNO is set to ERR_LOADNO_INUSE . This error can then be handled in the error handler.
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1 Instructions
1.173. StartLoad - Load a program module during execution
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StartLoad
[´\´Dynamic ´,´]
[FilePath’ :=’] <expression ( IN ) of string>
[’\’File ’:=’ <expression ( IN ) of string> ] ’,’
[LoadNo ’:=’] <variable ( VAR ) of loadsession>’;’
Related information
For information about
See
Connect the loaded module to the task
WaitLoad - Connect the loaded module to the task
on page 682
Load session
loadsession - Program load session on page 1138
Load a program module
Load - Load a program module during execution
on page 208
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Cancel loading of a program module
CancelLoad - Cancel loading of a module on page
35
Procedure call with Late binding
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines -
Procedure call
Continued
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1.173. StartLoad - Load a program module during execution
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© 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 module to the program task.
Program execution
Execution of StartLoad will only order the loading and then proceed directly with the next
instruction without waiting for the loading to be completed.
The instruction WaitLoad will then wait at first for the loading to be completed if it is not
already finished, and then it will be linked and initialized. The initiation of the loaded module
sets all variables at module level to their initial values.
Unresolved references will default be accepted for this loading operation StartLoad -
WaitLoad , but it will be a run time error on execution of an unresolved reference.
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 instruction Load .
More examples
More examples of how to use the instruction StartLoad are illustrated below.
Example 1
StartLoad \Dynamic, "HOME:/DOORDIR/DOOR1.MOD", load1;
Loads the program module DOOR1.MOD from the HOME: at the directory DOORDIR into the
program memory. The program module is loaded in dynamic mode.
Example 2
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in example 1 but with another syntax.
Example 3
StartLoad "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in examples 1 and 2 above but the module is loaded in static mode.
Example 4
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
WaitLoad load1;
is the same as
Load \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD";
Error handling
If the file specified in the instruction cannot be found then the system variable ERRNO is set
to ERR_FILNOTFND . This error can then be handled in the error handler.
If the variable specified in argument LoadNo is already in use then the system variable
ERRNO is set to ERR_LOADNO_INUSE . This error can then be handled in the error handler.
Continued
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1 Instructions
1.173. StartLoad - Load a program module during execution
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StartLoad
[´\´Dynamic ´,´]
[FilePath’ :=’] <expression ( IN ) of string>
[’\’File ’:=’ <expression ( IN ) of string> ] ’,’
[LoadNo ’:=’] <variable ( VAR ) of loadsession>’;’
Related information
For information about
See
Connect the loaded module to the task
WaitLoad - Connect the loaded module to the task
on page 682
Load session
loadsession - Program load session on page 1138
Load a program module
Load - Load a program module during execution
on page 208
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Cancel loading of a program module
CancelLoad - Cancel loading of a module on page
35
Procedure call with Late binding
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines -
Procedure call
Continued
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
•
by the instruction StopMove .
•
after execution of StorePath ... RestoPath sequence.
•
after asynchronously raised movements errors, such as ERR_PATH_STOP or specific
process error after handling in the ERROR handler.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for restart of the movement in that task.
•
any other task for restart of the movements in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, for restart of the movement in that task.
•
non motion task, for restart of the movement in the connected motion task. Besides
that, if movement is restarted in one connected motion task belonging to a coordinated
synchronized task group, the movement is restarted in all the cooperating tasks.
Basic examples
Basic examples of the instruction StartMove are illustrated below.
Example 1
StopMove;
WaitDI ready_input,1;
StartMove;
The robot starts to move again when the input ready_input is set.
Example 2
...
MoveL p100, v100, z10, tool1;
StorePath;
p:= CRobT(\Tool:=tool1);
! New temporary movement
MoveL p1, v100, fine, tool1;
...
MoveL p, v100, fine, tool1;
RestoPath;
StartMove;
...
After moving back to a stopped position p (in this example equal to p100 ), the robot starts to
move again on the basic path level.
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1 Instructions
1.173. StartLoad - Load a program module during execution
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StartLoad
[´\´Dynamic ´,´]
[FilePath’ :=’] <expression ( IN ) of string>
[’\’File ’:=’ <expression ( IN ) of string> ] ’,’
[LoadNo ’:=’] <variable ( VAR ) of loadsession>’;’
Related information
For information about
See
Connect the loaded module to the task
WaitLoad - Connect the loaded module to the task
on page 682
Load session
loadsession - Program load session on page 1138
Load a program module
Load - Load a program module during execution
on page 208
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Cancel loading of a program module
CancelLoad - Cancel loading of a module on page
35
Procedure call with Late binding
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines -
Procedure call
Continued
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
•
by the instruction StopMove .
•
after execution of StorePath ... RestoPath sequence.
•
after asynchronously raised movements errors, such as ERR_PATH_STOP or specific
process error after handling in the ERROR handler.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for restart of the movement in that task.
•
any other task for restart of the movements in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, for restart of the movement in that task.
•
non motion task, for restart of the movement in the connected motion task. Besides
that, if movement is restarted in one connected motion task belonging to a coordinated
synchronized task group, the movement is restarted in all the cooperating tasks.
Basic examples
Basic examples of the instruction StartMove are illustrated below.
Example 1
StopMove;
WaitDI ready_input,1;
StartMove;
The robot starts to move again when the input ready_input is set.
Example 2
...
MoveL p100, v100, z10, tool1;
StorePath;
p:= CRobT(\Tool:=tool1);
! New temporary movement
MoveL p1, v100, fine, tool1;
...
MoveL p, v100, fine, tool1;
RestoPath;
StartMove;
...
After moving back to a stopped position p (in this example equal to p100 ), the robot starts to
move again on the basic path level.
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1 Instructions
1.174. StartMove - Restarts robot movement
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Arguments
StartMove [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Restart the movement of all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
Program execution
Any processes associated with the stopped movement are restarted at the same time that the
motion resumes.
To restart a MultiMove application in synchronized coordinated mode, StartMove must be
executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are restarted.
In a base system without the switch \AllMotionTasks , the movements for following
mechanical units are restarted:
•
always the mechanical units in the main task, independent of which task executes the
StartMove instruction.
In a MultiMove system without the switch \AllMotionTasks the movements for the
following mechanical units are restarted:
•
the mechanical units in the motion task executing StartMove .
•
the mechanical units in the motion task that are connected to the non motion task
executing StartMove . Besides that, if mechanical units are restarted in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are restarted in all the cooperated tasks.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in a hold state at the time StartMove is executed then the system variable
ERRNO is set to ERR_STARTMOVE
If the program execution is stopped several times while regaining path movement with
StartMove then the system variable ERRNO is set to ERR_PROGSTOP
If the robot is moving at the time StartMove is executed then the system variable ERRNO is
set to ERR_ALRDY_MOVING .
These errors can then be handled in the error handler:
•
at ERR_PATHDIST move the robot closer to the path before attempting RETRY .
•
at ERR_STARTMOVE , ERR_PROGSTOP , or ERR_ALRDY_MOVING wait some time before
attempting RETRY .
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1 Instructions
1.174. StartMove - Restarts robot movement
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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
•
by the instruction StopMove .
•
after execution of StorePath ... RestoPath sequence.
•
after asynchronously raised movements errors, such as ERR_PATH_STOP or specific
process error after handling in the ERROR handler.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for restart of the movement in that task.
•
any other task for restart of the movements in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, for restart of the movement in that task.
•
non motion task, for restart of the movement in the connected motion task. Besides
that, if movement is restarted in one connected motion task belonging to a coordinated
synchronized task group, the movement is restarted in all the cooperating tasks.
Basic examples
Basic examples of the instruction StartMove are illustrated below.
Example 1
StopMove;
WaitDI ready_input,1;
StartMove;
The robot starts to move again when the input ready_input is set.
Example 2
...
MoveL p100, v100, z10, tool1;
StorePath;
p:= CRobT(\Tool:=tool1);
! New temporary movement
MoveL p1, v100, fine, tool1;
...
MoveL p, v100, fine, tool1;
RestoPath;
StartMove;
...
After moving back to a stopped position p (in this example equal to p100 ), the robot starts to
move again on the basic path level.
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1 Instructions
1.174. StartMove - Restarts robot movement
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© 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 only be used from a non-motion program task.
Program execution
Any processes associated with the stopped movement are restarted at the same time that the
motion resumes.
To restart a MultiMove application in synchronized coordinated mode, StartMove must be
executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are restarted.
In a base system without the switch \AllMotionTasks , the movements for following
mechanical units are restarted:
•
always the mechanical units in the main task, independent of which task executes the
StartMove instruction.
In a MultiMove system without the switch \AllMotionTasks the movements for the
following mechanical units are restarted:
•
the mechanical units in the motion task executing StartMove .
•
the mechanical units in the motion task that are connected to the non motion task
executing StartMove . Besides that, if mechanical units are restarted in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are restarted in all the cooperated tasks.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in a hold state at the time StartMove is executed then the system variable
ERRNO is set to ERR_STARTMOVE
If the program execution is stopped several times while regaining path movement with
StartMove then the system variable ERRNO is set to ERR_PROGSTOP
If the robot is moving at the time StartMove is executed then the system variable ERRNO is
set to ERR_ALRDY_MOVING .
These errors can then be handled in the error handler:
•
at ERR_PATHDIST move the robot closer to the path before attempting RETRY .
•
at ERR_STARTMOVE , ERR_PROGSTOP , or ERR_ALRDY_MOVING wait some time before
attempting RETRY .
Continued
Continues on next page
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 any error recovery if StartMove is executed in any error handler.
Syntax
StartMove
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMoveRetry - Restarts robot movement and execution
on page 489
More examples
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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1.174. StartMove - Restarts robot movement
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© 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 only be used from a non-motion program task.
Program execution
Any processes associated with the stopped movement are restarted at the same time that the
motion resumes.
To restart a MultiMove application in synchronized coordinated mode, StartMove must be
executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are restarted.
In a base system without the switch \AllMotionTasks , the movements for following
mechanical units are restarted:
•
always the mechanical units in the main task, independent of which task executes the
StartMove instruction.
In a MultiMove system without the switch \AllMotionTasks the movements for the
following mechanical units are restarted:
•
the mechanical units in the motion task executing StartMove .
•
the mechanical units in the motion task that are connected to the non motion task
executing StartMove . Besides that, if mechanical units are restarted in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are restarted in all the cooperated tasks.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in a hold state at the time StartMove is executed then the system variable
ERRNO is set to ERR_STARTMOVE
If the program execution is stopped several times while regaining path movement with
StartMove then the system variable ERRNO is set to ERR_PROGSTOP
If the robot is moving at the time StartMove is executed then the system variable ERRNO is
set to ERR_ALRDY_MOVING .
These errors can then be handled in the error handler:
•
at ERR_PATHDIST move the robot closer to the path before attempting RETRY .
•
at ERR_STARTMOVE , ERR_PROGSTOP , or ERR_ALRDY_MOVING wait some time before
attempting RETRY .
Continued
Continues on next page
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 any error recovery if StartMove is executed in any error handler.
Syntax
StartMove
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMoveRetry - Restarts robot movement and execution
on page 489
More examples
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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
processes and also retry the execution from an ERROR handler.
This instruction can be used in an ERROR handler in the following types of program tasks:
•
main task T_ROB1 in a base system
•
any motion task in a MultiMove system
Basic examples
Basic examples of the instruction StartMoveRetry are illustrated below.
Example 1
VAR robtarget p_err;
...
MoveL p1\ID:=50, v1000, z30, tool1 \WObj:=stn1;
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
p_err := CRobT(\Tool:= tool1 \WObj:=wobj0);
! Fix the problem
MoveL p_err, v100, fine, tool1;
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
This is an example from a MultiMove system with coordinated synchronized movements
(two robots working on some rotated work object).
During the movement to position p1 , the other cooperated robot gets some process error so
that the coordinated synchronized movements stops. This robots then gets the error
ERR_PATH_STOP , and the execution is transferred to the ERROR handler.
In the ERROR handler, do the following:
•
StorePath stores the original path, goes to a new path level, and sets the MultiMove
system in independent mode.
•
If there are problems with the robot then initiate movements on the new path level.
•
Before RestoPath go back to the error position.
•
RestoPath goes back to the original path level and sets the MultiMove system back
to synchronized mode again.
•
StartMoveRetry restarts the interrupted movement and any process. It also transfers
the execution back to resume the normal execution.
Continues on next page
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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 any error recovery if StartMove is executed in any error handler.
Syntax
StartMove
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMoveRetry - Restarts robot movement and execution
on page 489
More examples
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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
processes and also retry the execution from an ERROR handler.
This instruction can be used in an ERROR handler in the following types of program tasks:
•
main task T_ROB1 in a base system
•
any motion task in a MultiMove system
Basic examples
Basic examples of the instruction StartMoveRetry are illustrated below.
Example 1
VAR robtarget p_err;
...
MoveL p1\ID:=50, v1000, z30, tool1 \WObj:=stn1;
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
p_err := CRobT(\Tool:= tool1 \WObj:=wobj0);
! Fix the problem
MoveL p_err, v100, fine, tool1;
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
This is an example from a MultiMove system with coordinated synchronized movements
(two robots working on some rotated work object).
During the movement to position p1 , the other cooperated robot gets some process error so
that the coordinated synchronized movements stops. This robots then gets the error
ERR_PATH_STOP , and the execution is transferred to the ERROR handler.
In the ERROR handler, do the following:
•
StorePath stores the original path, goes to a new path level, and sets the MultiMove
system in independent mode.
•
If there are problems with the robot then initiate movements on the new path level.
•
Before RestoPath go back to the error position.
•
RestoPath goes back to the original path level and sets the MultiMove system back
to synchronized mode again.
•
StartMoveRetry restarts the interrupted movement and any process. It also transfers
the execution back to resume the normal execution.
Continues on next page
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 the interrupted movement
•
RETRY of the program execution
StartMoveRetry does the same as StartMove and RETRY together in one indivisible
operation.
Only the mechanical units in the program task that execute StartMoveRetry are restarted.
Limitations
Can only be used in an ERROR handler in a motion task.
In a MultiMove system executing coordinated synchronized movements the following
programming rules must be followed in the ERROR handler:
•
StartMoveRetry must be used in all cooperated program tasks.
•
If need movement is needed in any ERROR handler then the instructions
StorePath ... RestoPath must be used in all cooperated program tasks.
•
The program must move the robot back to the error position before RestoPath is
executed if the robot was moved on the StorePath level.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in hold state at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_STARTMOVE .
If the program execution is stopped several times during the regain to path movement with
StartMoveRetry then the system variable ERRNO is set to ERR_PROGSTOP .
If the robot is moving at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_ALRDY_MOVING .
It is not possible to do any error recovery from these errors because StartMoveRetry can
only be executed in some error handler.
Syntax
StartMoveRetry ’;’
Continued
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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
processes and also retry the execution from an ERROR handler.
This instruction can be used in an ERROR handler in the following types of program tasks:
•
main task T_ROB1 in a base system
•
any motion task in a MultiMove system
Basic examples
Basic examples of the instruction StartMoveRetry are illustrated below.
Example 1
VAR robtarget p_err;
...
MoveL p1\ID:=50, v1000, z30, tool1 \WObj:=stn1;
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
p_err := CRobT(\Tool:= tool1 \WObj:=wobj0);
! Fix the problem
MoveL p_err, v100, fine, tool1;
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
This is an example from a MultiMove system with coordinated synchronized movements
(two robots working on some rotated work object).
During the movement to position p1 , the other cooperated robot gets some process error so
that the coordinated synchronized movements stops. This robots then gets the error
ERR_PATH_STOP , and the execution is transferred to the ERROR handler.
In the ERROR handler, do the following:
•
StorePath stores the original path, goes to a new path level, and sets the MultiMove
system in independent mode.
•
If there are problems with the robot then initiate movements on the new path level.
•
Before RestoPath go back to the error position.
•
RestoPath goes back to the original path level and sets the MultiMove system back
to synchronized mode again.
•
StartMoveRetry restarts the interrupted movement and any process. It also transfers
the execution back to resume the normal execution.
Continues on next page
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 the interrupted movement
•
RETRY of the program execution
StartMoveRetry does the same as StartMove and RETRY together in one indivisible
operation.
Only the mechanical units in the program task that execute StartMoveRetry are restarted.
Limitations
Can only be used in an ERROR handler in a motion task.
In a MultiMove system executing coordinated synchronized movements the following
programming rules must be followed in the ERROR handler:
•
StartMoveRetry must be used in all cooperated program tasks.
•
If need movement is needed in any ERROR handler then the instructions
StorePath ... RestoPath must be used in all cooperated program tasks.
•
The program must move the robot back to the error position before RestoPath is
executed if the robot was moved on the StorePath level.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in hold state at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_STARTMOVE .
If the program execution is stopped several times during the regain to path movement with
StartMoveRetry then the system variable ERRNO is set to ERR_PROGSTOP .
If the robot is moving at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_ALRDY_MOVING .
It is not possible to do any error recovery from these errors because StartMoveRetry can
only be executed in some error handler.
Syntax
StartMoveRetry ’;’
Continued
Continues on next page
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 - Restarts robot movement on page 486
Resume execution after an error
RETRY - Resume execution after an error on page 364
Store/restore path
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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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 the interrupted movement
•
RETRY of the program execution
StartMoveRetry does the same as StartMove and RETRY together in one indivisible
operation.
Only the mechanical units in the program task that execute StartMoveRetry are restarted.
Limitations
Can only be used in an ERROR handler in a motion task.
In a MultiMove system executing coordinated synchronized movements the following
programming rules must be followed in the ERROR handler:
•
StartMoveRetry must be used in all cooperated program tasks.
•
If need movement is needed in any ERROR handler then the instructions
StorePath ... RestoPath must be used in all cooperated program tasks.
•
The program must move the robot back to the error position before RestoPath is
executed if the robot was moved on the StorePath level.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST .
If the robot is in hold state at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_STARTMOVE .
If the program execution is stopped several times during the regain to path movement with
StartMoveRetry then the system variable ERRNO is set to ERR_PROGSTOP .
If the robot is moving at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_ALRDY_MOVING .
It is not possible to do any error recovery from these errors because StartMoveRetry can
only be executed in some error handler.
Syntax
StartMoveRetry ’;’
Continued
Continues on next page
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 - Restarts robot movement on page 486
Resume execution after an error
RETRY - Resume execution after an error on page 364
Store/restore path
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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 it is recommended after performing a tip dress or after using the
tool for a while.
Note! The tool performs two close/open movements during the calibration. The first close
movement will detect the tip contact position.
Basic examples
Basic examples of the instruction STCalib are illustrated below.
Example 1
VAR num curr_tip_wear;
VAR num retval;
CONST num max_adjustment := 20;
STCalib gun1 \ToolChg;
Calibrate a servo gun after a toolchange. Wait until the gun calibration has finished before
continuing with the next Rapid instruction.
Example 2
STCalib gun1 \ToolChg \Conc;
Calibrate a servo gun after a toolchange. Continue with the next Rapid instruction without
waiting for the gun calibration to be finished.
Example 3
STCalib gun1 \TipChg;
Calibrate a servo gun after a tipchange.
Example 4
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear;
Calibrate a servo gun after tip wear. Save the tip wear in variable curr_tip_wear .
Example 5
STCalib gun1 \TipChg \RetPosAdj:=retval;
IF retval > max_adjustment THEN
TPWrite "The tips are lost!";
...
Calibrate a servo gun after a tipchange. Check if the tips are missing.
Example 6
STCalib gun1 \TipChg \PrePos:=10;
Calibrate a servo gun after a tipchange. Move fast to position 10 mm then start to search for
contact position with slower speed.
Continues on next page
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| 494
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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 - Restarts robot movement on page 486
Resume execution after an error
RETRY - Resume execution after an error on page 364
Store/restore path
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
Continued
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 it is recommended after performing a tip dress or after using the
tool for a while.
Note! The tool performs two close/open movements during the calibration. The first close
movement will detect the tip contact position.
Basic examples
Basic examples of the instruction STCalib are illustrated below.
Example 1
VAR num curr_tip_wear;
VAR num retval;
CONST num max_adjustment := 20;
STCalib gun1 \ToolChg;
Calibrate a servo gun after a toolchange. Wait until the gun calibration has finished before
continuing with the next Rapid instruction.
Example 2
STCalib gun1 \ToolChg \Conc;
Calibrate a servo gun after a toolchange. Continue with the next Rapid instruction without
waiting for the gun calibration to be finished.
Example 3
STCalib gun1 \TipChg;
Calibrate a servo gun after a tipchange.
Example 4
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear;
Calibrate a servo gun after tip wear. Save the tip wear in variable curr_tip_wear .
Example 5
STCalib gun1 \TipChg \RetPosAdj:=retval;
IF retval > max_adjustment THEN
TPWrite "The tips are lost!";
...
Calibrate a servo gun after a tipchange. Check if the tips are missing.
Example 6
STCalib gun1 \TipChg \PrePos:=10;
Calibrate a servo gun after a tipchange. Move fast to position 10 mm then start to search for
contact position with slower speed.
Continues on next page
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 instruction without waiting for
the gun calibration to be finished. The parameter curr_tip_wear will in this case not hold
any valid value since the \Conc switch is used (The next Rapid instruction will start to
execute before the calibration process is finished).
Arguments
STCalib ToolName [\ToolChg] | [\TipChg] | [\TipWear] [\RetTipWear]
[\RetPosAdj] [\PrePos] [\Conc]
ToolName
Data type: string
The name of the mechanical unit.
[\ToolChg]
Data type: switch
Calibration after a tool change.
[\TipChg]
Data type: switch
Calibration after a tip change.
[\TipWear]
Data type: switch
Calibration after tip wear.
[\RetTipWear]
Data type: num
The achieved tip wear [mm].
[\RetPosAdj]
Data type: num
The positional adjustment since the last calibration [mm].
[\PrePos]
Data type: num
The position to move with high speed before the search for contact position with slower speed
is started [mm].
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when, for example, two guns are controlled at the same
time.
Continued
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| 495
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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 it is recommended after performing a tip dress or after using the
tool for a while.
Note! The tool performs two close/open movements during the calibration. The first close
movement will detect the tip contact position.
Basic examples
Basic examples of the instruction STCalib are illustrated below.
Example 1
VAR num curr_tip_wear;
VAR num retval;
CONST num max_adjustment := 20;
STCalib gun1 \ToolChg;
Calibrate a servo gun after a toolchange. Wait until the gun calibration has finished before
continuing with the next Rapid instruction.
Example 2
STCalib gun1 \ToolChg \Conc;
Calibrate a servo gun after a toolchange. Continue with the next Rapid instruction without
waiting for the gun calibration to be finished.
Example 3
STCalib gun1 \TipChg;
Calibrate a servo gun after a tipchange.
Example 4
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear;
Calibrate a servo gun after tip wear. Save the tip wear in variable curr_tip_wear .
Example 5
STCalib gun1 \TipChg \RetPosAdj:=retval;
IF retval > max_adjustment THEN
TPWrite "The tips are lost!";
...
Calibrate a servo gun after a tipchange. Check if the tips are missing.
Example 6
STCalib gun1 \TipChg \PrePos:=10;
Calibrate a servo gun after a tipchange. Move fast to position 10 mm then start to search for
contact position with slower speed.
Continues on next page
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 instruction without waiting for
the gun calibration to be finished. The parameter curr_tip_wear will in this case not hold
any valid value since the \Conc switch is used (The next Rapid instruction will start to
execute before the calibration process is finished).
Arguments
STCalib ToolName [\ToolChg] | [\TipChg] | [\TipWear] [\RetTipWear]
[\RetPosAdj] [\PrePos] [\Conc]
ToolName
Data type: string
The name of the mechanical unit.
[\ToolChg]
Data type: switch
Calibration after a tool change.
[\TipChg]
Data type: switch
Calibration after a tip change.
[\TipWear]
Data type: switch
Calibration after tip wear.
[\RetTipWear]
Data type: num
The achieved tip wear [mm].
[\RetPosAdj]
Data type: num
The positional adjustment since the last calibration [mm].
[\PrePos]
Data type: num
The position to move with high speed before the search for contact position with slower speed
is started [mm].
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when, for example, two guns are controlled at the same
time.
Continued
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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 below. If the RetTipWear parameter is used then the tip wear
is updated.
Calibration after toolchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will remain unchanged.
Calibration after tipchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will be reset.
Calibration after tipwear:
The tool will close with high speed to the contact position, open fast, close fast to a low force,
and open again in one sequence. The tip wear will be updated.
NOTE! If the switch Conc is used then the instruction will be considered ready once started
and therefore the return value RetTipWear will not be available. In this case the
RetTipWear will be returned by the function STIsOpen . For more details, see
RobotWare OS functions - STIsOpen .
Positional adjustment
The optional argument RetPosAdj can be used to detect, for example, if the tips are lost after
a tip change. The parameter will hold the value of the positional adjustment since the last
calibration. The value can be negative or positive.
Using a pre-position
In order to speed up the calibration it is possible to define a pre-position. When the calibration
starts the gun arm will run fast to the pre-position, stop, and then continue slowly*) forward
in order to detect the tip contact position. If a pre-position is used then select it carefully! It
is important that the tips do not get in contact until after the pre-position is reached!
Otherwise the accuracy of the calibration will become poor and motion supervision errors
may possibly occur. A pre-position will be ignored if it is larger than the current gun position
(in order not to slow down the calibration).
*) The second movement will also be fast if the \TipWear option is used.
Continued
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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 instruction without waiting for
the gun calibration to be finished. The parameter curr_tip_wear will in this case not hold
any valid value since the \Conc switch is used (The next Rapid instruction will start to
execute before the calibration process is finished).
Arguments
STCalib ToolName [\ToolChg] | [\TipChg] | [\TipWear] [\RetTipWear]
[\RetPosAdj] [\PrePos] [\Conc]
ToolName
Data type: string
The name of the mechanical unit.
[\ToolChg]
Data type: switch
Calibration after a tool change.
[\TipChg]
Data type: switch
Calibration after a tip change.
[\TipWear]
Data type: switch
Calibration after tip wear.
[\RetTipWear]
Data type: num
The achieved tip wear [mm].
[\RetPosAdj]
Data type: num
The positional adjustment since the last calibration [mm].
[\PrePos]
Data type: num
The position to move with high speed before the search for contact position with slower speed
is started [mm].
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when, for example, two guns are controlled at the same
time.
Continued
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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 below. If the RetTipWear parameter is used then the tip wear
is updated.
Calibration after toolchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will remain unchanged.
Calibration after tipchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will be reset.
Calibration after tipwear:
The tool will close with high speed to the contact position, open fast, close fast to a low force,
and open again in one sequence. The tip wear will be updated.
NOTE! If the switch Conc is used then the instruction will be considered ready once started
and therefore the return value RetTipWear will not be available. In this case the
RetTipWear will be returned by the function STIsOpen . For more details, see
RobotWare OS functions - STIsOpen .
Positional adjustment
The optional argument RetPosAdj can be used to detect, for example, if the tips are lost after
a tip change. The parameter will hold the value of the positional adjustment since the last
calibration. The value can be negative or positive.
Using a pre-position
In order to speed up the calibration it is possible to define a pre-position. When the calibration
starts the gun arm will run fast to the pre-position, stop, and then continue slowly*) forward
in order to detect the tip contact position. If a pre-position is used then select it carefully! It
is important that the tips do not get in contact until after the pre-position is reached!
Otherwise the accuracy of the calibration will become poor and motion supervision errors
may possibly occur. A pre-position will be ignored if it is larger than the current gun position
(in order not to slow down the calibration).
*) The second movement will also be fast if the \TipWear option is used.
Continued
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1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
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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 STCalib is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and there is an emergency stop, the
instruction will be finished, and the system variable ERRNO is set to ERR_SGUN_ESTOP . Note
that if the instruction is invoked from the main task then the program pointer will be stopped
at the instruction, and the instruction will be restarted from the beginning at program restart.
If the argument PrePos is specified with a value less than zero then the system variable
ERRNO is set to ERR_SGUN_NEGVAL .
If the instruction is invoked from a background task and the system is in motors off state then
the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All above errors can be handled in a RAPID error handler.
Syntax
STCalib
[ ’ToolName’ :=’ ] < expression ( IN ) of string > ‘,’
[ ’\’ToolChg] | [’\’TipChg] | [ ’\’TipWear]
[’ \’RetTipWear’ :=’ < variable or persistent( INOUT ) of num >
]’;’
[ ’\’RetPosAdj’ :=’ < variable or persistent( INOUT ) of num > ]’;’
[ ’\’PrePos’ :=’ < expression ( IN ) of num > ]’
[ ’\’Conc’ ];’
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Tool on page 496
Continued
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1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
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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 below. If the RetTipWear parameter is used then the tip wear
is updated.
Calibration after toolchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will remain unchanged.
Calibration after tipchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will be reset.
Calibration after tipwear:
The tool will close with high speed to the contact position, open fast, close fast to a low force,
and open again in one sequence. The tip wear will be updated.
NOTE! If the switch Conc is used then the instruction will be considered ready once started
and therefore the return value RetTipWear will not be available. In this case the
RetTipWear will be returned by the function STIsOpen . For more details, see
RobotWare OS functions - STIsOpen .
Positional adjustment
The optional argument RetPosAdj can be used to detect, for example, if the tips are lost after
a tip change. The parameter will hold the value of the positional adjustment since the last
calibration. The value can be negative or positive.
Using a pre-position
In order to speed up the calibration it is possible to define a pre-position. When the calibration
starts the gun arm will run fast to the pre-position, stop, and then continue slowly*) forward
in order to detect the tip contact position. If a pre-position is used then select it carefully! It
is important that the tips do not get in contact until after the pre-position is reached!
Otherwise the accuracy of the calibration will become poor and motion supervision errors
may possibly occur. A pre-position will be ignored if it is larger than the current gun position
(in order not to slow down the calibration).
*) The second movement will also be fast if the \TipWear option is used.
Continued
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1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
495
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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 STCalib is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and there is an emergency stop, the
instruction will be finished, and the system variable ERRNO is set to ERR_SGUN_ESTOP . Note
that if the instruction is invoked from the main task then the program pointer will be stopped
at the instruction, and the instruction will be restarted from the beginning at program restart.
If the argument PrePos is specified with a value less than zero then the system variable
ERRNO is set to ERR_SGUN_NEGVAL .
If the instruction is invoked from a background task and the system is in motors off state then
the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All above errors can be handled in a RAPID error handler.
Syntax
STCalib
[ ’ToolName’ :=’ ] < expression ( IN ) of string > ‘,’
[ ’\’ToolChg] | [’\’TipChg] | [ ’\’TipWear]
[’ \’RetTipWear’ :=’ < variable or persistent( INOUT ) of num >
]’;’
[ ’\’RetPosAdj’ :=’ < variable or persistent( INOUT ) of num > ]’;’
[ ’\’PrePos’ :=’ < expression ( IN ) of num > ]’
[ ’\’Conc’ ];’
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Tool on page 496
Continued
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.
Example 1
VAR num curr_thickness1;
VAR num curr_thickness2;
STClose gun1, 1000, 5;
Close the servo gun with tip force 1000 N and plate thickness 5 mm. Wait until the gun is
closed before continuing with the next Rapid instruction.
Example 2
STClose gun1, 2000, 3\RetThickness:=curr_thickness;
Close the servo gun with tip force 2000 N and plate thickness 3 mm. Get the measured
thickness in variable curr_thickness .
Example 3
Concurrent mode:
STClose gun1, 1000, 5 \Conc;
STClose gun2, 2000, 3 \Conc;
Close the servo gun1 with tip force 1000 N and plate thickness 5 mm. Continue the program
execution without waiting for gun1 to be closed, and close the servo gun2 with tip force
2000 N and plate thickness 3 mm. Continue the execution of the Rapid program without
waiting for gun2 to be closed.
Example 4
IF STIsClosed (gun1)\RetThickness:=curr_thickness1 THEN
IF curr_thickness1 < 0.2 Set weld_start1;
ENDIF
IF STIsClosed (gun2)\RetThickness:=curr_thickness2 THEN
IF curr_thickness2 < 0.2 Set weld_start2;
ENDIF
Get the measured thickness in the function STIsClosed variable curr_thickness1 and
curr_thickness2 .
Example 5
Example of non valid combination:
STClose gun1, 2000, 3\RetThickness:=curr_thickness \Conc;
Close the servo gun and continue with the Rapid program execution. The parameter
curr_thickness will in this case not hold any valid value since the \Conc switch is used
(The next Rapid instruction will start to execute before the gun is closed).
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Servo Tool Control
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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 STCalib is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and there is an emergency stop, the
instruction will be finished, and the system variable ERRNO is set to ERR_SGUN_ESTOP . Note
that if the instruction is invoked from the main task then the program pointer will be stopped
at the instruction, and the instruction will be restarted from the beginning at program restart.
If the argument PrePos is specified with a value less than zero then the system variable
ERRNO is set to ERR_SGUN_NEGVAL .
If the instruction is invoked from a background task and the system is in motors off state then
the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All above errors can be handled in a RAPID error handler.
Syntax
STCalib
[ ’ToolName’ :=’ ] < expression ( IN ) of string > ‘,’
[ ’\’ToolChg] | [’\’TipChg] | [ ’\’TipWear]
[’ \’RetTipWear’ :=’ < variable or persistent( INOUT ) of num >
]’;’
[ ’\’RetPosAdj’ :=’ < variable or persistent( INOUT ) of num > ]’;’
[ ’\’PrePos’ :=’ < expression ( IN ) of num > ]’
[ ’\’Conc’ ];’
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Tool on page 496
Continued
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.
Example 1
VAR num curr_thickness1;
VAR num curr_thickness2;
STClose gun1, 1000, 5;
Close the servo gun with tip force 1000 N and plate thickness 5 mm. Wait until the gun is
closed before continuing with the next Rapid instruction.
Example 2
STClose gun1, 2000, 3\RetThickness:=curr_thickness;
Close the servo gun with tip force 2000 N and plate thickness 3 mm. Get the measured
thickness in variable curr_thickness .
Example 3
Concurrent mode:
STClose gun1, 1000, 5 \Conc;
STClose gun2, 2000, 3 \Conc;
Close the servo gun1 with tip force 1000 N and plate thickness 5 mm. Continue the program
execution without waiting for gun1 to be closed, and close the servo gun2 with tip force
2000 N and plate thickness 3 mm. Continue the execution of the Rapid program without
waiting for gun2 to be closed.
Example 4
IF STIsClosed (gun1)\RetThickness:=curr_thickness1 THEN
IF curr_thickness1 < 0.2 Set weld_start1;
ENDIF
IF STIsClosed (gun2)\RetThickness:=curr_thickness2 THEN
IF curr_thickness2 < 0.2 Set weld_start2;
ENDIF
Get the measured thickness in the function STIsClosed variable curr_thickness1 and
curr_thickness2 .
Example 5
Example of non valid combination:
STClose gun1, 2000, 3\RetThickness:=curr_thickness \Conc;
Close the servo gun and continue with the Rapid program execution. The parameter
curr_thickness will in this case not hold any valid value since the \Conc switch is used
(The next Rapid instruction will start to execute before the gun is closed).
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1.177. STClose - Close a Servo Tool
Servo Tool Control
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Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]
ToolName
Data type: string
The name of the mechanical unit.
TipForce
Data type: num
The desired tip force [N].
Thickness
Data type: num
The expected contact position for the servo tool [mm].
[\RetThickness]
Data type: num
The achieved thickness [mm], will only get a value if the \Conc switch is not used.
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when e.g. two guns are controlled at the same time.
Program execution
If the mechanical unit exists then the servo tool is ordered to close to the expected thickness
and force.
The closing will start to move the tool arm to the expected contact position (thickness). The
movement is stopped in this position, and a switch from position control mode to force
control mode is done.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
When the desired tip force is achieved the instruction is ready and the achieved thickness is
returned if the optional argument RetThickness is specified.
NOTE! If the switch Conc is used then the instruction will be considered to be ready once
started and therefore the return value RetThickness will not be available. In this case the
RetThickness will be returned by the function STIsClosed . For more details see
RobotWare OS functions - STIsClosed .
It is possible to close the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm.
For more details see Servo tool motion control.
Continued
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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.
Example 1
VAR num curr_thickness1;
VAR num curr_thickness2;
STClose gun1, 1000, 5;
Close the servo gun with tip force 1000 N and plate thickness 5 mm. Wait until the gun is
closed before continuing with the next Rapid instruction.
Example 2
STClose gun1, 2000, 3\RetThickness:=curr_thickness;
Close the servo gun with tip force 2000 N and plate thickness 3 mm. Get the measured
thickness in variable curr_thickness .
Example 3
Concurrent mode:
STClose gun1, 1000, 5 \Conc;
STClose gun2, 2000, 3 \Conc;
Close the servo gun1 with tip force 1000 N and plate thickness 5 mm. Continue the program
execution without waiting for gun1 to be closed, and close the servo gun2 with tip force
2000 N and plate thickness 3 mm. Continue the execution of the Rapid program without
waiting for gun2 to be closed.
Example 4
IF STIsClosed (gun1)\RetThickness:=curr_thickness1 THEN
IF curr_thickness1 < 0.2 Set weld_start1;
ENDIF
IF STIsClosed (gun2)\RetThickness:=curr_thickness2 THEN
IF curr_thickness2 < 0.2 Set weld_start2;
ENDIF
Get the measured thickness in the function STIsClosed variable curr_thickness1 and
curr_thickness2 .
Example 5
Example of non valid combination:
STClose gun1, 2000, 3\RetThickness:=curr_thickness \Conc;
Close the servo gun and continue with the Rapid program execution. The parameter
curr_thickness will in this case not hold any valid value since the \Conc switch is used
(The next Rapid instruction will start to execute before the gun is closed).
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1.177. STClose - Close a Servo Tool
Servo Tool Control
497
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Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]
ToolName
Data type: string
The name of the mechanical unit.
TipForce
Data type: num
The desired tip force [N].
Thickness
Data type: num
The expected contact position for the servo tool [mm].
[\RetThickness]
Data type: num
The achieved thickness [mm], will only get a value if the \Conc switch is not used.
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when e.g. two guns are controlled at the same time.
Program execution
If the mechanical unit exists then the servo tool is ordered to close to the expected thickness
and force.
The closing will start to move the tool arm to the expected contact position (thickness). The
movement is stopped in this position, and a switch from position control mode to force
control mode is done.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
When the desired tip force is achieved the instruction is ready and the achieved thickness is
returned if the optional argument RetThickness is specified.
NOTE! If the switch Conc is used then the instruction will be considered to be ready once
started and therefore the return value RetThickness will not be available. In this case the
RetThickness will be returned by the function STIsClosed . For more details see
RobotWare OS functions - STIsClosed .
It is possible to close the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm.
For more details see Servo tool motion control.
Continued
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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 is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and if there is an emergency stop then
the instruction will be finished and the system variable ERRNO is set to ERR_SGUN_ESTOP .
Note that if the instruction is invoked from the main task then the program pointer will be
stopped at the instruction, and the instruction will be restarted from the beginning at program
restart.
If the instruction is invoked from a background task and if the system is in motors off state
then the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All errors above can be handled in a Rapid error handler.
Syntax
STClose
[ ’ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ ’Tipforce’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Thickness’ :=’] < expression ( IN ) of num > ]
[‘\’ ’RetThickness’ :=’ < variable or persistent ( INOUT ) of num
> ]
[’\’Conc]
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
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1.177. STClose - Close a Servo Tool
Servo Tool Control
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Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]
ToolName
Data type: string
The name of the mechanical unit.
TipForce
Data type: num
The desired tip force [N].
Thickness
Data type: num
The expected contact position for the servo tool [mm].
[\RetThickness]
Data type: num
The achieved thickness [mm], will only get a value if the \Conc switch is not used.
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when e.g. two guns are controlled at the same time.
Program execution
If the mechanical unit exists then the servo tool is ordered to close to the expected thickness
and force.
The closing will start to move the tool arm to the expected contact position (thickness). The
movement is stopped in this position, and a switch from position control mode to force
control mode is done.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
When the desired tip force is achieved the instruction is ready and the achieved thickness is
returned if the optional argument RetThickness is specified.
NOTE! If the switch Conc is used then the instruction will be considered to be ready once
started and therefore the return value RetThickness will not be available. In this case the
RetThickness will be returned by the function STIsClosed . For more details see
RobotWare OS functions - STIsClosed .
It is possible to close the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm.
For more details see Servo tool motion control.
Continued
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1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
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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 is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and if there is an emergency stop then
the instruction will be finished and the system variable ERRNO is set to ERR_SGUN_ESTOP .
Note that if the instruction is invoked from the main task then the program pointer will be
stopped at the instruction, and the instruction will be restarted from the beginning at program
restart.
If the instruction is invoked from a background task and if the system is in motors off state
then the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All errors above can be handled in a Rapid error handler.
Syntax
STClose
[ ’ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ ’Tipforce’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Thickness’ :=’] < expression ( IN ) of num > ]
[‘\’ ’RetThickness’ :=’ < variable or persistent ( INOUT ) of num
> ]
[’\’Conc]
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Continued
1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
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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 is up to the user to introduce a restart process flag so StepBwdPath in the RESTART event
routine is only executed at process restart and not at all program restarts.
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 StepBwdPath are illustrated below.
Example 1
StepBwdPath 30, 1;
Move backwards 30 mm in 1 second.
Arguments
StepBwdPath StepLength StepTime
StepLength
Data type: num
Specifies the distance, in millimeters, to move backwards during this step. This argument
must be a positive value.
StepTime
Data type: num
Specifies the time, in seconds, the movement will take. This argument must have a positive
value.
Program execution
The robot moves back on its path for the specified distance. The path is exactly the same in
the reverse way as it was before the stop occurred. In the case of a quick stop or emergency
stop, the RESTART event routine is called after the regain phase has completed so the robot
will already be back on its path when this instruction is executed.
The actual speed for this movement is the lowest of:
•
StepLength / StepTime
•
The programmed speed on the segment
•
250 mm/s
Following properties are valid in MultiMove System - Synchronized Coordinated
Movements:
•
All involved mechanical units are moved backward simultaneously and coordinated
•
Each executed StepBwdPath in any involved program task results in one new
backward movement step (without need of any StartMove )
•
To restart and continue the interrupted process movements, instruction StartMove
must be executed in all involved program tasks
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1.177. STClose - Close a Servo Tool
Servo Tool Control
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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 is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN .
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT . Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT . The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC . The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and if there is an emergency stop then
the instruction will be finished and the system variable ERRNO is set to ERR_SGUN_ESTOP .
Note that if the instruction is invoked from the main task then the program pointer will be
stopped at the instruction, and the instruction will be restarted from the beginning at program
restart.
If the instruction is invoked from a background task and if the system is in motors off state
then the system variable ERRNO will be set to ERR_SGUN_MOTOFF .
All errors above can be handled in a Rapid error handler.
Syntax
STClose
[ ’ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ ’Tipforce’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Thickness’ :=’] < expression ( IN ) of num > ]
[‘\’ ’RetThickness’ :=’ < variable or persistent ( INOUT ) of num
> ]
[’\’Conc]
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Continued
1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
499
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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 is up to the user to introduce a restart process flag so StepBwdPath in the RESTART event
routine is only executed at process restart and not at all program restarts.
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 StepBwdPath are illustrated below.
Example 1
StepBwdPath 30, 1;
Move backwards 30 mm in 1 second.
Arguments
StepBwdPath StepLength StepTime
StepLength
Data type: num
Specifies the distance, in millimeters, to move backwards during this step. This argument
must be a positive value.
StepTime
Data type: num
Specifies the time, in seconds, the movement will take. This argument must have a positive
value.
Program execution
The robot moves back on its path for the specified distance. The path is exactly the same in
the reverse way as it was before the stop occurred. In the case of a quick stop or emergency
stop, the RESTART event routine is called after the regain phase has completed so the robot
will already be back on its path when this instruction is executed.
The actual speed for this movement is the lowest of:
•
StepLength / StepTime
•
The programmed speed on the segment
•
250 mm/s
Following properties are valid in MultiMove System - Synchronized Coordinated
Movements:
•
All involved mechanical units are moved backward simultaneously and coordinated
•
Each executed StepBwdPath in any involved program task results in one new
backward movement step (without need of any StartMove )
•
To restart and continue the interrupted process movements, instruction StartMove
must be executed in all involved program tasks
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1 Instructions
1.178. StepBwdPath - Move backwards one step on path
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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 will be reduced to the current segment for the
robot
•
Further StepBwdPath movements steps will be limited to the segment before the
previous segment (possible to step backward within two segment before the interupted
segment).
If an attempt is made to move beyond these limits then the error handler will be called with
ERRNO set to ERR_BWDLIMIT .
Syntax
StepBwdPath
[ StepLength’:=’ ] < expression ( IN ) of num >’,’
[ StepTime ’:=’ ] < expression ( IN ) of num >’;’
Related information
For information about
See
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principle
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
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1.178. StepBwdPath - Move backwards one step on path
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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 is up to the user to introduce a restart process flag so StepBwdPath in the RESTART event
routine is only executed at process restart and not at all program restarts.
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 StepBwdPath are illustrated below.
Example 1
StepBwdPath 30, 1;
Move backwards 30 mm in 1 second.
Arguments
StepBwdPath StepLength StepTime
StepLength
Data type: num
Specifies the distance, in millimeters, to move backwards during this step. This argument
must be a positive value.
StepTime
Data type: num
Specifies the time, in seconds, the movement will take. This argument must have a positive
value.
Program execution
The robot moves back on its path for the specified distance. The path is exactly the same in
the reverse way as it was before the stop occurred. In the case of a quick stop or emergency
stop, the RESTART event routine is called after the regain phase has completed so the robot
will already be back on its path when this instruction is executed.
The actual speed for this movement is the lowest of:
•
StepLength / StepTime
•
The programmed speed on the segment
•
250 mm/s
Following properties are valid in MultiMove System - Synchronized Coordinated
Movements:
•
All involved mechanical units are moved backward simultaneously and coordinated
•
Each executed StepBwdPath in any involved program task results in one new
backward movement step (without need of any StartMove )
•
To restart and continue the interrupted process movements, instruction StartMove
must be executed in all involved program tasks
Continues on next page
1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
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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 will be reduced to the current segment for the
robot
•
Further StepBwdPath movements steps will be limited to the segment before the
previous segment (possible to step backward within two segment before the interupted
segment).
If an attempt is made to move beyond these limits then the error handler will be called with
ERRNO set to ERR_BWDLIMIT .
Syntax
StepBwdPath
[ StepLength’:=’ ] < expression ( IN ) of num >’,’
[ StepTime ’:=’ ] < expression ( IN ) of num >’;’
Related information
For information about
See
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principle
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Continued
1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
501
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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 move the gun to a specified independent position. The gun will stay in independent
mode until the instruction STIndGunReset is executed.
During independent mode the control of the gun is separated from the robot. The gun can be
closed, opened, calibrated, or moved to a new independent position, but it will not follow
coordinated robot movements.
Independent mode is useful if the gun performs a task that is independent of the robot’s task,
e.g. tip dressing of a stationary gun.
Basic examples
Basic examples of the instruction STIndGun are illustrated below.
Example 1
This procedure could be run from a background task while the robot in the main task can
continue with, for example, move instructions.
PROC tipdress()
! Note that the gun will move to current robtarget position, if
! already in independent mode.
STIndGunReset gun1;
...
STIndGun gun1, 30;
StClose gun1, 1000, 5;
WaitTime 10;
STOpen gun1;
...
STIndGunReset gun1;
ENDPROC
Independent mode is activated and the gun is moved to an independent position ( 30 mm).
During independent mode the instructions StClose , WaitTime , and STOpen are executed
without interfering with robot motion. The instruction StIndGunReset will take the gun out
of independent mode and move the gun to current robtarget position.
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1.178. StepBwdPath - Move backwards one step on path
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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 will be reduced to the current segment for the
robot
•
Further StepBwdPath movements steps will be limited to the segment before the
previous segment (possible to step backward within two segment before the interupted
segment).
If an attempt is made to move beyond these limits then the error handler will be called with
ERRNO set to ERR_BWDLIMIT .
Syntax
StepBwdPath
[ StepLength’:=’ ] < expression ( IN ) of num >’,’
[ StepTime ’:=’ ] < expression ( IN ) of num >’;’
Related information
For information about
See
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principle
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Continued
1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
501
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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 move the gun to a specified independent position. The gun will stay in independent
mode until the instruction STIndGunReset is executed.
During independent mode the control of the gun is separated from the robot. The gun can be
closed, opened, calibrated, or moved to a new independent position, but it will not follow
coordinated robot movements.
Independent mode is useful if the gun performs a task that is independent of the robot’s task,
e.g. tip dressing of a stationary gun.
Basic examples
Basic examples of the instruction STIndGun are illustrated below.
Example 1
This procedure could be run from a background task while the robot in the main task can
continue with, for example, move instructions.
PROC tipdress()
! Note that the gun will move to current robtarget position, if
! already in independent mode.
STIndGunReset gun1;
...
STIndGun gun1, 30;
StClose gun1, 1000, 5;
WaitTime 10;
STOpen gun1;
...
STIndGunReset gun1;
ENDPROC
Independent mode is activated and the gun is moved to an independent position ( 30 mm).
During independent mode the instructions StClose , WaitTime , and STOpen are executed
without interfering with robot motion. The instruction StIndGunReset will take the gun out
of independent mode and move the gun to current robtarget position.
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1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
3HAC 16581-1 Revision: J
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xx0500002342
The position p1 depends on the position of the gun given in the robtarget just performed by
the robot.
Arguments
STIndGun ToolName GunPos
ToolName
Data type: string
The name of the mechanical unit.
GunPos
Data type: num
The position (stroke) of the servo gun in mm.
Syntax
STIndGun
[ ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ GunPos ’:=’ < expression ( IN ) of num > ]’;’
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1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
501
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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 move the gun to a specified independent position. The gun will stay in independent
mode until the instruction STIndGunReset is executed.
During independent mode the control of the gun is separated from the robot. The gun can be
closed, opened, calibrated, or moved to a new independent position, but it will not follow
coordinated robot movements.
Independent mode is useful if the gun performs a task that is independent of the robot’s task,
e.g. tip dressing of a stationary gun.
Basic examples
Basic examples of the instruction STIndGun are illustrated below.
Example 1
This procedure could be run from a background task while the robot in the main task can
continue with, for example, move instructions.
PROC tipdress()
! Note that the gun will move to current robtarget position, if
! already in independent mode.
STIndGunReset gun1;
...
STIndGun gun1, 30;
StClose gun1, 1000, 5;
WaitTime 10;
STOpen gun1;
...
STIndGunReset gun1;
ENDPROC
Independent mode is activated and the gun is moved to an independent position ( 30 mm).
During independent mode the instructions StClose , WaitTime , and STOpen are executed
without interfering with robot motion. The instruction StIndGunReset will take the gun out
of independent mode and move the gun to current robtarget position.
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1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
3HAC 16581-1 Revision: J
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xx0500002342
The position p1 depends on the position of the gun given in the robtarget just performed by
the robot.
Arguments
STIndGun ToolName GunPos
ToolName
Data type: string
The name of the mechanical unit.
GunPos
Data type: num
The position (stroke) of the servo gun in mm.
Syntax
STIndGun
[ ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ GunPos ’:=’ < expression ( IN ) of num > ]’;’
Continued
1 Instructions
1.180. STIndGunReset - Resets the gun from independent mode
Servo Tool Control
503
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1.180. STIndGunReset - Resets the gun from independent mode
Usage
STIndGunReset ( Servo Tool independent gun reset ) is used to reset the gun from
independent mode and thereafter move the gun to current robtarget position.
Basic examples
Basic examples of the instruction STIndGunReset are illustrated below.
STIndGunReset gun1;
Arguments
STIndGunReset ToolName
ToolName
Data type: string
The name of the mechanical unit.
Program execution
The instruction will reset the gun from independent mode and move the gun to current
robtarget position. During this movement the coordinated speed of the gun must be zero
otherwise an error will occur. The coordinated speed will be zero if the robot is standing still
or if the current robot movement includes a “zero movement” from the gun.
Syntax
STIndGunReset
[ToolName ´:=´]<expression ( IN ) of string>´;´
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The position p1 depends on the position of the gun given in the robtarget just performed by
the robot.
Arguments
STIndGun ToolName GunPos
ToolName
Data type: string
The name of the mechanical unit.
GunPos
Data type: num
The position (stroke) of the servo gun in mm.
Syntax
STIndGun
[ ToolName ’:=’ ] < expression ( IN ) of string > ‘,’
[ GunPos ’:=’ < expression ( IN ) of num > ]’;’
Continued
1 Instructions
1.180. STIndGunReset - Resets the gun from independent mode
Servo Tool Control
503
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1.180. STIndGunReset - Resets the gun from independent mode
Usage
STIndGunReset ( Servo Tool independent gun reset ) is used to reset the gun from
independent mode and thereafter move the gun to current robtarget position.
Basic examples
Basic examples of the instruction STIndGunReset are illustrated below.
STIndGunReset gun1;
Arguments
STIndGunReset ToolName
ToolName
Data type: string
The name of the mechanical unit.
Program execution
The instruction will reset the gun from independent mode and move the gun to current
robtarget position. During this movement the coordinated speed of the gun must be zero
otherwise an error will occur. The coordinated speed will be zero if the robot is standing still
or if the current robot movement includes a “zero movement” from the gun.
Syntax
STIndGunReset
[ToolName ´:=´]<expression ( IN ) of string>´;´
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
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© Copyright 2004-2010 ABB. All rights reserved.
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
Usage
SToolRotCalib (Stationary Tool Rotation Calibration) is used to calibrate the TCP and
rotation of a stationary 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 FlexPendan t, section Programming and testing ).
Description
To define the TCP and rotation of a stationary tool, you need a movable pointing tool mounted
on the end effector of the robot.
Before using the instruction SToolRotCalib , some preconditions must be fulfilled:
•
The stationary tool that is to be calibrated must be mounted stationary and defined
with the correct component robhold ( FALSE ).
•
The pointing tool ( robhold TRUE ) must be defined and calibrated with the correct
TCP values.
•
If using the robot with absolute accuracy then the load and center of gravity for the
pointing tool should be defined. LoadIdentify can be used for the load definition.
•
The pointing tool, wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool
(origin of the tool coordinate system) and define a robtarget for the reference point
RefTip .
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive z-axis of the tool coordinate system, and define
a robtarget for point ZPos .
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a robtarget for point XPos .
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
Definition of robtargets RefTip , ZPos , and XPos . See figure below.
xx0500002343
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1.180. STIndGunReset - Resets the gun from independent mode
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1.180. STIndGunReset - Resets the gun from independent mode
Usage
STIndGunReset ( Servo Tool independent gun reset ) is used to reset the gun from
independent mode and thereafter move the gun to current robtarget position.
Basic examples
Basic examples of the instruction STIndGunReset are illustrated below.
STIndGunReset gun1;
Arguments
STIndGunReset ToolName
ToolName
Data type: string
The name of the mechanical unit.
Program execution
The instruction will reset the gun from independent mode and move the gun to current
robtarget position. During this movement the coordinated speed of the gun must be zero
otherwise an error will occur. The coordinated speed will be zero if the robot is standing still
or if the current robot movement includes a “zero movement” from the gun.
Syntax
STIndGunReset
[ToolName ´:=´]<expression ( IN ) of string>´;´
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
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1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
Usage
SToolRotCalib (Stationary Tool Rotation Calibration) is used to calibrate the TCP and
rotation of a stationary 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 FlexPendan t, section Programming and testing ).
Description
To define the TCP and rotation of a stationary tool, you need a movable pointing tool mounted
on the end effector of the robot.
Before using the instruction SToolRotCalib , some preconditions must be fulfilled:
•
The stationary tool that is to be calibrated must be mounted stationary and defined
with the correct component robhold ( FALSE ).
•
The pointing tool ( robhold TRUE ) must be defined and calibrated with the correct
TCP values.
•
If using the robot with absolute accuracy then the load and center of gravity for the
pointing tool should be defined. LoadIdentify can be used for the load definition.
•
The pointing tool, wobj0 , and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool
(origin of the tool coordinate system) and define a robtarget for the reference point
RefTip .
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive z-axis of the tool coordinate system, and define
a robtarget for point ZPos .
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a robtarget for point XPos .
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
Definition of robtargets RefTip , ZPos , and XPos . See figure below.
xx0500002343
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1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
505
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions RefTip , ZPos , and XPos in the instruction
SToolRotCalib .
Basic examples
Basic examples of the instruction SToolRotCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary tool
! coordinate system
CONST robtarget pos_tip := [...];
CONST robtarget pos_z := [...];
CONST robtarget pos_x := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0, [0,
0, 0], [1, 0, 0, 0], 0, 0, 0]];
!Instructions for creating or ModPos of pos_tip, pos_z and pos_x
MoveJ pos_tip, v10, fine, point_tool;
MoveJ pos_z, v10, fine, point_tool;
MoveJ pos_x, v10, fine, point_tool;
SToolRotCalib pos_tip, pos_z, pos_x, tool1;
The position of the TCP ( tframe.trans ) and the tool orientation ( tframe.rot ) of tool1
in the world coordinate system is calculated and updated.
Arguments
SToolRotCalib RefTip ZPos XPos Tool
RefTip
Data type: robtarget
The point where the TCP of the pointing tool is pointing at the stationary tool TCP to
calibrate.
ZPos
Data type: robtarget
The elongator point that defines the positive z direction.
XPos
Data type: robtarget
The elongator point that defines the positive x direction.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Continued
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