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ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 507
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1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
504
© 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 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
Continues on next page
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
506
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The system calculates and updates the TCP ( tframe.trans ) and the tool orientation
( tfame.rot ) in the specified tooldata . The calculation is based on the specified 3
robtarget . The remaining data in tooldata is not changed.
Syntax
SToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ XPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Continued
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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
Continues on next page
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
506
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The system calculates and updates the TCP ( tframe.trans ) and the tool orientation
( tfame.rot ) in the specified tooldata . The calculation is based on the specified 3
robtarget . The remaining data in tooldata is not changed.
Syntax
SToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ XPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Continued
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
507
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
Usage
SToolTCPCalib (Stationary Tool TCP Calibration) is used to calibrate the Tool Center Point
- TCP for 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 FlexPendant , section Programming and testing ).
Description
To define the TCP of a stationary tool, you need a movable pointing tool mounted on the end
effector of the robot.
Before using the instruction SToolTCPCalib , 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
and define a robtarget for the first point p1.
•
Define the further three positions p2, p3, and p4, all with different orientations.
•
It is recommended that the TCP is pointed out with different orientations to obtain a
reliable statistical result. However, it is not necessary.
Definition of 4 robtargets p1...p4. See figure below.
xx0500002344
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| 509
|
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
506
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The system calculates and updates the TCP ( tframe.trans ) and the tool orientation
( tfame.rot ) in the specified tooldata . The calculation is based on the specified 3
robtarget . The remaining data in tooldata is not changed.
Syntax
SToolRotCalib
[ RefTip ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ ZPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ XPos ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Continued
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
507
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
Usage
SToolTCPCalib (Stationary Tool TCP Calibration) is used to calibrate the Tool Center Point
- TCP for 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 FlexPendant , section Programming and testing ).
Description
To define the TCP of a stationary tool, you need a movable pointing tool mounted on the end
effector of the robot.
Before using the instruction SToolTCPCalib , 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
and define a robtarget for the first point p1.
•
Define the further three positions p2, p3, and p4, all with different orientations.
•
It is recommended that the TCP is pointed out with different orientations to obtain a
reliable statistical result. However, it is not necessary.
Definition of 4 robtargets p1...p4. See figure below.
xx0500002344
Continues on next page
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
508
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
SToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Basic example
Basic examples of the instruction SToolTCPCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary TCP
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0,001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
! Instructions for creating or ModPos of p1 - p4
MoveJ p1, v10, fine, point_tool;
MoveJ p2, v10, fine, point_tool;
MoveJ p3, v10, fine, point_tool;
MoveJ p4, v10, fine, point_tool;
SToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
SToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: robtarget
The first approach point.
Pos2
Data type: robtarget
The second approach point.
Pos3
Data type: robtarget
The third approach point.
Continued
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| 510
|
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
507
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
Usage
SToolTCPCalib (Stationary Tool TCP Calibration) is used to calibrate the Tool Center Point
- TCP for 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 FlexPendant , section Programming and testing ).
Description
To define the TCP of a stationary tool, you need a movable pointing tool mounted on the end
effector of the robot.
Before using the instruction SToolTCPCalib , 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
and define a robtarget for the first point p1.
•
Define the further three positions p2, p3, and p4, all with different orientations.
•
It is recommended that the TCP is pointed out with different orientations to obtain a
reliable statistical result. However, it is not necessary.
Definition of 4 robtargets p1...p4. See figure below.
xx0500002344
Continues on next page
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
508
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
SToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Basic example
Basic examples of the instruction SToolTCPCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary TCP
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0,001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
! Instructions for creating or ModPos of p1 - p4
MoveJ p1, v10, fine, point_tool;
MoveJ p2, v10, fine, point_tool;
MoveJ p3, v10, fine, point_tool;
MoveJ p4, v10, fine, point_tool;
SToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
SToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: robtarget
The first approach point.
Pos2
Data type: robtarget
The second approach point.
Pos3
Data type: robtarget
The third approach point.
Continued
Continues on next page
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
509
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Pos4
Data type: robtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the stationary TCP.
Program execution
The system calculates and updates the TCP value in the world coordinate system
(tfame.trans ) in the specified tooldata. The calculation is based on the specified 4
robtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
SToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
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| 511
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1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
3HAC 16581-1 Revision: J
508
© Copyright 2004-2010 ABB. All rights reserved.
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
SToolTCPCalib .
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Basic example
Basic examples of the instruction SToolTCPCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary TCP
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0,001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
! Instructions for creating or ModPos of p1 - p4
MoveJ p1, v10, fine, point_tool;
MoveJ p2, v10, fine, point_tool;
MoveJ p3, v10, fine, point_tool;
MoveJ p4, v10, fine, point_tool;
SToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value ( tframe.trans ) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
SToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: robtarget
The first approach point.
Pos2
Data type: robtarget
The second approach point.
Pos3
Data type: robtarget
The third approach point.
Continued
Continues on next page
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
509
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Pos4
Data type: robtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the stationary TCP.
Program execution
The system calculates and updates the TCP value in the world coordinate system
(tfame.trans ) in the specified tooldata. The calculation is based on the specified 4
robtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
SToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
3HAC 16581-1 Revision: J
510
© Copyright 2004-2010 ABB. All rights reserved.
1.183. Stop - Stops program execution
Usage
Stop is used to stop the program execution. Any movement performed at the time will be
finished before the Stop instruction is ready.
Basic examples
Basic examples of the instruction Stop are illustrated below.
See also More examples on page 512 .
Example 1
TPWrite "The line to the host computer is broken";
Stop;
Program execution stops after a message has been written on the FlexPendant.
Arguments
Stop [ \NoRegain ] | [ \AllMoveTasks ]
[ \NoRegain ]
Data type: switch
Specifies for the next program start, whether or not the affected mechanical unit should return
to the stop position.
If the argument \NoRegain is set then the robot and external axes will not return to the stop
position (if they have been jogged away from it).
If the argument is omitted and if the robot or external axes have been jogged away from the
stop position then the robot displays a question on the FlexPendant. The user can then answer
whether or not the robot should return to the stop position.
[ \AllMoveTasks ]
Data type: switch
Specifies that programs in all running normal tasks besides the actual task should be stopped.
If the argument is omitted then only the program in the task that executes the instruction will
be stopped.
Continues on next page
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| 512
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1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
509
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Pos4
Data type: robtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the stationary TCP.
Program execution
The system calculates and updates the TCP value in the world coordinate system
(tfame.trans ) in the specified tooldata. The calculation is based on the specified 4
robtarget . The remaining data in tooldata, such as tool orientation ( tframe.rot ), is not
changed.
Syntax
SToolTCPCalib
[ Pos1 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos2 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos3 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Pos4 ’:=’ ] < expression ( IN ) of robtarget > ’,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable ( VAR ) of num > ’,’
[ MeanErr’ :=’ ] < variable ( VAR ) of num > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
Continued
1 Instructions
1.183. Stop - Stops program execution
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© Copyright 2004-2010 ABB. All rights reserved.
1.183. Stop - Stops program execution
Usage
Stop is used to stop the program execution. Any movement performed at the time will be
finished before the Stop instruction is ready.
Basic examples
Basic examples of the instruction Stop are illustrated below.
See also More examples on page 512 .
Example 1
TPWrite "The line to the host computer is broken";
Stop;
Program execution stops after a message has been written on the FlexPendant.
Arguments
Stop [ \NoRegain ] | [ \AllMoveTasks ]
[ \NoRegain ]
Data type: switch
Specifies for the next program start, whether or not the affected mechanical unit should return
to the stop position.
If the argument \NoRegain is set then the robot and external axes will not return to the stop
position (if they have been jogged away from it).
If the argument is omitted and if the robot or external axes have been jogged away from the
stop position then the robot displays a question on the FlexPendant. The user can then answer
whether or not the robot should return to the stop position.
[ \AllMoveTasks ]
Data type: switch
Specifies that programs in all running normal tasks besides the actual task should be stopped.
If the argument is omitted then only the program in the task that executes the instruction will
be stopped.
Continues on next page
1 Instructions
1.183. Stop - Stops program execution
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Program execution
The instruction stops program execution when the affected mechanical units in the actual
motion task have reached zero speed for the movement it is performing at the time, and stands
still. Program execution can then be restarted from the next instruction.
If the instruction is used without any switches then only the program in that task will be
affected.
If the AllMoveTasks switch is used in a task (Normal, Static, or Semistatic) then the
program in that task and all normal tasks will stop. See more about declaration of tasks in
documentation for System Parameters
The NoRegain switch is only possible to use in motion tasks since it only concerns the
motion path.
If there is a Stop instruction in some event routine then the execution of the routine will be
stopped, and the execution continue as described in TABLE 1.
If there is a Stop\AllMoveTasks instruction in some event routine in a MultiMove
system, then the task containing the instruction continue as described in TABLE 1 and all
other motion tasks executing an event routine continues as described in TABLE 2 (same
affect as for normal program stop during execution of the event routine).
TABLE 1
Event routines
Affect by Stop instruction
POWER ON
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order..
START
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order.
RESTART
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
STOP
The execution is stopped. No other event
routines are executed. The execution does not
continue in the event routine at the next start
order.
QSTOP
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
RESET
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
Continued
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1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
3HAC 16581-1 Revision: J
510
© Copyright 2004-2010 ABB. All rights reserved.
1.183. Stop - Stops program execution
Usage
Stop is used to stop the program execution. Any movement performed at the time will be
finished before the Stop instruction is ready.
Basic examples
Basic examples of the instruction Stop are illustrated below.
See also More examples on page 512 .
Example 1
TPWrite "The line to the host computer is broken";
Stop;
Program execution stops after a message has been written on the FlexPendant.
Arguments
Stop [ \NoRegain ] | [ \AllMoveTasks ]
[ \NoRegain ]
Data type: switch
Specifies for the next program start, whether or not the affected mechanical unit should return
to the stop position.
If the argument \NoRegain is set then the robot and external axes will not return to the stop
position (if they have been jogged away from it).
If the argument is omitted and if the robot or external axes have been jogged away from the
stop position then the robot displays a question on the FlexPendant. The user can then answer
whether or not the robot should return to the stop position.
[ \AllMoveTasks ]
Data type: switch
Specifies that programs in all running normal tasks besides the actual task should be stopped.
If the argument is omitted then only the program in the task that executes the instruction will
be stopped.
Continues on next page
1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
511
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The instruction stops program execution when the affected mechanical units in the actual
motion task have reached zero speed for the movement it is performing at the time, and stands
still. Program execution can then be restarted from the next instruction.
If the instruction is used without any switches then only the program in that task will be
affected.
If the AllMoveTasks switch is used in a task (Normal, Static, or Semistatic) then the
program in that task and all normal tasks will stop. See more about declaration of tasks in
documentation for System Parameters
The NoRegain switch is only possible to use in motion tasks since it only concerns the
motion path.
If there is a Stop instruction in some event routine then the execution of the routine will be
stopped, and the execution continue as described in TABLE 1.
If there is a Stop\AllMoveTasks instruction in some event routine in a MultiMove
system, then the task containing the instruction continue as described in TABLE 1 and all
other motion tasks executing an event routine continues as described in TABLE 2 (same
affect as for normal program stop during execution of the event routine).
TABLE 1
Event routines
Affect by Stop instruction
POWER ON
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order..
START
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order.
RESTART
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
STOP
The execution is stopped. No other event
routines are executed. The execution does not
continue in the event routine at the next start
order.
QSTOP
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
RESET
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
Continued
Continues on next page
1 Instructions
1.183. Stop - Stops program execution
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction Stop are illustrated below.
Example 1
MoveL p1, v500, fine, tool1;
TPWrite "Jog the robot to the position for pallet corner 1";
Stop \NoRegain;
p1_read := CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL p2, v500, z50, tool1;
Program execution stops with the robot at p1 . The operator jogs the robot to p1_read . For
the next program start the robot does not regain to p1, so the position p1_read can be stored
in the program.
Syntax
Stop
[ ’\’ NoRegain ]’|’
[ ’\’ AllMoveTasks ]’;’
Related information
TABLE 2
Event routines
Affect by Stop \AllMoveTasks
POWER ON
The POWER ON event routine completes its
execution. No STOP event routines are
executed.
START
The execution is stopped, and continues at the
next ordered start. No STOP event routines
are executed.
RESTART
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
STOP
The STOP event routine completes its
execution.
QSTOP
The QSTOP event routine completes its
execution.
RESET
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
For information about
See
Terminating program execution
EXIT - Terminates program execution on page
105
Only stopping robot movements
StopMove - Stops robot movement on page
515
Stop program for debugging
Break - Break program execution on page 32
Continued
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1 Instructions
1.183. Stop - Stops program execution
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The instruction stops program execution when the affected mechanical units in the actual
motion task have reached zero speed for the movement it is performing at the time, and stands
still. Program execution can then be restarted from the next instruction.
If the instruction is used without any switches then only the program in that task will be
affected.
If the AllMoveTasks switch is used in a task (Normal, Static, or Semistatic) then the
program in that task and all normal tasks will stop. See more about declaration of tasks in
documentation for System Parameters
The NoRegain switch is only possible to use in motion tasks since it only concerns the
motion path.
If there is a Stop instruction in some event routine then the execution of the routine will be
stopped, and the execution continue as described in TABLE 1.
If there is a Stop\AllMoveTasks instruction in some event routine in a MultiMove
system, then the task containing the instruction continue as described in TABLE 1 and all
other motion tasks executing an event routine continues as described in TABLE 2 (same
affect as for normal program stop during execution of the event routine).
TABLE 1
Event routines
Affect by Stop instruction
POWER ON
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order..
START
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order.
RESTART
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
STOP
The execution is stopped. No other event
routines are executed. The execution does not
continue in the event routine at the next start
order.
QSTOP
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
RESET
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
Continued
Continues on next page
1 Instructions
1.183. Stop - Stops program execution
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3HAC 16581-1 Revision: J
512
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction Stop are illustrated below.
Example 1
MoveL p1, v500, fine, tool1;
TPWrite "Jog the robot to the position for pallet corner 1";
Stop \NoRegain;
p1_read := CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL p2, v500, z50, tool1;
Program execution stops with the robot at p1 . The operator jogs the robot to p1_read . For
the next program start the robot does not regain to p1, so the position p1_read can be stored
in the program.
Syntax
Stop
[ ’\’ NoRegain ]’|’
[ ’\’ AllMoveTasks ]’;’
Related information
TABLE 2
Event routines
Affect by Stop \AllMoveTasks
POWER ON
The POWER ON event routine completes its
execution. No STOP event routines are
executed.
START
The execution is stopped, and continues at the
next ordered start. No STOP event routines
are executed.
RESTART
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
STOP
The STOP event routine completes its
execution.
QSTOP
The QSTOP event routine completes its
execution.
RESET
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
For information about
See
Terminating program execution
EXIT - Terminates program execution on page
105
Only stopping robot movements
StopMove - Stops robot movement on page
515
Stop program for debugging
Break - Break program execution on page 32
Continued
1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
513
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.184. STOpen - Open a Servo Tool
Usage
STOpen is used to open the Servo Tool.
Basic examples
Basic examples of the instruction STOpen are illustrated below.
Example 1
STOpen gun1;
Open the servo tool gun1 . Wait until the gun is opened before continuing with the next Rapid
instruction.
Example 2
STOpen gun1 \Conc;
Open the servo tool gun1 . Continue with the next Rapid instruction without waiting for the
gun to be opened.
Example 3
STOpen "SERVOGUN"\WaitZeroSpeed;
Stop the servo tool SERVOGUN , wait until any coordinated movement has finished, and then
open the servo tool SERVOGUN .
Arguments
STOpen ToolName
ToolName
Data type: string
The name of the mechanical unit.
[\WaitZeroSpeed]
Data type: switch
Stop the servo tool, wait until any coordinated movement has finished, and then open the
servo tool.
[\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.
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1 Instructions
1.183. Stop - Stops program execution
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512
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction Stop are illustrated below.
Example 1
MoveL p1, v500, fine, tool1;
TPWrite "Jog the robot to the position for pallet corner 1";
Stop \NoRegain;
p1_read := CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL p2, v500, z50, tool1;
Program execution stops with the robot at p1 . The operator jogs the robot to p1_read . For
the next program start the robot does not regain to p1, so the position p1_read can be stored
in the program.
Syntax
Stop
[ ’\’ NoRegain ]’|’
[ ’\’ AllMoveTasks ]’;’
Related information
TABLE 2
Event routines
Affect by Stop \AllMoveTasks
POWER ON
The POWER ON event routine completes its
execution. No STOP event routines are
executed.
START
The execution is stopped, and continues at the
next ordered start. No STOP event routines
are executed.
RESTART
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
STOP
The STOP event routine completes its
execution.
QSTOP
The QSTOP event routine completes its
execution.
RESET
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
For information about
See
Terminating program execution
EXIT - Terminates program execution on page
105
Only stopping robot movements
StopMove - Stops robot movement on page
515
Stop program for debugging
Break - Break program execution on page 32
Continued
1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
513
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.184. STOpen - Open a Servo Tool
Usage
STOpen is used to open the Servo Tool.
Basic examples
Basic examples of the instruction STOpen are illustrated below.
Example 1
STOpen gun1;
Open the servo tool gun1 . Wait until the gun is opened before continuing with the next Rapid
instruction.
Example 2
STOpen gun1 \Conc;
Open the servo tool gun1 . Continue with the next Rapid instruction without waiting for the
gun to be opened.
Example 3
STOpen "SERVOGUN"\WaitZeroSpeed;
Stop the servo tool SERVOGUN , wait until any coordinated movement has finished, and then
open the servo tool SERVOGUN .
Arguments
STOpen ToolName
ToolName
Data type: string
The name of the mechanical unit.
[\WaitZeroSpeed]
Data type: switch
Stop the servo tool, wait until any coordinated movement has finished, and then open the
servo tool.
[\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.
Continues on next page
1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
514
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
If the mechanical unit exists then the servo tool is ordered to open. The tip force is reduced
to zero and the tool arm is moved back to the pre_close position.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for the corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
It is possible to open the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm. If the tool is opened during such
movement then an error 50251 Tool opening failed will be displayed. The switch
WaitZeroSpeed can be used to reduce the risk for this error.
If the switch Conc is used then the instruction will be considered to be ready before the servo
tool is opened. It is recommended that the function STIsOpen is used after STOpen to avoid
any problems in concurrent mode.
For more details, see Servo tool motion control.
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 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.
All above errors can be handled in a RAPID error handler.
NOTE!
If the instruction is invoked from a background task and there is an emergency stop then the
instruction will be finished without an error.
Syntax
STOpen
[ ’ToolName ’:=’ ] < expression (IN) of string > ‘,’
[ ’\’WaitZeroSpeed]‘ ,’
[’\’Conc]’
Related information
For information about
See
Close a servo tool
STClose - Close a Servo Tool on page 496
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1.184. STOpen - Open a Servo Tool
Servo Tool Control
513
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.184. STOpen - Open a Servo Tool
Usage
STOpen is used to open the Servo Tool.
Basic examples
Basic examples of the instruction STOpen are illustrated below.
Example 1
STOpen gun1;
Open the servo tool gun1 . Wait until the gun is opened before continuing with the next Rapid
instruction.
Example 2
STOpen gun1 \Conc;
Open the servo tool gun1 . Continue with the next Rapid instruction without waiting for the
gun to be opened.
Example 3
STOpen "SERVOGUN"\WaitZeroSpeed;
Stop the servo tool SERVOGUN , wait until any coordinated movement has finished, and then
open the servo tool SERVOGUN .
Arguments
STOpen ToolName
ToolName
Data type: string
The name of the mechanical unit.
[\WaitZeroSpeed]
Data type: switch
Stop the servo tool, wait until any coordinated movement has finished, and then open the
servo tool.
[\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.
Continues on next page
1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
514
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
If the mechanical unit exists then the servo tool is ordered to open. The tip force is reduced
to zero and the tool arm is moved back to the pre_close position.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for the corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
It is possible to open the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm. If the tool is opened during such
movement then an error 50251 Tool opening failed will be displayed. The switch
WaitZeroSpeed can be used to reduce the risk for this error.
If the switch Conc is used then the instruction will be considered to be ready before the servo
tool is opened. It is recommended that the function STIsOpen is used after STOpen to avoid
any problems in concurrent mode.
For more details, see Servo tool motion control.
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 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.
All above errors can be handled in a RAPID error handler.
NOTE!
If the instruction is invoked from a background task and there is an emergency stop then the
instruction will be finished without an error.
Syntax
STOpen
[ ’ToolName ’:=’ ] < expression (IN) of string > ‘,’
[ ’\’WaitZeroSpeed]‘ ,’
[’\’Conc]’
Related information
For information about
See
Close a servo tool
STClose - Close a Servo Tool on page 496
Continued
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
515
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.185. StopMove - Stops robot movement
Usage
StopMove is used to stop robot and external axes movements and any belonging process
temporarily. If the instruction StartMove is given then the movement and process resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily when
an interrupt occurs.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for stopping the movement in that task.
•
any other task for stopping the movements in the main task.
For MultiMove systems it is possible to use this instruction in following type of program
tasks:
•
motion task for stopping the movement in that task.
•
non-motion task for stopping the movement in the connected motion task. Besides
that, if movement is stopped in one motion task belonging to a coordinated
synchronized task group then the movement is stopped in all the cooperated tasks.
Basic examples
Basic examples of the instruction StopMove are illustrated below.
See also More examples on page 517 .
Example 1
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot movement is stopped until the input, ready_input is set.
Arguments
StopMove [\Quick] [\AllMotionTasks]
[\Quick]
Data type: switch
Stops the robot on the path as fast as possible.
Without the optional parameter \Quick , the robot stops on the path, but the braking distance
is longer (same as for normal Program Stop).
[\AllMotionTasks]
Data type: switch
Stop the movement of all mechanical units in the system. The switch [\AllMotionTasks]
can only be used from a non-motion program task.
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1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
514
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
If the mechanical unit exists then the servo tool is ordered to open. The tip force is reduced
to zero and the tool arm is moved back to the pre_close position.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for the corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
It is possible to open the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm. If the tool is opened during such
movement then an error 50251 Tool opening failed will be displayed. The switch
WaitZeroSpeed can be used to reduce the risk for this error.
If the switch Conc is used then the instruction will be considered to be ready before the servo
tool is opened. It is recommended that the function STIsOpen is used after STOpen to avoid
any problems in concurrent mode.
For more details, see Servo tool motion control.
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 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.
All above errors can be handled in a RAPID error handler.
NOTE!
If the instruction is invoked from a background task and there is an emergency stop then the
instruction will be finished without an error.
Syntax
STOpen
[ ’ToolName ’:=’ ] < expression (IN) of string > ‘,’
[ ’\’WaitZeroSpeed]‘ ,’
[’\’Conc]’
Related information
For information about
See
Close a servo tool
STClose - Close a Servo Tool on page 496
Continued
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
515
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.185. StopMove - Stops robot movement
Usage
StopMove is used to stop robot and external axes movements and any belonging process
temporarily. If the instruction StartMove is given then the movement and process resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily when
an interrupt occurs.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for stopping the movement in that task.
•
any other task for stopping the movements in the main task.
For MultiMove systems it is possible to use this instruction in following type of program
tasks:
•
motion task for stopping the movement in that task.
•
non-motion task for stopping the movement in the connected motion task. Besides
that, if movement is stopped in one motion task belonging to a coordinated
synchronized task group then the movement is stopped in all the cooperated tasks.
Basic examples
Basic examples of the instruction StopMove are illustrated below.
See also More examples on page 517 .
Example 1
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot movement is stopped until the input, ready_input is set.
Arguments
StopMove [\Quick] [\AllMotionTasks]
[\Quick]
Data type: switch
Stops the robot on the path as fast as possible.
Without the optional parameter \Quick , the robot stops on the path, but the braking distance
is longer (same as for normal Program Stop).
[\AllMotionTasks]
Data type: switch
Stop the movement of all mechanical units in the system. The switch [\AllMotionTasks]
can only be used from a non-motion program task.
Continues on next page
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
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516
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The movements of the robot and external axes stop without the brakes being engaged. Any
processes associated with the movement in progress are stopped at the same time as the
movement is stopped.
Program execution continues after waiting for the robot and external axes to stop (standing
still).
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are stopped.
In a base system without the switch \AllMotionTasks , the movements for the following
mechanical units are stopped:
•
always the mechanical units in the main task, independent of which task executes the
StopMove instruction.
In a MultiMove system without the switch \AllMotionTasks , the movements for the
following mechanical units are stopped:
•
the mechanical units in the motion task executing StopMove .
•
the mechanical units in the motion task that are connected to the non-motion task
executing StopMove . Besides that, if mechanical units are stopped in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are stopped in all the cooperated tasks.
The StopMove state in the motion task generated from the motion task itself will
automatically be reset when starting that task from the beginning.
The StopMove state in connected motion task, generated from the some non-motion task,
will automatically be reset:
•
if normal non-motion task, at the start of that task from the beginning.
•
if semi-static non-motion task, at power fail restart when the task is starting from the
beginning.
•
if static non-motion task, at installation start when the task is starting from the
beginning.
Continued
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1 Instructions
1.185. StopMove - Stops robot movement
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© Copyright 2004-2010 ABB. All rights reserved.
1.185. StopMove - Stops robot movement
Usage
StopMove is used to stop robot and external axes movements and any belonging process
temporarily. If the instruction StartMove is given then the movement and process resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily when
an interrupt occurs.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for stopping the movement in that task.
•
any other task for stopping the movements in the main task.
For MultiMove systems it is possible to use this instruction in following type of program
tasks:
•
motion task for stopping the movement in that task.
•
non-motion task for stopping the movement in the connected motion task. Besides
that, if movement is stopped in one motion task belonging to a coordinated
synchronized task group then the movement is stopped in all the cooperated tasks.
Basic examples
Basic examples of the instruction StopMove are illustrated below.
See also More examples on page 517 .
Example 1
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot movement is stopped until the input, ready_input is set.
Arguments
StopMove [\Quick] [\AllMotionTasks]
[\Quick]
Data type: switch
Stops the robot on the path as fast as possible.
Without the optional parameter \Quick , the robot stops on the path, but the braking distance
is longer (same as for normal Program Stop).
[\AllMotionTasks]
Data type: switch
Stop the movement of all mechanical units in the system. The switch [\AllMotionTasks]
can only be used from a non-motion program task.
Continues on next page
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
516
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The movements of the robot and external axes stop without the brakes being engaged. Any
processes associated with the movement in progress are stopped at the same time as the
movement is stopped.
Program execution continues after waiting for the robot and external axes to stop (standing
still).
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are stopped.
In a base system without the switch \AllMotionTasks , the movements for the following
mechanical units are stopped:
•
always the mechanical units in the main task, independent of which task executes the
StopMove instruction.
In a MultiMove system without the switch \AllMotionTasks , the movements for the
following mechanical units are stopped:
•
the mechanical units in the motion task executing StopMove .
•
the mechanical units in the motion task that are connected to the non-motion task
executing StopMove . Besides that, if mechanical units are stopped in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are stopped in all the cooperated tasks.
The StopMove state in the motion task generated from the motion task itself will
automatically be reset when starting that task from the beginning.
The StopMove state in connected motion task, generated from the some non-motion task,
will automatically be reset:
•
if normal non-motion task, at the start of that task from the beginning.
•
if semi-static non-motion task, at power fail restart when the task is starting from the
beginning.
•
if static non-motion task, at installation start when the task is starting from the
beginning.
Continued
Continues on next page
1 Instructions
1.185. StopMove - Stops robot movement
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517
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction StopMove are illustrated below.
Example 1
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
When the input di1 is set to 1 an interrupt is activated which in turn activates the interrupt
routine go_to_home_pos . The current movement is stopped, and the robot moves instead to
the home position. When di1 is set to 0 the robot returns to the position at which the interrupt
occurred and continues to move along the programmed path.
Example 2
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos ()
VAR robtarget p10;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
MoveL p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Similar to the previous example but the robot does not move to the home position until the
current movement instruction is finished.
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove -
StartMove sequence against some motion task.
Continued
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1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
516
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The movements of the robot and external axes stop without the brakes being engaged. Any
processes associated with the movement in progress are stopped at the same time as the
movement is stopped.
Program execution continues after waiting for the robot and external axes to stop (standing
still).
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are stopped.
In a base system without the switch \AllMotionTasks , the movements for the following
mechanical units are stopped:
•
always the mechanical units in the main task, independent of which task executes the
StopMove instruction.
In a MultiMove system without the switch \AllMotionTasks , the movements for the
following mechanical units are stopped:
•
the mechanical units in the motion task executing StopMove .
•
the mechanical units in the motion task that are connected to the non-motion task
executing StopMove . Besides that, if mechanical units are stopped in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are stopped in all the cooperated tasks.
The StopMove state in the motion task generated from the motion task itself will
automatically be reset when starting that task from the beginning.
The StopMove state in connected motion task, generated from the some non-motion task,
will automatically be reset:
•
if normal non-motion task, at the start of that task from the beginning.
•
if semi-static non-motion task, at power fail restart when the task is starting from the
beginning.
•
if static non-motion task, at installation start when the task is starting from the
beginning.
Continued
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1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
517
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction StopMove are illustrated below.
Example 1
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
When the input di1 is set to 1 an interrupt is activated which in turn activates the interrupt
routine go_to_home_pos . The current movement is stopped, and the robot moves instead to
the home position. When di1 is set to 0 the robot returns to the position at which the interrupt
occurred and continues to move along the programmed path.
Example 2
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos ()
VAR robtarget p10;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
MoveL p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Similar to the previous example but the robot does not move to the home position until the
current movement instruction is finished.
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove -
StartMove sequence against some motion task.
Continued
Continues on next page
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
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518
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StopMove
[’\’Quick]
[’\’AllMotionTasks]’;’
Related information
For information about
See
Continuing a movement
StartMove - Restarts robot movement on page 486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.185. StopMove - Stops robot movement
RobotWare - OS
517
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction StopMove are illustrated below.
Example 1
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
When the input di1 is set to 1 an interrupt is activated which in turn activates the interrupt
routine go_to_home_pos . The current movement is stopped, and the robot moves instead to
the home position. When di1 is set to 0 the robot returns to the position at which the interrupt
occurred and continues to move along the programmed path.
Example 2
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos ()
VAR robtarget p10;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
MoveL p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Similar to the previous example but the robot does not move to the home position until the
current movement instruction is finished.
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove -
StartMove sequence against some motion task.
Continued
Continues on next page
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
518
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StopMove
[’\’Quick]
[’\’AllMotionTasks]’;’
Related information
For information about
See
Continuing a movement
StartMove - Restarts robot movement on page 486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
519
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© Copyright 2004-2010 ABB. All rights reserved.
1.186. StopMoveReset - Reset the system stop move state
Usage
StopMoveReset is used to reset the system stop move state without starting any movements.
Asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error
during the movements, can be handled in the ERROR handler. When such an error occurs the
movements are stopped at once, and the system stop move flag is set for actual program tasks.
This means that the movement is not restarted if doing any program start while program
pointer is inside the ERROR handler.
Restart of the movements after such movement error will be done after one of these action:
•
Execute StartMove or StartMoveRetry .
•
Execute StopMoveReset and the movement will restart at the next program start.
Basic examples
Basic examples of the instruction StopMoveReset are illustrated below.
Example 1
...
ArcL p101, v100, seam1, weld1, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
! Execute something but without any restart of the movement
! ProgStop - ProgStart must be allowed
...
! No idea to try to recover from this error, so let the error
! stop the program
...
! Reset the move stop flag, so it’s possible to manual restart
! the program and the movement after that the program has
! stopped
StopMoveReset;
ENDIF
ENDPROC
After that above ERROR handler has executed the ENDPROC , the program execution stops and
the pointer is at the beginning of the ArcL instruction. Next program start restarts the program
and movement from the position where the original movement error occurred.
Arguments
StopMoveReset [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Reset the system stop move state for all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
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1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
3HAC 16581-1 Revision: J
518
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StopMove
[’\’Quick]
[’\’AllMotionTasks]’;’
Related information
For information about
See
Continuing a movement
StartMove - Restarts robot movement on page 486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
519
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.186. StopMoveReset - Reset the system stop move state
Usage
StopMoveReset is used to reset the system stop move state without starting any movements.
Asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error
during the movements, can be handled in the ERROR handler. When such an error occurs the
movements are stopped at once, and the system stop move flag is set for actual program tasks.
This means that the movement is not restarted if doing any program start while program
pointer is inside the ERROR handler.
Restart of the movements after such movement error will be done after one of these action:
•
Execute StartMove or StartMoveRetry .
•
Execute StopMoveReset and the movement will restart at the next program start.
Basic examples
Basic examples of the instruction StopMoveReset are illustrated below.
Example 1
...
ArcL p101, v100, seam1, weld1, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
! Execute something but without any restart of the movement
! ProgStop - ProgStart must be allowed
...
! No idea to try to recover from this error, so let the error
! stop the program
...
! Reset the move stop flag, so it’s possible to manual restart
! the program and the movement after that the program has
! stopped
StopMoveReset;
ENDIF
ENDPROC
After that above ERROR handler has executed the ENDPROC , the program execution stops and
the pointer is at the beginning of the ArcL instruction. Next program start restarts the program
and movement from the position where the original movement error occurred.
Arguments
StopMoveReset [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Reset the system stop move state for all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
Continues on next page
1 Instructions
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
3HAC 16581-1 Revision: J
520
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
To reset a MultiMove application in synchronized coordinated mode, StopMoveReset must
be executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the reset
is done for all all mechanical units in the system.
In a base system without the switch \AllMotionTasks , the reset is always done for the main
task, independent of which task that executes the StopMoveReset instruction.
For base system it is possible to use StopMoveReset in the following type of program tasks:
•
main task T_ROB1 to reset the stop move state in that task.
•
any other task to reset the stop move state in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, to reset the stop move state in that task.
•
non motion task, to reset the stop move state in the connected motion task. Besides
that, if the reset of the stop move state in one connected motion task belonging to a
coordinated synchronized task group, the stop move state is reset in all the cooperating
tasks.
Syntax
StopMoveReset
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stop the movement
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restarts robot movement on page
486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
519
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.186. StopMoveReset - Reset the system stop move state
Usage
StopMoveReset is used to reset the system stop move state without starting any movements.
Asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error
during the movements, can be handled in the ERROR handler. When such an error occurs the
movements are stopped at once, and the system stop move flag is set for actual program tasks.
This means that the movement is not restarted if doing any program start while program
pointer is inside the ERROR handler.
Restart of the movements after such movement error will be done after one of these action:
•
Execute StartMove or StartMoveRetry .
•
Execute StopMoveReset and the movement will restart at the next program start.
Basic examples
Basic examples of the instruction StopMoveReset are illustrated below.
Example 1
...
ArcL p101, v100, seam1, weld1, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
! Execute something but without any restart of the movement
! ProgStop - ProgStart must be allowed
...
! No idea to try to recover from this error, so let the error
! stop the program
...
! Reset the move stop flag, so it’s possible to manual restart
! the program and the movement after that the program has
! stopped
StopMoveReset;
ENDIF
ENDPROC
After that above ERROR handler has executed the ENDPROC , the program execution stops and
the pointer is at the beginning of the ArcL instruction. Next program start restarts the program
and movement from the position where the original movement error occurred.
Arguments
StopMoveReset [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Reset the system stop move state for all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
Continues on next page
1 Instructions
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
3HAC 16581-1 Revision: J
520
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
To reset a MultiMove application in synchronized coordinated mode, StopMoveReset must
be executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the reset
is done for all all mechanical units in the system.
In a base system without the switch \AllMotionTasks , the reset is always done for the main
task, independent of which task that executes the StopMoveReset instruction.
For base system it is possible to use StopMoveReset in the following type of program tasks:
•
main task T_ROB1 to reset the stop move state in that task.
•
any other task to reset the stop move state in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, to reset the stop move state in that task.
•
non motion task, to reset the stop move state in the connected motion task. Besides
that, if the reset of the stop move state in one connected motion task belonging to a
coordinated synchronized task group, the stop move state is reset in all the cooperating
tasks.
Syntax
StopMoveReset
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stop the movement
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restarts robot movement on page
486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
521
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© Copyright 2004-2010 ABB. All rights reserved.
1.187. StorePath - Stores the path when an interrupt occurs
Usage
StorePath is used to store the movement path being executed, e.g. when an error or interrupt
occurs. The error handler or a trap routine can then start a new temporary movement and
finally restart the original movement that was stored earlier.
For example, this instruction can be used to go to a service position or to clean the gun when
an error occurs.
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 StorePath are illustrated below.
See also More examples on page 522 .
Example 1
StorePath;
The current movement path is stored for later use. Set the system to independent movement
mode.
Example 2
StorePath \KeepSync;
The current movement path is stored for later use. Keep synchronized movement mode.
Arguments
StorePath [\KeepSync]
[\KeepSync]
Keep Synchronization
Data type: switch
Keeps synchronized movement mode after the StorePath \KeepSync . The KeepSync
switch can only be used if the system is in synchronized movement mode before the
StorePath \KeepSync call.
Without the optional parameter \KeepSync , in a MultiMove coordinated synchronized
system, the system is set to independent-semicoordinated movement mode. After execution
of StorePath in all involved tasks, the system is in semicoordinated mode if further on use
of coordinated work object. Otherwise it is in independent mode. If in semicoordinated mode
it is recommended to always start with a movement in the mechanical unit that controls the
user frame before WaitSyncTask in all involved tasks.
Program execution
The current movement path of the robot and external axes are saved. After this, another
movement can be started in a trap routine or in an error handler. When the reason for the error
or interrupt has been rectified then the saved movement path can be restarted.
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1 Instructions
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
3HAC 16581-1 Revision: J
520
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
To reset a MultiMove application in synchronized coordinated mode, StopMoveReset must
be executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the reset
is done for all all mechanical units in the system.
In a base system without the switch \AllMotionTasks , the reset is always done for the main
task, independent of which task that executes the StopMoveReset instruction.
For base system it is possible to use StopMoveReset in the following type of program tasks:
•
main task T_ROB1 to reset the stop move state in that task.
•
any other task to reset the stop move state in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, to reset the stop move state in that task.
•
non motion task, to reset the stop move state in the connected motion task. Besides
that, if the reset of the stop move state in one connected motion task belonging to a
coordinated synchronized task group, the stop move state is reset in all the cooperating
tasks.
Syntax
StopMoveReset
[’\’AllMotionTasks]’;’
Related information
For information about
See
Stop the movement
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restarts robot movement on page
486
StartMoveRetry - Restarts robot movement and
execution on page 489
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
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
521
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.187. StorePath - Stores the path when an interrupt occurs
Usage
StorePath is used to store the movement path being executed, e.g. when an error or interrupt
occurs. The error handler or a trap routine can then start a new temporary movement and
finally restart the original movement that was stored earlier.
For example, this instruction can be used to go to a service position or to clean the gun when
an error occurs.
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 StorePath are illustrated below.
See also More examples on page 522 .
Example 1
StorePath;
The current movement path is stored for later use. Set the system to independent movement
mode.
Example 2
StorePath \KeepSync;
The current movement path is stored for later use. Keep synchronized movement mode.
Arguments
StorePath [\KeepSync]
[\KeepSync]
Keep Synchronization
Data type: switch
Keeps synchronized movement mode after the StorePath \KeepSync . The KeepSync
switch can only be used if the system is in synchronized movement mode before the
StorePath \KeepSync call.
Without the optional parameter \KeepSync , in a MultiMove coordinated synchronized
system, the system is set to independent-semicoordinated movement mode. After execution
of StorePath in all involved tasks, the system is in semicoordinated mode if further on use
of coordinated work object. Otherwise it is in independent mode. If in semicoordinated mode
it is recommended to always start with a movement in the mechanical unit that controls the
user frame before WaitSyncTask in all involved tasks.
Program execution
The current movement path of the robot and external axes are saved. After this, another
movement can be started in a trap routine or in an error handler. When the reason for the error
or interrupt has been rectified then the saved movement path can be restarted.
Continues on next page
1 Instructions
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
3HAC 16581-1 Revision: J
522
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction StorePath are illustrated below.
Example 1
TRAP machine_ready
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL p100, v100, fine, tool1;
...
MoveL p1, v100, fine, tool1;
RestoPath;
StartMove;
ENDTRAP
When an interrupt occurs that activates the trap routine machine_ready , the movement path
which the robot is executing at the time is stopped at the end of the instruction (ToPoint) and
stored. After this the robot remedies the interrupt by, for example, replacing a part in the
machine. Then the normal movement is restarted.
Limitations
Only the movement path data is stored with the instruction StorePath .
If the user wants to order movements on the new path level then the actual stop position must
be stored directly after StorePath and before RestoPath makes a movement to the stored
stop position on the path.
Only one movement path can be stored at a time.
Syntax
StorePath
[’\’KeepSync]’;’
Related information
For information about
See
Restoring a path
RestoPath - Restores the path after an interrupt on page
362
More examples
RestoPath - Restores the path after an interrupt on page
362
PathRecStart - Start the path recorder on page 308
SyncMoveResume - Set synchronized coordinated
movements on page 541
SyncMoveSuspend - Set independent-semicoordinated
movements on page 543
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1.187. StorePath - Stores the path when an interrupt occurs
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521
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© Copyright 2004-2010 ABB. All rights reserved.
1.187. StorePath - Stores the path when an interrupt occurs
Usage
StorePath is used to store the movement path being executed, e.g. when an error or interrupt
occurs. The error handler or a trap routine can then start a new temporary movement and
finally restart the original movement that was stored earlier.
For example, this instruction can be used to go to a service position or to clean the gun when
an error occurs.
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 StorePath are illustrated below.
See also More examples on page 522 .
Example 1
StorePath;
The current movement path is stored for later use. Set the system to independent movement
mode.
Example 2
StorePath \KeepSync;
The current movement path is stored for later use. Keep synchronized movement mode.
Arguments
StorePath [\KeepSync]
[\KeepSync]
Keep Synchronization
Data type: switch
Keeps synchronized movement mode after the StorePath \KeepSync . The KeepSync
switch can only be used if the system is in synchronized movement mode before the
StorePath \KeepSync call.
Without the optional parameter \KeepSync , in a MultiMove coordinated synchronized
system, the system is set to independent-semicoordinated movement mode. After execution
of StorePath in all involved tasks, the system is in semicoordinated mode if further on use
of coordinated work object. Otherwise it is in independent mode. If in semicoordinated mode
it is recommended to always start with a movement in the mechanical unit that controls the
user frame before WaitSyncTask in all involved tasks.
Program execution
The current movement path of the robot and external axes are saved. After this, another
movement can be started in a trap routine or in an error handler. When the reason for the error
or interrupt has been rectified then the saved movement path can be restarted.
Continues on next page
1 Instructions
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
3HAC 16581-1 Revision: J
522
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction StorePath are illustrated below.
Example 1
TRAP machine_ready
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL p100, v100, fine, tool1;
...
MoveL p1, v100, fine, tool1;
RestoPath;
StartMove;
ENDTRAP
When an interrupt occurs that activates the trap routine machine_ready , the movement path
which the robot is executing at the time is stopped at the end of the instruction (ToPoint) and
stored. After this the robot remedies the interrupt by, for example, replacing a part in the
machine. Then the normal movement is restarted.
Limitations
Only the movement path data is stored with the instruction StorePath .
If the user wants to order movements on the new path level then the actual stop position must
be stored directly after StorePath and before RestoPath makes a movement to the stored
stop position on the path.
Only one movement path can be stored at a time.
Syntax
StorePath
[’\’KeepSync]’;’
Related information
For information about
See
Restoring a path
RestoPath - Restores the path after an interrupt on page
362
More examples
RestoPath - Restores the path after an interrupt on page
362
PathRecStart - Start the path recorder on page 308
SyncMoveResume - Set synchronized coordinated
movements on page 541
SyncMoveSuspend - Set independent-semicoordinated
movements on page 543
Continued
1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
523
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.188. STTune - Tuning Servo Tool
Usage
STTune is used to tune/change a servo tool parameter. The parameter is changed temporarily
from the original value, which is set up in the system parameters. The new tune value will be
active immediately after executing the instruction.
STTune is useful in tuning procedures. A tuning procedure is typically used to find an optimal
value for a parameter. An experiment (i.e. a program execution with a servo tool movement)
is repeated when using different parameter tune values.
STTune shall not be used during calibration or tool closure.
Basic examples
Basic examples of the instruction STTune are illustrated below.
Example 1
STTune SEOLO_RG, 0.050, CloseTimeAdjust;
The servo tool parameter CloseTimeAdjust is temporarily set to 0.050 seconds.
Arguments
STTune MecUnit TuneValue Type
MecUnit
Data type: mecunit
The name of the mechanical unit.
TuneValue
Data type: num
New tuning value.
Type
Data type: tunegtype
Parameter type. Servo tool parameters available for tuning are RampTorqRefOpen ,
RampTorqRefClose , KV , SpeedLimit , CollAlarmTorq , CollContactPos ,
CollisionSpeed , CloseTimeAdjust , ForceReadyDelayT , PostSyncTime ,
CalibTime , CalibForceLow , CalibForceHigh . These types are predefined in the system
parameters and defines the original values.
Description
RampTorqRefOpen
Tunes the system parameter Ramp when decrease force , which decides how fast force
is released while opening the tool. The unit is Nm/s and a typical value 200.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_opening .
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1 Instructions
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
3HAC 16581-1 Revision: J
522
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction StorePath are illustrated below.
Example 1
TRAP machine_ready
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL p100, v100, fine, tool1;
...
MoveL p1, v100, fine, tool1;
RestoPath;
StartMove;
ENDTRAP
When an interrupt occurs that activates the trap routine machine_ready , the movement path
which the robot is executing at the time is stopped at the end of the instruction (ToPoint) and
stored. After this the robot remedies the interrupt by, for example, replacing a part in the
machine. Then the normal movement is restarted.
Limitations
Only the movement path data is stored with the instruction StorePath .
If the user wants to order movements on the new path level then the actual stop position must
be stored directly after StorePath and before RestoPath makes a movement to the stored
stop position on the path.
Only one movement path can be stored at a time.
Syntax
StorePath
[’\’KeepSync]’;’
Related information
For information about
See
Restoring a path
RestoPath - Restores the path after an interrupt on page
362
More examples
RestoPath - Restores the path after an interrupt on page
362
PathRecStart - Start the path recorder on page 308
SyncMoveResume - Set synchronized coordinated
movements on page 541
SyncMoveSuspend - Set independent-semicoordinated
movements on page 543
Continued
1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
523
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.188. STTune - Tuning Servo Tool
Usage
STTune is used to tune/change a servo tool parameter. The parameter is changed temporarily
from the original value, which is set up in the system parameters. The new tune value will be
active immediately after executing the instruction.
STTune is useful in tuning procedures. A tuning procedure is typically used to find an optimal
value for a parameter. An experiment (i.e. a program execution with a servo tool movement)
is repeated when using different parameter tune values.
STTune shall not be used during calibration or tool closure.
Basic examples
Basic examples of the instruction STTune are illustrated below.
Example 1
STTune SEOLO_RG, 0.050, CloseTimeAdjust;
The servo tool parameter CloseTimeAdjust is temporarily set to 0.050 seconds.
Arguments
STTune MecUnit TuneValue Type
MecUnit
Data type: mecunit
The name of the mechanical unit.
TuneValue
Data type: num
New tuning value.
Type
Data type: tunegtype
Parameter type. Servo tool parameters available for tuning are RampTorqRefOpen ,
RampTorqRefClose , KV , SpeedLimit , CollAlarmTorq , CollContactPos ,
CollisionSpeed , CloseTimeAdjust , ForceReadyDelayT , PostSyncTime ,
CalibTime , CalibForceLow , CalibForceHigh . These types are predefined in the system
parameters and defines the original values.
Description
RampTorqRefOpen
Tunes the system parameter Ramp when decrease force , which decides how fast force
is released while opening the tool. The unit is Nm/s and a typical value 200.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_opening .
Continues on next page
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
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RampTorqRefClose
Tunes the system parameter Ramp when increase force , which decides how fast force
is built up while opening the tool. The unit is Nm/s and a typical value 80.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_closing .
KV
Tunes the system parameter KV , which is used for speed limitation. The unit is Nms/rad and
a typical value 1. For more details, see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter Kv .
SpeedLimit
Tunes the system parameter Speed limit , which is used for speed limitation. The unit is
rad/s (motor speed) and a typical value 60. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
speed_limit .
CollAlarmTorq
Tunes the system parameter Collision alarm torque , which is used for the automatic
calibration of new tips. The unit is Nm (motor torque) and a typical value 1. For more details,
see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
alarm_torque .
CollContactPos
Tunes the system parameter Collision delta pos , which is used for automatic calibration
of new tips. The unit is m and a typical value 0,002. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
distance_to_contact_position .
CollisionSpeed
Tunes the system parameter Collision speed , which is used for automatic calibration of
new tips. The unit is m/s and a typical value 0,02. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter col_speed .
CloseTimeAdjust
Constant time adjustment (s), positive or negative, of the moment when the tool tips reaches
contact during a tool closure. May be used to delay the closing slightly when the synchronized
pre-closing is used for welding.
Corresponding system parameter: topic Motion , type SG process , parameter
min_close_time_adjust .
Continued
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
523
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.188. STTune - Tuning Servo Tool
Usage
STTune is used to tune/change a servo tool parameter. The parameter is changed temporarily
from the original value, which is set up in the system parameters. The new tune value will be
active immediately after executing the instruction.
STTune is useful in tuning procedures. A tuning procedure is typically used to find an optimal
value for a parameter. An experiment (i.e. a program execution with a servo tool movement)
is repeated when using different parameter tune values.
STTune shall not be used during calibration or tool closure.
Basic examples
Basic examples of the instruction STTune are illustrated below.
Example 1
STTune SEOLO_RG, 0.050, CloseTimeAdjust;
The servo tool parameter CloseTimeAdjust is temporarily set to 0.050 seconds.
Arguments
STTune MecUnit TuneValue Type
MecUnit
Data type: mecunit
The name of the mechanical unit.
TuneValue
Data type: num
New tuning value.
Type
Data type: tunegtype
Parameter type. Servo tool parameters available for tuning are RampTorqRefOpen ,
RampTorqRefClose , KV , SpeedLimit , CollAlarmTorq , CollContactPos ,
CollisionSpeed , CloseTimeAdjust , ForceReadyDelayT , PostSyncTime ,
CalibTime , CalibForceLow , CalibForceHigh . These types are predefined in the system
parameters and defines the original values.
Description
RampTorqRefOpen
Tunes the system parameter Ramp when decrease force , which decides how fast force
is released while opening the tool. The unit is Nm/s and a typical value 200.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_opening .
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1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
524
© Copyright 2004-2010 ABB. All rights reserved.
RampTorqRefClose
Tunes the system parameter Ramp when increase force , which decides how fast force
is built up while opening the tool. The unit is Nm/s and a typical value 80.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_closing .
KV
Tunes the system parameter KV , which is used for speed limitation. The unit is Nms/rad and
a typical value 1. For more details, see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter Kv .
SpeedLimit
Tunes the system parameter Speed limit , which is used for speed limitation. The unit is
rad/s (motor speed) and a typical value 60. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
speed_limit .
CollAlarmTorq
Tunes the system parameter Collision alarm torque , which is used for the automatic
calibration of new tips. The unit is Nm (motor torque) and a typical value 1. For more details,
see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
alarm_torque .
CollContactPos
Tunes the system parameter Collision delta pos , which is used for automatic calibration
of new tips. The unit is m and a typical value 0,002. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
distance_to_contact_position .
CollisionSpeed
Tunes the system parameter Collision speed , which is used for automatic calibration of
new tips. The unit is m/s and a typical value 0,02. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter col_speed .
CloseTimeAdjust
Constant time adjustment (s), positive or negative, of the moment when the tool tips reaches
contact during a tool closure. May be used to delay the closing slightly when the synchronized
pre-closing is used for welding.
Corresponding system parameter: topic Motion , type SG process , parameter
min_close_time_adjust .
Continued
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
525
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© Copyright 2004-2010 ABB. All rights reserved.
ForceReadyDelayT
Constant time delay (s) before sending the weld ready signal after reaching the programmed
force.
Corresponding system parameter: topic Motion , type SG process , parameter
pre_sync_delay_time .
PostSyncTime
Release time anticipation (s) of the next robot movement after a weld. This tune type can be
tuned to synchronize the gun opening with the next robot movement. The synchronization
may fail if the parameters is set too high.
Corresponding system parameter: topic Motion , type SG process , parameter
post_sync_time .
CalibTime
The wait time (s) during a calibration before the positional tool tip correction is done. For best
results do not use too low a value like 0.5 s.
Corresponding system parameter: topic Motion , type SG process , parameter calib_time .
CalibForceLow
The minimum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the minimum programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_low .
CalibForceHigh
The maximum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the max programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_high .
Program execution
The specified tuning type and tuning value are activated for the specified mechanical unit.
This value is applicable for all movements until a new value is programmed for the current
mechanical unit or until the tuning types and values are reset using the instruction
STTuneReset .
The original tune values may be permanently changed in the system parameters.
The default servo tool tuning values are automatically set
•
by executing instruction STTuneReset .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Continued
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
RampTorqRefClose
Tunes the system parameter Ramp when increase force , which decides how fast force
is built up while opening the tool. The unit is Nm/s and a typical value 80.
Corresponding system parameter: topic Motion , type Force master , parameter
ramp_torque_ref_closing .
KV
Tunes the system parameter KV , which is used for speed limitation. The unit is Nms/rad and
a typical value 1. For more details, see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter Kv .
SpeedLimit
Tunes the system parameter Speed limit , which is used for speed limitation. The unit is
rad/s (motor speed) and a typical value 60. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
speed_limit .
CollAlarmTorq
Tunes the system parameter Collision alarm torque , which is used for the automatic
calibration of new tips. The unit is Nm (motor torque) and a typical value 1. For more details,
see the external axis documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
alarm_torque .
CollContactPos
Tunes the system parameter Collision delta pos , which is used for automatic calibration
of new tips. The unit is m and a typical value 0,002. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter
distance_to_contact_position .
CollisionSpeed
Tunes the system parameter Collision speed , which is used for automatic calibration of
new tips. The unit is m/s and a typical value 0,02. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion , type Force master , parameter col_speed .
CloseTimeAdjust
Constant time adjustment (s), positive or negative, of the moment when the tool tips reaches
contact during a tool closure. May be used to delay the closing slightly when the synchronized
pre-closing is used for welding.
Corresponding system parameter: topic Motion , type SG process , parameter
min_close_time_adjust .
Continued
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
525
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ForceReadyDelayT
Constant time delay (s) before sending the weld ready signal after reaching the programmed
force.
Corresponding system parameter: topic Motion , type SG process , parameter
pre_sync_delay_time .
PostSyncTime
Release time anticipation (s) of the next robot movement after a weld. This tune type can be
tuned to synchronize the gun opening with the next robot movement. The synchronization
may fail if the parameters is set too high.
Corresponding system parameter: topic Motion , type SG process , parameter
post_sync_time .
CalibTime
The wait time (s) during a calibration before the positional tool tip correction is done. For best
results do not use too low a value like 0.5 s.
Corresponding system parameter: topic Motion , type SG process , parameter calib_time .
CalibForceLow
The minimum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the minimum programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_low .
CalibForceHigh
The maximum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the max programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_high .
Program execution
The specified tuning type and tuning value are activated for the specified mechanical unit.
This value is applicable for all movements until a new value is programmed for the current
mechanical unit or until the tuning types and values are reset using the instruction
STTuneReset .
The original tune values may be permanently changed in the system parameters.
The default servo tool tuning values are automatically set
•
by executing instruction STTuneReset .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Continued
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1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
STTune
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
[ TuneValue’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Type ’:=’] < expression ( IN ) of tunegtype > ]’;’
Related information
For information about
See
Restore of servo tool parameters
TuneReset - Resetting servo tuning on page 637
Tuning of servo tool
Application manual - Additional axes and stand
alone controller
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Servo Tool Control
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ForceReadyDelayT
Constant time delay (s) before sending the weld ready signal after reaching the programmed
force.
Corresponding system parameter: topic Motion , type SG process , parameter
pre_sync_delay_time .
PostSyncTime
Release time anticipation (s) of the next robot movement after a weld. This tune type can be
tuned to synchronize the gun opening with the next robot movement. The synchronization
may fail if the parameters is set too high.
Corresponding system parameter: topic Motion , type SG process , parameter
post_sync_time .
CalibTime
The wait time (s) during a calibration before the positional tool tip correction is done. For best
results do not use too low a value like 0.5 s.
Corresponding system parameter: topic Motion , type SG process , parameter calib_time .
CalibForceLow
The minimum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the minimum programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_low .
CalibForceHigh
The maximum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the max programmed weld force.
Corresponding system parameter: topic Motion , type SG process , parameter
calib_force_high .
Program execution
The specified tuning type and tuning value are activated for the specified mechanical unit.
This value is applicable for all movements until a new value is programmed for the current
mechanical unit or until the tuning types and values are reset using the instruction
STTuneReset .
The original tune values may be permanently changed in the system parameters.
The default servo tool tuning values are automatically set
•
by executing instruction STTuneReset .
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Continued
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1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
3HAC 16581-1 Revision: J
526
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
STTune
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
[ TuneValue’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Type ’:=’] < expression ( IN ) of tunegtype > ]’;’
Related information
For information about
See
Restore of servo tool parameters
TuneReset - Resetting servo tuning on page 637
Tuning of servo tool
Application manual - Additional axes and stand
alone controller
Continued
1 Instructions
1.189. STTuneReset - Resetting Servo tool tuning
Servo Tool Control
527
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.189. STTuneReset - Resetting Servo tool tuning
Usage
STTuneReset is used to restore original values of servo tool parameters if they have been
changed by the STTune instruction.
Basic examples
Basic examples of the instruction STTuneReset are illustrated below.
Example 1
STTuneReset SEOLO_RG;
Restore original values of servo tool parameters for the mechanical unit SEOLO_RG .
Arguments
STTuneReset MecUnit
MecUnit
Data type: mecunit
The name of the mechanical unit.
Program execution
The original servo tool parameters are restored.
This is also achieved
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Syntax
STTuneReset
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
Related information
For information about
See
Tuning of servo tool parameters
STTune - Tuning Servo Tool on page 523
Tuning of servo tool parameters
Application manual - Additional axes and stand
alone controller
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1.188. STTune - Tuning Servo Tool
Servo Tool Control
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
STTune
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
[ TuneValue’ :=’ ] < expression ( IN ) of num > ‘,’
[ ’Type ’:=’] < expression ( IN ) of tunegtype > ]’;’
Related information
For information about
See
Restore of servo tool parameters
TuneReset - Resetting servo tuning on page 637
Tuning of servo tool
Application manual - Additional axes and stand
alone controller
Continued
1 Instructions
1.189. STTuneReset - Resetting Servo tool tuning
Servo Tool Control
527
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.189. STTuneReset - Resetting Servo tool tuning
Usage
STTuneReset is used to restore original values of servo tool parameters if they have been
changed by the STTune instruction.
Basic examples
Basic examples of the instruction STTuneReset are illustrated below.
Example 1
STTuneReset SEOLO_RG;
Restore original values of servo tool parameters for the mechanical unit SEOLO_RG .
Arguments
STTuneReset MecUnit
MecUnit
Data type: mecunit
The name of the mechanical unit.
Program execution
The original servo tool parameters are restored.
This is also achieved
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Syntax
STTuneReset
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
Related information
For information about
See
Tuning of servo tool parameters
STTune - Tuning Servo Tool on page 523
Tuning of servo tool parameters
Application manual - Additional axes and stand
alone controller
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
528
© Copyright 2004-2010 ABB. All rights reserved.
1.190. SyncMoveOff - End coordinated synchronized movements
Usage
SyncMoveOff is used to end a sequence of synchronized movements and, in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point, and then the motion planners for the involved program tasks are set to independent
mode.
The instruction SyncMoveOff can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet.
Basic examples
Basic examples of the instruction SyncMoveOff are illustrated below.
See also More examples on page 530 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOff with identity sync2 waits until the other
tasks reach SyncMoveOff with the same identity sync2 . At that synchronization point
sync2 , the motion planners for the involved program tasks are set to independent mode.
After that, both task T_ROB1 and T_ROB2 continue their execution.
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1 Instructions
1.189. STTuneReset - Resetting Servo tool tuning
Servo Tool Control
527
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.189. STTuneReset - Resetting Servo tool tuning
Usage
STTuneReset is used to restore original values of servo tool parameters if they have been
changed by the STTune instruction.
Basic examples
Basic examples of the instruction STTuneReset are illustrated below.
Example 1
STTuneReset SEOLO_RG;
Restore original values of servo tool parameters for the mechanical unit SEOLO_RG .
Arguments
STTuneReset MecUnit
MecUnit
Data type: mecunit
The name of the mechanical unit.
Program execution
The original servo tool parameters are restored.
This is also achieved
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
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 .
The error can be handled in a Rapid error handler.
Syntax
STTuneReset
[ MecUnit ’:=’ ] < variable ( VAR ) of mecunit > ‘,’
Related information
For information about
See
Tuning of servo tool parameters
STTune - Tuning Servo Tool on page 523
Tuning of servo tool parameters
Application manual - Additional axes and stand
alone controller
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
528
© Copyright 2004-2010 ABB. All rights reserved.
1.190. SyncMoveOff - End coordinated synchronized movements
Usage
SyncMoveOff is used to end a sequence of synchronized movements and, in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point, and then the motion planners for the involved program tasks are set to independent
mode.
The instruction SyncMoveOff can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet.
Basic examples
Basic examples of the instruction SyncMoveOff are illustrated below.
See also More examples on page 530 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOff with identity sync2 waits until the other
tasks reach SyncMoveOff with the same identity sync2 . At that synchronization point
sync2 , the motion planners for the involved program tasks are set to independent mode.
After that, both task T_ROB1 and T_ROB2 continue their execution.
Continues on next page
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
529
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
SyncMoveOff SyncID [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variables that specify the name of the unsynchronization (meeting) point. Data type
syncident is a non-value type. It is only used as an identifier for naming the
unsynchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the unsynchronization point. The
time-out is defined in seconds (resolution 0,001s).
If this time runs out before all program tasks have reached the unsynchronization point then
the error handler will be called, if there is one, with the error code ERR_SYNCMOVEOFF . If
there is no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait forever.
Program execution
The program task that first reaches SyncMoveOff waits until all other specified tasks reach
SyncMoveOff with the same SyncID identity. At that SyncID unsynchronization point the
motion planner for the involved program tasks is set to independent mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks are set to unsynchronized mode. This
means the following:
•
All RAPID program tasks and all movements from these tasks are working
independently of each other again.
•
Any move instruction must not be marked with any ID number. See instruction
MoveL .
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instructions SyncMoveOn and SyncMoveOff will still work with the reduced
number of program tasks, even for only one program task.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
528
© Copyright 2004-2010 ABB. All rights reserved.
1.190. SyncMoveOff - End coordinated synchronized movements
Usage
SyncMoveOff is used to end a sequence of synchronized movements and, in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point, and then the motion planners for the involved program tasks are set to independent
mode.
The instruction SyncMoveOff can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet.
Basic examples
Basic examples of the instruction SyncMoveOff are illustrated below.
See also More examples on page 530 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOff with identity sync2 waits until the other
tasks reach SyncMoveOff with the same identity sync2 . At that synchronization point
sync2 , the motion planners for the involved program tasks are set to independent mode.
After that, both task T_ROB1 and T_ROB2 continue their execution.
Continues on next page
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
529
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Arguments
SyncMoveOff SyncID [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variables that specify the name of the unsynchronization (meeting) point. Data type
syncident is a non-value type. It is only used as an identifier for naming the
unsynchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the unsynchronization point. The
time-out is defined in seconds (resolution 0,001s).
If this time runs out before all program tasks have reached the unsynchronization point then
the error handler will be called, if there is one, with the error code ERR_SYNCMOVEOFF . If
there is no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait forever.
Program execution
The program task that first reaches SyncMoveOff waits until all other specified tasks reach
SyncMoveOff with the same SyncID identity. At that SyncID unsynchronization point the
motion planner for the involved program tasks is set to independent mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks are set to unsynchronized mode. This
means the following:
•
All RAPID program tasks and all movements from these tasks are working
independently of each other again.
•
Any move instruction must not be marked with any ID number. See instruction
MoveL .
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instructions SyncMoveOn and SyncMoveOff will still work with the reduced
number of program tasks, even for only one program task.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
530
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction SyncMoveOff are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
529
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Arguments
SyncMoveOff SyncID [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variables that specify the name of the unsynchronization (meeting) point. Data type
syncident is a non-value type. It is only used as an identifier for naming the
unsynchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the unsynchronization point. The
time-out is defined in seconds (resolution 0,001s).
If this time runs out before all program tasks have reached the unsynchronization point then
the error handler will be called, if there is one, with the error code ERR_SYNCMOVEOFF . If
there is no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait forever.
Program execution
The program task that first reaches SyncMoveOff waits until all other specified tasks reach
SyncMoveOff with the same SyncID identity. At that SyncID unsynchronization point the
motion planner for the involved program tasks is set to independent mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks are set to unsynchronized mode. This
means the following:
•
All RAPID program tasks and all movements from these tasks are working
independently of each other again.
•
Any move instruction must not be marked with any ID number. See instruction
MoveL .
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instructions SyncMoveOn and SyncMoveOff will still work with the reduced
number of program tasks, even for only one program task.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
530
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction SyncMoveOff are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
531
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PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2 ;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other, programmed with corner path for the preceding movements for saving cycle
time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Then the program tasks are waiting at SyncMoveOff with identity sync3 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to independent mode.
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOff sync3 \TimeOut := 60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEOFF THEN
RETRY;
ENDIF
The program task waits for an instruction SyncMoveOff and for some other program task to
reach the same synchronization point sync3 . After waiting 60 seconds, the error handler is
called with ERRNO equal to ERR_SYNCMOVEOFF . Then the instruction SyncMoveOff is
called again for an additional wait of 60 seconds.
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction SyncMoveOff are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
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PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2 ;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other, programmed with corner path for the preceding movements for saving cycle
time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Then the program tasks are waiting at SyncMoveOff with identity sync3 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to independent mode.
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOff sync3 \TimeOut := 60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEOFF THEN
RETRY;
ENDIF
The program task waits for an instruction SyncMoveOff and for some other program task to
reach the same synchronization point sync3 . After waiting 60 seconds, the error handler is
called with ERRNO equal to ERR_SYNCMOVEOFF . Then the instruction SyncMoveOff is
called again for an additional wait of 60 seconds.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
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Example 3
!Example with with semicoordinated and syncronized movement
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p1_90, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p1_100 \ID:=10, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
WaitSyncTask sync3, task_list;
MoveL p1_120, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL p1_130, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync4, task_list;
...
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p_fine, v1000, fine, tcp2;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p2_100 \ID:=10, v100, fine, tcp2;
SyncMoveOff sync3;
MoveL p2_100, v100, fine, tcp2;
WaitSyncTask sync3, task_list;
WaitSyncTask sync4, task_list;
MoveL p2_110, v100, z10, tcp2;
...
ENDPROC
When switching between semicoordinated to syncronized movement, a WaitSyncTask is
needed (when using identity sync1 ).
When switching between syncronized to semicoordinated movement, the task that move the
work object ( rob2_obj ) needs to move to the desired position. After that a WaitSyncTask
is needed (identity sync3 ) before the semicoordinated movement.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
531
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2 ;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other, programmed with corner path for the preceding movements for saving cycle
time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Then the program tasks are waiting at SyncMoveOff with identity sync3 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to independent mode.
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOff sync3 \TimeOut := 60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEOFF THEN
RETRY;
ENDIF
The program task waits for an instruction SyncMoveOff and for some other program task to
reach the same synchronization point sync3 . After waiting 60 seconds, the error handler is
called with ERRNO equal to ERR_SYNCMOVEOFF . Then the instruction SyncMoveOff is
called again for an additional wait of 60 seconds.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
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© Copyright 2004-2010 ABB. All rights reserved.
Example 3
!Example with with semicoordinated and syncronized movement
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p1_90, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p1_100 \ID:=10, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
WaitSyncTask sync3, task_list;
MoveL p1_120, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL p1_130, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync4, task_list;
...
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p_fine, v1000, fine, tcp2;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p2_100 \ID:=10, v100, fine, tcp2;
SyncMoveOff sync3;
MoveL p2_100, v100, fine, tcp2;
WaitSyncTask sync3, task_list;
WaitSyncTask sync4, task_list;
MoveL p2_110, v100, z10, tcp2;
...
ENDPROC
When switching between semicoordinated to syncronized movement, a WaitSyncTask is
needed (when using identity sync1 ).
When switching between syncronized to semicoordinated movement, the task that move the
work object ( rob2_obj ) needs to move to the desired position. After that a WaitSyncTask
is needed (identity sync3 ) before the semicoordinated movement.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
533
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If time-out is reached because SyncMoveOff is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEOFF .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOff instruction can only be executed if all involved robots stand still in a stop
point.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOff cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOff
[ SyncID ’:=’ ] < variable ( VAR ) of syncident>
[ ’\’TimeOut’ :=’ < expression ( IN ) of num> ] ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
robots
Application manual - MultiMove
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
3HAC 16581-1 Revision: J
532
© Copyright 2004-2010 ABB. All rights reserved.
Example 3
!Example with with semicoordinated and syncronized movement
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p1_90, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p1_100 \ID:=10, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
WaitSyncTask sync3, task_list;
MoveL p1_120, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL p1_130, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync4, task_list;
...
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p_fine, v1000, fine, tcp2;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p2_100 \ID:=10, v100, fine, tcp2;
SyncMoveOff sync3;
MoveL p2_100, v100, fine, tcp2;
WaitSyncTask sync3, task_list;
WaitSyncTask sync4, task_list;
MoveL p2_110, v100, z10, tcp2;
...
ENDPROC
When switching between semicoordinated to syncronized movement, a WaitSyncTask is
needed (when using identity sync1 ).
When switching between syncronized to semicoordinated movement, the task that move the
work object ( rob2_obj ) needs to move to the desired position. After that a WaitSyncTask
is needed (identity sync3 ) before the semicoordinated movement.
Continued
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
533
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If time-out is reached because SyncMoveOff is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEOFF .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOff instruction can only be executed if all involved robots stand still in a stop
point.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOff cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOff
[ SyncID ’:=’ ] < variable ( VAR ) of syncident>
[ ’\’TimeOut’ :=’ < expression ( IN ) of num> ] ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
robots
Application manual - MultiMove
Continued
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
534
© Copyright 2004-2010 ABB. All rights reserved.
1.191. SyncMoveOn - Start coordinated synchronized movements
Usage
SyncMoveOn is used to start a sequence of synchronized movements and in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point and then the motion planner for the involved program tasks is set to synchronized mode.
The instruction SyncMoveOn can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet in the meeting point.
Basic examples
Basic examples of the instruction SyncMoveOn are illustrated below.
See also More examples on page 536 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOn with identity sync1 waits until the other
task reaches its SyncMoveOn with the same identity sync1 . At that synchronization point,
sync1 , the motion planner for the involved program tasks is set to synchronized mode. After
that, both task T_ROB1 and T_ROB2 continue their execution, synchronized until they reach
SyncMoveOff with the same identity sync2 .
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
533
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If time-out is reached because SyncMoveOff is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEOFF .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOff instruction can only be executed if all involved robots stand still in a stop
point.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOff cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOff
[ SyncID ’:=’ ] < variable ( VAR ) of syncident>
[ ’\’TimeOut’ :=’ < expression ( IN ) of num> ] ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
robots
Application manual - MultiMove
Continued
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
534
© Copyright 2004-2010 ABB. All rights reserved.
1.191. SyncMoveOn - Start coordinated synchronized movements
Usage
SyncMoveOn is used to start a sequence of synchronized movements and in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point and then the motion planner for the involved program tasks is set to synchronized mode.
The instruction SyncMoveOn can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet in the meeting point.
Basic examples
Basic examples of the instruction SyncMoveOn are illustrated below.
See also More examples on page 536 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOn with identity sync1 waits until the other
task reaches its SyncMoveOn with the same identity sync1 . At that synchronization point,
sync1 , the motion planner for the involved program tasks is set to synchronized mode. After
that, both task T_ROB1 and T_ROB2 continue their execution, synchronized until they reach
SyncMoveOff with the same identity sync2 .
Continues on next page
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
535
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Arguments
SyncMoveOn SyncID TaskList [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variable that specifies the name of the synchronization (meeting) point. Data type
syncident is a non-value type that is only used as an identifier for naming the
synchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
TaskList
Data type: tasks
Persistent variable that in a task list (array) specifies the name ( string ) of the program tasks
that should meet in the synchronization point with name according argument SyncID .
The persistent variable must be defined and have equal name and equal contents in all
cooperated program tasks. It is recommended to always define the variable global in the
system ( PERS tasks ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the synchronization point. The
time-out is defined in seconds (resolution 0.001s).
If this time runs out before all program tasks have reached the synchronization point then the
error handler will be called, if there is one, with the error code ERR_SYNCMOVEON . If there is
no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait for ever.
Program execution
The program task that first reaches SyncMoveOn waits until all other specified tasks reach
their SyncMoveOn with the same SyncID identity. At that SyncID synchronization point the
motion planner for the involved program tasks is set to synchronized mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks is set to synchronized mode. This means
the following:
•
Each movement instruction in any program task in the TaskList is working
synchronous with movement instructions in other program tasks in the TaskList .
•
All cooperated movement instructions are planned and interpolated in the same
Motion Planner.
•
All movements start and end at the same time. The movement that takes the longest
time will be the speed master with reduced speed in relation to the work object for the
other movements.
•
All cooperated move instruction must be marked with the same ID number. See
instruction MoveL .
Continued
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
534
© Copyright 2004-2010 ABB. All rights reserved.
1.191. SyncMoveOn - Start coordinated synchronized movements
Usage
SyncMoveOn is used to start a sequence of synchronized movements and in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point and then the motion planner for the involved program tasks is set to synchronized mode.
The instruction SyncMoveOn can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID ) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet in the meeting point.
Basic examples
Basic examples of the instruction SyncMoveOn are illustrated below.
See also More examples on page 536 .
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOn with identity sync1 waits until the other
task reaches its SyncMoveOn with the same identity sync1 . At that synchronization point,
sync1 , the motion planner for the involved program tasks is set to synchronized mode. After
that, both task T_ROB1 and T_ROB2 continue their execution, synchronized until they reach
SyncMoveOff with the same identity sync2 .
Continues on next page
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
535
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© Copyright 2004-2010 ABB. All rights reserved.
Arguments
SyncMoveOn SyncID TaskList [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variable that specifies the name of the synchronization (meeting) point. Data type
syncident is a non-value type that is only used as an identifier for naming the
synchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
TaskList
Data type: tasks
Persistent variable that in a task list (array) specifies the name ( string ) of the program tasks
that should meet in the synchronization point with name according argument SyncID .
The persistent variable must be defined and have equal name and equal contents in all
cooperated program tasks. It is recommended to always define the variable global in the
system ( PERS tasks ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the synchronization point. The
time-out is defined in seconds (resolution 0.001s).
If this time runs out before all program tasks have reached the synchronization point then the
error handler will be called, if there is one, with the error code ERR_SYNCMOVEON . If there is
no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait for ever.
Program execution
The program task that first reaches SyncMoveOn waits until all other specified tasks reach
their SyncMoveOn with the same SyncID identity. At that SyncID synchronization point the
motion planner for the involved program tasks is set to synchronized mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks is set to synchronized mode. This means
the following:
•
Each movement instruction in any program task in the TaskList is working
synchronous with movement instructions in other program tasks in the TaskList .
•
All cooperated movement instructions are planned and interpolated in the same
Motion Planner.
•
All movements start and end at the same time. The movement that takes the longest
time will be the speed master with reduced speed in relation to the work object for the
other movements.
•
All cooperated move instruction must be marked with the same ID number. See
instruction MoveL .
Continued
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
536
© Copyright 2004-2010 ABB. All rights reserved.
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instruction SyncMoveOn will still work with the reduced number of program tasks
even for only one program task.
More examples
More examples of how to use the instruction SyncMoveOn are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
Continued
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1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
535
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© Copyright 2004-2010 ABB. All rights reserved.
Arguments
SyncMoveOn SyncID TaskList [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variable that specifies the name of the synchronization (meeting) point. Data type
syncident is a non-value type that is only used as an identifier for naming the
synchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task ( VAR syncident ... ).
TaskList
Data type: tasks
Persistent variable that in a task list (array) specifies the name ( string ) of the program tasks
that should meet in the synchronization point with name according argument SyncID .
The persistent variable must be defined and have equal name and equal contents in all
cooperated program tasks. It is recommended to always define the variable global in the
system ( PERS tasks ... ).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the synchronization point. The
time-out is defined in seconds (resolution 0.001s).
If this time runs out before all program tasks have reached the synchronization point then the
error handler will be called, if there is one, with the error code ERR_SYNCMOVEON . If there is
no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait for ever.
Program execution
The program task that first reaches SyncMoveOn waits until all other specified tasks reach
their SyncMoveOn with the same SyncID identity. At that SyncID synchronization point the
motion planner for the involved program tasks is set to synchronized mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks is set to synchronized mode. This means
the following:
•
Each movement instruction in any program task in the TaskList is working
synchronous with movement instructions in other program tasks in the TaskList .
•
All cooperated movement instructions are planned and interpolated in the same
Motion Planner.
•
All movements start and end at the same time. The movement that takes the longest
time will be the speed master with reduced speed in relation to the work object for the
other movements.
•
All cooperated move instruction must be marked with the same ID number. See
instruction MoveL .
Continued
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
536
© Copyright 2004-2010 ABB. All rights reserved.
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instruction SyncMoveOn will still work with the reduced number of program tasks
even for only one program task.
More examples
More examples of how to use the instruction SyncMoveOn are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
Continued
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
537
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PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First, program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other. They are programmed with corner path for the preceding movements for
saving cycle time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other. They
are programmed with a necessary stop point for the preceding movements. After that the
motion planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOn sync3, task_list \TimeOut :=60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEON THEN
RETRY;
ENDIF
The program task waits for instruction SyncMoveOn for the program task T_ROB2 to reach
the same synchronization point sync3 . After waiting 60 seconds, the error handler is called
with ERRNO equal to ERR_SYNCMOVEON . Then the instruction SyncMoveOn is called again for
an additional wait of 60 seconds.
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It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instruction SyncMoveOn will still work with the reduced number of program tasks
even for only one program task.
More examples
More examples of how to use the instruction SyncMoveOn are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
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PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First, program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other. They are programmed with corner path for the preceding movements for
saving cycle time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other. They
are programmed with a necessary stop point for the preceding movements. After that the
motion planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOn sync3, task_list \TimeOut :=60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEON THEN
RETRY;
ENDIF
The program task waits for instruction SyncMoveOn for the program task T_ROB2 to reach
the same synchronization point sync3 . After waiting 60 seconds, the error handler is called
with ERRNO equal to ERR_SYNCMOVEON . Then the instruction SyncMoveOn is called again for
an additional wait of 60 seconds.
Continued
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Example 3- Program example with three tasks
!Program example in task T_ROB1
PERS tasks task_list1 {2} :=[["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} :=[["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB2
PERS tasks task_list1 {2} := [["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB3
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync3;
VAR syncident sync4;
VAR syncident sync5;
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PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First, program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other. They are programmed with corner path for the preceding movements for
saving cycle time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other. They
are programmed with a necessary stop point for the preceding movements. After that the
motion planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2 .
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOn sync3, task_list \TimeOut :=60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEON THEN
RETRY;
ENDIF
The program task waits for instruction SyncMoveOn for the program task T_ROB2 to reach
the same synchronization point sync3 . After waiting 60 seconds, the error handler is called
with ERRNO equal to ERR_SYNCMOVEON . Then the instruction SyncMoveOn is called again for
an additional wait of 60 seconds.
Continued
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Example 3- Program example with three tasks
!Program example in task T_ROB1
PERS tasks task_list1 {2} :=[["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} :=[["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB2
PERS tasks task_list1 {2} := [["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB3
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync3;
VAR syncident sync4;
VAR syncident sync5;
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RW-MRS Independent
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...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
In this example, at first, program task T_ROB1 and T_ROB2 are moving synchronized and
T_ROB3 is moving independent. Further on in the program all three tasks are moving
synchronized. To prevent the instruction of SyncMoveOn to be executed in T_ROB3 before
the first synchronization of T_ROB1 and T_ROB2 have ended, the instruction WaitSyncTask
is used.
Error handling
If time-out is reached because SyncMoveOn is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEON .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOn instruction can only be executed if all involved robots stand still in a stop
point.
Only one coordinated synchronized movement group can be active at the same time.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOn cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOn
[ SyncID ´:=’ ] < variable ( VAR ) of syncident> ´,’
[ TaskList ‘:=’ ] < persistent array {*} ( PERS ) of tasks> ´,’
[ ´\’TimeOut ´:=’ < expression ( IN ) of num > ]’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
Robots
Application manual - MultiMove
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Example 3- Program example with three tasks
!Program example in task T_ROB1
PERS tasks task_list1 {2} :=[["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} :=[["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB2
PERS tasks task_list1 {2} := [["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB3
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync3;
VAR syncident sync4;
VAR syncident sync5;
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RW-MRS Independent
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...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
In this example, at first, program task T_ROB1 and T_ROB2 are moving synchronized and
T_ROB3 is moving independent. Further on in the program all three tasks are moving
synchronized. To prevent the instruction of SyncMoveOn to be executed in T_ROB3 before
the first synchronization of T_ROB1 and T_ROB2 have ended, the instruction WaitSyncTask
is used.
Error handling
If time-out is reached because SyncMoveOn is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEON .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOn instruction can only be executed if all involved robots stand still in a stop
point.
Only one coordinated synchronized movement group can be active at the same time.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOn cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOn
[ SyncID ´:=’ ] < variable ( VAR ) of syncident> ´,’
[ TaskList ‘:=’ ] < persistent array {*} ( PERS ) of tasks> ´,’
[ ´\’TimeOut ´:=’ < expression ( IN ) of num > ]’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
Robots
Application manual - MultiMove
Continued
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RW-MRS Independent
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Wait for synchronized tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
For information about
See
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...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
In this example, at first, program task T_ROB1 and T_ROB2 are moving synchronized and
T_ROB3 is moving independent. Further on in the program all three tasks are moving
synchronized. To prevent the instruction of SyncMoveOn to be executed in T_ROB3 before
the first synchronization of T_ROB1 and T_ROB2 have ended, the instruction WaitSyncTask
is used.
Error handling
If time-out is reached because SyncMoveOn is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEON .
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOn instruction can only be executed if all involved robots stand still in a stop
point.
Only one coordinated synchronized movement group can be active at the same time.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOn cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOn
[ SyncID ´:=’ ] < variable ( VAR ) of syncident> ´,’
[ TaskList ‘:=’ ] < persistent array {*} ( PERS ) of tasks> ´,’
[ ´\’TimeOut ´:=’ < expression ( IN ) of num > ]’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
Robots
Application manual - MultiMove
Continued
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1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
540
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Wait for synchronized tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
For information about
See
Continued
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
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1.192. SyncMoveResume - Set synchronized coordinated movements
Usage
SyncMoveResume is used to go back to synchronized movements from independent
movement mode. The instruction can only be used on StorePath level, e.g. after a
StorePath \KeepSync has been executed and the system is in independent motion mode
after SyncMoveSuspend has been executed. To be able to use the instruction the system must
have been in synchronized motion mode before executing the StorePath and
SyncMoveSuspend instruction.
The instruction SyncMoveResume can only be used in a MultiMove system with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveResume are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
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Wait for synchronized tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
For information about
See
Continued
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
541
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1.192. SyncMoveResume - Set synchronized coordinated movements
Usage
SyncMoveResume is used to go back to synchronized movements from independent
movement mode. The instruction can only be used on StorePath level, e.g. after a
StorePath \KeepSync has been executed and the system is in independent motion mode
after SyncMoveSuspend has been executed. To be able to use the instruction the system must
have been in synchronized motion mode before executing the StorePath and
SyncMoveSuspend instruction.
The instruction SyncMoveResume can only be used in a MultiMove system with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveResume are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
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Program execution
SyncMoveResume forces resume of synchronized mode when system is in independent
movement mode on StorePath level.
SyncMoveResume is required in all tasks that were executing in synchronized movement
before entering independent movement mode. If one Motion task executes a
SyncMoveResume then that task will wait until all tasks that earlier were in synchronized
movement mode execute a SyncMoveResume instruction. After that, involved program tasks
continue their execution.
Limitations
The SyncMoveResume can only be used to go back to synchronized movement mode and can
only be used on StorePath level.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveResume cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveResume ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
SyncMoveOn - Start coordinated synchronized
movements on page 534
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Suspends synchronized movements
SyncMoveSuspend - Set independent-semicoordi-
nated movements on page 543
Continued
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Path Recovery
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1.192. SyncMoveResume - Set synchronized coordinated movements
Usage
SyncMoveResume is used to go back to synchronized movements from independent
movement mode. The instruction can only be used on StorePath level, e.g. after a
StorePath \KeepSync has been executed and the system is in independent motion mode
after SyncMoveSuspend has been executed. To be able to use the instruction the system must
have been in synchronized motion mode before executing the StorePath and
SyncMoveSuspend instruction.
The instruction SyncMoveResume can only be used in a MultiMove system with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveResume are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
3HAC 16581-1 Revision: J
542
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
SyncMoveResume forces resume of synchronized mode when system is in independent
movement mode on StorePath level.
SyncMoveResume is required in all tasks that were executing in synchronized movement
before entering independent movement mode. If one Motion task executes a
SyncMoveResume then that task will wait until all tasks that earlier were in synchronized
movement mode execute a SyncMoveResume instruction. After that, involved program tasks
continue their execution.
Limitations
The SyncMoveResume can only be used to go back to synchronized movement mode and can
only be used on StorePath level.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveResume cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveResume ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
SyncMoveOn - Start coordinated synchronized
movements on page 534
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Suspends synchronized movements
SyncMoveSuspend - Set independent-semicoordi-
nated movements on page 543
Continued
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
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1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Usage
SyncMoveSuspend is used to suspend synchronized movements mode and set the system to
independent-semicoordinated movement mode. The instruction can only be used on
StorePath level, e.g. after a StorePath or StorePath \KeepSync has been executed and
the system is in synchronized movement mode.
The instruction SyncMoveSuspend can only be used in a MultiMove System with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveSuspen d are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
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1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
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Program execution
SyncMoveResume forces resume of synchronized mode when system is in independent
movement mode on StorePath level.
SyncMoveResume is required in all tasks that were executing in synchronized movement
before entering independent movement mode. If one Motion task executes a
SyncMoveResume then that task will wait until all tasks that earlier were in synchronized
movement mode execute a SyncMoveResume instruction. After that, involved program tasks
continue their execution.
Limitations
The SyncMoveResume can only be used to go back to synchronized movement mode and can
only be used on StorePath level.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveResume cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveResume ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
SyncMoveOn - Start coordinated synchronized
movements on page 534
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Suspends synchronized movements
SyncMoveSuspend - Set independent-semicoordi-
nated movements on page 543
Continued
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
543
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1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Usage
SyncMoveSuspend is used to suspend synchronized movements mode and set the system to
independent-semicoordinated movement mode. The instruction can only be used on
StorePath level, e.g. after a StorePath or StorePath \KeepSync has been executed and
the system is in synchronized movement mode.
The instruction SyncMoveSuspend can only be used in a MultiMove System with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveSuspen d are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
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Program execution
SyncMoveSuspend forces reset of synchronized movements and sets the system to
independent-semicoordinated movement mode.
SyncMoveSuspend is required in all synchronized Motion tasks to set the system in
independent-semicoordinated movement mode. If one Motion tasks executes a
SyncMoveSuspend then that task waits until the other tasks have executed a
SyncMoveSuspend instruction.
After execution of SyncMoveSuspend in all involved tasks, the system is in semicoordinated
mode if it further uses a coordinated work object. Otherwise, it is in independent mode. If in
semicoordinated mode, it is recommended to always start with a movement in the mechanical
unit that controls the user frame before WaitSyncTask in all involved tasks.
Limitations
The SyncMoveSuspend instruction suspends synchronized mode only on StorePath level.
After returning from StorePath level, the system is set to the mode that it was in before the
StorePath .
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveSuspend cannot be executed in a RAPID routine connected to any of the
following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveSuspend’ ;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized movement
mode on page 888
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Resume synchronized movements
SyncMoveResume - Set synchronized
coordinated movements on page 541
Continued
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1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
543
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© Copyright 2004-2010 ABB. All rights reserved.
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Usage
SyncMoveSuspend is used to suspend synchronized movements mode and set the system to
independent-semicoordinated movement mode. The instruction can only be used on
StorePath level, e.g. after a StorePath or StorePath \KeepSync has been executed and
the system is in synchronized movement mode.
The instruction SyncMoveSuspend can only be used in a MultiMove System with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveSuspen d are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
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544
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
SyncMoveSuspend forces reset of synchronized movements and sets the system to
independent-semicoordinated movement mode.
SyncMoveSuspend is required in all synchronized Motion tasks to set the system in
independent-semicoordinated movement mode. If one Motion tasks executes a
SyncMoveSuspend then that task waits until the other tasks have executed a
SyncMoveSuspend instruction.
After execution of SyncMoveSuspend in all involved tasks, the system is in semicoordinated
mode if it further uses a coordinated work object. Otherwise, it is in independent mode. If in
semicoordinated mode, it is recommended to always start with a movement in the mechanical
unit that controls the user frame before WaitSyncTask in all involved tasks.
Limitations
The SyncMoveSuspend instruction suspends synchronized mode only on StorePath level.
After returning from StorePath level, the system is set to the mode that it was in before the
StorePath .
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveSuspend cannot be executed in a RAPID routine connected to any of the
following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveSuspend’ ;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized movement
mode on page 888
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Resume synchronized movements
SyncMoveResume - Set synchronized
coordinated movements on page 541
Continued
1 Instructions
1.194. SyncMoveUndo - Set independent movements
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1.194. SyncMoveUndo - Set independent movements
Usage
SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the
system to independent movement mode.
The instruction SyncMoveUndo can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveUndo are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
If the program is stopped while the execution is inside the procedure syncmove and the
program pointer is moved out of the procedure syncmove then all instruction inside the UNDO
handler is executed. In this example, the instruction SyncMoveUndo is executed and the
system is set to independent movement mode.
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1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
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Program execution
SyncMoveSuspend forces reset of synchronized movements and sets the system to
independent-semicoordinated movement mode.
SyncMoveSuspend is required in all synchronized Motion tasks to set the system in
independent-semicoordinated movement mode. If one Motion tasks executes a
SyncMoveSuspend then that task waits until the other tasks have executed a
SyncMoveSuspend instruction.
After execution of SyncMoveSuspend in all involved tasks, the system is in semicoordinated
mode if it further uses a coordinated work object. Otherwise, it is in independent mode. If in
semicoordinated mode, it is recommended to always start with a movement in the mechanical
unit that controls the user frame before WaitSyncTask in all involved tasks.
Limitations
The SyncMoveSuspend instruction suspends synchronized mode only on StorePath level.
After returning from StorePath level, the system is set to the mode that it was in before the
StorePath .
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine ), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveSuspend cannot be executed in a RAPID routine connected to any of the
following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveSuspend’ ;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized movement
mode on page 888
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Resume synchronized movements
SyncMoveResume - Set synchronized
coordinated movements on page 541
Continued
1 Instructions
1.194. SyncMoveUndo - Set independent movements
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1.194. SyncMoveUndo - Set independent movements
Usage
SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the
system to independent movement mode.
The instruction SyncMoveUndo can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveUndo are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
If the program is stopped while the execution is inside the procedure syncmove and the
program pointer is moved out of the procedure syncmove then all instruction inside the UNDO
handler is executed. In this example, the instruction SyncMoveUndo is executed and the
system is set to independent movement mode.
Continues on next page
1 Instructions
1.194. SyncMoveUndo - Set independent movements
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546
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Force reset of synchronized coordinated movements and set the system to independent
movement mode.
It is enough to execute SyncMoveUndo in one program task to set the whole system to the
independent movement mode. The instruction can be executed several times without any
error if the system is already in independent movement mode.
The system is set to the default independent movement mode also
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
•
when moving program pointer to the beginning.
Syntax
SyncMoveUndo ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point on
page 1200
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
Continued
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1.194. SyncMoveUndo - Set independent movements
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1.194. SyncMoveUndo - Set independent movements
Usage
SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the
system to independent movement mode.
The instruction SyncMoveUndo can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task .
Basic examples
Basic examples of the instruction SyncMoveUndo are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
If the program is stopped while the execution is inside the procedure syncmove and the
program pointer is moved out of the procedure syncmove then all instruction inside the UNDO
handler is executed. In this example, the instruction SyncMoveUndo is executed and the
system is set to independent movement mode.
Continues on next page
1 Instructions
1.194. SyncMoveUndo - Set independent movements
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546
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Force reset of synchronized coordinated movements and set the system to independent
movement mode.
It is enough to execute SyncMoveUndo in one program task to set the whole system to the
independent movement mode. The instruction can be executed several times without any
error if the system is already in independent movement mode.
The system is set to the default independent movement mode also
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
•
when moving program pointer to the beginning.
Syntax
SyncMoveUndo ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point on
page 1200
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
Continued
1 Instructions
1.195. SystemStopAction - Stop the robot system
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1.195. SystemStopAction - Stop the robot system
Usage
SystemStopAction can be used to stop the robot system in different ways depending how
serious the error or problem is.
Basic examples
Basic examples of the instruction SystemStopAction are illustrated below.
Example 1
SystemStopAction \Stop;
This will stop program execution and robot movements in all motion tasks. No specific action
is needed to be done before restarting the program execution.
Example 2
SystemStopAction \StopBlock;
This will stop program execution and robot movements in all motion tasks. All program
pointers must be moved before the program execution can be restarted.
Example 3
SystemStopAction \Halt;
This will result in motors off, stop program execution, and robot movements in all motion
tasks. Motors on must be done before the program execution can be restarted.
Arguments
SystemStopAction [\Stop] [\StopBlock] [\Halt]
[\Stop]
Data type: switch
\Stop is used to stop program execution and robot movements in all motion tasks. No
specific action is needed to be done before restart of the program execution.
[\StopBlock]
Data type: switch
\StopBlock is used stop program execution and robot movements in all motion tasks. All
program pointers must be moved before the program execution can be restarted.
[\Halt]
Data type: switch
\Halt will result in motors off state, stop of program execution and robot movements in all
motion tasks. Motors on must be done before the program execution can be restarted.
Limitations
If the robot is performing a circular movement during a SystemStopAction \StopBlock
then the program pointer and the robot have to be moved to the beginning of the circular
movement before the program execution is restarted.
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1 Instructions
1.194. SyncMoveUndo - Set independent movements
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546
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Force reset of synchronized coordinated movements and set the system to independent
movement mode.
It is enough to execute SyncMoveUndo in one program task to set the whole system to the
independent movement mode. The instruction can be executed several times without any
error if the system is already in independent movement mode.
The system is set to the default independent movement mode also
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
•
when moving program pointer to the beginning.
Syntax
SyncMoveUndo ’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point on
page 1200
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
Continued
1 Instructions
1.195. SystemStopAction - Stop the robot system
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1.195. SystemStopAction - Stop the robot system
Usage
SystemStopAction can be used to stop the robot system in different ways depending how
serious the error or problem is.
Basic examples
Basic examples of the instruction SystemStopAction are illustrated below.
Example 1
SystemStopAction \Stop;
This will stop program execution and robot movements in all motion tasks. No specific action
is needed to be done before restarting the program execution.
Example 2
SystemStopAction \StopBlock;
This will stop program execution and robot movements in all motion tasks. All program
pointers must be moved before the program execution can be restarted.
Example 3
SystemStopAction \Halt;
This will result in motors off, stop program execution, and robot movements in all motion
tasks. Motors on must be done before the program execution can be restarted.
Arguments
SystemStopAction [\Stop] [\StopBlock] [\Halt]
[\Stop]
Data type: switch
\Stop is used to stop program execution and robot movements in all motion tasks. No
specific action is needed to be done before restart of the program execution.
[\StopBlock]
Data type: switch
\StopBlock is used stop program execution and robot movements in all motion tasks. All
program pointers must be moved before the program execution can be restarted.
[\Halt]
Data type: switch
\Halt will result in motors off state, stop of program execution and robot movements in all
motion tasks. Motors on must be done before the program execution can be restarted.
Limitations
If the robot is performing a circular movement during a SystemStopAction \StopBlock
then the program pointer and the robot have to be moved to the beginning of the circular
movement before the program execution is restarted.
Continues on next page
1 Instructions
1.195. SystemStopAction - Stop the robot system
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Syntax
SystemStopAction
[ ’\’Stop ]
| [ ’\’StopBlock ]
| [ ’\’Halt ]’;’
Related information
For information about
See
Stop program execution
Stop - Stops program execution on page 510
Terminate program execution
EXIT - Terminates program execution on
page 105
Only stop robot movements
StopMove - Stops robot movement on page
515
Write some error message
ErrLog - Write an error message on page 94
Continued
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1.195. SystemStopAction - Stop the robot system
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1.195. SystemStopAction - Stop the robot system
Usage
SystemStopAction can be used to stop the robot system in different ways depending how
serious the error or problem is.
Basic examples
Basic examples of the instruction SystemStopAction are illustrated below.
Example 1
SystemStopAction \Stop;
This will stop program execution and robot movements in all motion tasks. No specific action
is needed to be done before restarting the program execution.
Example 2
SystemStopAction \StopBlock;
This will stop program execution and robot movements in all motion tasks. All program
pointers must be moved before the program execution can be restarted.
Example 3
SystemStopAction \Halt;
This will result in motors off, stop program execution, and robot movements in all motion
tasks. Motors on must be done before the program execution can be restarted.
Arguments
SystemStopAction [\Stop] [\StopBlock] [\Halt]
[\Stop]
Data type: switch
\Stop is used to stop program execution and robot movements in all motion tasks. No
specific action is needed to be done before restart of the program execution.
[\StopBlock]
Data type: switch
\StopBlock is used stop program execution and robot movements in all motion tasks. All
program pointers must be moved before the program execution can be restarted.
[\Halt]
Data type: switch
\Halt will result in motors off state, stop of program execution and robot movements in all
motion tasks. Motors on must be done before the program execution can be restarted.
Limitations
If the robot is performing a circular movement during a SystemStopAction \StopBlock
then the program pointer and the robot have to be moved to the beginning of the circular
movement before the program execution is restarted.
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1.195. SystemStopAction - Stop the robot system
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Syntax
SystemStopAction
[ ’\’Stop ]
| [ ’\’StopBlock ]
| [ ’\’Halt ]’;’
Related information
For information about
See
Stop program execution
Stop - Stops program execution on page 510
Terminate program execution
EXIT - Terminates program execution on
page 105
Only stop robot movements
StopMove - Stops robot movement on page
515
Write some error message
ErrLog - Write an error message on page 94
Continued
1 Instructions
1.196. TEST - Depending on the value of an expression ...
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1.196. TEST - Depending on the value of an expression ...
Usage
TEST is used when different instructions are to be executed depending on the value of an
expression or data.
If there are not too many alternatives then the IF..ELSE instruction can also be used.
Basic examples
Basic examples of the instruction TEST are illustrated below.
Example 1
TEST reg1
CASE 1,2,3 :
routine1;
CASE 4 :
routine2;
DEFAULT :
TPWrite "Illegal choice";
Stop;
ENDTEST
Different instructions are executed depending on the value of reg1 . If the value is 1-3
routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an error message
is printed and execution stops.
Arguments
TEST Test data {CASE Test value {, Test value} : ...} [ DEFAULT:
...] ENDTEST
Test data
Data type: All
The data or expression with which the test value will be compared.
Test value
Data type: Same as test data
The value which the test data must have for the associated instructions to be executed.
Program execution
The test data is compared with the test values in the first CASE condition. If the comparison
is true then the associated instructions are executed. After that, program execution continues
with the instruction following ENDTEST .
If the first CASE condition is not satisfied then other CASE conditions are tested and so on. If
none of the conditions are satisfied then the instructions associated with DEFAULT are
executed (if this is present).
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1.195. SystemStopAction - Stop the robot system
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Syntax
SystemStopAction
[ ’\’Stop ]
| [ ’\’StopBlock ]
| [ ’\’Halt ]’;’
Related information
For information about
See
Stop program execution
Stop - Stops program execution on page 510
Terminate program execution
EXIT - Terminates program execution on
page 105
Only stop robot movements
StopMove - Stops robot movement on page
515
Write some error message
ErrLog - Write an error message on page 94
Continued
1 Instructions
1.196. TEST - Depending on the value of an expression ...
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1.196. TEST - Depending on the value of an expression ...
Usage
TEST is used when different instructions are to be executed depending on the value of an
expression or data.
If there are not too many alternatives then the IF..ELSE instruction can also be used.
Basic examples
Basic examples of the instruction TEST are illustrated below.
Example 1
TEST reg1
CASE 1,2,3 :
routine1;
CASE 4 :
routine2;
DEFAULT :
TPWrite "Illegal choice";
Stop;
ENDTEST
Different instructions are executed depending on the value of reg1 . If the value is 1-3
routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an error message
is printed and execution stops.
Arguments
TEST Test data {CASE Test value {, Test value} : ...} [ DEFAULT:
...] ENDTEST
Test data
Data type: All
The data or expression with which the test value will be compared.
Test value
Data type: Same as test data
The value which the test data must have for the associated instructions to be executed.
Program execution
The test data is compared with the test values in the first CASE condition. If the comparison
is true then the associated instructions are executed. After that, program execution continues
with the instruction following ENDTEST .
If the first CASE condition is not satisfied then other CASE conditions are tested and so on. If
none of the conditions are satisfied then the instructions associated with DEFAULT are
executed (if this is present).
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1.196. TEST - Depending on the value of an expression ...
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Syntax
(EBNF)
TEST <expressio
{( CASE <test value> { ’,’ <test value> } ’:’
<instruction list> ) | < CSE > }
[ DEFAULT ’:’ <instruction list> ]
ENDTEST
<test value> ::= <expression>
Related information
For information about
See
Expressions
Technical reference manual - RAPID Instructions,
Functions and Data types , section Basic character-
istics - Expressions
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1.196. TEST - Depending on the value of an expression ...
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1.196. TEST - Depending on the value of an expression ...
Usage
TEST is used when different instructions are to be executed depending on the value of an
expression or data.
If there are not too many alternatives then the IF..ELSE instruction can also be used.
Basic examples
Basic examples of the instruction TEST are illustrated below.
Example 1
TEST reg1
CASE 1,2,3 :
routine1;
CASE 4 :
routine2;
DEFAULT :
TPWrite "Illegal choice";
Stop;
ENDTEST
Different instructions are executed depending on the value of reg1 . If the value is 1-3
routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an error message
is printed and execution stops.
Arguments
TEST Test data {CASE Test value {, Test value} : ...} [ DEFAULT:
...] ENDTEST
Test data
Data type: All
The data or expression with which the test value will be compared.
Test value
Data type: Same as test data
The value which the test data must have for the associated instructions to be executed.
Program execution
The test data is compared with the test values in the first CASE condition. If the comparison
is true then the associated instructions are executed. After that, program execution continues
with the instruction following ENDTEST .
If the first CASE condition is not satisfied then other CASE conditions are tested and so on. If
none of the conditions are satisfied then the instructions associated with DEFAULT are
executed (if this is present).
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1.196. TEST - Depending on the value of an expression ...
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Syntax
(EBNF)
TEST <expressio
{( CASE <test value> { ’,’ <test value> } ’:’
<instruction list> ) | < CSE > }
[ DEFAULT ’:’ <instruction list> ]
ENDTEST
<test value> ::= <expression>
Related information
For information about
See
Expressions
Technical reference manual - RAPID Instructions,
Functions and Data types , section Basic character-
istics - Expressions
Continued
1 Instructions
1.197. TestSignDefine - Define test signal
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1.197. TestSignDefine - Define test signal
Usage
TestSignDefine is used to define one test signal for the robot motion system.
A test signal continuously mirrors some specified motion data stream. For example, torque
reference for some specified axis. The actual value at a certain time can be read in RAPID
with the function TestSignRead .
Only test signals for external axes can be reached. Test signals are also available on request
for the robot axes and for not predefined test signals for external axes.
Basic examples
Basic examples of the instruction TestSignDefine are illustrated below.
Example 1
TestSignDefine 1, resolver_angle, Orbit, 2, 0.1;
Test signal resolver_angle connected to channel 1 will give the value of the resolver angle
for external axis 2 on the orbit manipulator , sampled at 100 ms rate.
Arguments
TestSignDefine Channel SignalId MechUnit Axis SampleTime
Channel
Data type: num
The channel numbers 1-12 to be used for the test signal. The same number must be used in
the function TestSignRead for reading the actual value of the test signal.
SignalId
Data type: testsignal
The name or number of the test signal. Refer to predefined constants described in data type
testsignal .
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The axis number within the mechanical unit.
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Syntax
(EBNF)
TEST <expressio
{( CASE <test value> { ’,’ <test value> } ’:’
<instruction list> ) | < CSE > }
[ DEFAULT ’:’ <instruction list> ]
ENDTEST
<test value> ::= <expression>
Related information
For information about
See
Expressions
Technical reference manual - RAPID Instructions,
Functions and Data types , section Basic character-
istics - Expressions
Continued
1 Instructions
1.197. TestSignDefine - Define test signal
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1.197. TestSignDefine - Define test signal
Usage
TestSignDefine is used to define one test signal for the robot motion system.
A test signal continuously mirrors some specified motion data stream. For example, torque
reference for some specified axis. The actual value at a certain time can be read in RAPID
with the function TestSignRead .
Only test signals for external axes can be reached. Test signals are also available on request
for the robot axes and for not predefined test signals for external axes.
Basic examples
Basic examples of the instruction TestSignDefine are illustrated below.
Example 1
TestSignDefine 1, resolver_angle, Orbit, 2, 0.1;
Test signal resolver_angle connected to channel 1 will give the value of the resolver angle
for external axis 2 on the orbit manipulator , sampled at 100 ms rate.
Arguments
TestSignDefine Channel SignalId MechUnit Axis SampleTime
Channel
Data type: num
The channel numbers 1-12 to be used for the test signal. The same number must be used in
the function TestSignRead for reading the actual value of the test signal.
SignalId
Data type: testsignal
The name or number of the test signal. Refer to predefined constants described in data type
testsignal .
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The axis number within the mechanical unit.
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SampleTime
Data type: num
Sample time in seconds.
For sample time < 0.004 s, the function TestSignRead returns the mean value of the latest
available internal samples as shown in the table below.
Program execution
The definition of test signal is activated and the robot system starts the sampling of the test
signal.
The sampling of the test signal is active until:
•
A new TestSignDefine instruction for the actual channel is executed.
•
All test signals are deactivated with execution of instruction TestSignReset .
•
All test signals are deactivated with a warm start of the system.
Error handling
If there is an error in the parameter MechUnit then the variable ERRNO is set to
ERR_UNIT_PAR . If there is an error in the parameter Axis then ERRNO is set to
ERR_AXIS_PAR .
Syntax
TestSignDefine
[ Channel ’:=’ ] < expression ( IN ) of num>’ ,’
[ SignalId’ :=’ ] < expression ( IN ) of testsignal> ’,’
[ MechUnit’ :=’ ] < variable ( VAR ) of mecunit> ’,’
[ Axis ’:=’ ] < expression ( IN ) of num> ’,’
[ SampleTime’ :=’ ] < expression ( IN ) of num > ’;’
Related information
Sample Time in
seconds
Result from TestSignRead
0
Mean value of the latest 8 samples generated each 0.5 ms
0.001
Mean value of the latest 4 samples generated each 1 ms
0.002
Mean value of the latest 2 samples generated each 2 ms
Greater or equal to 0.004
Momentary value generated at specified sample time
0.1
Momentary value generated at specified sample time 100 ms
For information about
See
Test signal
testsignal - Test signal on page 1206
Read test signal
TestSignRead - Read test signal value on page
1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
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1.197. TestSignDefine - Define test signal
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1.197. TestSignDefine - Define test signal
Usage
TestSignDefine is used to define one test signal for the robot motion system.
A test signal continuously mirrors some specified motion data stream. For example, torque
reference for some specified axis. The actual value at a certain time can be read in RAPID
with the function TestSignRead .
Only test signals for external axes can be reached. Test signals are also available on request
for the robot axes and for not predefined test signals for external axes.
Basic examples
Basic examples of the instruction TestSignDefine are illustrated below.
Example 1
TestSignDefine 1, resolver_angle, Orbit, 2, 0.1;
Test signal resolver_angle connected to channel 1 will give the value of the resolver angle
for external axis 2 on the orbit manipulator , sampled at 100 ms rate.
Arguments
TestSignDefine Channel SignalId MechUnit Axis SampleTime
Channel
Data type: num
The channel numbers 1-12 to be used for the test signal. The same number must be used in
the function TestSignRead for reading the actual value of the test signal.
SignalId
Data type: testsignal
The name or number of the test signal. Refer to predefined constants described in data type
testsignal .
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The axis number within the mechanical unit.
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1.197. TestSignDefine - Define test signal
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SampleTime
Data type: num
Sample time in seconds.
For sample time < 0.004 s, the function TestSignRead returns the mean value of the latest
available internal samples as shown in the table below.
Program execution
The definition of test signal is activated and the robot system starts the sampling of the test
signal.
The sampling of the test signal is active until:
•
A new TestSignDefine instruction for the actual channel is executed.
•
All test signals are deactivated with execution of instruction TestSignReset .
•
All test signals are deactivated with a warm start of the system.
Error handling
If there is an error in the parameter MechUnit then the variable ERRNO is set to
ERR_UNIT_PAR . If there is an error in the parameter Axis then ERRNO is set to
ERR_AXIS_PAR .
Syntax
TestSignDefine
[ Channel ’:=’ ] < expression ( IN ) of num>’ ,’
[ SignalId’ :=’ ] < expression ( IN ) of testsignal> ’,’
[ MechUnit’ :=’ ] < variable ( VAR ) of mecunit> ’,’
[ Axis ’:=’ ] < expression ( IN ) of num> ’,’
[ SampleTime’ :=’ ] < expression ( IN ) of num > ’;’
Related information
Sample Time in
seconds
Result from TestSignRead
0
Mean value of the latest 8 samples generated each 0.5 ms
0.001
Mean value of the latest 4 samples generated each 1 ms
0.002
Mean value of the latest 2 samples generated each 2 ms
Greater or equal to 0.004
Momentary value generated at specified sample time
0.1
Momentary value generated at specified sample time 100 ms
For information about
See
Test signal
testsignal - Test signal on page 1206
Read test signal
TestSignRead - Read test signal value on page
1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
Continued
1 Instructions
1.198. TestSignReset - Reset all test signal definitions
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1.198. TestSignReset - Reset all test signal definitions
Usage
TestSignReset is used to deactivate all previously defined test signals.
Basic examples
Basic examples of the instruction TestSignReset are illustrated below.
Example 1
TestSignReset;
Deactivate all previously defined test signals.
Program execution
The definitions of all test signals are deactivated, and the robot system stops the sampling of
any test signals.
The sampling of defined test signals is active until:
•
A warm start of the system
•
Execution of this instruction TestSignReset
Syntax
TestSignReset’;’
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page
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SampleTime
Data type: num
Sample time in seconds.
For sample time < 0.004 s, the function TestSignRead returns the mean value of the latest
available internal samples as shown in the table below.
Program execution
The definition of test signal is activated and the robot system starts the sampling of the test
signal.
The sampling of the test signal is active until:
•
A new TestSignDefine instruction for the actual channel is executed.
•
All test signals are deactivated with execution of instruction TestSignReset .
•
All test signals are deactivated with a warm start of the system.
Error handling
If there is an error in the parameter MechUnit then the variable ERRNO is set to
ERR_UNIT_PAR . If there is an error in the parameter Axis then ERRNO is set to
ERR_AXIS_PAR .
Syntax
TestSignDefine
[ Channel ’:=’ ] < expression ( IN ) of num>’ ,’
[ SignalId’ :=’ ] < expression ( IN ) of testsignal> ’,’
[ MechUnit’ :=’ ] < variable ( VAR ) of mecunit> ’,’
[ Axis ’:=’ ] < expression ( IN ) of num> ’,’
[ SampleTime’ :=’ ] < expression ( IN ) of num > ’;’
Related information
Sample Time in
seconds
Result from TestSignRead
0
Mean value of the latest 8 samples generated each 0.5 ms
0.001
Mean value of the latest 4 samples generated each 1 ms
0.002
Mean value of the latest 2 samples generated each 2 ms
Greater or equal to 0.004
Momentary value generated at specified sample time
0.1
Momentary value generated at specified sample time 100 ms
For information about
See
Test signal
testsignal - Test signal on page 1206
Read test signal
TestSignRead - Read test signal value on page
1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
Continued
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1.198. TestSignReset - Reset all test signal definitions
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1.198. TestSignReset - Reset all test signal definitions
Usage
TestSignReset is used to deactivate all previously defined test signals.
Basic examples
Basic examples of the instruction TestSignReset are illustrated below.
Example 1
TestSignReset;
Deactivate all previously defined test signals.
Program execution
The definitions of all test signals are deactivated, and the robot system stops the sampling of
any test signals.
The sampling of defined test signals is active until:
•
A warm start of the system
•
Execution of this instruction TestSignReset
Syntax
TestSignReset’;’
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page
1020
1 Instructions
1.199. TextTabInstall - Installing a text table
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1.199. TextTabInstall - Installing a text table
Usage
TextTabInstall is used to install a text table in the system.
Basic examples
Basic examples of the instruction TextTabInstall are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed the function
TextTabFreeToUse returns TRUE, and the text file text_file.eng is installed in the
system. After that, the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
The next time the event routine install_text is executed, the function
TextTabFreeToUse returns FALSE, and the installation is not repeated.
Arguments
TextTabInstall File
File
Data type: string
The file path and the file name to the file that contains text strings to be installed in the system.
Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system.
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Error handling
If the file in the TextTabInstall instruction cannot be opened then the system variable
ERRNO is set to ERR_FILEOPEN . This error can then be handled in the error handler.
Syntax
TextTabInstall
[ File ’:=’ ] < expression ( IN ) of string >’;’
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1.198. TestSignReset - Reset all test signal definitions
Usage
TestSignReset is used to deactivate all previously defined test signals.
Basic examples
Basic examples of the instruction TestSignReset are illustrated below.
Example 1
TestSignReset;
Deactivate all previously defined test signals.
Program execution
The definitions of all test signals are deactivated, and the robot system stops the sampling of
any test signals.
The sampling of defined test signals is active until:
•
A warm start of the system
•
Execution of this instruction TestSignReset
Syntax
TestSignReset’;’
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page
1020
1 Instructions
1.199. TextTabInstall - Installing a text table
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1.199. TextTabInstall - Installing a text table
Usage
TextTabInstall is used to install a text table in the system.
Basic examples
Basic examples of the instruction TextTabInstall are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed the function
TextTabFreeToUse returns TRUE, and the text file text_file.eng is installed in the
system. After that, the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
The next time the event routine install_text is executed, the function
TextTabFreeToUse returns FALSE, and the installation is not repeated.
Arguments
TextTabInstall File
File
Data type: string
The file path and the file name to the file that contains text strings to be installed in the system.
Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system.
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Error handling
If the file in the TextTabInstall instruction cannot be opened then the system variable
ERRNO is set to ERR_FILEOPEN . This error can then be handled in the error handler.
Syntax
TextTabInstall
[ File ’:=’ ] < expression ( IN ) of string >’;’
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Related information
For information about
See
Test whether text table is free
TextTabFreeToUse - Test whether text table is free on
page 1024
Format of text files
Technical reference manual - RAPID kernel , section
Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page 1022
String functions
Technical reference manual - RAPID overview , section
Basic RAPID summary - String Functions
Definition of string
string - Strings on page 1195
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1.199. TextTabInstall - Installing a text table
Usage
TextTabInstall is used to install a text table in the system.
Basic examples
Basic examples of the instruction TextTabInstall are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed the function
TextTabFreeToUse returns TRUE, and the text file text_file.eng is installed in the
system. After that, the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
The next time the event routine install_text is executed, the function
TextTabFreeToUse returns FALSE, and the installation is not repeated.
Arguments
TextTabInstall File
File
Data type: string
The file path and the file name to the file that contains text strings to be installed in the system.
Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system.
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Error handling
If the file in the TextTabInstall instruction cannot be opened then the system variable
ERRNO is set to ERR_FILEOPEN . This error can then be handled in the error handler.
Syntax
TextTabInstall
[ File ’:=’ ] < expression ( IN ) of string >’;’
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Related information
For information about
See
Test whether text table is free
TextTabFreeToUse - Test whether text table is free on
page 1024
Format of text files
Technical reference manual - RAPID kernel , section
Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page 1022
String functions
Technical reference manual - RAPID overview , section
Basic RAPID summary - String Functions
Definition of string
string - Strings on page 1195
Continued
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1.200. TPErase - Erases text printed on the FlexPendant
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1.200. TPErase - Erases text printed on the FlexPendant
Usage
TPErase ( FlexPendant Erase ) is used to clear the display of the FlexPendant.
Basic examples
Basic examples of the instruction TPErase are illustrated below.
Example 1
TPErase;
TPWrite "Execution started";
The FlexPendant display is cleared before Execution started is written.
Program execution
The FlexPendant display is completely cleared of all text. The next time text is written it will
be entered on the uppermost line of the display.
Syntax
TPErase;
Related information
For information about
See
Writing on the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
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Related information
For information about
See
Test whether text table is free
TextTabFreeToUse - Test whether text table is free on
page 1024
Format of text files
Technical reference manual - RAPID kernel , section
Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page 1022
String functions
Technical reference manual - RAPID overview , section
Basic RAPID summary - String Functions
Definition of string
string - Strings on page 1195
Continued
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1.200. TPErase - Erases text printed on the FlexPendant
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1.200. TPErase - Erases text printed on the FlexPendant
Usage
TPErase ( FlexPendant Erase ) is used to clear the display of the FlexPendant.
Basic examples
Basic examples of the instruction TPErase are illustrated below.
Example 1
TPErase;
TPWrite "Execution started";
The FlexPendant display is cleared before Execution started is written.
Program execution
The FlexPendant display is completely cleared of all text. The next time text is written it will
be entered on the uppermost line of the display.
Syntax
TPErase;
Related information
For information about
See
Writing on the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
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1.201. TPReadDnum - Reads a number from the FlexPendant
Usage
TPReadDnum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant
Basic examples
Basic examples of the instruction TPReadDnum are illustrated below.
Example 1
VAR dnum value;
TPReadDnum value, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in value .
Arguments
TPReadDnum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: dnum
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
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1.200. TPErase - Erases text printed on the FlexPendant
Usage
TPErase ( FlexPendant Erase ) is used to clear the display of the FlexPendant.
Basic examples
Basic examples of the instruction TPErase are illustrated below.
Example 1
TPErase;
TPWrite "Execution started";
The FlexPendant display is cleared before Execution started is written.
Program execution
The FlexPendant display is completely cleared of all text. The next time text is written it will
be entered on the uppermost line of the display.
Syntax
TPErase;
Related information
For information about
See
Writing on the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
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1.201. TPReadDnum - Reads a number from the FlexPendant
Usage
TPReadDnum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant
Basic examples
Basic examples of the instruction TPReadDnum are illustrated below.
Example 1
VAR dnum value;
TPReadDnum value, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in value .
Arguments
TPReadDnum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: dnum
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
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[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that support termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action..
Reference to TPReadFK about description of concurrent TPReadFK or TPReadDnum request
on FlexPendant from same or other program tasks.
Error handling
If time out (parameter \MaxTime ) before input from the operator, the system variable ERRNO
is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input set (parameter \DIBreak ) before input from the operator, the system variable
ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Syntax
TPReadDnum
[TPAnswer’:=’] <var or pers ( INOUT ) of dnum>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Continued
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1.201. TPReadDnum - Reads a number from the FlexPendant
Usage
TPReadDnum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant
Basic examples
Basic examples of the instruction TPReadDnum are illustrated below.
Example 1
VAR dnum value;
TPReadDnum value, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in value .
Arguments
TPReadDnum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: dnum
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
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[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that support termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action..
Reference to TPReadFK about description of concurrent TPReadFK or TPReadDnum request
on FlexPendant from same or other program tasks.
Error handling
If time out (parameter \MaxTime ) before input from the operator, the system variable ERRNO
is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input set (parameter \DIBreak ) before input from the operator, the system variable
ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Syntax
TPReadDnum
[TPAnswer’:=’] <var or pers ( INOUT ) of dnum>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Continued
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1.201. TPReadDnum - Reads a number from the FlexPendant
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Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that support termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action..
Reference to TPReadFK about description of concurrent TPReadFK or TPReadDnum request
on FlexPendant from same or other program tasks.
Error handling
If time out (parameter \MaxTime ) before input from the operator, the system variable ERRNO
is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input set (parameter \DIBreak ) before input from the operator, the system variable
ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Syntax
TPReadDnum
[TPAnswer’:=’] <var or pers ( INOUT ) of dnum>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Continued
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1.201. TPReadDnum - Reads a number from the FlexPendant
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Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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1.202. TPReadFK - Reads function keys
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1.202. TPReadFK - Reads function keys
Usage
TPReadFK ( FlexPendant Read Function Key ) is used to write text on the functions keys and
to find out which key is depressed.
Basic examples
Basic examples of the instruction TPReadFK are illustrated below.
See also More examples on page 562 .
Example 1
TPReadFK reg1, "More?", stEmpty, stEmpty, stEmpty, "Yes", "No";
The text More? is written on the FlexPendant display and the function keys 4 and 5 are
activated by means of the text strings Yes and No respectively (see figure below ). Program
execution waits until one of the function keys 4 or 5 is pressed. In other words, reg1 will be
assigned 4 or 5 depending on which of the keys are pressed.
The figure shows that the operator can put in information via the function keys.
xx0500002345
Arguments
TPReadFK TPAnswer TPText TPFK1 TPFK2 TPFK3 TPFK4 TPFK5 [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag]
TPAnswer
Data type: num
The variable for which, depending on which key is pressed, the numeric value 1..5 is returned.
If the function key 1 is pressed then 1 is returned, and so on.
TPText
Data type: string
The information text to be written on the display (a maximum of 80 characters, with 40
characters/row).
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Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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1.202. TPReadFK - Reads function keys
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1.202. TPReadFK - Reads function keys
Usage
TPReadFK ( FlexPendant Read Function Key ) is used to write text on the functions keys and
to find out which key is depressed.
Basic examples
Basic examples of the instruction TPReadFK are illustrated below.
See also More examples on page 562 .
Example 1
TPReadFK reg1, "More?", stEmpty, stEmpty, stEmpty, "Yes", "No";
The text More? is written on the FlexPendant display and the function keys 4 and 5 are
activated by means of the text strings Yes and No respectively (see figure below ). Program
execution waits until one of the function keys 4 or 5 is pressed. In other words, reg1 will be
assigned 4 or 5 depending on which of the keys are pressed.
The figure shows that the operator can put in information via the function keys.
xx0500002345
Arguments
TPReadFK TPAnswer TPText TPFK1 TPFK2 TPFK3 TPFK4 TPFK5 [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag]
TPAnswer
Data type: num
The variable for which, depending on which key is pressed, the numeric value 1..5 is returned.
If the function key 1 is pressed then 1 is returned, and so on.
TPText
Data type: string
The information text to be written on the display (a maximum of 80 characters, with 40
characters/row).
Continues on next page
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TPFKx
Function key text
Data type: string
The text to be written on the appropriate function key (a maximum of 45 characters). TPFK1
is the left-most key.
Function keys without text are specified by the predefined string constant stEmpty with
value empty string (“”).
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no function key is
pressed within this time then the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no function key is pressed when
the signal is set to 1 (or is already 1) then the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to
test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak , or DOBreak is used. If this
optional variable is omitted then the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to select the
reason.
Continued
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1.202. TPReadFK - Reads function keys
Usage
TPReadFK ( FlexPendant Read Function Key ) is used to write text on the functions keys and
to find out which key is depressed.
Basic examples
Basic examples of the instruction TPReadFK are illustrated below.
See also More examples on page 562 .
Example 1
TPReadFK reg1, "More?", stEmpty, stEmpty, stEmpty, "Yes", "No";
The text More? is written on the FlexPendant display and the function keys 4 and 5 are
activated by means of the text strings Yes and No respectively (see figure below ). Program
execution waits until one of the function keys 4 or 5 is pressed. In other words, reg1 will be
assigned 4 or 5 depending on which of the keys are pressed.
The figure shows that the operator can put in information via the function keys.
xx0500002345
Arguments
TPReadFK TPAnswer TPText TPFK1 TPFK2 TPFK3 TPFK4 TPFK5 [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag]
TPAnswer
Data type: num
The variable for which, depending on which key is pressed, the numeric value 1..5 is returned.
If the function key 1 is pressed then 1 is returned, and so on.
TPText
Data type: string
The information text to be written on the display (a maximum of 80 characters, with 40
characters/row).
Continues on next page
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TPFKx
Function key text
Data type: string
The text to be written on the appropriate function key (a maximum of 45 characters). TPFK1
is the left-most key.
Function keys without text are specified by the predefined string constant stEmpty with
value empty string (“”).
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no function key is
pressed within this time then the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no function key is pressed when
the signal is set to 1 (or is already 1) then the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to
test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak , or DOBreak is used. If this
optional variable is omitted then the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to select the
reason.
Continued
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1.202. TPReadFK - Reads function keys
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The information text is always written on a new line. If the display is full of text then this
body of text is moved up one line first. There can be up to 7 lines above the new written text.
Text is written on the appropriate function keys.
Program execution waits until one of the activated function keys are pressed.
Description of concurrent TPReadFK or TPReadNum request on FlexPendant (TP request)
from the same or other program tasks:
•
New TP request from other program tasks will not take focus (new put in queue)
•
New TP request from TRAP in the same program task will take focus (old put in
queue)
•
Program stop take focus (old put in queue)
•
New TP request in program stop state takes focus (old put in queue)
More examples
More examples of how to use the instruction TPReadFK are illustrated below.
Example 1
VAR errnum errvar;
...
TPReadFK reg1, "Go to service position?", stEmpty, stEmpty,
stEmpty, "Yes","No"
\MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;
ENDIF
IF errvar = ERR_TP_MAXTIME EXIT;
The robot is moved to the service position if the forth function key ( "Yes" ) is pressed or if
the input 5 is activated. If no answer is given within 10 minutes then the execution is
terminated.
Error handling
If there is a timeout (parameter \MaxTime ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_MAXTIME , and the execution continues in the error handler.
If digital input is set (parameter \DIBreak ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_DIBREAK , and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable
ERRNO is set to ERR_TP_NO_CLIENT , and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
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TPFKx
Function key text
Data type: string
The text to be written on the appropriate function key (a maximum of 45 characters). TPFK1
is the left-most key.
Function keys without text are specified by the predefined string constant stEmpty with
value empty string (“”).
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no function key is
pressed within this time then the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no function key is pressed when
the signal is set to 1 (or is already 1) then the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to
test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak , or DOBreak is used. If this
optional variable is omitted then the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to select the
reason.
Continued
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1 Instructions
1.202. TPReadFK - Reads function keys
RobotWare - OS
3HAC 16581-1 Revision: J
562
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The information text is always written on a new line. If the display is full of text then this
body of text is moved up one line first. There can be up to 7 lines above the new written text.
Text is written on the appropriate function keys.
Program execution waits until one of the activated function keys are pressed.
Description of concurrent TPReadFK or TPReadNum request on FlexPendant (TP request)
from the same or other program tasks:
•
New TP request from other program tasks will not take focus (new put in queue)
•
New TP request from TRAP in the same program task will take focus (old put in
queue)
•
Program stop take focus (old put in queue)
•
New TP request in program stop state takes focus (old put in queue)
More examples
More examples of how to use the instruction TPReadFK are illustrated below.
Example 1
VAR errnum errvar;
...
TPReadFK reg1, "Go to service position?", stEmpty, stEmpty,
stEmpty, "Yes","No"
\MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;
ENDIF
IF errvar = ERR_TP_MAXTIME EXIT;
The robot is moved to the service position if the forth function key ( "Yes" ) is pressed or if
the input 5 is activated. If no answer is given within 10 minutes then the execution is
terminated.
Error handling
If there is a timeout (parameter \MaxTime ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_MAXTIME , and the execution continues in the error handler.
If digital input is set (parameter \DIBreak ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_DIBREAK , and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable
ERRNO is set to ERR_TP_NO_CLIENT , and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
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1.202. TPReadFK - Reads function keys
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Limitations
Avoid using too small of a value for the timeout parameter \MaxTime when TPReadFK is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slowing the FlexPendant response.
Predefined data
CONST string stEmpty := "";
The predefined constant stEmpty should be used for Function Keys without text. Using
stEmpty instead of "" saves about 80 bytes for every Function Key without text.
Syntax
TPReadFK
[TPAnswer ’:=’] <var or pers ( INOUT ) of num>’,’
[TPText ’:=’] <expression ( IN ) of string>’,’
[TPFK1 ’:=’] <expression ( IN ) of string>’,’
[TPFK2 ’:=’] <expression ( IN ) of string>’,’
[TPFK3 ’:=’] <expression ( IN ) of string>’,’
[TPFK4 ’:=’] <expression ( IN ) of string>’,’
[TPFK5 ’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>]’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Replying via the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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1.202. TPReadFK - Reads function keys
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The information text is always written on a new line. If the display is full of text then this
body of text is moved up one line first. There can be up to 7 lines above the new written text.
Text is written on the appropriate function keys.
Program execution waits until one of the activated function keys are pressed.
Description of concurrent TPReadFK or TPReadNum request on FlexPendant (TP request)
from the same or other program tasks:
•
New TP request from other program tasks will not take focus (new put in queue)
•
New TP request from TRAP in the same program task will take focus (old put in
queue)
•
Program stop take focus (old put in queue)
•
New TP request in program stop state takes focus (old put in queue)
More examples
More examples of how to use the instruction TPReadFK are illustrated below.
Example 1
VAR errnum errvar;
...
TPReadFK reg1, "Go to service position?", stEmpty, stEmpty,
stEmpty, "Yes","No"
\MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;
ENDIF
IF errvar = ERR_TP_MAXTIME EXIT;
The robot is moved to the service position if the forth function key ( "Yes" ) is pressed or if
the input 5 is activated. If no answer is given within 10 minutes then the execution is
terminated.
Error handling
If there is a timeout (parameter \MaxTime ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_MAXTIME , and the execution continues in the error handler.
If digital input is set (parameter \DIBreak ) before an input from the operator then the system
variable ERRNO is set to ERR_TP_DIBREAK , and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable
ERRNO is set to ERR_TP_NO_CLIENT , and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
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1 Instructions
1.202. TPReadFK - Reads function keys
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Limitations
Avoid using too small of a value for the timeout parameter \MaxTime when TPReadFK is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slowing the FlexPendant response.
Predefined data
CONST string stEmpty := "";
The predefined constant stEmpty should be used for Function Keys without text. Using
stEmpty instead of "" saves about 80 bytes for every Function Key without text.
Syntax
TPReadFK
[TPAnswer ’:=’] <var or pers ( INOUT ) of num>’,’
[TPText ’:=’] <expression ( IN ) of string>’,’
[TPFK1 ’:=’] <expression ( IN ) of string>’,’
[TPFK2 ’:=’] <expression ( IN ) of string>’,’
[TPFK3 ’:=’] <expression ( IN ) of string>’,’
[TPFK4 ’:=’] <expression ( IN ) of string>’,’
[TPFK5 ’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>]’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Replying via the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
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© Copyright 2004-2010 ABB. All rights reserved.
1.203. TPReadNum - Reads a number from the FlexPendant
Usage
TPReadNum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant.
Basic examples
Basic examples of the instruction TPReadNum are illustrated below.
See also More examples on page 565 .
Example 1
TPReadNum reg1, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in reg1 .
Arguments
TPReadNum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: num
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters per row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
Continues on next page
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Limitations
Avoid using too small of a value for the timeout parameter \MaxTime when TPReadFK is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slowing the FlexPendant response.
Predefined data
CONST string stEmpty := "";
The predefined constant stEmpty should be used for Function Keys without text. Using
stEmpty instead of "" saves about 80 bytes for every Function Key without text.
Syntax
TPReadFK
[TPAnswer ’:=’] <var or pers ( INOUT ) of num>’,’
[TPText ’:=’] <expression ( IN ) of string>’,’
[TPFK1 ’:=’] <expression ( IN ) of string>’,’
[TPFK2 ’:=’] <expression ( IN ) of string>’,’
[TPFK3 ’:=’] <expression ( IN ) of string>’,’
[TPFK4 ’:=’] <expression ( IN ) of string>’,’
[TPFK5 ’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>]’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Replying via the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
RobotWare - OS
3HAC 16581-1 Revision: J
564
© Copyright 2004-2010 ABB. All rights reserved.
1.203. TPReadNum - Reads a number from the FlexPendant
Usage
TPReadNum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant.
Basic examples
Basic examples of the instruction TPReadNum are illustrated below.
See also More examples on page 565 .
Example 1
TPReadNum reg1, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in reg1 .
Arguments
TPReadNum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: num
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters per row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
Continues on next page
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1.203. TPReadNum - Reads a number from the FlexPendant
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[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action.
Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum request
on FlexPendant from same or other program tasks.
More examples
More examples of how to use the instruction TPReadNum are illustrated below.
Example 1
TPReadNum reg1, "How many units should be produced?";
FOR i FROM 1 TO reg1 DO
produce_part;
ENDFOR
The text How many units should be produced? is written on the FlexPendant display.
The routine produce_part is then repeated the number of times that is input via the
FlexPendant.
Error handling
If timeout occurs (parameter \MaxTime ) before input from the operator, the system variable
ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If the digital input (parameter \DIBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If the digital output (parameter \DOBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
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1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
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564
© Copyright 2004-2010 ABB. All rights reserved.
1.203. TPReadNum - Reads a number from the FlexPendant
Usage
TPReadNum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant.
Basic examples
Basic examples of the instruction TPReadNum are illustrated below.
See also More examples on page 565 .
Example 1
TPReadNum reg1, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in reg1 .
Arguments
TPReadNum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: num
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters per row).
[\MaxTime ]
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
Continues on next page
1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
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[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action.
Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum request
on FlexPendant from same or other program tasks.
More examples
More examples of how to use the instruction TPReadNum are illustrated below.
Example 1
TPReadNum reg1, "How many units should be produced?";
FOR i FROM 1 TO reg1 DO
produce_part;
ENDFOR
The text How many units should be produced? is written on the FlexPendant display.
The routine produce_part is then repeated the number of times that is input via the
FlexPendant.
Error handling
If timeout occurs (parameter \MaxTime ) before input from the operator, the system variable
ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If the digital input (parameter \DIBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If the digital output (parameter \DOBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
Continues on next page
1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
RobotWare - OS
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566
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TPReadNum
[TPAnswer’:=’] <var or pers ( INOUT ) of num>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime , DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME , ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action.
Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum request
on FlexPendant from same or other program tasks.
More examples
More examples of how to use the instruction TPReadNum are illustrated below.
Example 1
TPReadNum reg1, "How many units should be produced?";
FOR i FROM 1 TO reg1 DO
produce_part;
ENDFOR
The text How many units should be produced? is written on the FlexPendant display.
The routine produce_part is then repeated the number of times that is input via the
FlexPendant.
Error handling
If timeout occurs (parameter \MaxTime ) before input from the operator, the system variable
ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If the digital input (parameter \DIBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If the digital output (parameter \DOBreak ) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Continued
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1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
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Syntax
TPReadNum
[TPAnswer’:=’] <var or pers ( INOUT ) of num>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
1 Instructions
1.204. TPShow - Switch window on the FlexPendant
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1.204. TPShow - Switch window on the FlexPendant
Usage
TPShow ( FlexPendant Show ) is used to select FlexPendant window from RAPID.
Basic examples
Basic examples of the instruction TPShow are illustrated below.
Example 1
TPShow TP_LATEST;
The latest used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Arguments
TPShow Window
Window
Data type: tpnum
The window TP_LATEST will show the latest used FlexPendant window before current
FlexPendant window.
Predefined data
CONST tpnum TP_LATEST := 2;
Program execution
The selected FlexPendant window will be activated.
Syntax
TPShow
[Window’:=’] <expression ( IN ) of tpnum> ´;’
Related information
For information about
See
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
FlexPendant Window number
tpnum - FlexPendant window number on page
1211
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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1.203. TPReadNum - Reads a number from the FlexPendant
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Syntax
TPReadNum
[TPAnswer’:=’] <var or pers ( INOUT ) of num>’,’
[TPText’:=’] <expression ( IN ) of string>
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’;’
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant ,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
1 Instructions
1.204. TPShow - Switch window on the FlexPendant
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1.204. TPShow - Switch window on the FlexPendant
Usage
TPShow ( FlexPendant Show ) is used to select FlexPendant window from RAPID.
Basic examples
Basic examples of the instruction TPShow are illustrated below.
Example 1
TPShow TP_LATEST;
The latest used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Arguments
TPShow Window
Window
Data type: tpnum
The window TP_LATEST will show the latest used FlexPendant window before current
FlexPendant window.
Predefined data
CONST tpnum TP_LATEST := 2;
Program execution
The selected FlexPendant window will be activated.
Syntax
TPShow
[Window’:=’] <expression ( IN ) of tpnum> ´;’
Related information
For information about
See
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
FlexPendant Window number
tpnum - FlexPendant window number on page
1211
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
1 Instructions
1.205. TPWrite - Writes on the FlexPendant
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1.205. TPWrite - Writes on the FlexPendant
Usage
TPWrite ( FlexPendant Write ) is used to write text on the FlexPendant. The value of certain
data can be written as well as text.
Basic examples
Basic examples of the instruction TPWrite are illustrated below.
Example 1
TPWrite "Execution started";
The text Execution started is written on the FlexPendant.
Example 2
TPWrite "No of produced parts="\Num:=reg1;
If, for example, reg1 holds the value 5 then the text No of produced parts=5 is written
on the FlexPendant.
Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum]
String
Data type: string
The text string to be written (a maximum of 80 characters, with 40 characters/row).
[\Num]
Numeric
Data type: num
The data whose numeric value is to be written after the text string.
[\Bool]
Boolean
Data type: bool
The data whose logical value is to be written after the text string.
[\Pos]
Position
Data type: pos
The data whose position is to be written after the text string.
[\Orient]
Orientation
Data type: orient
The data whose orientation is to be written after the text string.
[\Dnum]
Numeric
Data type: dnum
The data whose numeric value is to be written after the text string.
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1.204. TPShow - Switch window on the FlexPendant
Usage
TPShow ( FlexPendant Show ) is used to select FlexPendant window from RAPID.
Basic examples
Basic examples of the instruction TPShow are illustrated below.
Example 1
TPShow TP_LATEST;
The latest used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Arguments
TPShow Window
Window
Data type: tpnum
The window TP_LATEST will show the latest used FlexPendant window before current
FlexPendant window.
Predefined data
CONST tpnum TP_LATEST := 2;
Program execution
The selected FlexPendant window will be activated.
Syntax
TPShow
[Window’:=’] <expression ( IN ) of tpnum> ´;’
Related information
For information about
See
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
FlexPendant Window number
tpnum - FlexPendant window number on page
1211
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
1 Instructions
1.205. TPWrite - Writes on the FlexPendant
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1.205. TPWrite - Writes on the FlexPendant
Usage
TPWrite ( FlexPendant Write ) is used to write text on the FlexPendant. The value of certain
data can be written as well as text.
Basic examples
Basic examples of the instruction TPWrite are illustrated below.
Example 1
TPWrite "Execution started";
The text Execution started is written on the FlexPendant.
Example 2
TPWrite "No of produced parts="\Num:=reg1;
If, for example, reg1 holds the value 5 then the text No of produced parts=5 is written
on the FlexPendant.
Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum]
String
Data type: string
The text string to be written (a maximum of 80 characters, with 40 characters/row).
[\Num]
Numeric
Data type: num
The data whose numeric value is to be written after the text string.
[\Bool]
Boolean
Data type: bool
The data whose logical value is to be written after the text string.
[\Pos]
Position
Data type: pos
The data whose position is to be written after the text string.
[\Orient]
Orientation
Data type: orient
The data whose orientation is to be written after the text string.
[\Dnum]
Numeric
Data type: dnum
The data whose numeric value is to be written after the text string.
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1.205. TPWrite - Writes on the FlexPendant
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Program execution
Text written on the FlexPendant always begins on a new line. When the display is full of text
(11 lines) then this text is moved up one line first.
If one of the arguments \Num , \Dnum, \Bool , \Pos , or \Orient is used then its value is
first converted to a text string before it is added to the first string. The conversion from value
to text string takes place as follows:
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. If the decimal part is less than 0.000005 or greater than 0.999995 then the
number is rounded to an integer.
Limitations
The arguments \Num , \Dnum, \Bool , \Pos , and \Orient are mutually exclusive and thus
cannot be used simultaneously in the same instruction.
Syntax
TPWrite
[TPText’:=’] <expression ( IN ) of string>
[’\’Num’:=’ <expression ( IN ) of num> ]
| [’\’Bool’:=’ <expression ( IN ) of bool> ]
| [’\’Pos’:=’ <expression ( IN ) of pos> ]
| [’\’Orient’:=’ <expression ( IN ) of orient> ]
| [’\’Dnum’:=’ <expression ( IN ) of dnum> ]’;’
Related information
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
\Dnum
4294967295
"4294967295"
For information about
See
Clearing and reading the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
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1.205. TPWrite - Writes on the FlexPendant
Usage
TPWrite ( FlexPendant Write ) is used to write text on the FlexPendant. The value of certain
data can be written as well as text.
Basic examples
Basic examples of the instruction TPWrite are illustrated below.
Example 1
TPWrite "Execution started";
The text Execution started is written on the FlexPendant.
Example 2
TPWrite "No of produced parts="\Num:=reg1;
If, for example, reg1 holds the value 5 then the text No of produced parts=5 is written
on the FlexPendant.
Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum]
String
Data type: string
The text string to be written (a maximum of 80 characters, with 40 characters/row).
[\Num]
Numeric
Data type: num
The data whose numeric value is to be written after the text string.
[\Bool]
Boolean
Data type: bool
The data whose logical value is to be written after the text string.
[\Pos]
Position
Data type: pos
The data whose position is to be written after the text string.
[\Orient]
Orientation
Data type: orient
The data whose orientation is to be written after the text string.
[\Dnum]
Numeric
Data type: dnum
The data whose numeric value is to be written after the text string.
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1.205. TPWrite - Writes on the FlexPendant
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Program execution
Text written on the FlexPendant always begins on a new line. When the display is full of text
(11 lines) then this text is moved up one line first.
If one of the arguments \Num , \Dnum, \Bool , \Pos , or \Orient is used then its value is
first converted to a text string before it is added to the first string. The conversion from value
to text string takes place as follows:
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. If the decimal part is less than 0.000005 or greater than 0.999995 then the
number is rounded to an integer.
Limitations
The arguments \Num , \Dnum, \Bool , \Pos , and \Orient are mutually exclusive and thus
cannot be used simultaneously in the same instruction.
Syntax
TPWrite
[TPText’:=’] <expression ( IN ) of string>
[’\’Num’:=’ <expression ( IN ) of num> ]
| [’\’Bool’:=’ <expression ( IN ) of bool> ]
| [’\’Pos’:=’ <expression ( IN ) of pos> ]
| [’\’Orient’:=’ <expression ( IN ) of orient> ]
| [’\’Dnum’:=’ <expression ( IN ) of dnum> ]’;’
Related information
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
\Dnum
4294967295
"4294967295"
For information about
See
Clearing and reading the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
Continued
1 Instructions
1.206. TriggC - Circular robot movement with events
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1.206. TriggC - Circular robot movement with events
Usage
TriggC ( Trigg Circular ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is moving on a circular path.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggC .
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 TriggC are illustrated below.
See also More examples on page 574 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002267
Arguments
TriggC [\Conc] CirPoint ToPoint [\ID] Speed [\T] Trigg_1 [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool
[\WObj] [ \Corr ]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
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Program execution
Text written on the FlexPendant always begins on a new line. When the display is full of text
(11 lines) then this text is moved up one line first.
If one of the arguments \Num , \Dnum, \Bool , \Pos , or \Orient is used then its value is
first converted to a text string before it is added to the first string. The conversion from value
to text string takes place as follows:
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. If the decimal part is less than 0.000005 or greater than 0.999995 then the
number is rounded to an integer.
Limitations
The arguments \Num , \Dnum, \Bool , \Pos , and \Orient are mutually exclusive and thus
cannot be used simultaneously in the same instruction.
Syntax
TPWrite
[TPText’:=’] <expression ( IN ) of string>
[’\’Num’:=’ <expression ( IN ) of num> ]
| [’\’Bool’:=’ <expression ( IN ) of bool> ]
| [’\’Pos’:=’ <expression ( IN ) of pos> ]
| [’\’Orient’:=’ <expression ( IN ) of orient> ]
| [’\’Dnum’:=’ <expression ( IN ) of dnum> ]’;’
Related information
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
\Dnum
4294967295
"4294967295"
For information about
See
Clearing and reading the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
Continued
1 Instructions
1.206. TriggC - Circular robot movement with events
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1.206. TriggC - Circular robot movement with events
Usage
TriggC ( Trigg Circular ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is moving on a circular path.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggC .
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 TriggC are illustrated below.
See also More examples on page 574 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002267
Arguments
TriggC [\Conc] CirPoint ToPoint [\ID] Speed [\T] Trigg_1 [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool
[\WObj] [ \Corr ]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
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1.206. TriggC - Circular robot movement with events
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synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc , the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath , movement
instructions with the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
CirPoint
Data type: robtarget
The circle point of the robot. 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).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Continued
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1.206. TriggC - Circular robot movement with events
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1.206. TriggC - Circular robot movement with events
Usage
TriggC ( Trigg Circular ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is moving on a circular path.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggC .
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 TriggC are illustrated below.
See also More examples on page 574 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002267
Arguments
TriggC [\Conc] CirPoint ToPoint [\ID] Speed [\T] Trigg_1 [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool
[\WObj] [ \Corr ]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
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synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc , the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath , movement
instructions with the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
CirPoint
Data type: robtarget
The circle point of the robot. 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).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheck , TriggSpeed , or
TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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1.206. TriggC - Circular robot movement with events
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synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc , the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath , movement
instructions with the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
CirPoint
Data type: robtarget
The circle point of the robot. 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).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheck , TriggSpeed , or
TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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.
Program execution
See the instruction MoveC for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During stepping the execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backward, no trigger activities at all are
carried out.
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[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheck , TriggSpeed , or
TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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.
Program execution
See the instruction MoveC for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During stepping the execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backward, no trigger activities at all are
carried out.
Continued
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1.206. TriggC - Circular robot movement with events
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggC are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point
p2 or p4 respectively.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions result in out of limit for the analog signal together
with the programmed Speed in this instruction, then the system variable ERRNO is set to
ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the used Event Preset Time in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
General limitations according to instruction MoveC .
If the current start point deviates from the usual point so that the total positioning length of
the instruction TriggC is shorter than usual then it may happen that several or all of the
trigger conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program logic
in the user program may not be based on a normal sequence of trigger activities for an
“incomplete movement”.
WARNING!
The instruction TriggC should never be started from the beginning with the robot in position
after the circle point. Otherwise, the robot will not take the programmed path (positioning
around the circular path in another direction compared to that which is programmed).
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[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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.
Program execution
See the instruction MoveC for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During stepping the execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backward, no trigger activities at all are
carried out.
Continued
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1 Instructions
1.206. TriggC - Circular robot movement with events
RobotWare - OS
3HAC 16581-1 Revision: J
574
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggC are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point
p2 or p4 respectively.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions result in out of limit for the analog signal together
with the programmed Speed in this instruction, then the system variable ERRNO is set to
ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the used Event Preset Time in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
General limitations according to instruction MoveC .
If the current start point deviates from the usual point so that the total positioning length of
the instruction TriggC is shorter than usual then it may happen that several or all of the
trigger conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program logic
in the user program may not be based on a normal sequence of trigger activities for an
“incomplete movement”.
WARNING!
The instruction TriggC should never be started from the beginning with the robot in position
after the circle point. 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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1.206. TriggC - Circular robot movement with events
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Syntax
TriggC
[ ’\’ Conc ’,’]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Joint movement with triggers
TriggJ - Axis-wise robot movements with events on
page 597
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggSpeed - Defines TCP speed proportional analog
output with fixed position-time scale event on page
622
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
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 zone data
zonedata - Zone data on page 1232
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1.206. TriggC - Circular robot movement with events
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More examples
More examples of how to use the instruction TriggC are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point
p2 or p4 respectively.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions result in out of limit for the analog signal together
with the programmed Speed in this instruction, then the system variable ERRNO is set to
ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the used Event Preset Time in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
General limitations according to instruction MoveC .
If the current start point deviates from the usual point so that the total positioning length of
the instruction TriggC is shorter than usual then it may happen that several or all of the
trigger conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program logic
in the user program may not be based on a normal sequence of trigger activities for an
“incomplete movement”.
WARNING!
The instruction TriggC should never be started from the beginning with the robot in position
after the circle point. 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
1.206. TriggC - Circular robot movement with events
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggC
[ ’\’ Conc ’,’]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Joint movement with triggers
TriggJ - Axis-wise robot movements with events on
page 597
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggSpeed - Defines TCP speed proportional analog
output with fixed position-time scale event on page
622
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
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 zone data
zonedata - Zone data on page 1232
Continued
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576
© Copyright 2004-2010 ABB. All rights reserved.
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
For information about
See
Continued
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1.206. TriggC - Circular robot movement with events
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Syntax
TriggC
[ ’\’ Conc ’,’]
[ CirPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ] ’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos’ :=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’ < persistent ( PERS ) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Joint movement with triggers
TriggJ - Axis-wise robot movements with events on
page 597
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggSpeed - Defines TCP speed proportional analog
output with fixed position-time scale event on page
622
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
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 zone data
zonedata - Zone data on page 1232
Continued
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1 Instructions
1.206. TriggC - Circular robot movement with events
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© Copyright 2004-2010 ABB. All rights reserved.
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
For information about
See
Continued
1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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1.207. TriggCheckIO - Defines IO check at a fixed position
Usage
TriggCheckIO is used to define conditions for testing the value of a digital, a group of
digital, or an analog input or output signal at a fixed position along the robot’s movement
path. If the condition is fulfilled then there will be no specific action. But if it is not then an
interrupt routine will be run after the robot has optionally stopped on path as fast as possible.
To obtain a fixed position I/O check, TriggCheckIO compensates for the lag in the control
system (lag between servo and robot).
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggCheckIO are illustrated below.
See also More examples on page 580 .
Example 1
VAR triggdata checkgrip;
VAR intnum intno1;
CONNECT intno1 WITH trap1;
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
TriggL p1, v500, checkgrip, z50, grip1;
The digital input signal airok is checked to have the value 1 when the TCP is 100 mm
before the point p1 . If it is set then normal execution of the program continues. If it is not set
then the interrupt routine trap1 is run.
The figure shows an example of fixed position I/O check.
xx0500002254
Arguments
TriggCheckIO TriggData Distance [\Start] | [\Time] Signal Relation
CheckValue |CheckDvalue [\StopMove] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles
For information about
See
Continued
1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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1.207. TriggCheckIO - Defines IO check at a fixed position
Usage
TriggCheckIO is used to define conditions for testing the value of a digital, a group of
digital, or an analog input or output signal at a fixed position along the robot’s movement
path. If the condition is fulfilled then there will be no specific action. But if it is not then an
interrupt routine will be run after the robot has optionally stopped on path as fast as possible.
To obtain a fixed position I/O check, TriggCheckIO compensates for the lag in the control
system (lag between servo and robot).
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggCheckIO are illustrated below.
See also More examples on page 580 .
Example 1
VAR triggdata checkgrip;
VAR intnum intno1;
CONNECT intno1 WITH trap1;
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
TriggL p1, v500, checkgrip, z50, grip1;
The digital input signal airok is checked to have the value 1 when the TCP is 100 mm
before the point p1 . If it is set then normal execution of the program continues. If it is not set
then the interrupt routine trap1 is run.
The figure shows an example of fixed position I/O check.
xx0500002254
Arguments
TriggCheckIO TriggData Distance [\Start] | [\Time] Signal Relation
CheckValue |CheckDvalue [\StopMove] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1.207. TriggCheckIO - Defines IO check at a fixed position
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Distance
Data type: num
Defines the position on the path where the I/O check shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
Signal
Data type: signalxx
The name of the signal that will be tested. May be any type of IO signal.
Relation
Data type: opnum
Defines how to compare the actual value of the signal with the one defined by the argument
CheckValue . Refer to the opnum data type for the list of the predefined constants to be used.
CheckValue
Data type: num
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. Max value that can be used in the CheckValue argument is 8388608,
and that is the value a 23 bit digital group signal can have as maximum value (see ranges for
num ).
CheckDvalue
Data type: dnum
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. The maximal amout of signal bits a digital group signal can have is 32.
With a dnum variable it is possible to cover the value range 0-4294967295, which is the value
range a 32 bits digital signal can have.
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1.207. TriggCheckIO - Defines IO check at a fixed position
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1.207. TriggCheckIO - Defines IO check at a fixed position
Usage
TriggCheckIO is used to define conditions for testing the value of a digital, a group of
digital, or an analog input or output signal at a fixed position along the robot’s movement
path. If the condition is fulfilled then there will be no specific action. But if it is not then an
interrupt routine will be run after the robot has optionally stopped on path as fast as possible.
To obtain a fixed position I/O check, TriggCheckIO compensates for the lag in the control
system (lag between servo and robot).
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggCheckIO are illustrated below.
See also More examples on page 580 .
Example 1
VAR triggdata checkgrip;
VAR intnum intno1;
CONNECT intno1 WITH trap1;
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
TriggL p1, v500, checkgrip, z50, grip1;
The digital input signal airok is checked to have the value 1 when the TCP is 100 mm
before the point p1 . If it is set then normal execution of the program continues. If it is not set
then the interrupt routine trap1 is run.
The figure shows an example of fixed position I/O check.
xx0500002254
Arguments
TriggCheckIO TriggData Distance [\Start] | [\Time] Signal Relation
CheckValue |CheckDvalue [\StopMove] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1.207. TriggCheckIO - Defines IO check at a fixed position
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Distance
Data type: num
Defines the position on the path where the I/O check shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
Signal
Data type: signalxx
The name of the signal that will be tested. May be any type of IO signal.
Relation
Data type: opnum
Defines how to compare the actual value of the signal with the one defined by the argument
CheckValue . Refer to the opnum data type for the list of the predefined constants to be used.
CheckValue
Data type: num
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. Max value that can be used in the CheckValue argument is 8388608,
and that is the value a 23 bit digital group signal can have as maximum value (see ranges for
num ).
CheckDvalue
Data type: dnum
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. The maximal amout of signal bits a digital group signal can have is 32.
With a dnum variable it is possible to cover the value range 0-4294967295, which is the value
range a 32 bits digital signal can have.
Continued
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1.207. TriggCheckIO - Defines IO check at a fixed position
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[ \StopMove ]
Data type: switch
Specifies that if the condition is not fulfilled then the robot will stop on path as quickly as
possible before the interrupt routine is run.
Interrupt
Data type: intnum
Variable used to identify the interrupt routine to run.
Program execution
When running the instruction TriggCheckIO , the trigger condition is stored in a specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggCheckIO :
The table describes distance specified in the argument Distance :
The figure shows fixed position I/O check on a corner path.
xx0500002256
The fixed position I/O check will be done when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( TriggL... ).
When the TCP of the robot is at specified place on the path, the following I/O check will be
done by the system:
•
Read the value of the I/O signal.
•
Compare the read value with CheckValue according specified Relation .
•
If the comparison is TRUE then nothing more is done.
•
If the comparison is FALSE then following is done:
•
If optional parameter \StopMove is present then the robot is stopped on the path as
quickly as possible.
•
Generate and execute the specified TRAP routine.
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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Distance
Data type: num
Defines the position on the path where the I/O check shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
Signal
Data type: signalxx
The name of the signal that will be tested. May be any type of IO signal.
Relation
Data type: opnum
Defines how to compare the actual value of the signal with the one defined by the argument
CheckValue . Refer to the opnum data type for the list of the predefined constants to be used.
CheckValue
Data type: num
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. Max value that can be used in the CheckValue argument is 8388608,
and that is the value a 23 bit digital group signal can have as maximum value (see ranges for
num ).
CheckDvalue
Data type: dnum
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. The maximal amout of signal bits a digital group signal can have is 32.
With a dnum variable it is possible to cover the value range 0-4294967295, which is the value
range a 32 bits digital signal can have.
Continued
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1.207. TriggCheckIO - Defines IO check at a fixed position
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[ \StopMove ]
Data type: switch
Specifies that if the condition is not fulfilled then the robot will stop on path as quickly as
possible before the interrupt routine is run.
Interrupt
Data type: intnum
Variable used to identify the interrupt routine to run.
Program execution
When running the instruction TriggCheckIO , the trigger condition is stored in a specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggCheckIO :
The table describes distance specified in the argument Distance :
The figure shows fixed position I/O check on a corner path.
xx0500002256
The fixed position I/O check will be done when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( TriggL... ).
When the TCP of the robot is at specified place on the path, the following I/O check will be
done by the system:
•
Read the value of the I/O signal.
•
Compare the read value with CheckValue according specified Relation .
•
If the comparison is TRUE then nothing more is done.
•
If the comparison is FALSE then following is done:
•
If optional parameter \StopMove is present then the robot is stopped on the path as
quickly as possible.
•
Generate and execute the specified TRAP routine.
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggCheckIO are illustrated below.
Example 1
VAR triggdata checkgate;
VAR intnum gateclosed;
CONNECT gateclosed WITH waitgate;
TriggCheckIO checkgate, 150, gatedi, EQ, 1 \StopMove, gateclosed;
TriggL p1, v600, checkgate, z50, grip1;
...
TRAP waitgate
! log some information
...
WaitDI gatedi,1;
StartMove;
ENDTRAP
The gate for the next workpiece operation is checked to be open (digital input signal gatedi
is checked to have the value 1 ) when the TCP is 150 mm before the point p1 . If it is open
then the robot will move on to p1 and continue. If it is not open then the robot is stopped on
path and the interrupt routine waitgate is run. This interrupt routine logs some information
and typically waits for the conditions to be OK to execute a StartMove instruction in order
to restart the interrupted path.
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_GO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified digital group
output signal Signal is outside limits.
ERR_AO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified analog output
signal Signal is outside limits.
Limitations
I/O checks with distance (without the argument \Time ) is intended for flying points (corner
path). I/O checks with distance, using stop points, results in worse accuracy than specified
below.
I/O checks with time (with the argument \Time ) is intended for stop points. I/O checks with
time, using flying points, results in worse accuracy than specified below.
I/O checks with time can only be specified from the end point of the movement. This time
cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical
values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time
is greater that the current braking time then the I/O check will be generated anyway but not
until braking is started (later than specified). However, the whole of the movement time for
the current movement can be utilized during small and fast movements.
Continued
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1.207. TriggCheckIO - Defines IO check at a fixed position
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[ \StopMove ]
Data type: switch
Specifies that if the condition is not fulfilled then the robot will stop on path as quickly as
possible before the interrupt routine is run.
Interrupt
Data type: intnum
Variable used to identify the interrupt routine to run.
Program execution
When running the instruction TriggCheckIO , the trigger condition is stored in a specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggCheckIO :
The table describes distance specified in the argument Distance :
The figure shows fixed position I/O check on a corner path.
xx0500002256
The fixed position I/O check will be done when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( TriggL... ).
When the TCP of the robot is at specified place on the path, the following I/O check will be
done by the system:
•
Read the value of the I/O signal.
•
Compare the read value with CheckValue according specified Relation .
•
If the comparison is TRUE then nothing more is done.
•
If the comparison is FALSE then following is done:
•
If optional parameter \StopMove is present then the robot is stopped on the path as
quickly as possible.
•
Generate and execute the specified TRAP routine.
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
RobotWare - OS
3HAC 16581-1 Revision: J
580
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggCheckIO are illustrated below.
Example 1
VAR triggdata checkgate;
VAR intnum gateclosed;
CONNECT gateclosed WITH waitgate;
TriggCheckIO checkgate, 150, gatedi, EQ, 1 \StopMove, gateclosed;
TriggL p1, v600, checkgate, z50, grip1;
...
TRAP waitgate
! log some information
...
WaitDI gatedi,1;
StartMove;
ENDTRAP
The gate for the next workpiece operation is checked to be open (digital input signal gatedi
is checked to have the value 1 ) when the TCP is 150 mm before the point p1 . If it is open
then the robot will move on to p1 and continue. If it is not open then the robot is stopped on
path and the interrupt routine waitgate is run. This interrupt routine logs some information
and typically waits for the conditions to be OK to execute a StartMove instruction in order
to restart the interrupted path.
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_GO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified digital group
output signal Signal is outside limits.
ERR_AO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified analog output
signal Signal is outside limits.
Limitations
I/O checks with distance (without the argument \Time ) is intended for flying points (corner
path). I/O checks with distance, using stop points, results in worse accuracy than specified
below.
I/O checks with time (with the argument \Time ) is intended for stop points. I/O checks with
time, using flying points, results in worse accuracy than specified below.
I/O checks with time can only be specified from the end point of the movement. This time
cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical
values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time
is greater that the current braking time then the I/O check will be generated anyway but not
until braking is started (later than specified). However, the whole of the movement time for
the current movement can be utilized during small and fast movements.
Continued
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1.207. TriggCheckIO - Defines IO check at a fixed position
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© Copyright 2004-2010 ABB. All rights reserved.
Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy
values for testing of digital inputs +/- 2 ms.
Syntax
TriggCheckIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ´,’
[ Signal ’:=’ ] < variable ( VAR ) of anytype> ´,’
[ Relation’ :=’ ] < expression ( IN ) of opnum> ´,’
[ CheckValue’ :=’ ] < expression ( IN ) of num>
| [ CheckDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ StopMove] ´,’
[ Interrupt’ :=’ ] < variable( VAR ) of intnum> ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on page
570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position-time I/O event
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
Definition of position related
interrupts
TriggInt - Defines a position related interrupt on page
588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Definition of comparison operators
opnum - Comparison operator on page 1149 I
Continued
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1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggCheckIO are illustrated below.
Example 1
VAR triggdata checkgate;
VAR intnum gateclosed;
CONNECT gateclosed WITH waitgate;
TriggCheckIO checkgate, 150, gatedi, EQ, 1 \StopMove, gateclosed;
TriggL p1, v600, checkgate, z50, grip1;
...
TRAP waitgate
! log some information
...
WaitDI gatedi,1;
StartMove;
ENDTRAP
The gate for the next workpiece operation is checked to be open (digital input signal gatedi
is checked to have the value 1 ) when the TCP is 150 mm before the point p1 . If it is open
then the robot will move on to p1 and continue. If it is not open then the robot is stopped on
path and the interrupt routine waitgate is run. This interrupt routine logs some information
and typically waits for the conditions to be OK to execute a StartMove instruction in order
to restart the interrupted path.
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_GO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified digital group
output signal Signal is outside limits.
ERR_AO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified analog output
signal Signal is outside limits.
Limitations
I/O checks with distance (without the argument \Time ) is intended for flying points (corner
path). I/O checks with distance, using stop points, results in worse accuracy than specified
below.
I/O checks with time (with the argument \Time ) is intended for stop points. I/O checks with
time, using flying points, results in worse accuracy than specified below.
I/O checks with time can only be specified from the end point of the movement. This time
cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical
values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time
is greater that the current braking time then the I/O check will be generated anyway but not
until braking is started (later than specified). However, the whole of the movement time for
the current movement can be utilized during small and fast movements.
Continued
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1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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© Copyright 2004-2010 ABB. All rights reserved.
Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy
values for testing of digital inputs +/- 2 ms.
Syntax
TriggCheckIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ´,’
[ Signal ’:=’ ] < variable ( VAR ) of anytype> ´,’
[ Relation’ :=’ ] < expression ( IN ) of opnum> ´,’
[ CheckValue’ :=’ ] < expression ( IN ) of num>
| [ CheckDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ StopMove] ´,’
[ Interrupt’ :=’ ] < variable( VAR ) of intnum> ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on page
570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position-time I/O event
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
Definition of position related
interrupts
TriggInt - Defines a position related interrupt on page
588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Definition of comparison operators
opnum - Comparison operator on page 1149 I
Continued
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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© Copyright 2004-2010 ABB. All rights reserved.
1.208. TriggEquip - Define a fixed position and time I/O event on the path
Usage
TriggEquip ( Trigg Equipment ) is used to define conditions and actions for setting a digital,
a group of digital, or an analog output signal at a fixed position along the robot’s movement
path with possibility to do time compensation for the lag in the external equipment.
TriggIO (not TriggEquip ) should always be used if there is need for good accuracy of the
I/O settings near a stop point.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggEquip are illustrated below.
See also More examples on page 585 .
Example 1
VAR triggdata gunon;
...
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 starts to open when its TCP is 0,1 s before the fictitious point p2 ( 10 mm
before point p1 ). The gun is full open when TCP reach point p2 .
The figure shows an example of a fixed position time I/O event.
xx0500002260
Arguments
TriggEquip TriggData Distance [\Start] EquipLag [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\Inhib]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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© Copyright 2004-2010 ABB. All rights reserved.
Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy
values for testing of digital inputs +/- 2 ms.
Syntax
TriggCheckIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ´,’
[ Signal ’:=’ ] < variable ( VAR ) of anytype> ´,’
[ Relation’ :=’ ] < expression ( IN ) of opnum> ´,’
[ CheckValue’ :=’ ] < expression ( IN ) of num>
| [ CheckDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ StopMove] ´,’
[ Interrupt’ :=’ ] < variable( VAR ) of intnum> ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on page
570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position-time I/O event
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
Definition of position related
interrupts
TriggInt - Defines a position related interrupt on page
588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Definition of comparison operators
opnum - Comparison operator on page 1149 I
Continued
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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© Copyright 2004-2010 ABB. All rights reserved.
1.208. TriggEquip - Define a fixed position and time I/O event on the path
Usage
TriggEquip ( Trigg Equipment ) is used to define conditions and actions for setting a digital,
a group of digital, or an analog output signal at a fixed position along the robot’s movement
path with possibility to do time compensation for the lag in the external equipment.
TriggIO (not TriggEquip ) should always be used if there is need for good accuracy of the
I/O settings near a stop point.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggEquip are illustrated below.
See also More examples on page 585 .
Example 1
VAR triggdata gunon;
...
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 starts to open when its TCP is 0,1 s before the fictitious point p2 ( 10 mm
before point p1 ). The gun is full open when TCP reach point p2 .
The figure shows an example of a fixed position time I/O event.
xx0500002260
Arguments
TriggEquip TriggData Distance [\Start] EquipLag [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\Inhib]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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Distance
Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
EquipLag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive
argument value means that the I/O signal is set by the robot system at a specified time before
the TCP physically reaches the specified distance in relation to the movement start or end
point.
Negative argument value means that the I/O signal is set by the robot system at a specified
time after that the TCP has physically passed the specified distance in relation to the
movement start or end point.
The figure shows use of argument EquipLag .
xx0500002262
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
Continued
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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© Copyright 2004-2010 ABB. All rights reserved.
1.208. TriggEquip - Define a fixed position and time I/O event on the path
Usage
TriggEquip ( Trigg Equipment ) is used to define conditions and actions for setting a digital,
a group of digital, or an analog output signal at a fixed position along the robot’s movement
path with possibility to do time compensation for the lag in the external equipment.
TriggIO (not TriggEquip ) should always be used if there is need for good accuracy of the
I/O settings near a stop point.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggEquip are illustrated below.
See also More examples on page 585 .
Example 1
VAR triggdata gunon;
...
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 starts to open when its TCP is 0,1 s before the fictitious point p2 ( 10 mm
before point p1 ). The gun is full open when TCP reach point p2 .
The figure shows an example of a fixed position time I/O event.
xx0500002260
Arguments
TriggEquip TriggData Distance [\Start] EquipLag [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\Inhib]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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Distance
Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
EquipLag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive
argument value means that the I/O signal is set by the robot system at a specified time before
the TCP physically reaches the specified distance in relation to the movement start or end
point.
Negative argument value means that the I/O signal is set by the robot system at a specified
time after that the TCP has physically passed the specified distance in relation to the
movement start or end point.
The figure shows use of argument EquipLag .
xx0500002262
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
Continued
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: dnum
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \Inhib ]
Inhibit
Data type: bool
The name of a persistent variable flag for inhibiting the setting of the signal at runtime.
If this optional argument is used and the actual value of the specified flag is TRUE at the
position-time for setting of the signal then the specified signal ( DOp , GOp or AOp ) will be set
to 0 instead of a specified value.
Program execution
When running the instruction TriggEquip , the trigger condition is stored in the specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed then the
following are applicable with regard to the definitions in TriggEquip :
The table describes the distance specified in the argument Distance :
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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Distance
Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
EquipLag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive
argument value means that the I/O signal is set by the robot system at a specified time before
the TCP physically reaches the specified distance in relation to the movement start or end
point.
Negative argument value means that the I/O signal is set by the robot system at a specified
time after that the TCP has physically passed the specified distance in relation to the
movement start or end point.
The figure shows use of argument EquipLag .
xx0500002262
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
Continued
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: dnum
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \Inhib ]
Inhibit
Data type: bool
The name of a persistent variable flag for inhibiting the setting of the signal at runtime.
If this optional argument is used and the actual value of the specified flag is TRUE at the
position-time for setting of the signal then the specified signal ( DOp , GOp or AOp ) will be set
to 0 instead of a specified value.
Program execution
When running the instruction TriggEquip , the trigger condition is stored in the specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed then the
following are applicable with regard to the definitions in TriggEquip :
The table describes the distance specified in the argument Distance :
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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The figure shows fixed position time I/O on a corner path.
xx0500002263
The position-time related event will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ). With use of argument EquipLag with negative time
(delay), the I/O signal can be set after the end point.
More examples
More examples of how to use the instruction TriggEquip are illustrated below.
Example 1
VAR triggdata glueflow;
...
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the TCP passes a point located
1 mm after the start point p1 with compensation for equipment lag 0.05 s.
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the TCP passes a
point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Continued
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[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: dnum
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \Inhib ]
Inhibit
Data type: bool
The name of a persistent variable flag for inhibiting the setting of the signal at runtime.
If this optional argument is used and the actual value of the specified flag is TRUE at the
position-time for setting of the signal then the specified signal ( DOp , GOp or AOp ) will be set
to 0 instead of a specified value.
Program execution
When running the instruction TriggEquip , the trigger condition is stored in the specified
variable for the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed then the
following are applicable with regard to the definitions in TriggEquip :
The table describes the distance specified in the argument Distance :
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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The figure shows fixed position time I/O on a corner path.
xx0500002263
The position-time related event will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ). With use of argument EquipLag with negative time
(delay), the I/O signal can be set after the end point.
More examples
More examples of how to use the instruction TriggEquip are illustrated below.
Example 1
VAR triggdata glueflow;
...
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the TCP passes a point located
1 mm after the start point p1 with compensation for equipment lag 0.05 s.
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the TCP passes a
point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Continued
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Limitations
I/O events with distance is intended for flying points (corner path). I/O events with distance,
using stop points, results in worse accuracy than specified below.
Regarding the accuracy for I/O events with distance and using flying points, the following is
applicable when setting a digital output at a specified distance from the start point or end point
in the instruction TriggL or TriggC :
•
Accuracy specified below is valid for positive EquipLag parameter < 40 ms,
equivalent to the lag in the robot servo (without changing the system parameter Event
Preset Time ). The lag can vary between different robot types. For example it is
lower for IRB140.
•
Accuracy specified below is valid for positive EquipLag parameter < configured
Event Preset Time (system parameter).
•
Accuracy specified below is not valid for positive EquipLag parameter >
configured Event Preset Time (system parameter). In this case, an approximate
method is used in which the dynamic limitations of the robot are not taken into
consideration. SingArea \Wrist must be used in order to achieve an acceptable
accuracy.
•
Accuracy specified below is valid for negative EquipLag .
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggEquip
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] ´,’
[ EquipLag’ :=’ ] < expression ( IN ) of num>
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ Inhib’ :=’ < persistent ( PERS ) of bool> ] ´,’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Continued
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
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The figure shows fixed position time I/O on a corner path.
xx0500002263
The position-time related event will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ). With use of argument EquipLag with negative time
(delay), the I/O signal can be set after the end point.
More examples
More examples of how to use the instruction TriggEquip are illustrated below.
Example 1
VAR triggdata glueflow;
...
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the TCP passes a point located
1 mm after the start point p1 with compensation for equipment lag 0.05 s.
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the TCP passes a
point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Continued
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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© Copyright 2004-2010 ABB. All rights reserved.
Limitations
I/O events with distance is intended for flying points (corner path). I/O events with distance,
using stop points, results in worse accuracy than specified below.
Regarding the accuracy for I/O events with distance and using flying points, the following is
applicable when setting a digital output at a specified distance from the start point or end point
in the instruction TriggL or TriggC :
•
Accuracy specified below is valid for positive EquipLag parameter < 40 ms,
equivalent to the lag in the robot servo (without changing the system parameter Event
Preset Time ). The lag can vary between different robot types. For example it is
lower for IRB140.
•
Accuracy specified below is valid for positive EquipLag parameter < configured
Event Preset Time (system parameter).
•
Accuracy specified below is not valid for positive EquipLag parameter >
configured Event Preset Time (system parameter). In this case, an approximate
method is used in which the dynamic limitations of the robot are not taken into
consideration. SingArea \Wrist must be used in order to achieve an acceptable
accuracy.
•
Accuracy specified below is valid for negative EquipLag .
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggEquip
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] ´,’
[ EquipLag’ :=’ ] < expression ( IN ) of num>
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ Inhib’ :=’ < persistent ( PERS ) of bool> ] ´,’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Continued
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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Definition of other triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggInt - Defines a position related interrupt on
page 588
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Configuration of Event preset time
Technical reference manual - System parameters ,
section Motion
For information about
See
Continued
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
3HAC 16581-1 Revision: J
586
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
I/O events with distance is intended for flying points (corner path). I/O events with distance,
using stop points, results in worse accuracy than specified below.
Regarding the accuracy for I/O events with distance and using flying points, the following is
applicable when setting a digital output at a specified distance from the start point or end point
in the instruction TriggL or TriggC :
•
Accuracy specified below is valid for positive EquipLag parameter < 40 ms,
equivalent to the lag in the robot servo (without changing the system parameter Event
Preset Time ). The lag can vary between different robot types. For example it is
lower for IRB140.
•
Accuracy specified below is valid for positive EquipLag parameter < configured
Event Preset Time (system parameter).
•
Accuracy specified below is not valid for positive EquipLag parameter >
configured Event Preset Time (system parameter). In this case, an approximate
method is used in which the dynamic limitations of the robot are not taken into
consideration. SingArea \Wrist must be used in order to achieve an acceptable
accuracy.
•
Accuracy specified below is valid for negative EquipLag .
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggEquip
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] ´,’
[ EquipLag’ :=’ ] < expression ( IN ) of num>
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ Inhib’ :=’ < persistent ( PERS ) of bool> ] ´,’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Continued
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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© Copyright 2004-2010 ABB. All rights reserved.
Definition of other triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggInt - Defines a position related interrupt on
page 588
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Configuration of Event preset time
Technical reference manual - System parameters ,
section Motion
For information about
See
Continued
1 Instructions
1.209. TriggInt - Defines a position related interrupt
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© Copyright 2004-2010 ABB. All rights reserved.
1.209. TriggInt - Defines a position related interrupt
Usage
TriggInt is used to define conditions and actions for running an interrupt routine at a
specified position on the robot’s movement path.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggInt are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
TriggL p2, v500, trigg1, z50, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the TCP is at a position 5 mm before the point p1
or p2 respectively.
The figure shows an example of position related interrupt.
xx0500002251
Arguments
TriggInt TriggData Distance [\Start] | [\Time] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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Definition of other triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggInt - Defines a position related interrupt on
page 588
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Configuration of Event preset time
Technical reference manual - System parameters ,
section Motion
For information about
See
Continued
1 Instructions
1.209. TriggInt - Defines a position related interrupt
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588
© Copyright 2004-2010 ABB. All rights reserved.
1.209. TriggInt - Defines a position related interrupt
Usage
TriggInt is used to define conditions and actions for running an interrupt routine at a
specified position on the robot’s movement path.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggInt are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
TriggL p2, v500, trigg1, z50, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the TCP is at a position 5 mm before the point p1
or p2 respectively.
The figure shows an example of position related interrupt.
xx0500002251
Arguments
TriggInt TriggData Distance [\Start] | [\Time] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
Continues on next page
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1.209. TriggInt - Defines a position related interrupt
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Distance
Data type: num
Defines the position on the path where the interrupt shall be generated.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section entitled Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement’s start point
instead of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Position related interrupts in time can only be used for short times (< 0.5 s) before the robot
reaches the end point of the instruction. See the section Limitations for more details.
Interrupt
Data type: intnum
Variable used to identify an interrupt.
Program execution
When running the instruction TriggInt , data is stored in a specified variable for the
argument TriggData and the interrupt that is specified in the variable for the argument
Interrupt is activated.
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggInt :
The table describes the distance specified in the argument Distance :
The figure shows position related interrupt on a corner path.
xx0500002253
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.209. TriggInt - Defines a position related interrupt
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© Copyright 2004-2010 ABB. All rights reserved.
1.209. TriggInt - Defines a position related interrupt
Usage
TriggInt is used to define conditions and actions for running an interrupt routine at a
specified position on the robot’s movement path.
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
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 TriggInt are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
TriggL p2, v500, trigg1, z50, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the TCP is at a position 5 mm before the point p1
or p2 respectively.
The figure shows an example of position related interrupt.
xx0500002251
Arguments
TriggInt TriggData Distance [\Start] | [\Time] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1.209. TriggInt - Defines a position related interrupt
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Distance
Data type: num
Defines the position on the path where the interrupt shall be generated.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section entitled Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement’s start point
instead of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Position related interrupts in time can only be used for short times (< 0.5 s) before the robot
reaches the end point of the instruction. See the section Limitations for more details.
Interrupt
Data type: intnum
Variable used to identify an interrupt.
Program execution
When running the instruction TriggInt , data is stored in a specified variable for the
argument TriggData and the interrupt that is specified in the variable for the argument
Interrupt is activated.
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggInt :
The table describes the distance specified in the argument Distance :
The figure shows position related interrupt on a corner path.
xx0500002253
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.209. TriggInt - Defines a position related interrupt
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© Copyright 2004-2010 ABB. All rights reserved.
The position related interrupt will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ).
The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with
instruction ISleep . The safe interrupt event will be queued at program stop and stepwise
execution, and when starting in continious mode again, the interrupt will be executed. The
only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will
be reported. The interrupt will not survive program reset, e.g. PP to main.
More examples
More examples of how to use the instruction TriggInt are illustrated below.
Example 1
This example describes programming of the instructions that interact to generate position
related interrupts:
VAR intnum intno2;
VAR triggdata trigg2;
•
Declaration of the variables intno2 and trigg2 ( shall not be initiated).
CONNECT intno2 WITH trap2;
•
Allocation of interrupt numbers that are stored in the variable intno2 .
•
The interrupt number is coupled to the interrupt routine trap2 .
TriggInt trigg2, 0, intno2;
•
The interrupt number in the variable intno2 is flagged as used.
•
The interrupt is activated.
•
Defined trigger conditions and interrupt numbers are stored in the variable trigg2
TriggL p1, v500, trigg2, z50, gun1;
•
The robot is moved to the point p1 .
•
When the TCP reaches the point p1 an interrupt is generated, and the interrupt routine
trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;
•
The robot is moved to the point p2 .
•
When the TCP reaches the point p2 , an interrupt is generated and the interrupt routine
trap2 is run once more.
IDelete intno2;
•
The interrupt number in the variable intno2 is de-allocated.
Limitations
Interrupt events with distance (without the argument \Time ) are intended for flying points
(corner path). Interrupt events with distance, using stop points results in worse accuracy than
specified below.
Interrupt events with time (with the argument \Time ) are intended for stop points. Interrupt
events with time, using flying points, result in worse accuracy than specified below. I/O
events with time can only be specified from the end point of the movement. This time cannot
exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at
speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is
Continued
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Distance
Data type: num
Defines the position on the path where the interrupt shall be generated.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section entitled Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement’s start point
instead of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Position related interrupts in time can only be used for short times (< 0.5 s) before the robot
reaches the end point of the instruction. See the section Limitations for more details.
Interrupt
Data type: intnum
Variable used to identify an interrupt.
Program execution
When running the instruction TriggInt , data is stored in a specified variable for the
argument TriggData and the interrupt that is specified in the variable for the argument
Interrupt is activated.
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggInt :
The table describes the distance specified in the argument Distance :
The figure shows position related interrupt on a corner path.
xx0500002253
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
Continues on next page
1 Instructions
1.209. TriggInt - Defines a position related interrupt
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© Copyright 2004-2010 ABB. All rights reserved.
The position related interrupt will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ).
The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with
instruction ISleep . The safe interrupt event will be queued at program stop and stepwise
execution, and when starting in continious mode again, the interrupt will be executed. The
only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will
be reported. The interrupt will not survive program reset, e.g. PP to main.
More examples
More examples of how to use the instruction TriggInt are illustrated below.
Example 1
This example describes programming of the instructions that interact to generate position
related interrupts:
VAR intnum intno2;
VAR triggdata trigg2;
•
Declaration of the variables intno2 and trigg2 ( shall not be initiated).
CONNECT intno2 WITH trap2;
•
Allocation of interrupt numbers that are stored in the variable intno2 .
•
The interrupt number is coupled to the interrupt routine trap2 .
TriggInt trigg2, 0, intno2;
•
The interrupt number in the variable intno2 is flagged as used.
•
The interrupt is activated.
•
Defined trigger conditions and interrupt numbers are stored in the variable trigg2
TriggL p1, v500, trigg2, z50, gun1;
•
The robot is moved to the point p1 .
•
When the TCP reaches the point p1 an interrupt is generated, and the interrupt routine
trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;
•
The robot is moved to the point p2 .
•
When the TCP reaches the point p2 , an interrupt is generated and the interrupt routine
trap2 is run once more.
IDelete intno2;
•
The interrupt number in the variable intno2 is de-allocated.
Limitations
Interrupt events with distance (without the argument \Time ) are intended for flying points
(corner path). Interrupt events with distance, using stop points results in worse accuracy than
specified below.
Interrupt events with time (with the argument \Time ) are intended for stop points. Interrupt
events with time, using flying points, result in worse accuracy than specified below. I/O
events with time can only be specified from the end point of the movement. This time cannot
exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at
speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is
Continued
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1 Instructions
1.209. TriggInt - Defines a position related interrupt
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greater that the current braking time then the event will be generated anyhow but not until
braking is started (later than specified). However, the whole of the movement time for the
current movement can be utilized during small and fast movements.
Typical absolute accuracy values for generation of interrupts +/- 5 ms. Typical repeat
accuracy values for generation of interrupts +/- 2 ms. Normally there is a delay of 2 to 30 ms
between interrupt generation and response depending on the type of movement being
performed at the time of the interrupt. (Ref. to RAPID reference manual - RAPID overview ,
section Basic characteristics - Interrupts ).
To obtain the best accuracy when setting an output at a fixed position along the robot’s path,
use the instructions TriggIO or TriggEquip in preference to the instructions TriggInt
with SetDO/SetGO/SetAO in an interrupt routine.
Syntax
TriggInt
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ’,’
[ Interrupt’ :=’ ] < variable ( VAR ) ofintnum> ’;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position fix I/O
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Interrupts
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupts
Continued
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1.209. TriggInt - Defines a position related interrupt
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The position related interrupt will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction ( TriggL... ).
The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with
instruction ISleep . The safe interrupt event will be queued at program stop and stepwise
execution, and when starting in continious mode again, the interrupt will be executed. The
only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will
be reported. The interrupt will not survive program reset, e.g. PP to main.
More examples
More examples of how to use the instruction TriggInt are illustrated below.
Example 1
This example describes programming of the instructions that interact to generate position
related interrupts:
VAR intnum intno2;
VAR triggdata trigg2;
•
Declaration of the variables intno2 and trigg2 ( shall not be initiated).
CONNECT intno2 WITH trap2;
•
Allocation of interrupt numbers that are stored in the variable intno2 .
•
The interrupt number is coupled to the interrupt routine trap2 .
TriggInt trigg2, 0, intno2;
•
The interrupt number in the variable intno2 is flagged as used.
•
The interrupt is activated.
•
Defined trigger conditions and interrupt numbers are stored in the variable trigg2
TriggL p1, v500, trigg2, z50, gun1;
•
The robot is moved to the point p1 .
•
When the TCP reaches the point p1 an interrupt is generated, and the interrupt routine
trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;
•
The robot is moved to the point p2 .
•
When the TCP reaches the point p2 , an interrupt is generated and the interrupt routine
trap2 is run once more.
IDelete intno2;
•
The interrupt number in the variable intno2 is de-allocated.
Limitations
Interrupt events with distance (without the argument \Time ) are intended for flying points
(corner path). Interrupt events with distance, using stop points results in worse accuracy than
specified below.
Interrupt events with time (with the argument \Time ) are intended for stop points. Interrupt
events with time, using flying points, result in worse accuracy than specified below. I/O
events with time can only be specified from the end point of the movement. This time cannot
exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at
speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is
Continued
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greater that the current braking time then the event will be generated anyhow but not until
braking is started (later than specified). However, the whole of the movement time for the
current movement can be utilized during small and fast movements.
Typical absolute accuracy values for generation of interrupts +/- 5 ms. Typical repeat
accuracy values for generation of interrupts +/- 2 ms. Normally there is a delay of 2 to 30 ms
between interrupt generation and response depending on the type of movement being
performed at the time of the interrupt. (Ref. to RAPID reference manual - RAPID overview ,
section Basic characteristics - Interrupts ).
To obtain the best accuracy when setting an output at a fixed position along the robot’s path,
use the instructions TriggIO or TriggEquip in preference to the instructions TriggInt
with SetDO/SetGO/SetAO in an interrupt routine.
Syntax
TriggInt
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ’,’
[ Interrupt’ :=’ ] < variable ( VAR ) ofintnum> ’;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position fix I/O
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Interrupts
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupts
Continued
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
Usage
TriggIO is used to define conditions and actions for setting a digital, a group of digital, or
an analog output signal at a fixed position along the robot’s movement path.
TriggIO (not TriggEquip ) should always be used if needed for good accuracy of the I/O
settings near a stop point.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system
(lag between robot and servo) but not for any lag in the external equipment. For compensation
of both lags use TriggEquip .
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
This instruction can only be used in the main T_ROB1 task or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic example of the instruction TriggIO are illustrated below.
See also More examples on page 595 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0.2\Time\DOp:=gun, 1;
TriggL p1, v500, gunon, fine, gun1;
The digital output signal gun is set to the value 1 when the TCP is 0,2 seconds before the
point p1 .
The figure shows an example of fixed position I/O event.
xx0500002247
Arguments
TriggIO TriggData Distance [\Start] | [\Time] [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\DODelay]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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1.209. TriggInt - Defines a position related interrupt
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greater that the current braking time then the event will be generated anyhow but not until
braking is started (later than specified). However, the whole of the movement time for the
current movement can be utilized during small and fast movements.
Typical absolute accuracy values for generation of interrupts +/- 5 ms. Typical repeat
accuracy values for generation of interrupts +/- 2 ms. Normally there is a delay of 2 to 30 ms
between interrupt generation and response depending on the type of movement being
performed at the time of the interrupt. (Ref. to RAPID reference manual - RAPID overview ,
section Basic characteristics - Interrupts ).
To obtain the best accuracy when setting an output at a fixed position along the robot’s path,
use the instructions TriggIO or TriggEquip in preference to the instructions TriggInt
with SetDO/SetGO/SetAO in an interrupt routine.
Syntax
TriggInt
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ] ’,’
[ Interrupt’ :=’ ] < variable ( VAR ) ofintnum> ’;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on page
603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events on
page 597
Definition of position fix I/O
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Interrupts
Technical reference manual - RAPID overview ,
section Basic characteristics - Interrupts
Continued
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
Usage
TriggIO is used to define conditions and actions for setting a digital, a group of digital, or
an analog output signal at a fixed position along the robot’s movement path.
TriggIO (not TriggEquip ) should always be used if needed for good accuracy of the I/O
settings near a stop point.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system
(lag between robot and servo) but not for any lag in the external equipment. For compensation
of both lags use TriggEquip .
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
This instruction can only be used in the main T_ROB1 task or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic example of the instruction TriggIO are illustrated below.
See also More examples on page 595 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0.2\Time\DOp:=gun, 1;
TriggL p1, v500, gunon, fine, gun1;
The digital output signal gun is set to the value 1 when the TCP is 0,2 seconds before the
point p1 .
The figure shows an example of fixed position I/O event.
xx0500002247
Arguments
TriggIO TriggData Distance [\Start] | [\Time] [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\DODelay]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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Distance
Data type: num
Defines the position on the path where the I/O event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the sections Program execution on page 594 , and Limitations on page 595 for further
details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
Usage
TriggIO is used to define conditions and actions for setting a digital, a group of digital, or
an analog output signal at a fixed position along the robot’s movement path.
TriggIO (not TriggEquip ) should always be used if needed for good accuracy of the I/O
settings near a stop point.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system
(lag between robot and servo) but not for any lag in the external equipment. For compensation
of both lags use TriggEquip .
The data defined is used for implementation in one or more subsequent TriggL , TriggC , or
TriggJ instructions.
This instruction can only be used in the main T_ROB1 task or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic example of the instruction TriggIO are illustrated below.
See also More examples on page 595 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0.2\Time\DOp:=gun, 1;
TriggL p1, v500, gunon, fine, gun1;
The digital output signal gun is set to the value 1 when the TCP is 0,2 seconds before the
point p1 .
The figure shows an example of fixed position I/O event.
xx0500002247
Arguments
TriggIO TriggData Distance [\Start] | [\Time] [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\DODelay]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL , TriggC , or TriggJ instructions.
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Distance
Data type: num
Defines the position on the path where the I/O event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the sections Program execution on page 594 , and Limitations on page 595 for further
details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
Continued
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: d num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \DODelay ]
Digital Output Delay
Data type: num
Time delay in seconds (positive value) for a digital, group, or analog output signal.
Only used to delay setting of output signals after the robot has reached the specified position.
There will be no delay if the argument is omitted.
The delay is not synchronized with the movement.
Program execution
When running the instruction TriggIO , the trigger condition is stored in a specified variable
in the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggIO :
The following table describes the distance specified in the argument Distance :
The figure shows fixed position I/O on a corner path.
xx0500002248
The fixed position I/O will be generated when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( Trigg... ).
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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Distance
Data type: num
Defines the position on the path where the I/O event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the sections Program execution on page 594 , and Limitations on page 595 for further
details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue .)
Continued
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: d num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \DODelay ]
Digital Output Delay
Data type: num
Time delay in seconds (positive value) for a digital, group, or analog output signal.
Only used to delay setting of output signals after the robot has reached the specified position.
There will be no delay if the argument is omitted.
The delay is not synchronized with the movement.
Program execution
When running the instruction TriggIO , the trigger condition is stored in a specified variable
in the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggIO :
The following table describes the distance specified in the argument Distance :
The figure shows fixed position I/O on a corner path.
xx0500002248
The fixed position I/O will be generated when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( Trigg... ).
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggIO are illustrated below.
Example 1
VAR triggdata glueflow;
TriggIO glueflow, 1 \Start \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the work point (TCP) passes a
point located 1 mm after the start point p1 .
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the work point (TCP)
passes a point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Limitations
I/O events with distance (without the argument \ Time ) is intended for flying points (corner
path). I/O events with distance=0, using stop points, will delay the trigg until the robot has
reached the point with accuracy +/-24 ms.
I/O events with time (with the argument \ Time ) are intended for stop points. I/O events with
time, using flying points result in worse accuracy than specified below. I/O events with time
can only be specified from the end point of the movement. This time cannot exceed the
current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500
mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater than the
current braking time then the event will be generated anyway but not until braking is started
(later than specified). However, the whole of the movement time for the current movement
can be utilized during small and fast movements.
Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy
values for set of digital outputs +/- 2 ms.
Continued
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SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num ).
SetDvalue
Data type: d num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \DODelay ]
Digital Output Delay
Data type: num
Time delay in seconds (positive value) for a digital, group, or analog output signal.
Only used to delay setting of output signals after the robot has reached the specified position.
There will be no delay if the argument is omitted.
The delay is not synchronized with the movement.
Program execution
When running the instruction TriggIO , the trigger condition is stored in a specified variable
in the argument TriggData .
Afterwards, when one of the instructions TriggL , TriggC , or TriggJ is executed, the
following are applicable with regard to the definitions in TriggIO :
The following table describes the distance specified in the argument Distance :
The figure shows fixed position I/O on a corner path.
xx0500002248
The fixed position I/O will be generated when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction ( Trigg... ).
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continued
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1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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595
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggIO are illustrated below.
Example 1
VAR triggdata glueflow;
TriggIO glueflow, 1 \Start \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the work point (TCP) passes a
point located 1 mm after the start point p1 .
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the work point (TCP)
passes a point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Limitations
I/O events with distance (without the argument \ Time ) is intended for flying points (corner
path). I/O events with distance=0, using stop points, will delay the trigg until the robot has
reached the point with accuracy +/-24 ms.
I/O events with time (with the argument \ Time ) are intended for stop points. I/O events with
time, using flying points result in worse accuracy than specified below. I/O events with time
can only be specified from the end point of the movement. This time cannot exceed the
current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500
mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater than the
current braking time then the event will be generated anyway but not until braking is started
(later than specified). However, the whole of the movement time for the current movement
can be utilized during small and fast movements.
Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy
values for set of digital outputs +/- 2 ms.
Continued
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ]
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ DODelay’ :=’ < expression ( IN ) of num> ] ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Definition of position-time I/O event
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Definition of position related interrupts
TriggInt - Defines a position related interrupt on
page 588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Continued
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More examples
More examples of how to use the instruction TriggIO are illustrated below.
Example 1
VAR triggdata glueflow;
TriggIO glueflow, 1 \Start \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the work point (TCP) passes a
point located 1 mm after the start point p1 .
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the work point (TCP)
passes a point located 1 mm after the start point p2 .
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Limitations
I/O events with distance (without the argument \ Time ) is intended for flying points (corner
path). I/O events with distance=0, using stop points, will delay the trigg until the robot has
reached the point with accuracy +/-24 ms.
I/O events with time (with the argument \ Time ) are intended for stop points. I/O events with
time, using flying points result in worse accuracy than specified below. I/O events with time
can only be specified from the end point of the movement. This time cannot exceed the
current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500
mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater than the
current braking time then the event will be generated anyway but not until braking is started
(later than specified). However, the whole of the movement time for the current movement
can be utilized during small and fast movements.
Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy
values for set of digital outputs +/- 2 ms.
Continued
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1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ]
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ DODelay’ :=’ < expression ( IN ) of num> ] ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Definition of position-time I/O event
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Definition of position related interrupts
TriggInt - Defines a position related interrupt on
page 588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Continued
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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1.211. TriggJ - Axis-wise robot movements with events
Usage
TriggJ ( TriggJoint ) is used to set output signals and/or run interrupt routines at roughly fixed
positions at the same time that the robot is moving quickly from one point to another when
that movement does not have be in a straight line.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggJ .
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 TriggJ are illustrated below.
See also More examples on page 600 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002272
Arguments
TriggJ [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [ \T2 ] [ \T3 ]
[\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
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1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ’\’ Time ]
[ ’\’ DOp’ :=’ < variable ( VAR ) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable ( VAR ) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable ( VAR ) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression ( IN ) of num> ] ´,’
[ SetValue’ :=’ ] < expression ( IN ) of num>
| [ SetDvalue’ :=’ ] < expression ( IN ) of dnum>
[ ’\’ DODelay’ :=’ < expression ( IN ) of num> ] ´;’
Related information
For information about
See
Use of triggers
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Definition of position-time I/O event
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Definition of position related interrupts
TriggInt - Defines a position related interrupt on
page 588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Continued
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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© Copyright 2004-2010 ABB. All rights reserved.
1.211. TriggJ - Axis-wise robot movements with events
Usage
TriggJ ( TriggJoint ) is used to set output signals and/or run interrupt routines at roughly fixed
positions at the same time that the robot is moving quickly from one point to another when
that movement does not have be in a straight line.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggJ .
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 TriggJ are illustrated below.
See also More examples on page 600 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002272
Arguments
TriggJ [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [ \T2 ] [ \T3 ]
[\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
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1.211. TriggJ - Axis-wise robot movements with events
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Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted then the subsequent instruction is executed after the robot has
reached the specified stop point or 100 ms before the specified zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
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1.211. TriggJ - Axis-wise robot movements with events
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1.211. TriggJ - Axis-wise robot movements with events
Usage
TriggJ ( TriggJoint ) is used to set output signals and/or run interrupt routines at roughly fixed
positions at the same time that the robot is moving quickly from one point to another when
that movement does not have be in a straight line.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggCheckIO , TriggSpeed , or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggJ .
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 TriggJ are illustrated below.
See also More examples on page 600 .
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002272
Arguments
TriggJ [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [ \T2 ] [ \T3 ]
[\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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© Copyright 2004-2010 ABB. All rights reserved.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted then the subsequent instruction is executed after the robot has
reached the specified stop point or 100 ms before the specified zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Continued
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[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Continued
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Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted then the subsequent instruction is executed after the robot has
reached the specified stop point or 100 ms before the specified zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Continued
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[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Continued
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[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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 joint movement relative to the work object to be performed.
Program execution
See the instruction MoveJ for information about joint movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During the stepping execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backwards, no trigger activities at all are
carried out.
More examples
More examples of how to use the instruction TriggJ are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggJ p1, v500, trigg1, fine, gun1;
TriggJ p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the stop
point p1 or p2 respectively.
Continued
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1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggCheckIO , TriggSpeed ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Continued
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
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600
© Copyright 2004-2010 ABB. All rights reserved.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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 joint movement relative to the work object to be performed.
Program execution
See the instruction MoveJ for information about joint movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During the stepping execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backwards, no trigger activities at all are
carried out.
More examples
More examples of how to use the instruction TriggJ are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggJ p1, v500, trigg1, fine, gun1;
TriggJ p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the stop
point p1 or p2 respectively.
Continued
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions results in out of limit for the analog signal
together with the programmed Speed in this instruction, then the system variable ERRNO is
set to ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the Event Preset Time used in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
If the current start point deviates from the usual so that the total positioning length of the
instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot position
at the end point), it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried will be undefined. The program logic in the user program may not be
based on a normal sequence of trigger activities for an “incomplete movement”.
Syntax
TriggJ
[ ’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ]’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos ’:=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’< persistent ( PERS ) of wobjdata > ] ’;’
Continued
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
600
© Copyright 2004-2010 ABB. All rights reserved.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination 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 joint movement relative to the work object to be performed.
Program execution
See the instruction MoveJ for information about joint movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During the stepping execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backwards, no trigger activities at all are
carried out.
More examples
More examples of how to use the instruction TriggJ are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggJ p1, v500, trigg1, fine, gun1;
TriggJ p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the stop
point p1 or p2 respectively.
Continued
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
601
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions results in out of limit for the analog signal
together with the programmed Speed in this instruction, then the system variable ERRNO is
set to ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the Event Preset Time used in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
If the current start point deviates from the usual so that the total positioning length of the
instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot position
at the end point), it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried will be undefined. The program logic in the user program may not be
based on a normal sequence of trigger activities for an “incomplete movement”.
Syntax
TriggJ
[ ’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ]’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos ’:=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’< persistent ( PERS ) of wobjdata > ] ’;’
Continued
Continues on next page
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
602
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Circular movement with triggers
TriggC - Circular robot movement with events on page
570
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Joint 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 zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work object
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions results in out of limit for the analog signal
together with the programmed Speed in this instruction, then the system variable ERRNO is
set to ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the Event Preset Time used in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
If the current start point deviates from the usual so that the total positioning length of the
instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot position
at the end point), it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried will be undefined. The program logic in the user program may not be
based on a normal sequence of trigger activities for an “incomplete movement”.
Syntax
TriggJ
[ ’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >]’,’
[ Speed ’:=’ ] < expression ( IN ) of speeddata >
[ ’\’ T ’:=’ < expression ( IN ) of num > ]’,’
[Trigg_1 ’:=’ ] < variable ( VAR ) of triggdata >
[ ’\’ T2 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T3 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T4 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T5 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T6 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T7 ’:=’ < variable ( VAR ) of triggdata > ]
[ ’\’ T8 ’:=’ < variable ( VAR ) of triggdata > ] ´,’
[Zone ’:=’ ] < expression ( IN ) of zonedata >
[ ’\’ Inpos ’:=’ < expression ( IN ) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent ( PERS ) of tooldata >
[ ’\’ WObj’ :=’< persistent ( PERS ) of wobjdata > ] ’;’
Continued
Continues on next page
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
602
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Circular movement with triggers
TriggC - Circular robot movement with events on page
570
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Joint 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 zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work object
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
603
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.212. TriggL - Linear robot movements with events
Usage
TriggL ( Trigg Linear ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is making a linear movement.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggSpeed , TriggCheckIO , or TriggRampAO . Afterwards these definitions
are referred to in the instruction TriggL .
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 TriggL are illustrated below.
See also More examples on page 607 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveJ p1, v500, z50, gun1;
TriggL p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002291
Arguments
TriggL [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4]
[\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops, caused by overloaded CPU, when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
602
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Circular movement with triggers
TriggC - Circular robot movement with events on page
570
Definition of triggers
TriggIO - Define a fixed position or time I/O event near
a stop point on page 592
TriggEquip - Define a fixed position and time I/O event
on the path on page 582
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Joint 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 zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work object
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
Continued
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
603
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.212. TriggL - Linear robot movements with events
Usage
TriggL ( Trigg Linear ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is making a linear movement.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggSpeed , TriggCheckIO , or TriggRampAO . Afterwards these definitions
are referred to in the instruction TriggL .
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 TriggL are illustrated below.
See also More examples on page 607 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveJ p1, v500, z50, gun1;
TriggL p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002291
Arguments
TriggL [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4]
[\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops, caused by overloaded CPU, when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
604
© Copyright 2004-2010 ABB. All rights reserved.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument cannot be used in a coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \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 of the tool reorientation.
[ \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.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO or
TriggRampAO .
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
Continued
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1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
603
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.212. TriggL - Linear robot movements with events
Usage
TriggL ( Trigg Linear ) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is making a linear movement.
One or more (max. 8) events can be defined using the instructions TriggIO , TriggEquip ,
TriggInt , TriggSpeed , TriggCheckIO , or TriggRampAO . Afterwards these definitions
are referred to in the instruction TriggL .
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 TriggL are illustrated below.
See also More examples on page 607 .
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveJ p1, v500, z50, gun1;
TriggL p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1 .
The figure shows an example of fixed position I/O event.
xx0500002291
Arguments
TriggL [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4]
[\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops, caused by overloaded CPU, when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
604
© Copyright 2004-2010 ABB. All rights reserved.
Using the argument \Conc , the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath , movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument cannot be used in a coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \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 of the tool reorientation.
[ \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.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO or
TriggRampAO .
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
Continued
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1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
605
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO , TriggEquip , TriggInt , TriggSpeed , TriggCheckIO ,
or TriggRampAO .
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Continued
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