Document Name stringclasses 11
values | URL stringclasses 11
values | page_number int64 1 1.26k | full_text stringlengths 65 18.2k |
|---|---|---|---|
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 507 | 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) i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 508 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 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 too... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 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 Ce... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 511 | 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 shou... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 512 | 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
D... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 513 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 514 | 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 performi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 515 | 1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
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 pall... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 516 | 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
STO... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 517 | 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 posit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 518 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 519 | 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 t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 520 | 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;... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 521 | 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
StartMo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 522 | 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.
Asy... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 523 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 524 | 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 in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 525 | 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;
p... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 526 | 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 i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 527 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 528 | 1 Instructions
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 pr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 529 | 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 > ]’;’
R... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 530 | 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 th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 531 | 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 cas... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 532 | 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 unsynchronizat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 533 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 534 | 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
SyncMove... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 535 | 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_... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 536 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 537 | 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 ca... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 538 | 1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
535
3HAC 16581-1 Revision: J
© 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 synch... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 539 | 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 w... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 540 | 1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
537
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
SyncMoveU... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 541 | 1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
538
© Copyright 2004-2010 ABB. All rights reserved.
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_l... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 542 | 1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
539
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
In this example, at first, program task T_ROB1 and ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 543 | 1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
3HAC 16581-1 Revision: J
540
© Copyright 2004-2010 ABB. All rights reserved.
Wait for synchronized tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
For information about
See
Continued
1... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 544 | 1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
541
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.192. SyncMoveResume - Set synchronized coordinated movements
Usage
SyncMoveResume is used to go back to synchronized movements from independent
mov... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 545 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 546 | 1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
543
3HAC 16581-1 Revision: J
© 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 t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 547 | 1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
3HAC 16581-1 Revision: J
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.
SyncMo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 548 | 1 Instructions
1.194. SyncMoveUndo - Set independent movements
RobotWare - OS
545
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.194. SyncMoveUndo - Set independent movements
Usage
SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the
system to independent... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 549 | 1 Instructions
1.194. SyncMoveUndo - Set independent movements
RobotWare - OS
3HAC 16581-1 Revision: J
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 p... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 550 | 1 Instructions
1.195. SystemStopAction - Stop the robot system
RobotWare - OS
547
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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 pr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 551 | 1 Instructions
1.195. SystemStopAction - Stop the robot system
RobotWare - OS
3HAC 16581-1 Revision: J
548
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SystemStopAction
[ ’\’Stop ]
| [ ’\’StopBlock ]
| [ ’\’Halt ]’;’
Related information
For information about
See
Stop program execution
Stop - Stops program ex... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 552 | 1 Instructions
1.196. TEST - Depending on the value of an expression ...
RobotWare - OS
549
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
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
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 553 | 1 Instructions
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> ]
ENDTES... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 554 | 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 s... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 555 | 1 Instructions
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 556 | 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
Bas... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 557 | 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 instructio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 558 | 1 Instructions
1.199. TextTabInstall - Installing a text table
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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
T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 559 | 1 Instructions
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 560 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 561 | 1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 562 | 1 Instructions
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 summa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 563 | 1 Instructions
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.
Ba... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 564 | 1 Instructions
1.202. TPReadFK - Reads function keys
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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 wit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 565 | 1 Instructions
1.202. TPReadFK - Reads function keys
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 566 | 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 unpredict... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 567 | 1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
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1.203. TPReadNum - Reads a number from the FlexPendant
Usage
TPReadNum ( FlexPendant Read Numerical ) is used to read a number from the FlexPendant.
Basic e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 568 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 569 | 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>]
[’\’... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 570 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 571 | 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 wel... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 572 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 573 | 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
positi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 574 | 1 Instructions
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... |
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1.206. TriggC - Circular robot movement with events
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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 Tri... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 576 | 1 Instructions
1.206. TriggC - Circular robot movement with events
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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 Tri... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 577 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 578 | 1 Instructions
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 ’:=’ < e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 579 | 1 Instructions
1.206. TriggC - Circular robot movement with events
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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
wobj... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 580 | 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 o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 581 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 582 | 1 Instructions
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 inte... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 583 | 1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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More examples
More examples of how to use the instruction TriggCheckIO are illustrated below.
Example 1
VAR triggdata checkgate;
VAR intnum gateclosed;... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 584 | 1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
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Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy
values for testing of digital inputs +/- 2 ms.
Syntax
Tr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 585 | 1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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1.208. TriggEquip - Define a fixed position and time I/O event on the path
Usage
TriggEquip ( Trigg Equipment ) is used to define condit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 586 | 1 Instructions
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 (pos... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 587 | 1 Instructions
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 Iden... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 588 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 589 | 1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 590 | 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 positio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 591 | 1 Instructions
1.209. TriggInt - Defines a position related interrupt
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1.209. TriggInt - Defines a position related interrupt
Usage
TriggInt is used to define conditions and actions for running an interrupt routine at a
specifi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 592 | 1 Instructions
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 e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 593 | 1 Instructions
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 594 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 595 | 1 Instructions
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 fo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 596 | 1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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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 va... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 597 | 1 Instructions
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 598 | 1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
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More examples
More examples of how to use the instruction TriggIO are illustrated below.
Example 1
VAR triggdata glueflow;
TriggIO gl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 599 | 1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
3HAC 16581-1 Revision: J
596
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggIO
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata> ´,’
[ Distance’ :=’ ] < expression ( IN ) of num>
[ ’\’ Start ] | [ ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 600 | 1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
597
3HAC 16581-1 Revision: J
© 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 fixe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 601 | 1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
598
© 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 , movem... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 602 | 1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
599
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 T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 603 | 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 poi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 604 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 605 | 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 tri... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 606 | 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 ... |
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