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 | 607 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 608 | 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 Trig... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 609 | 1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
606
© 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.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 610 | 1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
607
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggL are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 W... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 611 | 1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
3HAC 16581-1 Revision: J
608
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggL
[’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression ( IN ) of robtarget >
[ ’\’ ID ’:=’ < expression ( IN ) of identno >] ’,’
[ Speed ’:=’ ] < expression ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 612 | 1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
609
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Motion in general
Technical reference manual - RAPID overview , section
Motion and I/O principles
For information about
See
Continued
1 Instructions
1.213. Trig... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 613 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
3HAC 16581-1 Revision: J
610
© Copyright 2004-2010 ABB. All rights reserved.
1.213. TriggLIOs - Linear robot movements with I/O events
Usage
TriggLIOs (Trigg Linear I/O) is used to set output signals at fixed positions at the same... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 614 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
611
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 615 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
3HAC 16581-1 Revision: J
612
© Copyright 2004-2010 ABB. All rights reserved.
[\TriggData2]
Data type: array of triggstrgo
Variable (array) that refers to trigger conditions and trigger activity. When using this
argument, it is pos... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 616 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
613
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
See the instruction MoveL for information about linear movement.
With the instruction TriggLIOs it is possible to setup 1-50 differe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 617 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
3HAC 16581-1 Revision: J
614
© Copyright 2004-2010 ABB. All rights reserved.
Example 2
VAR triggios mytriggios{3}:= [[TRUE, 3, TRUE, 0, "go1", 55, 0],
[TRUE, 15, TRUE, 0, "ao1", 10, 0], [TRUE, 3, FALSE, 0, "do1",
1, 0]];
VAR trigg... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 618 | 1 Instructions
1.213. TriggLIOs - Linear robot movements with I/O events
RobotWare - OS
615
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The limitation of the number of triggs in the instruction TriggLIOs is 50 for each
programmed instruction. However, if those triggs is supposed to happe... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 619 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
3HAC 16581-1 Revision: J
616
© Copyright 2004-2010 ABB. All rights reserved.
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
Usage
TriggRampAO ( Trigg Ramp Analog Output ) is used to define cond... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 620 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
617
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
TriggRampAO TriggData Distance [\Start] EquipLag AOutput SetValue
RampLength [\Time]
xx0600003433
TriggData
Data type: triggdata
V... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 621 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
3HAC 16581-1 Revision: J
618
© Copyright 2004-2010 ABB. All rights reserved.
EquipLag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use posit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 622 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
619
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
When running the instruction TriggRampAO , the trigger condition is stored in the specified
variable for the argument Tri... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 623 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
3HAC 16581-1 Revision: J
620
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction TriggRampAO are illustrated below.
Example 1
VAR triggdata ramp_up;
VAR triggdata... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 624 | 1 Instructions
1.214. TriggRampAO - Define a fixed position ramp AO event on the path
RobotWare - OS
621
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
No support for restart of the ramping AO function after any type of stop (ProgStop, Emergency
Stop …).
At Power Fail Restart the TriggL/C/... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 625 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
3HAC 16581-1 Revision: J
622
© Copyright 2004-2010 ABB. All rights reserved.
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed
position-time scale event
Usage
Tr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 626 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
623
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
If overflow of the calculated logical analog output value in glue_ao then the digital output
signal glue_er... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 627 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
3HAC 16581-1 Revision: J
624
© Copyright 2004-2010 ABB. All rights reserved.
AOp
Analog Output
Data type: signalao
The name of the analog output signal.
ScaleValue
Data type: num
The sc... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 628 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
625
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
When running the instruction TriggSpeed the trigger condition is stored in the specified
v... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 629 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
3HAC 16581-1 Revision: J
626
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction TriggSpeed are illustrated below.
Example 1
VAR triggdata flo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 630 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
627
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
Given two consecutive segments with TriggL / TriggSpeed instructions. A negative value
in par... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 631 | 1 Instructions
1.215. TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event
RobotWare - OS
3HAC 16581-1 Revision: J
628
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
TriggSpeed
[ TriggData ’:=’ ] < variable ( VAR ) of triggdata>´,’
[ Distance’ :=’ ] < expression ( IN )... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 632 | 1 Instructions
1.216. TriggStopProc - Generate restart data for trigg signals at stop
RobotWare - OS
629
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.216. TriggStopProc - Generate restart data for trigg signals at stop
Usage
The instruction TriggStopProc creates an internal supervision ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 633 | 1 Instructions
1.216. TriggStopProc - Generate restart data for trigg signals at stop
RobotWare - OS
3HAC 16581-1 Revision: J
630
© Copyright 2004-2010 ABB. All rights reserved.
[\GO3]
Group Output 3
Data type: signalgo
The signal variable for a digital group process signal to be set to zero and supervised in restart... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 634 | 1 Instructions
1.216. TriggStopProc - Generate restart data for trigg signals at stop
RobotWare - OS
631
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Emergency stop ( QSTOP )
The process TriggStopProc comprises the following steps:
•
Do the next step as soon as possible.
•
Store the curre... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 635 | 1 Instructions
1.216. TriggStopProc - Generate restart data for trigg signals at stop
RobotWare - OS
3HAC 16581-1 Revision: J
632
© Copyright 2004-2010 ABB. All rights reserved.
The figure below illustrates process phases at STOP or QSTOP within critical time slot 0-80 ms
xx0500002326
Performing a restart
A restar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 636 | 1 Instructions
1.216. TriggStopProc - Generate restart data for trigg signals at stop
RobotWare - OS
633
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
If waiting in any STOP or QSTOP event routine until the TriggStopProc process is ready
with e.g. WaitUntil (myproc.restartstop=TRUE), ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 637 | 1 Instructions
1.217. TryInt - Test if data object is a valid integer
RobotWare - OS
3HAC 16581-1 Revision: J
634
© Copyright 2004-2010 ABB. All rights reserved.
1.217. TryInt - Test if data object is a valid integer
Usage
TryInt is used to test if a given data object is a valid integer.
Basic examples
Basic examples... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 638 | 1 Instructions
1.217. TryInt - Test if data object is a valid integer
RobotWare - OS
635
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The given data object is tested:
•
If it is a valid integer, the execution continues with the next instruction.
•
If it is not a valid inte... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 639 | 1 Instructions
1.218. TRYNEXT - Jumps over an instruction which has caused an error
RobotWare-OS
3HAC 16581-1 Revision: J
636
© Copyright 2004-2010 ABB. All rights reserved.
1.218. TRYNEXT - Jumps over an instruction which has caused an error
Usage
The TRYNEXT instruction is used to resume execution after an error, st... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 640 | 1 Instructions
1.219. TuneReset - Resetting servo tuning
RobotWare - OS
637
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.219. TuneReset - Resetting servo tuning
Usage
TuneReset is used to reset the dynamic behavior of all robot axes and external mechanical
units to their normal values.
T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 641 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
3HAC 16581-1 Revision: J
638
© Copyright 2004-2010 ABB. All rights reserved.
1.220. TuneServo - Tuning servos
Usage
TuneServo is used to tune the dynamic behavior of separate axes on the robot. It is not
necessary to use TuneServo under normal circumsta... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 642 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
639
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Description
Reduce overshoots - TUNE_DF
TUNE_DF is used for reducing overshoots or oscillations along the path.
There is always an optimum tuning value that can vary depending o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 643 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
3HAC 16581-1 Revision: J
640
© Copyright 2004-2010 ABB. All rights reserved.
Reduces vibrations with heavy loads - TUNE_DH
TUNE_DH can be used for reducing vibrations and overshooting (e.g. large flexible load).
Tune value must always be lower than 100. ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 644 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
641
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Friction compensation - TUNE_FRIC_LEV , TUNE_FRIC_RAMP
These tune types can be used to reduce robot path errors caused by friction and backlash at
low speeds (10 - 200 mm/s). Th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 645 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
3HAC 16581-1 Revision: J
642
© Copyright 2004-2010 ABB. All rights reserved.
TuneValue
Data type: num
Tuning value in percent (1 - 500). 100% is the normal value.
[ \Type ]
Data type: tunetype
Type of servo tuning. Available types are TUNE_DF, TUNE_KP, ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 646 | 1 Instructions
1.220. TuneServo - Tuning servos
RobotWare - OS
643
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Other motion settings
Technical reference manual - RAPID overview , section
RAPID summary - Motion settings
Types of servo tuning
tun... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 647 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
3HAC 16581-1 Revision: J
644
© Copyright 2004-2010 ABB. All rights reserved.
1.221. UIMsgBox - User Message Dialog Box type basic
Usage
UIMsgBox ( User Interaction Message Box ) is used to communicate with the user of the robot
system ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 648 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
645
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002432
Above message box with icon, header, message line 1 to 5, and push buttons is written on the
FlexPendant display. Program execution waits until OK... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 649 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
3HAC 16581-1 Revision: J
646
© Copyright 2004-2010 ABB. All rights reserved.
[\MsgLine4]
Message Line 4
Data type: string
Additional text line 4 to be written on the display. Max. 55 characters.
[\MsgLine5]
Message Line 5
Data type: s... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 650 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
647
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\Result]
Data type: btnres
The variable for which, depending on which button is pressed, the numeric value 0..7 is
returned. Only one of the predefined const... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 651 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
3HAC 16581-1 Revision: J
648
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
!Buttons:
C... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 652 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
RobotWare - OS
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Error handling
If parameter \BreakFlag is not used then these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \M... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 653 | 1 Instructions
1.221. UIMsgBox - User Message Dialog Box type basic
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on pag... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 654 | 1 Instructions
1.222. UIShow - User Interface show
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1.222. UIShow - User Interface show
Usage
UIShow ( User Interface Show ) is used to communicate with the user of the robot system on
the available User Device such as the FlexPendant. With ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 655 | 1 Instructions
1.222. UIShow - User Interface show
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Example 3
CONST string Name:="tpsviewbackupandrestore.dll";
CONST string
Type:="ABB.Robotics.Tps.Views.TpsViewBackupAndRestore";
VAR num mystatus:=0;
...
UIShow Name, Type \Status:=mystatus;
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 656 | 1 Instructions
1.222. UIShow - User Interface show
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[\Status]
Data type: num
Status indicates if the operation was successful or not. Note that if this option is used then
the RAPID execution will be waiting until the instruction is complete... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 657 | 1 Instructions
1.222. UIShow - User Interface show
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Error handling
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 658 | 1 Instructions
1.223. UnLoad - UnLoad a program module during execution
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1.223. UnLoad - UnLoad a program module during execution
Usage
UnLoad is used to unload a program module from the program memory during execution.
The pro... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 659 | 1 Instructions
1.223. UnLoad - UnLoad a program module during execution
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Program execution
To be able to execute an UnLoad instruction in the program, a Load or StartLoad -
WaitLoad instruction with the same file path and ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 660 | 1 Instructions
1.223. UnLoad - UnLoad a program module during execution
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Syntax
UnLoad
[’\’ErrIfChanged ’,’] | [’\’Save ’,’]
[FilePath’:=’]<expression ( IN ) of string>
[’\’File’:=’ <expression ( IN ) of string>]’;’
Related info... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 661 | 1 Instructions
1.224. UnpackRawBytes - Unpack data from rawbytes data
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1.224. UnpackRawBytes - Unpack data from rawbytes data
Usage
UnpackRawBytes is used to unpack the contents of a container of type rawbytes to
variables of... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 662 | 1 Instructions
1.224. UnpackRawBytes - Unpack data from rawbytes data
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The contents of byte1 will be ´4D´ hexadecimal.
UnpackRawBytes raw_data_in, 27, data1 \ASCII:=1;
The contents of data1 will be 122 , the ASCII code fo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 663 | 1 Instructions
1.224. UnpackRawBytes - Unpack data from rawbytes data
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[ \Float4 ]
Data type: switch
The data to be unpacked and placed in Value has float, 4 bytes, format, and it will be
converted to a num variable containin... |
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1.224. UnpackRawBytes - Unpack data from rawbytes data
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*) RAPID limitation for storage of integer in data type num .
**) RAPID limitation for storage of integer in data type dnum .
***) Range when using a dnum ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 665 | 1 Instructions
1.225. VelSet - Changes the programmed velocity
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1.225. VelSet - Changes the programmed velocity
Usage
VelSet is used to increase or decrease the programmed velocity of all subsequent positioning
instructions. Th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 666 | 1 Instructions
1.225. VelSet - Changes the programmed velocity
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The argument Max only affects the velocity of the TCP.
The default values for Override and Max are 100% and vmax.v_tcp mm/s *) respectively.
These values ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 667 | 1 Instructions
1.226. WaitAI - Waits until an analog input signal value is set
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1.226. WaitAI - Waits until an analog input signal value is set
Usage
WaitAI ( Wait Analog Input ) is used to wait until an analog input signal val... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 668 | 1 Instructions
1.226. WaitAI - Waits until an analog input signal value is set
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[\ValueAtTimeout]
Data type: num
If the instruction time-out, the current signal value will be stored in this variable. The variable
will only be s... |
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1.226. WaitAI - Waits until an analog input signal value is set
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Error handling
If there is a time-out (parameter \MaxTime ) before the signal changes to the right value, the
system variable ERRNO is set to ER... |
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1.227. WaitAO - Waits until an analog output signal value is set
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1.227. WaitAO - Waits until an analog output signal value is set
Usage
WaitAO ( Wait Analog Output ) is used to wait until an analog output signal... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 671 | 1 Instructions
1.227. WaitAO - Waits until an analog output signal value is set
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[\ValueAtTimeout]
Data type: num
If the instruction time-out, the current signal value will be stored in this variable. The variable
will only be ... |
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1.227. WaitAO - Waits until an analog output signal value is set
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Error handling
If there is a time-out (parameter \MaxTime ) before the signal changes to the right value, the
system variable ERRNO is set to E... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 673 | 1 Instructions
1.228. WaitDI - Waits until a digital input signal is set
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1.228. WaitDI - Waits until a digital input signal is set
Usage
WaitDI ( Wait Digital Input ) is used to wait until a digital input is set.
Basic example... |
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1.228. WaitDI - Waits until a digital input signal is set
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Program execution
If the value of the signal is correct, when the instruction is executed, then the program simply
continues with the following instructio... |
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1.229. WaitDO - Waits until a digital output signal is set
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1.229. WaitDO - Waits until a digital output signal is set
Usage
WaitDO ( Wait Digital Output ) is used to wait until a digital output is set.
Basic exa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 676 | 1 Instructions
1.229. WaitDO - Waits until a digital output signal is set
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Program execution
If the value of the output signal is correct, when the instruction is executed, then the program
simply continues with the following in... |
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1.230. WaitGI - Waits until a group of digital input signals are set
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1.230. WaitGI - Waits until a group of digital input signals are set
Usage
WaitGI ( Wait Group digital Input ) is used to wait until a group o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 678 | 1 Instructions
1.230. WaitGI - Waits until a group of digital input signals are set
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Value
Data type: num
The desired value of the signal. Must be an integer value within the working range of the used
digital group input signal... |
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1.230. WaitGI - Waits until a group of digital input signals are set
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Program execution
If the value of the signal is correct when the instruction is executed, the program simply
continues with the following instr... |
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1.230. WaitGI - Waits until a group of digital input signals are set
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Error handling
If there is a time-out (parameter \MaxTime ) before the signal changes to the right value, the
system variable ERRNO is set t... |
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1.231. WaitGO - Waits until a group of digital output signals are set
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1.231. WaitGO - Waits until a group of digital output signals are set
Usage
WaitGO ( Wait Group digital Output ) is used to wait until a grou... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 682 | 1 Instructions
1.231. WaitGO - Waits until a group of digital output signals are set
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Value
Data type: num
The desired value of the signal. Must be an integer value within the working range of the used
digital group output sign... |
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1.231. WaitGO - Waits until a group of digital output signals are set
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Program execution
If the value of the signal is correct when the instruction is executed, the program simply
continues with the following inst... |
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1.231. WaitGO - Waits until a group of digital output signals are set
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Error handling
If there is a time-out (parameter \MaxTime ) before the signal changes to the right value, the
system variable ERRNO is set ... |
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1.232. WaitLoad - Connect the loaded module to the task
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1.232. WaitLoad - Connect the loaded module to the task
Usage
WaitLoad is used to connect the with StartLoad loaded module to the program task.
The loade... |
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1.232. WaitLoad - Connect the loaded module to the task
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LoadNo
Data type: loadsession
This is a reference to the load session, created by the instruction StartLoad that is needed
to connect the loaded program ... |
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1.232. WaitLoad - Connect the loaded module to the task
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Error handling
If the file specified in the StartLoad instruction cannot be found then the system variable
ERRNO is set to ERR_FILNOTFND at execution o... |
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1.232. WaitLoad - Connect the loaded module to the task
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This limitation is a consequence of PERS variable characteristic. The current value of the
PERS variable will not be changed by the new loaded PERS ini... |
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1.233. WaitRob - Wait until stop point or zero speed
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1.233. WaitRob - Wait until stop point or zero speed
Usage
WaitRob waits until the robot and external axes have reached stop point or have zero speed.
Basic e... |
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1.233. WaitRob - Wait until stop point or zero speed
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Related information
For information about
See
Motion in general
Technical reference manual - RA]PID
overview , section Motion and I/O principles
Other positio... |
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1.234. WaitSyncTask - Wait at synchronization point for other program tasks
Multitasking
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1.234. WaitSyncTask - Wait at synchronization point for other program tasks
Usage
WaitSyncTask is used to synchronize several program tas... |
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1.234. WaitSyncTask - Wait at synchronization point for other program tasks
Multitasking
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Arguments
WaitSyncTask [\InPos] SyncID TaskList [\TimeOut]
[\InPos]
In Position
Data type: switch
If this argument is used then the robot... |
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1.234. WaitSyncTask - Wait at synchronization point for other program tasks
Multitasking
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Program execution
The actual program task will wait at WaitSyncTask until the other program tasks in the
TaskList have reached the same... |
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1.234. WaitSyncTask - Wait at synchronization point for other program tasks
Multitasking
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The program task T_ROB1 waits in instruction WaitSyncTask until its mechanical units are
in position and after that it waits for the p... |
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1.235. WaitTestAndSet - Wait until variable unset - then set
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1.235. WaitTestAndSet - Wait until variable unset - then set
Usage
WaitTestAndSet instruction waits for a specified bool persistent variable value ... |
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1.235. WaitTestAndSet - Wait until variable unset - then set
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Arguments
WaitTestAndSet Object
Object
Data type: bool
User defined data object to be used as semaphore. The data object must be a persistent
variabl... |
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1.235. WaitTestAndSet - Wait until variable unset - then set
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Related information
For information about
See
Test variable and set if unset (type polled with
WaitTime)
TestAndSet - Test variable and set if unset
o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 698 | 1 Instructions
1.236. WaitTime - Waits a given amount of time
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1.236. WaitTime - Waits a given amount of time
Usage
WaitTime is used to wait a given amount of time. This instruction can also be used to wait
until the robot and ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 699 | 1 Instructions
1.236. WaitTime - Waits a given amount of time
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3HAC 16581-1 Revision: J
696
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Argument \Inpos cannot be used together with SoftServo.
If this instruction is preceded by a move instruction then that move instruction must be
progra... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 700 | 1 Instructions
1.237. WaitUntil - Waits until a condition is met
RobotWare - OS
697
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.237. WaitUntil - Waits until a condition is met
Usage
WaitUntil is used to wait until a logical condition is met; for example, it can wait until one
or several... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 701 | 1 Instructions
1.237. WaitUntil - Waits until a condition is met
RobotWare - OS
3HAC 16581-1 Revision: J
698
© Copyright 2004-2010 ABB. All rights reserved.
[\PollRate]
Polling Rate
Data type: num
The polling rate in seconds for checking if the condition in argument Cond is TRUE . This
means that WaitUntil first... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 702 | 1 Instructions
1.237. WaitUntil - Waits until a condition is met
RobotWare - OS
699
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Example 3
WaitUntil di4 = 1 \MaxTime:=5;
..
ERROR
IF ERRNO = ERR_NORUNUNIT THEN
TPWrite "The I/O unit is not running";
TRYNEXT;
ELSEIF ERRNO = ERR_WAIT_MAX THEN
R... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 703 | 1 Instructions
1.237. WaitUntil - Waits until a condition is met
RobotWare - OS
3HAC 16581-1 Revision: J
700
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Waiting until an input is set/reset
WaitDI - Waits until a digital input signal is set on
page 670
Waiting a given a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 704 | 1 Instructions
1.238. WaitWObj - Wait for work object on conveyor
Conveyor Tracking
701
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.238. WaitWObj - Wait for work object on conveyor
Usage
WaitWObj ( Wait Work Object ) connects to a work object in the start window on the conveyor
mechanic... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 705 | 1 Instructions
1.238. WaitWObj - Wait for work object on conveyor
Conveyor Tracking
3HAC 16581-1 Revision: J
702
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
If there is no object in the start window then program execution waits. If an object is present
then the work object is connected to the con... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 706 | 1 Instructions
1.238. WaitWObj - Wait for work object on conveyor
Conveyor Tracking
703
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
WaitWObj
[ WObj’ :=’]< persistent ( PERS ) of wobjdata> ‘;’
[ ’\’ RelDist ’:=’ < expression ( IN ) of num > ]
[’\’MaxTime ’:=’<expression ( IN ) of num... |
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