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 | 707 | 1 Instructions
1.239. WarmStart - Restart the controller
RobotWare - OS
3HAC 16581-1 Revision: J
704
© Copyright 2004-2010 ABB. All rights reserved.
1.239. WarmStart - Restart the controller
Usage
WarmStart is used to restart the controller.
The system parameters can be changed from RAPID with the instruction WriteC... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 708 | 1 Instructions
1.240. WHILE - Repeats as long as ...
RobotWare - OS
705
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.240. WHILE - Repeats as long as ...
Usage
WHILE is used when a number of instructions are to be repeated as long as a given condition
expression evaluates to a TRUE value.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 709 | 1 Instructions
1.240. WHILE - Repeats as long as ...
RobotWare - OS
3HAC 16581-1 Revision: J
706
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Expressions
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Repeats a given number of... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 710 | 1 Instructions
1.241. WorldAccLim - Control acceleration in world coordinate system
RobotWare - OS
707
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.241. WorldAccLim - Control acceleration in world coordinate system
Usage
WorldAccLim ( World Acceleration Limitation ) is used to limit the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 711 | 1 Instructions
1.241. WorldAccLim - Control acceleration in world coordinate system
RobotWare - OS
3HAC 16581-1 Revision: J
708
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
The minimum acceleration allowed is 1 m/s 2 .
Error handling
If the argument On is set to a value that is too low then the system... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 712 | 1 Instructions
1.242. Write - Writes to a character-based file or serial channel
RobotWare - OS
709
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.242. Write - Writes to a character-based file or serial channel
Usage
Write is used to write to a character-based file or serial channel. The v... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 713 | 1 Instructions
1.242. Write - Writes to a character-based file or serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
710
© Copyright 2004-2010 ABB. All rights reserved.
[\Orient]
Orientation
Data type: orient
The data whose orientation is to be written after the text string.
[\Dnum]
Numeric
Data type: dnum
The d... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 714 | 1 Instructions
1.242. Write - Writes to a character-based file or serial channel
RobotWare - OS
711
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction Write are illustrated below.
Example 1
VAR iodev printer;
VAR num reg1:=0
VAR num stopprod_value:... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 715 | 1 Instructions
1.242. Write - Writes to a character-based file or serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
712
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Opening a file or serial channel
Technical reference manual - RAPID overview ,
section RAPID summar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 716 | 1 Instructions
1.243. WriteAnyBin - Writes data to a binary serial channel or file
RobotWare - OS
713
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.243. WriteAnyBin - Writes data to a binary serial channel or file
Usage
WriteAnyBin ( Write Any Binary ) is used to write any type of data to... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 717 | 1 Instructions
1.243. WriteAnyBin - Writes data to a binary serial channel or file
RobotWare - OS
3HAC 16581-1 Revision: J
714
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction WriteAnyBin are illustrated below.
Example 1
VAR iodev channel;
VAR num input;
VAR robtarget cu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 718 | 1 Instructions
1.243. WriteAnyBin - Writes data to a binary serial channel or file
RobotWare - OS
715
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Opening, etc. of serial channels or files
Technical reference manual - RAPID
overview , section R... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 719 | 1 Instructions
1.244. WriteBin - Writes to a binary serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
716
© Copyright 2004-2010 ABB. All rights reserved.
1.244. WriteBin - Writes to a binary serial channel
Usage
WriteBin is used to write a number of bytes to a binary serial channel.
Basic examples
Basic examples... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 720 | 1 Instructions
1.244. WriteBin - Writes to a binary serial channel
RobotWare - OS
717
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction WriteBin are illustrated below.
Example 1
VAR iodev channel;
VAR num out_buffer{20};
VAR num input;
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 721 | 1 Instructions
1.244. WriteBin - Writes to a binary serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
718
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Opening, etc. of serial channels
Technical reference manual - RAPID overview ,
section RAPID summary - Communicat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 722 | 1 Instructions
1.245. WriteBlock - write block of data to device
Sensor Interface
719
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.245. WriteBlock - write block of data to device
Usage
WriteBlock is used to write a block of data to a device connected to the serial sensor
interface. The d... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 723 | 1 Instructions
1.245. WriteBlock - write block of data to device
Sensor Interface
3HAC 16581-1 Revision: J
720
© Copyright 2004-2010 ABB. All rights reserved.
FileName
Data type: string
The argument FileName is used to select a file from which data is written to the data block
in the sensor selected by the BlockNo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 724 | 1 Instructions
1.246. WriteCfgData - Writes attribute of a system parameter
RobotWare - OS
721
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.246. WriteCfgData - Writes attribute of a system parameter
Usage
WriteCfgData is used to write one attribute of a system parameter (configuration da... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 725 | 1 Instructions
1.246. WriteCfgData - Writes attribute of a system parameter
RobotWare - OS
3HAC 16581-1 Revision: J
722
© Copyright 2004-2010 ABB. All rights reserved.
[\ListNo]
Data type: num
Variable holding the instance number of the Attribute + AttributeValue to be found
and updated.
First occurrence of the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 726 | 1 Instructions
1.246. WriteCfgData - Writes attribute of a system parameter
RobotWare - OS
723
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Example 2
VAR num read_index;
VAR num write_index;
VAR string read_str;
...
read_index:=0;
write_index:=0;
WHILE read_index <> END_OF_LIST DO
ReadCfgDa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 727 | 1 Instructions
1.246. WriteCfgData - Writes attribute of a system parameter
RobotWare - OS
3HAC 16581-1 Revision: J
724
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
The conversion from RAPID program units (mm, degree, second etc.) to system parameter
units (m, radian, second etc.) for CfgData of data ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 728 | 1 Instructions
1.247. WriteRawBytes - Write rawbytes data
RobotWare - OS
725
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.247. WriteRawBytes - Write rawbytes data
Usage
WriteRawBytes is used to write data of type rawbytes to a device opened with Open\Bin .
Basic examples
Basic example... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 729 | 1 Instructions
1.247. WriteRawBytes - Write rawbytes data
RobotWare - OS
3HAC 16581-1 Revision: J
726
© Copyright 2004-2010 ABB. All rights reserved.
[\NoOfBytes]
Data type: num
\NoOfBytes tells how many bytes of RawData should be written to IODevice , starting at
index 1.
If \NoOfBytes is not present then the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 730 | 1 Instructions
1.248. WriteStrBin - Writes a string to a binary serial channel
RobotWare - OS
727
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.248. WriteStrBin - Writes a string to a binary serial channel
Usage
WriteStrBin ( Write String Binary ) is used to write a string to a binary ser... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 731 | 1 Instructions
1.248. WriteStrBin - Writes a string to a binary serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
728
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction WriteStrBin are illustrated below.
Example 1
VAR iodev channel;
VAR num input;
Open "com... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 732 | 1 Instructions
1.249. WriteVar - write variable
Sensor Interface
729
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.249. WriteVar - write variable
Usage
WriteVar is used to write a variable to a device connected to the serial sensor interface .
The sensor interface communicates with sensor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 733 | 1 Instructions
1.249. WriteVar - write variable
Sensor Interface
3HAC 16581-1 Revision: J
730
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
WriteVar device VarNo VarData [ \TaskName ]
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
VarNo
Data type: num
The argument... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 734 | 1 Instructions
1.249. WriteVar - write variable
Sensor Interface
731
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Connect to a sensor device
SenDevice - connect to a sensor device on page 425
Read a sensor variable
ReadVar - Read variable from a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 735 | 1 Instructions
1.250. WZBoxDef - Define a box-shaped world zone
World Zones
3HAC 16581-1 Revision: J
732
© Copyright 2004-2010 ABB. All rights reserved.
1.250. WZBoxDef - Define a box-shaped world zone
Usage
WZBoxDef ( World Zone Box Definition ) is used to define a world zone that has the shape of
a straight box wit... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 736 | 1 Instructions
1.250. WZBoxDef - Define a box-shaped world zone
World Zones
733
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
LowPoint
Data type: pos
Position (x,y,z) in mm defining one lower corner of the box.
HighPoint
Data type: pos
Position (x,y,z) in mm defining the corner diagonally ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 737 | 1 Instructions
1.251. WZCylDef - Define a cylinder-shaped world zone
World Zones
3HAC 16581-1 Revision: J
734
© Copyright 2004-2010 ABB. All rights reserved.
1.251. WZCylDef - Define a cylinder-shaped world zone
Usage
WZCylDef ( World Zone Cylinder Definition ) is used to define a world zone that has the shape
of a c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 738 | 1 Instructions
1.251. WZCylDef - Define a cylinder-shaped world zone
World Zones
735
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
CentrePoint
Data type: pos
Position (x,y,z) in mm defining the center of one circular end of the cylinder.
Radius
Data type: num
The radius of the cylinder in ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 739 | 1 Instructions
1.252. WZDisable - Deactivate temporary world zone supervision
World Zones
3HAC 16581-1 Revision: J
736
© Copyright 2004-2010 ABB. All rights reserved.
1.252. WZDisable - Deactivate temporary world zone supervision
Usage
WZDisable ( World Zone Disable ) is used to deactivate the supervision of a tempor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 740 | 1 Instructions
1.252. WZDisable - Deactivate temporary world zone supervision
World Zones
737
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 741 | 1 Instructions
1.253. WZDOSet - Activate world zone to set digital output
World Zones
3HAC 16581-1 Revision: J
738
© Copyright 2004-2010 ABB. All rights reserved.
1.253. WZDOSet - Activate world zone to set digital output
Usage
WZDOSet ( World Zone Digital Output Set ) is used to define the action and to activate a w... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 742 | 1 Instructions
1.253. WZDOSet - Activate world zone to set digital output
World Zones
739
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
WorldZone
Data type: wztemporary or wzstationary
Variable or persistent variable, that will be updated with the identity (numeric value) of the
world zon... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 743 | 1 Instructions
1.253. WZDOSet - Activate world zone to set digital output
World Zones
3HAC 16581-1 Revision: J
740
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction WZDOSet are illustrated below.
Example 1
VAR wztemporary home;
VAR wztemporary service;
PERS wzt... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 744 | 1 Instructions
1.253. WZDOSet - Activate world zone to set digital output
World Zones
741
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
A world zone cannot be redefined by using the same variable in the argument WorldZone .
A stationary world zone cannot be deactivated, activate... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 745 | 1 Instructions
1.254. WZEnable - Activate temporary world zone supervision
World Zones
3HAC 16581-1 Revision: J
742
© Copyright 2004-2010 ABB. All rights reserved.
1.254. WZEnable - Activate temporary world zone supervision
Usage
WZEnable ( World Zone Enable ) is used to re-activate the supervision of a temporary wor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 746 | 1 Instructions
1.254. WZEnable - Activate temporary world zone supervision
World Zones
743
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
Wo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 747 | 1 Instructions
1.255. WZFree - Erase temporary world zone supervision
World Zones
3HAC 16581-1 Revision: J
744
© Copyright 2004-2010 ABB. All rights reserved.
1.255. WZFree - Erase temporary world zone supervision
Usage
WZFree ( World Zone Free ) is used to erase the definition of a temporary world zone,
previously d... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 748 | 1 Instructions
1.255. WZFree - Erase temporary world zone supervision
World Zones
745
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World z... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 749 | 1 Instructions
1.256. WZHomeJointDef - Define a world zone for home joints
World Zones
3HAC 16581-1 Revision: J
746
© Copyright 2004-2010 ABB. All rights reserved.
1.256. WZHomeJointDef - Define a world zone for home joints
Usage
WZHomeJointDef ( World Zone Home Joint Definition ) is used to define a world zone in
jo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 750 | 1 Instructions
1.256. WZHomeJointDef - Define a world zone for home joints
World Zones
747
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
MiddleJointVal
Data type: jointtarget
The position in joint coordinates for the center of the joint space to define. Specifies for each
robot axis and ext... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 751 | 1 Instructions
1.256. WZHomeJointDef - Define a world zone for home joints
World Zones
3HAC 16581-1 Revision: J
748
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
-
Only active mechanical units and their active axes at activation time of the world zone (with
instruction WZDOSet respectively WZLimSup ),... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 752 | 1 Instructions
1.257. WZLimJointDef - Define a world zone for limitation in joints
World Zones
749
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
1.257. WZLimJointDef - Define a world zone for limitation in joints
Usage
WZLimJointDef ( World Zone Limit Joint Definition ) is used to define a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 753 | 1 Instructions
1.257. WZLimJointDef - Define a world zone for limitation in joints
World Zones
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LowJointVal
Data type: jointtarget
The position in joint coordinates for the low limit of the joint space to define. Specifies for
each robot axes... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 754 | 1 Instructions
1.257. WZLimJointDef - Define a world zone for limitation in joints
World Zones
751
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Program execution
The definition of the joint space is stored in the variable of type shapedata (argument
Shape ) for future use in WZLimSup or... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 755 | 1 Instructions
1.257. WZLimJointDef - Define a world zone for limitation in joints
World Zones
3HAC 16581-1 Revision: J
752
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 756 | 1 Instructions
1.258. WZLimSup - Activate world zone limit supervision
World Zones
753
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1.258. WZLimSup - Activate world zone limit supervision
Usage
WZLimSup ( World Zone Limit Supervision ) is used to define the action and to activate a world
z... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 757 | 1 Instructions
1.258. WZLimSup - Activate world zone limit supervision
World Zones
3HAC 16581-1 Revision: J
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Shape
Data type: shapedata
The variable that defines the volume of the world zone.
Program execution
The defined world zone is activated. From this moment the... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 758 | 1 Instructions
1.258. WZLimSup - Activate world zone limit supervision
World Zones
755
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Limitations
A world zone cannot be redefined using the same variable in argument WorldZone .
A stationary world zone cannot be deactivated, activated again, o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 759 | 1 Instructions
1.259. WZSphDef - Define a sphere-shaped world zone
World Zones
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
1.259. WZSphDef - Define a sphere-shaped world zone
Usage
WZSphDef ( World Zone Sphere Definition ) is used to define a world zone that has the shape
of a sphere.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 760 | 1 Instructions
1.259. WZSphDef - Define a sphere-shaped world zone
World Zones
757
3HAC 16581-1 Revision: J
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Radius
Data type: num
The radius of the sphere in mm.
Program execution
The definition of the sphere is stored in the variable of type shapedata (argument Shap... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 761 | 1 Instructions
1.259. WZSphDef - Define a sphere-shaped world zone
World Zones
3HAC 16581-1 Revision: J
758
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2 Functions
2.1. Abs - Gets the absolute value
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2 Functions
2.1. Abs -... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 762 | 2 Functions
2.1. Abs - Gets the absolute value
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2 Functions
2.1. Abs - Gets the absolute value
Usage
Abs is used to get the absolute value, i.e. a positive value of numeric data.
Basic examples
Basic examples of the function A... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 763 | 2 Functions
2.1. Abs - Gets the absolute value
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Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics
Continued
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 764 | 2 Functions
2.2. ACos - Calculates the arc cosine value
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2.2. ACos - Calculates the arc cosine value
Usage
ACos ( Arc Cosine ) is used to calculate the arc cosine value.
Basic examples
Basic examples of the function ACos are ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 765 | 2 Functions
2.3. AOutput - Reads the value of an analog output signal
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2.3. AOutput - Reads the value of an analog output signal
Usage
AOutput is used to read the current value of an analog output signal.
Basic examples
Basic ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 766 | 2 Functions
2.3. AOutput - Reads the value of an analog output signal
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Syntax
AOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalao > ’)’
A function with a return value of data type num .
Related information
For informati... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 767 | 2 Functions
2.4. ArgName - Gets argument name
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2.4. ArgName - Gets argument name
Usage
ArgName ( Argument Name ) is used to get the name of the original data object for the current
argument or the current data.
Basic examples
B... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 768 | 2 Functions
2.4. ArgName - Gets argument name
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More examples
More examples of the function ArgName are illustrated below.
Convert from identifier to string
This function can also be used to convert from identifier to string ,... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 769 | 2 Functions
2.4. ArgName - Gets argument name
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Error handling
If one of the following errors occurs then the system variable ERRNO is set to ERR_ARGNAME :
•
Argument is expression value
•
Argument is not present
•
Argument is... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 770 | 2 Functions
2.5. ASin - Calculates the arc sine value
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2.5. ASin - Calculates the arc sine value
Usage
ASin ( Arc Sine ) is used to calculate the arc sine value.
Basic examples
Basic examples of the function ASin are illustra... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 771 | 2 Functions
2.6. ATan - Calculates the arc tangent value
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© Copyright 2004-2010 ABB. All rights reserved.
2.6. ATan - Calculates the arc tangent value
Usage
ATan ( Arc Tangent ) is used to calculate the arc tangent value.
Basic examples
Basic examples of the function ATan ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 772 | 2 Functions
2.7. ATan2 - Calculates the arc tangent2 value
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2.7. ATan2 - Calculates the arc tangent2 value
Usage
ATan2 ( Arc Tangent2 ) is used to calculate the arc tangent2 value.
Basic examples
Basic examples of the function ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 773 | 2 Functions
2.8. BitAnd - Logical bitwise AND - operation on byte data
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2.8. BitAnd - Logical bitwise AND - operation on byte data
Usage
BitAnd is used to execute a logical bitwise AND - operation on data types byte.
Basic ex... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 774 | 2 Functions
2.8. BitAnd - Logical bitwise AND - operation on byte data
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Syntax
BitAnd’(’
[BitData1 ’:=’] <expression ( IN ) of byte>’ ,’
[BitData2 ’:=’] <expression ( IN ) of byte>
’)’
A function with a return value of the data ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 775 | 2 Functions
2.9. BitCheck - Check if a specified bit in a byte data is set
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2.9. BitCheck - Check if a specified bit in a byte data is set
Usage
BitCheck is used to check if a specified bit in a defined byte data is set to 1.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 776 | 2 Functions
2.9. BitCheck - Check if a specified bit in a byte data is set
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Arguments
BitCheck (BitData BitPos)
BitData
Data type: byte
The bit data, in integer representation, to be checked.
BitPos
Bit Position
Data type: num... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 777 | 2 Functions
2.10. BitLSh - Logical bitwise LEFT SHIFT - operation on byte
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2.10. BitLSh - Logical bitwise LEFT SHIFT - operation on byte
Usage
BitLSh ( Bit Left Shift ) is used to execute a logical bitwise LEFT SHIFT-operation ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 778 | 2 Functions
2.10. BitLSh - Logical bitwise LEFT SHIFT - operation on byte
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Syntax
BitLSh’(’
[BitData ’:=’] <expression ( IN ) of byte>’ ,’
[ShiftSteps’ :=’] <expression ( IN ) of num>
’)’
A function with a return value of the da... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 779 | 2 Functions
2.11. BitNeg - Logical bitwise NEGATION - operation on byte data
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© Copyright 2004-2010 ABB. All rights reserved.
2.11. BitNeg - Logical bitwise NEGATION - operation on byte data
Usage
BitNeg ( Bit Negation ) is used to execute a logical bitwise NEGATION - oper... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 780 | 2 Functions
2.11. BitNeg - Logical bitwise NEGATION - operation on byte data
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Related information
For information about
See
Logical bitwise AND - operation on byte data
BitAnd - Logical bitwise AND - operation on
byte data on pa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 781 | 2 Functions
2.12. BitOr - Logical bitwise OR - operation on byte data
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© Copyright 2004-2010 ABB. All rights reserved.
2.12. BitOr - Logical bitwise OR - operation on byte data
Usage
BitOr ( Bit inclusive Or ) is used to execute a logical bitwise OR -operation on data types... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 782 | 2 Functions
2.12. BitOr - Logical bitwise OR - operation on byte data
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Limitations
The range for a data type byte is 0 - 255.
Syntax
BitOr’(’
[BitData1 ’:=’] <expression ( IN ) of byte>’ ,’
[BitData2 ’:=’] <expression ( IN ) o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 783 | 2 Functions
2.13. BitRSh - Logical bitwise RIGHT SHIFT - operation on byte
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2.13. BitRSh - Logical bitwise RIGHT SHIFT - operation on byte
Usage
BitRSh ( Bit Right Shift ) is used to execute a logical bitwise RIGHT SHIFT-operat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 784 | 2 Functions
2.13. BitRSh - Logical bitwise RIGHT SHIFT - operation on byte
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Syntax
BitRSh’(’
[BitData ’:=’] <expression ( IN ) of byte>’,’
[ShiftSteps’:=’] <expression ( IN ) of num>
’)’
A function with a return value of the dat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 785 | 2 Functions
2.14. BitXOr - Logical bitwise XOR - operation on byte data
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2.14. BitXOr - Logical bitwise XOR - operation on byte data
Usage
BitXOr ( Bit eXclusive Or ) is used to execute a logical bitwise XOR-operation on data t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 786 | 2 Functions
2.14. BitXOr - Logical bitwise XOR - operation on byte data
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Limitations
The range for a data type byte is 0 - 255.
Syntax
BitXOr’(’
[BitData1 ’:=’] <expression ( IN ) of byte>’ ,’
[BitData2 ’:=’] <expression ( IN ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 787 | 2 Functions
2.15. ByteToStr - Converts a byte to a string data
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2.15. ByteToStr - Converts a byte to a string data
Usage
ByteToStr ( Byte To String ) is used to convert a byte into a string data with a defined byte
data format.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 788 | 2 Functions
2.15. ByteToStr - Converts a byte to a string data
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Arguments
ByteToStr (BitData [\Hex] | [\Okt] | [\Bin] | [\Char])
BitData
Data type: byte
The bit data to be converted.
If the optional switch argument is omitted t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 789 | 2 Functions
2.16. CalcJointT - Calculates joint angles from robtarget
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2.16. CalcJointT - Calculates joint angles from robtarget
Usage
CalcJointT ( Calculate Joint Target ) is used to calculate joint angles of the robot axes an... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 790 | 2 Functions
2.16. CalcJointT - Calculates joint angles from robtarget
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Arguments
CalcJointT ( [\UseCurWObjPos] Rob_target Tool [\WObj] )
[\UseCurWObjPos]
Data type: switch
Use current position of the coordinated work object mov... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 791 | 2 Functions
2.16. CalcJointT - Calculates joint angles from robtarget
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Limitation
If a coordinate frame is used then the coordinated unit has to be activated before using
CalcJointT .
The mechanical unit that controls the user f... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 792 | 2 Functions
2.17. CalcRobT - Calculates robtarget from jointtarget
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2.17. CalcRobT - Calculates robtarget from jointtarget
Usage
CalcRobT ( Calculate Robot Target ) is used to calculate a robtarget data from a given
jointtarg... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 793 | 2 Functions
2.17. CalcRobT - Calculates robtarget from jointtarget
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[\WObj]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position returned by the function is
related.
If this argument i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 794 | 2 Functions
2.18. CalcRotAxFrameZ - Calculate a rotational axis frame
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2.18. CalcRotAxFrameZ - Calculate a rotational axis frame
Usage
CalcRotAxFrameZ ( Calculate Rotational Axis Frame with positive Z-point ) is used to
calcula... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 795 | 2 Functions
2.18. CalcRotAxFrameZ - Calculate a rotational axis frame
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Basic examples
Basic examples of the function CalcRotAxFrameZ are illustrated below.
Example 1
CONST robtarget pos1 := [...];
CONST robtarget pos2 := [...]... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 796 | 2 Functions
2.18. CalcRotAxFrameZ - Calculate a rotational axis frame
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WriteCfgData "/MOC/SINGLE/STN_1",
"base_frame_orient_u3",resFr.rot.q4;
TPReadFK reg1,"Warmstart required for calibration to take
effect."
,stEmpty,stEmpty,st... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 797 | 2 Functions
2.18. CalcRotAxFrameZ - Calculate a rotational axis frame
RobotWare - OS
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PositiveZPoint
Data type: robtarget
robtarget holding the position defined by pointing out a point in the positive z direction.
Using the definition of the... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 798 | 2 Functions
2.19. CalcRotAxisFrame - Calculate a rotational axis frame
RobotWare - OS
795
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.19. CalcRotAxisFrame - Calculate a rotational axis frame
Usage
CalcRotAxisFrame ( Calculate Rotational Axis Frame ) is used to calculate the user
coordin... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 799 | 2 Functions
2.19. CalcRotAxisFrame - Calculate a rotational axis frame
RobotWare - OS
3HAC 16581-1 Revision: J
796
© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the function CalcRotAxisFrame are illustrated below.
Example 1
CONST robtarget pos1 := [...];
CONST robtarget pos2 := [..... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 800 | 2 Functions
2.19. CalcRotAxisFrame - Calculate a rotational axis frame
RobotWare - OS
797
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Four positions, pos1 - pos4 , are created/modposed so that the robot’s tool tMyTool points
to the same reference point on the external axis STN_1 but... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 801 | 2 Functions
2.19. CalcRotAxisFrame - Calculate a rotational axis frame
RobotWare - OS
3HAC 16581-1 Revision: J
798
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
CalcRotAxisFrame’(’
[MechUnit ’:=’] <variable ( VAR ) of mecunit>
[\AxisNo ’:=’ <expression ( IN ) of num> ]’,’
[TargetList’:=’] <array {*} ( IN ) of... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 802 | 2 Functions
2.20. CDate - Reads the current date as a string
RobotWare-OS
799
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.20. CDate - Reads the current date as a string
Usage
CDate ( Current Date ) is used to read the current system date.
This function can be used to present the current... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 803 | 2 Functions
2.21. CJointT - Reads the current joint angles
RobotWare - OS
3HAC 16581-1 Revision: J
800
© Copyright 2004-2010 ABB. All rights reserved.
2.21. CJointT - Reads the current joint angles
Usage
CJointT ( Current Joint Target ) is used to read the current angles of the robot axes and
external axes.
Basic exa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 804 | 2 Functions
2.21. CJointT - Reads the current joint angles
RobotWare - OS
801
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function CJointT are illustrated below.
Example 1
! In task T_ROB1
VAR jointtarget joints;
joints := CJointT(\TaskRef:=T_ROB2Id);
T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 805 | 2 Functions
2.22. ClkRead - Reads a clock used for timing
RobotWare-OS
3HAC 16581-1 Revision: J
802
© Copyright 2004-2010 ABB. All rights reserved.
2.22. ClkRead - Reads a clock used for timing
Usage
ClkRead is used to read a clock that functions as a stop-watch used for timing.
Basic examples
Basic examples of the i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 806 | 2 Functions
2.23. CorrRead - Reads the current total offsets
Path Offset
803
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.23. CorrRead - Reads the current total offsets
Usage
CorrRead is used to read the total corrections delivered by all connected correction
generators.
CorrRead can be... |
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