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 | 807 | 2 Functions
2.24. Cos - Calculates the cosine value
RobotWare - OS
3HAC 16581-1 Revision: J
804
© Copyright 2004-2010 ABB. All rights reserved.
2.24. Cos - Calculates the cosine value
Usage
Cos ( Cosine ) is used to calculate the cosine value from an angle value.
Basic examples
Basic examples of the function Cos ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 808 | 2 Functions
2.25. CPos - Reads the current position (pos) data
RobotWare - OS
805
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.25. CPos - Reads the current position (pos) data
Usage
CPos (Current Position) is used to read the current position of the robot.
This function returns the x, y... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 809 | 2 Functions
2.25. CPos - Reads the current position (pos) data
RobotWare - OS
3HAC 16581-1 Revision: J
806
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
More examples
More examples of the function CPos are illu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 810 | 2 Functions
2.26. CRobT - Reads the current position (robtarget) data
RobotWare - OS
807
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.26. CRobT - Reads the current position (robtarget) data
Usage
CRobT (Current Robot Target) is used to read the current position of a robot and external ax... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 811 | 2 Functions
2.26. CRobT - Reads the current position (robtarget) data
RobotWare - OS
3HAC 16581-1 Revision: J
808
© Copyright 2004-2010 ABB. All rights reserved.
[ \Tool]
Data type: tooldata
The persistent variable for the tool used to calculate the current robot position.
If this argument is omitted then the current... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 812 | 2 Functions
2.26. CRobT - Reads the current position (robtarget) data
RobotWare - OS
809
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Example 3
! In task T_ROB1
VAR robtarget p4;
p4 := CRobT(\TaskName:="T_ROB2");
The current position of the robot and external axes in task T_ROB2 are store... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 813 | 2 Functions
2.27. CSpeedOverride - Reads the current override speed
RobotWare - OS
3HAC 16581-1 Revision: J
810
© Copyright 2004-2010 ABB. All rights reserved.
2.27. CSpeedOverride - Reads the current override speed
Usage
CSpeedOverride is used to read the speed override set by the operator from the
FlexPendant. The ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 814 | 2 Functions
2.27. CSpeedOverride - Reads the current override speed
RobotWare - OS
811
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Changing the Override Speed
Operating manual - IRC5 with FlexPendant , section
Programming and Testing Production... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 815 | 2 Functions
2.28. CTime - Reads the current time as a string
RobotWare-OS
3HAC 16581-1 Revision: J
812
© Copyright 2004-2010 ABB. All rights reserved.
2.28. CTime - Reads the current time as a string
Usage
CTime is used to read the current system time.
This function can be used to present the current time to the oper... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 816 | 2 Functions
2.29. CTool - Reads the current tool data
RobotWare - OS
813
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.29. CTool - Reads the current tool data
Usage
CTool ( Current Tool ) is used to read the data of the current tool.
Basic examples
Basic examples of the function CTool a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 817 | 2 Functions
2.30. CWObj - Reads the current work object data
RobotWare - OS
3HAC 16581-1 Revision: J
814
© Copyright 2004-2010 ABB. All rights reserved.
2.30. CWObj - Reads the current work object data
Usage
CWObj ( Current Work Object ) is used to read the data of the current work object.
Basic examples
Basic exampl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 818 | 2 Functions
2.31. DecToHex - Convert from decimal to hexadecimal
RobotWare - OS
815
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.31. DecToHex - Convert from decimal to hexadecimal
Usage
DecToHex is used to convert a number specified in a readable string in the base 10 to the
base 16.
The... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 819 | 2 Functions
2.32. DefAccFrame - Define an accurate frame
RobotWare - OS
3HAC 16581-1 Revision: J
816
© Copyright 2004-2010 ABB. All rights reserved.
2.32. DefAccFrame - Define an accurate frame
Usage
DefAccFrame ( Define Accurate Frame ) is used to define a framed from three to ten original
positions and the same num... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 820 | 2 Functions
2.32. DefAccFrame - Define an accurate frame
RobotWare - OS
817
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
VAR robtarget p6 := [...];
VAR robtarget p7 := [...];
VAR robtarget p8 := [...];
VAR robtarget p9 := [...];
VAR robtarget p10 := [...];
VAR robtarget pWCS{5};
VAR robtarg... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 821 | 2 Functions
2.32. DefAccFrame - Define an accurate frame
RobotWare - OS
3HAC 16581-1 Revision: J
818
© Copyright 2004-2010 ABB. All rights reserved.
TargetsInList
Data type: num
Number of robtargets in an array.
MaxErr
Data type: num
The estimated maximum error in mm.
MeanErr
Data type: num
The estimated mean error... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 822 | 2 Functions
2.33. DefDFrame - Define a displacement frame
RobotWare - OS
819
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.33. DefDFrame - Define a displacement frame
Usage
DefDFrame ( Define Displacement Frame ) is used to calculate a displacement frame from
three original positions and ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 823 | 2 Functions
2.33. DefDFrame - Define a displacement frame
RobotWare - OS
3HAC 16581-1 Revision: J
820
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
OldP1
Data type: robtarget
The first original position.
OldP2
Data type: robtarget
The second original positi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 824 | 2 Functions
2.33. DefDFrame - Define a displacement frame
RobotWare - OS
821
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Manual definition ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 825 | 2 Functions
2.34. DefFrame - Define a frame
RobotWare - OS
3HAC 16581-1 Revision: J
822
© Copyright 2004-2010 ABB. All rights reserved.
2.34. DefFrame - Define a frame
Usage
DefFrame ( Define Frame ) is used to calculate a frame, from three positions defining the
frame.
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 | 826 | 2 Functions
2.34. DefFrame - Define a frame
RobotWare - OS
823
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
DefFrame (NewP1 NewP2 NewP3 [\Origin])
NewP1
Data type: robtarget
The first position, which will define the origin of the new coordinate system.
NewP2
Data type: robtarget... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 827 | 2 Functions
2.34. DefFrame - Define a frame
RobotWare - OS
3HAC 16581-1 Revision: J
824
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the frame cannot be calculated because of the below limitations then the system variable
ERRNO is set to ERR_FRAME . This error can then be handled in the error ha... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 828 | 2 Functions
2.35. Dim - Obtains the size of an array
RobotWare - OS
825
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.35. Dim - Obtains the size of an array
Usage
Dim ( Dimension ) is used to obtain the number of elements in an array.
Basic examples
Basic examples of the function Dim ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 829 | 2 Functions
2.35. Dim - Obtains the size of an array
RobotWare - OS
3HAC 16581-1 Revision: J
826
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the function Dim are illustrated below.
Example 1
PROC add_matrix(VAR num array1{*,*,*}, num array2{*,*,*})
IF Dim(array1,1) <> Di... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 830 | 2 Functions
2.36. Distance - Distance between two points
RobotWare - OS
827
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.36. Distance - Distance between two points
Usage
Distance is used to calculate the distance between two points in the space.
Basic examples
Basic examples of the funct... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 831 | 2 Functions
2.36. Distance - Distance between two points
RobotWare - OS
3HAC 16581-1 Revision: J
828
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
Calculation of the distance between the two points:
xx0500002322
xx0500002323
Syntax
Distance’(’
[Point1 ’:=’] <expression ( IN ) of pos> ’,’
[Point2 ’:... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 832 | 2 Functions
2.37. DnumToNum - Converts dnum to num
RobotWare - OS
829
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.37. DnumToNum - Converts dnum to num
Usage
DnumToNum converts a dnum to a num if possible, otherwise it generates a recoverable error.
Basic examples
A basic example of ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 833 | 2 Functions
2.37. DnumToNum - Converts dnum to num
RobotWare - OS
3HAC 16581-1 Revision: J
830
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The following recoverable errors can be generated. The errors can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
DnumToNum
[ ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 834 | 2 Functions
2.38. DotProd - Dot product of two pos vectors
RobotWare - OS
831
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.38. DotProd - Dot product of two pos vectors
Usage
DotProd ( Dot Product ) is used to calculate the dot (or scalar) product of two pos vectors. The
typical use is to... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 835 | 2 Functions
2.38. DotProd - Dot product of two pos vectors
RobotWare - OS
3HAC 16581-1 Revision: J
832
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
DotProd (Vector1 Vector2)
Vector1
Data type: pos
The first vector described by the pos data type.
Vector2
Data type: pos
The second vector described by th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 836 | 2 Functions
2.39. DOutput - Reads the value of a digital output signal
RobotWare - OS
833
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.39. DOutput - Reads the value of a digital output signal
Usage
DOutput is used to read the current value of a digital 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 | 837 | 2 Functions
2.39. DOutput - Reads the value of a digital output signal
RobotWare - OS
3HAC 16581-1 Revision: J
834
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
DOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’)’
A function with a return value of the data type dionum .
Related information
For in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 838 | 2 Functions
2.40. EulerZYX - Gets euler angles from orient
RobotWare - OS
835
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.40. EulerZYX - Gets euler angles from orient
Usage
EulerZYX ( Euler ZYX rotations ) is used to get an Euler angle component from an orient
type variable.
Basic exam... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 839 | 2 Functions
2.40. EulerZYX - Gets euler angles from orient
RobotWare - OS
3HAC 16581-1 Revision: J
836
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
EulerZYX’(’
['\'X ’,’] | ['\'Y’ ,’] | ['\'Z’,’]
[Rotation’:=’] <expression ( IN ) of orient>
’)’
A function with a return value of the data type num .
Related i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 840 | 2 Functions
2.41. EventType - Get current event type inside any event routine
RobotWare - OS
837
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.41. EventType - Get current event type inside any event routine
Usage
EventType can be used in any event routine and then returns the current exec... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 841 | 2 Functions
2.41. EventType - Get current event type inside any event routine
RobotWare - OS
3HAC 16581-1 Revision: J
838
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
EventType’(’ ’)’
A function with a return value of the data type event_type .
Related information
For information about
See
Event routines in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 842 | 2 Functions
2.42. ExecHandler - Get type of execution handler
RobotWare - OS
839
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.42. ExecHandler - Get type of execution handler
Usage
ExecHandler can be used to find out if the actual RAPID code is executed in any RAPID
program routine han... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 843 | 2 Functions
2.43. ExecLevel - Get execution level
RobotWare - OS
3HAC 16581-1 Revision: J
840
© Copyright 2004-2010 ABB. All rights reserved.
2.43. ExecLevel - Get execution level
Usage
ExecLevel can be used to find out current execution level for the RAPID code that currently
is executed.
Basic examples
Basic exampl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 844 | 2 Functions
2.44. Exp - Calculates the exponential value
RobotWare - OS
841
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.44. Exp - Calculates the exponential value
Usage
Exp ( Exponential ) is used to calculate the exponential value, e x .
Basic examples
Basic examples of the function E... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 845 | 2 Functions
2.45. FileSize - Retrieve the size of a file
RobotWare - OS
3HAC 16581-1 Revision: J
842
© Copyright 2004-2010 ABB. All rights reserved.
2.45. FileSize - Retrieve the size of a file
Usage
FileSize is used to retrieve the size of the specified file.
Basic examples
Basic examples of the function FileSize ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 846 | 2 Functions
2.45. FileSize - Retrieve the size of a file
RobotWare - OS
843
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDWHILE
CloseDir directory;
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
IF FileSize(filename) > 1024 THEN
TPWrite filename... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 847 | 2 Functions
2.45. FileSize - Retrieve the size of a file
RobotWare - OS
3HAC 16581-1 Revision: J
844
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 848 | 2 Functions
2.46. FileTime - Retrieve time information about a file
RobotWare-OS
845
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.46. FileTime - Retrieve time information about a file
Usage
FileTime is used to retrieve the last time for modification, access or file status change of a
fil... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 849 | 2 Functions
2.46. FileTime - Retrieve time information about a file
RobotWare-OS
3HAC 16581-1 Revision: J
846
© Copyright 2004-2010 ABB. All rights reserved.
[\StrDig]
String Digit
Data type: stringdig
To get the file time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 850 | 2 Functions
2.46. FileTime - Retrieve time information about a file
RobotWare-OS
847
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
PROC alertNew(string filename)
currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 851 | 2 Functions
2.47. FSSize - Retrieve the size of a file system
RobotWare - OS
3HAC 16581-1 Revision: J
848
© Copyright 2004-2010 ABB. All rights reserved.
2.47. FSSize - Retrieve the size of a file system
Usage
FSSize ( File System Size ) is used to retrieve the size of the file system in which a specified
file reside... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 852 | 2 Functions
2.47. FSSize - Retrieve the size of a file system
RobotWare - OS
849
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ \Mbyte ]
Data type: switch
Convert the number of bytes read to megabytes, e.g divide the size with 1048576
(1024*1024).
Program execution
This function returns a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 853 | 2 Functions
2.47. FSSize - Retrieve the size of a file system
RobotWare - OS
3HAC 16581-1 Revision: J
850
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 854 | 2 Functions
2.48. GetMecUnitName - Get the name of the mechanical unit
RobotWare - OS
851
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.48. GetMecUnitName - Get the name of the mechanical unit
Usage
GetMecUnitName is used to get the name of a mechanical unit with one of the installed
mech... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 855 | 2 Functions
2.49. GetNextMechUnit - Get name and data for mechanical units
RobotWare - OS
3HAC 16581-1 Revision: J
852
© Copyright 2004-2010 ABB. All rights reserved.
2.49. GetNextMechUnit - Get name and data for mechanical units
Usage
GetNextMechUnit ( Get Next Mechanical Unit ) is used for retrieving the name of
me... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 856 | 2 Functions
2.49. GetNextMechUnit - Get name and data for mechanical units
RobotWare - OS
853
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\TCPRob]
Data type: bool
TRUE if the mechanical unit is a TCP robot, otherwise FALSE.
[\NoOfAxes]
Data type: num
Number of axes for the mechanical un... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 857 | 2 Functions
2.49. GetNextMechUnit - Get name and data for mechanical units
RobotWare - OS
3HAC 16581-1 Revision: J
854
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
GetNextMechUnit ’(’
[ ListNumber ’:=’ ] < variable ( VAR ) of num>’ ,’
[ UnitName’ :=’ ] < variable ( VAR ) of string> ’,’
[ ’\’ MecRef’ :=’ < va... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 858 | 2 Functions
2.50. GetNextSym - Get next matching symbol
RobotWare - OS
855
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.50. GetNextSym - Get next matching symbol
Usage
GetNextSym ( Get Next Symbol ) is used together with SetDataSearch to retrieve data
objects from the system.
Basic exa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 859 | 2 Functions
2.50. GetNextSym - Get next matching symbol
RobotWare - OS
3HAC 16581-1 Revision: J
856
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
GetNextSym ‘(‘
[ Object ’:=’ ] < variable or persistent ( INOUT ) of string > ’,’
[ Block ’:=’] <variable ( VAR ) of datapos>
[’\’Recursive ] ’)’
A function with a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 860 | 2 Functions
2.51. GetSysInfo - Get information about the system
RobotWare - OS
857
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.51. GetSysInfo - Get information about the system
Usage
GetSysInfo is used to read information about the system. Available information includes
Serial Number, ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 861 | 2 Functions
2.51. GetSysInfo - Get information about the system
RobotWare - OS
3HAC 16581-1 Revision: J
858
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
GetSysInfo ([\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId]
| [\LanIp] | [\CtrlLang])
One of the arguments SerialNo , SWVersion , RobotType , ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 862 | 2 Functions
2.51. GetSysInfo - Get information about the system
RobotWare - OS
859
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
GetSysInfo’(’
[’\’SerialNo]
| [’\’SWVersion]
| [’\’RobotType]
| [’\’CtrlId]
| [’\’LanIp]
| [’\’CtrlLang]’)’
A function with a return value of the data type ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 863 | 2 Functions
2.52. GetTaskName - Gets the name and number of current task
RobotWare - OS
3HAC 16581-1 Revision: J
860
© Copyright 2004-2010 ABB. All rights reserved.
2.52. GetTaskName - Gets the name and number of current task
Usage
GetTaskName is used to get the identity of the current program task, with its name and... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 864 | 2 Functions
2.52. GetTaskName - Gets the name and number of current task
RobotWare - OS
861
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
GetTaskName ( [\TaskNo] | [\MecTaskNo] )
[\TaskNo]
Data type: num
Return current task name (same functionality if none of the switch \TaskNo ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 865 | 2 Functions
2.53. GetTime - Reads the current time as a numeric value
RobotWare - OS
3HAC 16581-1 Revision: J
862
© Copyright 2004-2010 ABB. All rights reserved.
2.53. GetTime - Reads the current time as a numeric value
Usage
GetTime is used to read a specified component of the current system time as a numeric value.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 866 | 2 Functions
2.53. GetTime - Reads the current time as a numeric value
RobotWare - OS
863
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function GetTime are illustrated below.
Example 1
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 867 | 2 Functions
2.54. GInputDnum - Read value of group input signal
RobotWare - OS
3HAC 16581-1 Revision: J
864
© Copyright 2004-2010 ABB. All rights reserved.
2.54. GInputDnum - Read value of group input signal
Usage
GInputDnum is used to read the current value of a group of digital input signals.
Basic examples
Basic e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 868 | 2 Functions
2.54. GInputDnum - Read value of group input signal
RobotWare - OS
865
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
GInputDnum (Signal)
Signal
Data type: signalgi
The name of the signal group to be read.
Error handling
The following recoverable error can be generated.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 869 | 2 Functions
2.55. GOutput - Reads the value of a group of digital output signals
RobotWare - OS
3HAC 16581-1 Revision: J
866
© Copyright 2004-2010 ABB. All rights reserved.
2.55. GOutput - Reads the value of a group of digital output signals
Usage
GOutput is used to read the current value of a group of digital output... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 870 | 2 Functions
2.55. GOutput - Reads the value of a group of digital output signals
RobotWare - OS
867
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
GOutput (Signal)
Signal
Data type: signalgo
The name of the signal group to be read.
Error handling
Following recoverable error can be ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 871 | 2 Functions
2.56. GOutputDnum - Read value of group output signal
RobotWare - OS
3HAC 16581-1 Revision: J
868
© Copyright 2004-2010 ABB. All rights reserved.
2.56. GOutputDnum - Read value of group output signal
Usage
GOutputDnum is used to read the current value of a group of digital output signals.
Basic examples
B... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 872 | 2 Functions
2.56. GOutputDnum - Read value of group output signal
RobotWare - OS
869
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
GOutputDnum (Signal)
Signal
Data type: signalgo
The name of the signal group to be read.
Error handling
The following recoverable error can be generat... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 873 | 2 Functions
2.57. HexToDec - Convert from hexadecimal to decimal
RobotWare - OS
3HAC 16581-1 Revision: J
870
© Copyright 2004-2010 ABB. All rights reserved.
2.57. HexToDec - Convert from hexadecimal to decimal
Usage
HexToDec is used to convert a number specified in a readable string in the base 16 to the
base 10.
The... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 874 | 2 Functions
2.58. IndInpos - Independent axis in position status
Independent Axis
871
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.58. IndInpos - Independent axis in position status
Usage
IndInpos is used to test whether an independent axis has reached the selected position.
Basic exampl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 875 | 2 Functions
2.58. IndInpos - Independent axis in position status
Independent Axis
3HAC 16581-1 Revision: J
872
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
IndInpos ’(’
[ MecUnit’:=’ ] < variable ( VAR ) of mecunit>’,’
[ Axis’:=’ ] < expression ( IN ) of num>’)’
A function with a return value of the data typ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 876 | 2 Functions
2.59. IndSpeed - Independent speed status
Independent Axis
873
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.59. IndSpeed - Independent speed status
Usage
IndSpeed is used to test whether an independent axis has reached the selected speed.
Basic examples
Basic examples of the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 877 | 2 Functions
2.59. IndSpeed - Independent speed status
Independent Axis
3HAC 16581-1 Revision: J
874
© Copyright 2004-2010 ABB. All rights reserved.
Limitation
The function IndSpeed\InSpeed will always return the value FALSE in the following
situations:
•
The robot is in manual mode with reduced speed.
•
The speed ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 878 | 2 Functions
2.60. IOUnitState - Get current state of I/O unit
RobotWare - OS
875
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.60. IOUnitState - Get current state of I/O unit
Usage
IOUnitState is used to find out the current state of an I/O unit. It is physical state and
logical state def... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 879 | 2 Functions
2.60. IOUnitState - Get current state of I/O unit
RobotWare - OS
3HAC 16581-1 Revision: J
876
© Copyright 2004-2010 ABB. All rights reserved.
When the unit is logically enabled by the user and the fieldbus driver intends to take a unit
into physical state IOUNIT_PHYS_STATE_RUNNING , the unit could get int... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 880 | 2 Functions
2.60. IOUnitState - Get current state of I/O unit
RobotWare - OS
877
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
IOUnitState (UnitName [\Phys] | [\Logic])
UnitName
Data type: string
The name of the I/O unit to be checked (with same name as configured).
[\Phys]
Physic... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 881 | 2 Functions
2.61. IsFile - Check the type of a file
RobotWare - OS
3HAC 16581-1 Revision: J
878
© Copyright 2004-2010 ABB. All rights reserved.
2.61. IsFile - Check the type of a file
Usage
The IsFile function obtains information about the named file or directory and checks
whether it is the same as the specified ty... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 882 | 2 Functions
2.61. IsFile - Check the type of a file
RobotWare - OS
879
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
IsFile (Path [\Directory] [\Fifo] [\RegFile] [\BlockSpec]
[\CharSpec])
Path
Data type: string
The file specified with a full or relative path.
[ \Directory ]
Data t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 883 | 2 Functions
2.61. IsFile - Check the type of a file
RobotWare - OS
3HAC 16581-1 Revision: J
880
© Copyright 2004-2010 ABB. All rights reserved.
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
TPWrite filename;
ENDPROC
PROC main()
! Execute the listfile routine for all files found u... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 884 | 2 Functions
2.61. IsFile - Check the type of a file
RobotWare - OS
881
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Directory
dir - File directory structure on page 1103
Open a directory
OpenDir - Open a directory on page 285
Close a directory
C... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 885 | 2 Functions
2.62. IsMechUnitActive - Is mechanical unit active
RobotWare - OS
3HAC 16581-1 Revision: J
882
© Copyright 2004-2010 ABB. All rights reserved.
2.62. IsMechUnitActive - Is mechanical unit active
Usage
IsMechUnitActive ( Is Mechanical Unit Active ) is used to check whether a mechanical
unit is activated or ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 886 | 2 Functions
2.63. IsPers - Is persistent
RobotWare - OS
883
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.63. IsPers - Is persistent
Usage
IsPers is used to test if a data object is a persistent variable or not.
Basic examples
Basic examples of the function IsPers are illustrated below.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 887 | 2 Functions
2.64. IsStopMoveAct - Is stop move flags active
RobotWare - OS
3HAC 16581-1 Revision: J
884
© Copyright 2004-2010 ABB. All rights reserved.
2.64. IsStopMoveAct - Is stop move flags active
Usage
IsStopMoveAct is used to get the status of the stop move flags for a current or connected
motion task.
Basic exa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 888 | 2 Functions
2.64. IsStopMoveAct - Is stop move flags active
RobotWare - OS
885
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
IsStopMoveAct’(’
[’\’ FromMoveTask]
| [’\’ FromNonMoveTask]’ )’
A function with a return value of the data type bool .
Related information
For information abou... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 889 | 2 Functions
2.65. IsStopStateEvent - Test whether moved program pointer
RobotWare - OS
3HAC 16581-1 Revision: J
886
© Copyright 2004-2010 ABB. All rights reserved.
2.65. IsStopStateEvent - Test whether moved program pointer
Usage
IsStopStateEvent returns information about the movement of the Program Pointer (PP)
in c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 890 | 2 Functions
2.65. IsStopStateEvent - Test whether moved program pointer
RobotWare - OS
887
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
IsStopStateEvent’(’
[’\’ PPMoved] | [’\’ PPToMain] ´)´
A function with a return value of the data type bool .
Related information
For information a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 891 | 2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
RobotWare - OS
3HAC 16581-1 Revision: J
888
© Copyright 2004-2010 ABB. All rights reserved.
2.66. IsSyncMoveOn - Test if in synchronized movement mode
Usage
IsSyncMoveOn is used to test if the current program task of type Motion Task is in
synch... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 892 | 2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
RobotWare - OS
889
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program example in task BCK1
PROC main()
...
IF IsSyncMoveOn() THEN
! Connected Motion Task is in synchronized movement mode
ELSE
! Connected Motion Task i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 893 | 2 Functions
2.67. IsSysId - Test system identity
RobotWare - OS
3HAC 16581-1 Revision: J
890
© Copyright 2004-2010 ABB. All rights reserved.
2.67. IsSysId - Test system identity
Usage
IsSysId ( System Identity ) can be used to test the system identity using the system serial
number.
Basic examples
Basic examples of t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 894 | 2 Functions
2.68. IsVar - Is variable
RobotWare - OS
891
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.68. IsVar - Is variable
Usage
IsVar is used to test whether a data object is a variable or not.
Basic examples
Basic examples of the function IsVar are illustrated below.
Example 1
PRO... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 895 | 2 Functions
2.69. MaxRobSpeed - Maximum robot speed
RobotWare - OS
3HAC 16581-1 Revision: J
892
© Copyright 2004-2010 ABB. All rights reserved.
2.69. MaxRobSpeed - Maximum robot speed
Usage
MaxRobSpeed ( Maximum Robot Speed ) returns the maximum TCP speed for the used robot
type.
Basic examples
Basic examples of the ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 896 | 2 Functions
2.70. MirPos - Mirroring of a position
RobotWare - OS
893
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.70. MirPos - Mirroring of a position
Usage
MirPos ( Mirror Position ) is used to mirror the translation and rotation parts of a position.
Basic examples
Basic examples of th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 897 | 2 Functions
2.70. MirPos - Mirroring of a position
RobotWare - OS
3HAC 16581-1 Revision: J
894
© Copyright 2004-2010 ABB. All rights reserved.
[\MirY]
Mirror Y
Data type: switch
If this switch is left out, which is the default behavior, the tool frame will be mirrored with
regards to the x-axis and the z-axis. If the... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 898 | 2 Functions
2.71. ModExist - Check if program module exist
RobotWare - OS
895
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.71. ModExist - Check if program module exist
Usage
ModExist ( Module Exist ) is used to check whether a given module exists or not in the
program task.
Searching is ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 899 | 2 Functions
2.72. ModTime - Get file modify time for the loaded module
RobotWare - OS
3HAC 16581-1 Revision: J
896
© Copyright 2004-2010 ABB. All rights reserved.
2.72. ModTime - Get file modify time for the loaded module
Usage
ModTime ( Modify Time ) is used to retrieve the last file modification time for the loaded... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 900 | 2 Functions
2.72. ModTime - Get file modify time for the loaded module
RobotWare - OS
897
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function ModTime are illustrated below.
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 901 | 2 Functions
2.73. MotionPlannerNo - Get connected motion planner number
RobotWare - OS
3HAC 16581-1 Revision: J
898
© Copyright 2004-2010 ABB. All rights reserved.
2.73. MotionPlannerNo - Get connected motion planner number
Usage
MotionPlannerNo returns the connected motion planner number. If executing
MotionPlannerN... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 902 | 2 Functions
2.73. MotionPlannerNo - Get connected motion planner number
RobotWare - OS
899
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
!Background task BCK2
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buff... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 903 | 2 Functions
2.74. NonMotionMode - Read the Non-Motion execution mode
RobotWare - OS
3HAC 16581-1 Revision: J
900
© Copyright 2004-2010 ABB. All rights reserved.
2.74. NonMotionMode - Read the Non-Motion execution mode
Usage
NonMotionMode ( Non-Motion Execution Mode ) is used to read the current Non-Motion
execution m... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 904 | 2 Functions
2.75. NOrient - Normalize orientation
RobotWare - OS
901
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.75. NOrient - Normalize orientation
Usage
NOrient ( Normalize Orientation ) is used to normalize un-normalized orientation
(quaternion).
Description
An orientation must be no... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 905 | 2 Functions
2.75. NOrient - Normalize orientation
RobotWare - OS
3HAC 16581-1 Revision: J
902
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
NOrient (Rotation)
Rotation
Data type: orient
The orientation to be normalized.
Syntax
NOrient’(’
[Rotation ’:=’] <expression ( IN ) of orient>
’)’
A function with a ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 906 | 2 Functions
2.76. NumToDnum - Converts num to dnum
RobotWare - OS
903
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.76. NumToDnum - Converts num to dnum
Usage
NumToDnum converts a num to a dnum .
Basic examples
A basic example of the function NumToDnum is illustrated below.
Example 1... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.