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2 Functions
2.24. Cos - Calculates the cosine value
RobotWare - OS
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© 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 are illustrated below.
Example 1
VAR num angle;
VAR num value;
...
...
value := Cos(angle);
value will get the cosine value of angle .
Return value
Data type: num
The cosine value, range = [-1, 1] .
Arguments
Cos (Angle)
Angle
Data type: num
The angle value, expressed in degrees.
Syntax
Cos’(’
[Angle ’:=’] <expression ( IN ) of num>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics
2 Functions
2.25. CPos - Reads the current position (pos) data
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© 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, and z values of the robot TCP as data of type pos. If the
complete robot position ( robtarget ) is to be read then use the function CRobT instead.
Basic examples
Basic examples of the function CPos are illustrated below.
See also More examples on page 806 .
VAR pos pos1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot TCP is stored in variable pos1 . The tool tool1 and work
object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved
by using the stop point fine within position accuracy inpos50 in the preceding movement
instruction.
Return value
Data type: pos
The current position (pos) of the robot with x, y, and z in the outermost coordinate system,
taking the specified tool, work object, and active ProgDisp coordinate system into
consideration.
Arguments
CPos
([\Tool] [\WObj])
[ \Too l]
Data type: tooldata
The tool used for calculation of the current robot position.
If this argument is omitted then the current active tool is used.
[\WObj]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the current robot position returned by the
function is related.
If this argument is omitted then the current active work object is used.
WARNING!
It is advised to always specify the arguments \Tool and \WObj during programming. The
function will then always return the wanted position even if another tool or work object are
activated.
Continues on next page
2 Functions
2.25. CPos - Reads the current position (pos) data
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© 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 illustrated below.
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
...
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program using the
CPos function. The tool grip3 and work object fixture are used for calculating the
position. The x, y, and z distances travelled between these positions are then calculated and
stored in variable pos4 .
Syntax
CPos ’(’
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type pos .
Related information
For information about
See
Definition of position
pos - Positions (only X, Y and Z) on page 1160
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
ProgDisp coordinate system
PDispOn - Activates program displacement on page 317
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Coordinate systems
Reading the current robtarget
CRobT - Reads the current position (robtarget) data on
page 807
Continued
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2 Functions
2.25. CPos - Reads the current position (pos) data
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© 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, and z values of the robot TCP as data of type pos. If the
complete robot position ( robtarget ) is to be read then use the function CRobT instead.
Basic examples
Basic examples of the function CPos are illustrated below.
See also More examples on page 806 .
VAR pos pos1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
pos1 := CPos(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot TCP is stored in variable pos1 . The tool tool1 and work
object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved
by using the stop point fine within position accuracy inpos50 in the preceding movement
instruction.
Return value
Data type: pos
The current position (pos) of the robot with x, y, and z in the outermost coordinate system,
taking the specified tool, work object, and active ProgDisp coordinate system into
consideration.
Arguments
CPos
([\Tool] [\WObj])
[ \Too l]
Data type: tooldata
The tool used for calculation of the current robot position.
If this argument is omitted then the current active tool is used.
[\WObj]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the current robot position returned by the
function is related.
If this argument is omitted then the current active work object is used.
WARNING!
It is advised to always specify the arguments \Tool and \WObj during programming. The
function will then always return the wanted position even if another tool or work object are
activated.
Continues on next page
2 Functions
2.25. CPos - Reads the current position (pos) data
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© 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 illustrated below.
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
...
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program using the
CPos function. The tool grip3 and work object fixture are used for calculating the
position. The x, y, and z distances travelled between these positions are then calculated and
stored in variable pos4 .
Syntax
CPos ’(’
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type pos .
Related information
For information about
See
Definition of position
pos - Positions (only X, Y and Z) on page 1160
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
ProgDisp coordinate system
PDispOn - Activates program displacement on page 317
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Coordinate systems
Reading the current robtarget
CRobT - Reads the current position (robtarget) data on
page 807
Continued
2 Functions
2.26. CRobT - Reads the current position (robtarget) data
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© 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 axes.
This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot
axes configuration, and external axes position. If only the x, y, and z values of the robot TCP
( pos ) are to be read then use the function CPos instead.
Basic examples
Basic examples of the function CRobT are illustrated below.
See also More examples on page 808 .
Example 1
VAR robtarget p1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes is stored in p1 . The tool tool1 and work
object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved
by using the stop point fine within position accuracy inpos50 in the preceding movement
instruction.
Return value
Data type: robtarget
The current position of a robot and external axes in the outermost coordinate system, taking
the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into
consideration.
Arguments
CRobT ([\TaskRef]|[\TaskName] [\Tool] [\WObj])
[\TaskRef]
Task Reference
Data type: taskid
The program task identity from which the robtarget should be read.
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name from which the robtarget should be read.
If none of the arguments \TaskRef or \TaskName are specified then the current task is used.
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2.25. CPos - Reads the current position (pos) data
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Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
More examples
More examples of the function CPos are illustrated below.
VAR pos pos2;
VAR pos pos3;
VAR pos pos4;
pos2 := CPos(\Tool:=grip3 \WObj:=fixture);
...
pos3 := CPos(\Tool:=grip3 \WObj:=fixture);
pos4 := pos3-pos2;
The x, y, and z position of the robot is captured at two places within the program using the
CPos function. The tool grip3 and work object fixture are used for calculating the
position. The x, y, and z distances travelled between these positions are then calculated and
stored in variable pos4 .
Syntax
CPos ’(’
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type pos .
Related information
For information about
See
Definition of position
pos - Positions (only X, Y and Z) on page 1160
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
ProgDisp coordinate system
PDispOn - Activates program displacement on page 317
Coordinate systems
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Coordinate systems
Reading the current robtarget
CRobT - Reads the current position (robtarget) data on
page 807
Continued
2 Functions
2.26. CRobT - Reads the current position (robtarget) data
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© 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 axes.
This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot
axes configuration, and external axes position. If only the x, y, and z values of the robot TCP
( pos ) are to be read then use the function CPos instead.
Basic examples
Basic examples of the function CRobT are illustrated below.
See also More examples on page 808 .
Example 1
VAR robtarget p1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes is stored in p1 . The tool tool1 and work
object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved
by using the stop point fine within position accuracy inpos50 in the preceding movement
instruction.
Return value
Data type: robtarget
The current position of a robot and external axes in the outermost coordinate system, taking
the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into
consideration.
Arguments
CRobT ([\TaskRef]|[\TaskName] [\Tool] [\WObj])
[\TaskRef]
Task Reference
Data type: taskid
The program task identity from which the robtarget should be read.
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name from which the robtarget should be read.
If none of the arguments \TaskRef or \TaskName are specified then the current task is used.
Continues on next page
2 Functions
2.26. CRobT - Reads the current position (robtarget) data
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[ \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 active tool is used.
[\WObj]
Work Object
Data type: wobjdata
The persistent variable for the work object (coordinate system) to which the current robot
position returned by the function is related.
If this argument is omitted then the current active work object is used.
WARNING!
It is advised to always specify the arguments \Tool and \WObj during programming. The
function will then always return the wanted position even if another tool or work object are
activated.
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
External axes are represented in the ExtOffs coordinate system.
If one of the arguments \TaskRef or \TaskName are used but arguments Tool and WObj are
not used then the current tool and work object in the specified task will be used.
More examples
More examples of the function CRobT are illustrated below.
Example 1
VAR robtarget p2;
p2 := ORobT( CRobT(\Tool:=grip3 \WObj:=fixture) );
The current position in the object coordinate system (without any ProgDisp or ExtOffs ) of
the robot and external axes is stored in p2 . The tool grip3 and work object fixture are used
for calculating the position.
Example 2
! In task T_ROB1
VAR robtarget p3;
p3 := CRobT(\TaskRef:=T_ROB2Id \Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes in task T_ROB2 are stored in p3 in task
T_ROB1 . The tool tool1 and work object wobj0 are used for calculating the position.
Note that the robot in task T_ROB2 may be moving when the position is read and calculated.
To make sure the robot stands still, a stop point fine in the preceding movement instruction
in task T_ROB2 could be programmed and instruction WaitSyncTask could be used to
synchronize the instructions in task T_ROB1 .
Continued
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2.26. CRobT - Reads the current position (robtarget) data
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© 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 axes.
This function returns a robtarget value with position (x, y, z), orientation (q1 ... q4), robot
axes configuration, and external axes position. If only the x, y, and z values of the robot TCP
( pos ) are to be read then use the function CPos instead.
Basic examples
Basic examples of the function CRobT are illustrated below.
See also More examples on page 808 .
Example 1
VAR robtarget p1;
MoveL *, v500, fine \Inpos := inpos50, tool1;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes is stored in p1 . The tool tool1 and work
object wobj0 are used for calculating the position.
Note that the robot is standing still before the position is read and calculated. This is achieved
by using the stop point fine within position accuracy inpos50 in the preceding movement
instruction.
Return value
Data type: robtarget
The current position of a robot and external axes in the outermost coordinate system, taking
the specified tool, work object, and active ProgDisp/ExtOffs coordinate system into
consideration.
Arguments
CRobT ([\TaskRef]|[\TaskName] [\Tool] [\WObj])
[\TaskRef]
Task Reference
Data type: taskid
The program task identity from which the robtarget should be read.
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id .
[\TaskName]
Data type: string
The program task name from which the robtarget should be read.
If none of the arguments \TaskRef or \TaskName are specified then the current task is used.
Continues on next page
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2.26. CRobT - Reads the current position (robtarget) data
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[ \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 active tool is used.
[\WObj]
Work Object
Data type: wobjdata
The persistent variable for the work object (coordinate system) to which the current robot
position returned by the function is related.
If this argument is omitted then the current active work object is used.
WARNING!
It is advised to always specify the arguments \Tool and \WObj during programming. The
function will then always return the wanted position even if another tool or work object are
activated.
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
External axes are represented in the ExtOffs coordinate system.
If one of the arguments \TaskRef or \TaskName are used but arguments Tool and WObj are
not used then the current tool and work object in the specified task will be used.
More examples
More examples of the function CRobT are illustrated below.
Example 1
VAR robtarget p2;
p2 := ORobT( CRobT(\Tool:=grip3 \WObj:=fixture) );
The current position in the object coordinate system (without any ProgDisp or ExtOffs ) of
the robot and external axes is stored in p2 . The tool grip3 and work object fixture are used
for calculating the position.
Example 2
! In task T_ROB1
VAR robtarget p3;
p3 := CRobT(\TaskRef:=T_ROB2Id \Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes in task T_ROB2 are stored in p3 in task
T_ROB1 . The tool tool1 and work object wobj0 are used for calculating the position.
Note that the robot in task T_ROB2 may be moving when the position is read and calculated.
To make sure the robot stands still, a stop point fine in the preceding movement instruction
in task T_ROB2 could be programmed and instruction WaitSyncTask could be used to
synchronize the instructions in task T_ROB1 .
Continued
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2 Functions
2.26. CRobT - Reads the current position (robtarget) data
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© 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 stored in p4 in task
T_ROB1 . The current tool and work object in task T_ROB2 are used for calculating the
position.
Error handling
If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO
is set to ERR_NOT_MOVETASK . This error can be handled in the error handler.
But no error will be generated if the arguments \TaskRef or \TaskName specify the non-
motion task that executes this function CRobT (reference to my own non-motion task). The
position will then be fetched from the connected motion task.
Syntax
CRobT’(’
[’\’ TaskRef ’:=’ <variable ( VAR ) of taskid>]
|[’\’ TaskName’ :=’ <expression ( IN ) of string>]
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Definition of position
robtarget - Position data on page 1176
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
ProgDisp coordinate system
PDispOn - Activates program displacement on
page 317
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
Reading the current pos (x, y, z only)
CPos - Reads the current position (pos) data on
page 805
Continued
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2.26. CRobT - Reads the current position (robtarget) data
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[ \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 active tool is used.
[\WObj]
Work Object
Data type: wobjdata
The persistent variable for the work object (coordinate system) to which the current robot
position returned by the function is related.
If this argument is omitted then the current active work object is used.
WARNING!
It is advised to always specify the arguments \Tool and \WObj during programming. The
function will then always return the wanted position even if another tool or work object are
activated.
Program execution
The coordinates returned represent the TCP position in the ProgDisp coordinate system.
External axes are represented in the ExtOffs coordinate system.
If one of the arguments \TaskRef or \TaskName are used but arguments Tool and WObj are
not used then the current tool and work object in the specified task will be used.
More examples
More examples of the function CRobT are illustrated below.
Example 1
VAR robtarget p2;
p2 := ORobT( CRobT(\Tool:=grip3 \WObj:=fixture) );
The current position in the object coordinate system (without any ProgDisp or ExtOffs ) of
the robot and external axes is stored in p2 . The tool grip3 and work object fixture are used
for calculating the position.
Example 2
! In task T_ROB1
VAR robtarget p3;
p3 := CRobT(\TaskRef:=T_ROB2Id \Tool:=tool1 \WObj:=wobj0);
The current position of the robot and external axes in task T_ROB2 are stored in p3 in task
T_ROB1 . The tool tool1 and work object wobj0 are used for calculating the position.
Note that the robot in task T_ROB2 may be moving when the position is read and calculated.
To make sure the robot stands still, a stop point fine in the preceding movement instruction
in task T_ROB2 could be programmed and instruction WaitSyncTask could be used to
synchronize the instructions in task T_ROB1 .
Continued
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2.26. CRobT - Reads the current position (robtarget) data
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© 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 stored in p4 in task
T_ROB1 . The current tool and work object in task T_ROB2 are used for calculating the
position.
Error handling
If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO
is set to ERR_NOT_MOVETASK . This error can be handled in the error handler.
But no error will be generated if the arguments \TaskRef or \TaskName specify the non-
motion task that executes this function CRobT (reference to my own non-motion task). The
position will then be fetched from the connected motion task.
Syntax
CRobT’(’
[’\’ TaskRef ’:=’ <variable ( VAR ) of taskid>]
|[’\’ TaskName’ :=’ <expression ( IN ) of string>]
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Definition of position
robtarget - Position data on page 1176
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
ProgDisp coordinate system
PDispOn - Activates program displacement on
page 317
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
Reading the current pos (x, y, z only)
CPos - Reads the current position (pos) data on
page 805
Continued
2 Functions
2.27. CSpeedOverride - Reads the current override speed
RobotWare - OS
3HAC 16581-1 Revision: J
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© 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 return value is displayed as a percentage where 100% corresponds to the
programmed speed.
In applications with instruction SpeedRefresh , this function can also be used to read current
speed override value for this or connected motion program tasks.
Note! Must not be mixed up with the argument Override in the RAPID instruction VelSet .
Basic examples
Basic examples of the function CSpeedOverride are illustrated below.
Example 1
VAR num myspeed;
myspeed := CSpeedOverride();
The current override speed will be stored in the variable myspeed . E.g. if the value is 100
then this is equivalent to 100%.
Return value
Data type: num
The override speed value in percent of the programmed speed. This will be a numeric value
in the range of 0 - 100.
Arguments
CSpeedOverride ( [\CTask] )
[\CTask ]
Data type: switch
Get current speed override value for this or connected motion program task. Used together
with the instruction SpeedRefresh .
If this argument is not used then the function returns current speed override for the whole
system (all motion program tasks). Meaning the manual speed override, set from Teach
Pendant.
Syntax
CSpeedOverride’(’
[’\’ CTask ] ’)’
A function with a return value of the data type num .
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2.26. CRobT - Reads the current position (robtarget) data
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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 stored in p4 in task
T_ROB1 . The current tool and work object in task T_ROB2 are used for calculating the
position.
Error handling
If argument \TaskRef or \TaskName specify some non-motion task then the system ERRNO
is set to ERR_NOT_MOVETASK . This error can be handled in the error handler.
But no error will be generated if the arguments \TaskRef or \TaskName specify the non-
motion task that executes this function CRobT (reference to my own non-motion task). The
position will then be fetched from the connected motion task.
Syntax
CRobT’(’
[’\’ TaskRef ’:=’ <variable ( VAR ) of taskid>]
|[’\’ TaskName’ :=’ <expression ( IN ) of string>]
[’\’Tool ’:=’ <persistent ( PERS ) of tooldata>]
[’\’WObj ’:=’ <persistent ( PERS ) of wobjdata>] ’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Definition of position
robtarget - Position data on page 1176
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
ProgDisp coordinate system
PDispOn - Activates program displacement on
page 317
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
Reading the current pos (x, y, z only)
CPos - Reads the current position (pos) data on
page 805
Continued
2 Functions
2.27. CSpeedOverride - Reads the current override speed
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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 return value is displayed as a percentage where 100% corresponds to the
programmed speed.
In applications with instruction SpeedRefresh , this function can also be used to read current
speed override value for this or connected motion program tasks.
Note! Must not be mixed up with the argument Override in the RAPID instruction VelSet .
Basic examples
Basic examples of the function CSpeedOverride are illustrated below.
Example 1
VAR num myspeed;
myspeed := CSpeedOverride();
The current override speed will be stored in the variable myspeed . E.g. if the value is 100
then this is equivalent to 100%.
Return value
Data type: num
The override speed value in percent of the programmed speed. This will be a numeric value
in the range of 0 - 100.
Arguments
CSpeedOverride ( [\CTask] )
[\CTask ]
Data type: switch
Get current speed override value for this or connected motion program task. Used together
with the instruction SpeedRefresh .
If this argument is not used then the function returns current speed override for the whole
system (all motion program tasks). Meaning the manual speed override, set from Teach
Pendant.
Syntax
CSpeedOverride’(’
[’\’ CTask ] ’)’
A function with a return value of the data type num .
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2.27. CSpeedOverride - Reads the current override speed
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Related information
For information about
See
Changing the Override Speed
Operating manual - IRC5 with FlexPendant , section
Programming and Testing Production Running -
Quickset menu, Speed
Update speed override from RAPID
SpeedRefresh - Update speed override for ongoing
movement on page 476
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2.27. CSpeedOverride - Reads the current override speed
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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 return value is displayed as a percentage where 100% corresponds to the
programmed speed.
In applications with instruction SpeedRefresh , this function can also be used to read current
speed override value for this or connected motion program tasks.
Note! Must not be mixed up with the argument Override in the RAPID instruction VelSet .
Basic examples
Basic examples of the function CSpeedOverride are illustrated below.
Example 1
VAR num myspeed;
myspeed := CSpeedOverride();
The current override speed will be stored in the variable myspeed . E.g. if the value is 100
then this is equivalent to 100%.
Return value
Data type: num
The override speed value in percent of the programmed speed. This will be a numeric value
in the range of 0 - 100.
Arguments
CSpeedOverride ( [\CTask] )
[\CTask ]
Data type: switch
Get current speed override value for this or connected motion program task. Used together
with the instruction SpeedRefresh .
If this argument is not used then the function returns current speed override for the whole
system (all motion program tasks). Meaning the manual speed override, set from Teach
Pendant.
Syntax
CSpeedOverride’(’
[’\’ CTask ] ’)’
A function with a return value of the data type num .
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2 Functions
2.27. CSpeedOverride - Reads the current override speed
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Related information
For information about
See
Changing the Override Speed
Operating manual - IRC5 with FlexPendant , section
Programming and Testing Production Running -
Quickset menu, Speed
Update speed override from RAPID
SpeedRefresh - Update speed override for ongoing
movement on page 476
Continued
2 Functions
2.28. CTime - Reads the current time as a string
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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 operator on the FlexPendant
display or to paste the current time into a text file that the program writes to.
Basic examples
Basic examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
The current time is stored in the variable time.
Return value
Data type: string
The current time in a string.
The standard time format is "hours:minutes:seconds", e.g. "18:20:46".
More example
More examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
TPWrite "The current time is: "+time;
Write logfile, time;
The current time is written to the FlexPendant display and written into a text file.
Syntax
CTime ’(’ ’)’
A function with a return value of the type string .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & Time
Setting the system clock
Operating manual - IRC5 with FlexPendant , section
Changing FlexPendant settings
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2.27. CSpeedOverride - Reads the current override speed
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Related information
For information about
See
Changing the Override Speed
Operating manual - IRC5 with FlexPendant , section
Programming and Testing Production Running -
Quickset menu, Speed
Update speed override from RAPID
SpeedRefresh - Update speed override for ongoing
movement on page 476
Continued
2 Functions
2.28. CTime - Reads the current time as a string
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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 operator on the FlexPendant
display or to paste the current time into a text file that the program writes to.
Basic examples
Basic examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
The current time is stored in the variable time.
Return value
Data type: string
The current time in a string.
The standard time format is "hours:minutes:seconds", e.g. "18:20:46".
More example
More examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
TPWrite "The current time is: "+time;
Write logfile, time;
The current time is written to the FlexPendant display and written into a text file.
Syntax
CTime ’(’ ’)’
A function with a return value of the type string .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & Time
Setting the system clock
Operating manual - IRC5 with FlexPendant , section
Changing FlexPendant settings
2 Functions
2.29. CTool - Reads the current tool data
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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 are illustrated below:
Example 1
PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
temp_tool := CTool();
The value of the current tool is stored in the variable temp_tool .
Return value
Data type: tooldata
This function returns a tooldata value holding the value of the current tool, i.e. the tool last
used in a movement instruction.
The value returned represents the TCP position and orientation in the wrist centre coordinate
system. See tooldata .
Syntax
CTool’(’’)’
A function with a return value of the data type tooldata .
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
Systems
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2.28. CTime - Reads the current time as a string
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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 operator on the FlexPendant
display or to paste the current time into a text file that the program writes to.
Basic examples
Basic examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
The current time is stored in the variable time.
Return value
Data type: string
The current time in a string.
The standard time format is "hours:minutes:seconds", e.g. "18:20:46".
More example
More examples of the function CTime are illustrated below.
Example 1
VAR string time;
time := CTime();
TPWrite "The current time is: "+time;
Write logfile, time;
The current time is written to the FlexPendant display and written into a text file.
Syntax
CTime ’(’ ’)’
A function with a return value of the type string .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & Time
Setting the system clock
Operating manual - IRC5 with FlexPendant , section
Changing FlexPendant settings
2 Functions
2.29. CTool - Reads the current tool data
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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 are illustrated below:
Example 1
PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
temp_tool := CTool();
The value of the current tool is stored in the variable temp_tool .
Return value
Data type: tooldata
This function returns a tooldata value holding the value of the current tool, i.e. the tool last
used in a movement instruction.
The value returned represents the TCP position and orientation in the wrist centre coordinate
system. See tooldata .
Syntax
CTool’(’’)’
A function with a return value of the data type tooldata .
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
Systems
2 Functions
2.30. CWObj - Reads the current work object data
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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 examples of the function CWObj are illustrated below.
Example 1
PERS wobjdata temp_wobj:= [FALSE, TRUE, "", [[0,0,0], [1,0,0,0]],
[[0,0,0], [1,0,0,0]]];
temp_wobj := CWObj();
The value of the current work object is stored in the variable temp_wobj .
Return value
Data type: wobjdata
This function returns a wobjdata value holding the value of the current work object, i.e. the
work object last used in a movement instruction.
The value returned represents the work object position and orientation in the world coordinate
system. See wobjdata .
Syntax
CWObj’(’’)’
A function with a return value of the data type wobjdata .
Related information
For information about
See
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
Systems
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2.29. CTool - Reads the current tool data
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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 are illustrated below:
Example 1
PERS tooldata temp_tool:= [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
temp_tool := CTool();
The value of the current tool is stored in the variable temp_tool .
Return value
Data type: tooldata
This function returns a tooldata value holding the value of the current tool, i.e. the tool last
used in a movement instruction.
The value returned represents the TCP position and orientation in the wrist centre coordinate
system. See tooldata .
Syntax
CTool’(’’)’
A function with a return value of the data type tooldata .
Related information
For information about
See
Definition of tools
tooldata - Tool data on page 1207
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
Systems
2 Functions
2.30. CWObj - Reads the current work object data
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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 examples of the function CWObj are illustrated below.
Example 1
PERS wobjdata temp_wobj:= [FALSE, TRUE, "", [[0,0,0], [1,0,0,0]],
[[0,0,0], [1,0,0,0]]];
temp_wobj := CWObj();
The value of the current work object is stored in the variable temp_wobj .
Return value
Data type: wobjdata
This function returns a wobjdata value holding the value of the current work object, i.e. the
work object last used in a movement instruction.
The value returned represents the work object position and orientation in the world coordinate
system. See wobjdata .
Syntax
CWObj’(’’)’
A function with a return value of the data type wobjdata .
Related information
For information about
See
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
Systems
2 Functions
2.31. DecToHex - Convert from decimal to hexadecimal
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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 resulting string is constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function DecToHex are illustrated below.
Example 1
VAR string str;
str := DecToHex("99999999");
The variable str is given the value "5F5E0FF" .
Return value
Data type: string
The string converted to a hexadecimal representation of the given number in the inparameter
string.
Arguments
DecToHex ( Str )
Str
String
Data type: string
The string to convert.
Syntax
DecToHex’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
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2.30. CWObj - Reads the current work object data
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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 examples of the function CWObj are illustrated below.
Example 1
PERS wobjdata temp_wobj:= [FALSE, TRUE, "", [[0,0,0], [1,0,0,0]],
[[0,0,0], [1,0,0,0]]];
temp_wobj := CWObj();
The value of the current work object is stored in the variable temp_wobj .
Return value
Data type: wobjdata
This function returns a wobjdata value holding the value of the current work object, i.e. the
work object last used in a movement instruction.
The value returned represents the work object position and orientation in the world coordinate
system. See wobjdata .
Syntax
CWObj’(’’)’
A function with a return value of the data type wobjdata .
Related information
For information about
See
Definition of work objects
wobjdata - Work object data on page 1224
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
Systems
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 resulting string is constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function DecToHex are illustrated below.
Example 1
VAR string str;
str := DecToHex("99999999");
The variable str is given the value "5F5E0FF" .
Return value
Data type: string
The string converted to a hexadecimal representation of the given number in the inparameter
string.
Arguments
DecToHex ( Str )
Str
String
Data type: string
The string to convert.
Syntax
DecToHex’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
2 Functions
2.32. DefAccFrame - Define an accurate frame
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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 number of displaced positions.
Description
A frame can be defined when a set of targets are known at two different locations. Thus, the
same physical positions are used but expressed differently.
Consider it in two different approaches:
1. The same physical positions are expressed in relation to different coordinate systems.
For example, a number of positions are retrieved from a CAD drawing, thus the
positions are expressed in a CAD local coordinate system. The same positions are then
expressed in robot world coordinate system. From these two sets of positions the
frame between CAD coordinate system and robot world coordinate system is
calculated.
2. A number of positions are related to an object in an original position. After a
displacement of the object, the positions are determined again (often searched for).
From these two sets of positions (old positions, new positions) the displacement frame
is calculated.
Three targets are enough to define a frame, but to improve accuracy several points should be
used.
Basic examples
Basic examples of the function DefAccFrame are illustrated below.
Example 1
xx0500002179
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
CONST robtarget p5 := [...];
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2.31. DecToHex - Convert from decimal to hexadecimal
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© 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 resulting string is constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function DecToHex are illustrated below.
Example 1
VAR string str;
str := DecToHex("99999999");
The variable str is given the value "5F5E0FF" .
Return value
Data type: string
The string converted to a hexadecimal representation of the given number in the inparameter
string.
Arguments
DecToHex ( Str )
Str
String
Data type: string
The string to convert.
Syntax
DecToHex’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID overview ,
section Basic characteristics - Basic elements
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 number of displaced positions.
Description
A frame can be defined when a set of targets are known at two different locations. Thus, the
same physical positions are used but expressed differently.
Consider it in two different approaches:
1. The same physical positions are expressed in relation to different coordinate systems.
For example, a number of positions are retrieved from a CAD drawing, thus the
positions are expressed in a CAD local coordinate system. The same positions are then
expressed in robot world coordinate system. From these two sets of positions the
frame between CAD coordinate system and robot world coordinate system is
calculated.
2. A number of positions are related to an object in an original position. After a
displacement of the object, the positions are determined again (often searched for).
From these two sets of positions (old positions, new positions) the displacement frame
is calculated.
Three targets are enough to define a frame, but to improve accuracy several points should be
used.
Basic examples
Basic examples of the function DefAccFrame are illustrated below.
Example 1
xx0500002179
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
CONST robtarget p5 := [...];
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2 Functions
2.32. DefAccFrame - Define an accurate frame
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VAR robtarget p6 := [...];
VAR robtarget p7 := [...];
VAR robtarget p8 := [...];
VAR robtarget p9 := [...];
VAR robtarget p10 := [...];
VAR robtarget pWCS{5};
VAR robtarget pCAD{5};
VAR pose frame1;
VAR num max_err;
VAR num mean_err;
! Add positions to robtarget arrays
pCAD{1}:=p1;
...
pCAD{5}:=p5;
pWCS{1}:=p6;
...
pWCS{5}:=p10;
frame1 := DefAccFrame (pCAD, pWCS, 5, max_err, mean_err);
Five positions p1- p5 related to an object have been stored. The five positions are also stored
in relation to world coordinate system as p6-p10 . From these 10 positions the frame,
frame1 , between the object and the world coordinate system is calculated. The frame will be
the CAD frame expressed in the world coordinate system. If the input order of the targetlists
is exchanged, i.e. DefAccFrame ( pWCS, pCAD.... ) then the world frame will be expressed
in the CAD coordinate system.
Return value
Data type: pose
The calculated TargetListOne frame expressed in the TargetListTwo coordinate system.
Arguments
DefAccFrame (TargetListOne TargetListTwo TargetsInList
MaxErr MeanErr)
TargetListOne
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system one. Minimum number
of robtargets is 3, maximum is 10.
TargetListTwo
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system two. Minimum number
of robtargets is 3, maximum is 10.
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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 number of displaced positions.
Description
A frame can be defined when a set of targets are known at two different locations. Thus, the
same physical positions are used but expressed differently.
Consider it in two different approaches:
1. The same physical positions are expressed in relation to different coordinate systems.
For example, a number of positions are retrieved from a CAD drawing, thus the
positions are expressed in a CAD local coordinate system. The same positions are then
expressed in robot world coordinate system. From these two sets of positions the
frame between CAD coordinate system and robot world coordinate system is
calculated.
2. A number of positions are related to an object in an original position. After a
displacement of the object, the positions are determined again (often searched for).
From these two sets of positions (old positions, new positions) the displacement frame
is calculated.
Three targets are enough to define a frame, but to improve accuracy several points should be
used.
Basic examples
Basic examples of the function DefAccFrame are illustrated below.
Example 1
xx0500002179
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
CONST robtarget p5 := [...];
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VAR robtarget p6 := [...];
VAR robtarget p7 := [...];
VAR robtarget p8 := [...];
VAR robtarget p9 := [...];
VAR robtarget p10 := [...];
VAR robtarget pWCS{5};
VAR robtarget pCAD{5};
VAR pose frame1;
VAR num max_err;
VAR num mean_err;
! Add positions to robtarget arrays
pCAD{1}:=p1;
...
pCAD{5}:=p5;
pWCS{1}:=p6;
...
pWCS{5}:=p10;
frame1 := DefAccFrame (pCAD, pWCS, 5, max_err, mean_err);
Five positions p1- p5 related to an object have been stored. The five positions are also stored
in relation to world coordinate system as p6-p10 . From these 10 positions the frame,
frame1 , between the object and the world coordinate system is calculated. The frame will be
the CAD frame expressed in the world coordinate system. If the input order of the targetlists
is exchanged, i.e. DefAccFrame ( pWCS, pCAD.... ) then the world frame will be expressed
in the CAD coordinate system.
Return value
Data type: pose
The calculated TargetListOne frame expressed in the TargetListTwo coordinate system.
Arguments
DefAccFrame (TargetListOne TargetListTwo TargetsInList
MaxErr MeanErr)
TargetListOne
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system one. Minimum number
of robtargets is 3, maximum is 10.
TargetListTwo
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system two. Minimum number
of robtargets is 3, maximum is 10.
Continued
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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 in mm.
Error handling
If the positions don’t have the required relation or are not specified with enough accuracy then
the system variable ERRNO is set to ERR_FRAME . This error can then be handled in an error
handler.
Syntax
DefAccFrame’(’
[TargetListOne’:=’] <array {*} ( IN ) of robtarget>’ ,’
[TargetListTwo’ :=’] <array {*} ( IN ) of robtarget> ’,’
[TargetsInList’:=’] <expression ( IN ) of num> ’,’
[MaxErr’:=’] <variable ( VAR ) of num> ’,’
[MeanErr’:=’] <variable ( VAR ) of num>’)’
A function with a return value of the data type pose .
Related information
For information about
See
Calculating a frame from three positions
DefFrame - Define a frame on page 822
Calculate a frame from 6 positions
DefDFrame - Define a displacement frame on
page 819
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VAR robtarget p6 := [...];
VAR robtarget p7 := [...];
VAR robtarget p8 := [...];
VAR robtarget p9 := [...];
VAR robtarget p10 := [...];
VAR robtarget pWCS{5};
VAR robtarget pCAD{5};
VAR pose frame1;
VAR num max_err;
VAR num mean_err;
! Add positions to robtarget arrays
pCAD{1}:=p1;
...
pCAD{5}:=p5;
pWCS{1}:=p6;
...
pWCS{5}:=p10;
frame1 := DefAccFrame (pCAD, pWCS, 5, max_err, mean_err);
Five positions p1- p5 related to an object have been stored. The five positions are also stored
in relation to world coordinate system as p6-p10 . From these 10 positions the frame,
frame1 , between the object and the world coordinate system is calculated. The frame will be
the CAD frame expressed in the world coordinate system. If the input order of the targetlists
is exchanged, i.e. DefAccFrame ( pWCS, pCAD.... ) then the world frame will be expressed
in the CAD coordinate system.
Return value
Data type: pose
The calculated TargetListOne frame expressed in the TargetListTwo coordinate system.
Arguments
DefAccFrame (TargetListOne TargetListTwo TargetsInList
MaxErr MeanErr)
TargetListOne
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system one. Minimum number
of robtargets is 3, maximum is 10.
TargetListTwo
Data type: robtarget
Array of robtargets holding the positions defined in coordinate system two. Minimum number
of robtargets is 3, maximum is 10.
Continued
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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 in mm.
Error handling
If the positions don’t have the required relation or are not specified with enough accuracy then
the system variable ERRNO is set to ERR_FRAME . This error can then be handled in an error
handler.
Syntax
DefAccFrame’(’
[TargetListOne’:=’] <array {*} ( IN ) of robtarget>’ ,’
[TargetListTwo’ :=’] <array {*} ( IN ) of robtarget> ’,’
[TargetsInList’:=’] <expression ( IN ) of num> ’,’
[MaxErr’:=’] <variable ( VAR ) of num> ’,’
[MeanErr’:=’] <variable ( VAR ) of num>’)’
A function with a return value of the data type pose .
Related information
For information about
See
Calculating a frame from three positions
DefFrame - Define a frame on page 822
Calculate a frame from 6 positions
DefDFrame - Define a displacement frame on
page 819
Continued
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2.33. DefDFrame - Define a displacement frame
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2.33. DefDFrame - Define a displacement frame
Usage
DefDFrame ( Define Displacement Frame ) is used to calculate a displacement frame from
three original positions and three displaced positions.
Basic examples
Basic examples of the function DefDFrame are illustrated below.
Example 1
xx0500002177
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
...
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
...
SearchL sen1, p5, *, v50, tool1;
...
SearchL sen1, p6, *, v50, tool1;
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Three positions p1-p3 related to an object in an original position have been stored. After a
displacement of the object, three new positions are searched for and stored as p4-p6 . The
displacement frame is calculated from these six positions. Then the calculated frame is used
to displace all the stored positions in the program.
Return value
Data type: pose
The displacement frame.
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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 in mm.
Error handling
If the positions don’t have the required relation or are not specified with enough accuracy then
the system variable ERRNO is set to ERR_FRAME . This error can then be handled in an error
handler.
Syntax
DefAccFrame’(’
[TargetListOne’:=’] <array {*} ( IN ) of robtarget>’ ,’
[TargetListTwo’ :=’] <array {*} ( IN ) of robtarget> ’,’
[TargetsInList’:=’] <expression ( IN ) of num> ’,’
[MaxErr’:=’] <variable ( VAR ) of num> ’,’
[MeanErr’:=’] <variable ( VAR ) of num>’)’
A function with a return value of the data type pose .
Related information
For information about
See
Calculating a frame from three positions
DefFrame - Define a frame on page 822
Calculate a frame from 6 positions
DefDFrame - Define a displacement frame on
page 819
Continued
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2.33. DefDFrame - Define a displacement frame
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2.33. DefDFrame - Define a displacement frame
Usage
DefDFrame ( Define Displacement Frame ) is used to calculate a displacement frame from
three original positions and three displaced positions.
Basic examples
Basic examples of the function DefDFrame are illustrated below.
Example 1
xx0500002177
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
...
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
...
SearchL sen1, p5, *, v50, tool1;
...
SearchL sen1, p6, *, v50, tool1;
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Three positions p1-p3 related to an object in an original position have been stored. After a
displacement of the object, three new positions are searched for and stored as p4-p6 . The
displacement frame is calculated from these six positions. Then the calculated frame is used
to displace all the stored positions in the program.
Return value
Data type: pose
The displacement frame.
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2.33. DefDFrame - Define a displacement frame
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Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
OldP1
Data type: robtarget
The first original position.
OldP2
Data type: robtarget
The second original position.
OldP3
Data type: robtarget
The third original position.
NewP1
Data type: robtarget
The first displaced position. The difference between OldP1 and NewP1 will define the
translation part of the frame and must be measured and determined with great accuracy.
NewP2
Data type: robtarget
The second displaced position. The line NewP1 ... NewP2 will define the rotation of the
old line OldP1 ... OldP2 .
NewP3
Data type: robtarget
The third displaced position. This position will define the rotation of the plane, e.g. it should
be placed on the new plane of NewP1 , NewP2 , and NewP3 .
Error handling
If it is not possible to calculate the frame because of bad accuracy in the positions then the
system variable ERRNO is set to ERR_FRAME . This error can then be handled in the error
handler.
Syntax
DefDFrame’(’
[OldP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[OldP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[OldP3 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP1 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget> ’)’
A function with a return value of the data type pose .
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2.33. DefDFrame - Define a displacement frame
Usage
DefDFrame ( Define Displacement Frame ) is used to calculate a displacement frame from
three original positions and three displaced positions.
Basic examples
Basic examples of the function DefDFrame are illustrated below.
Example 1
xx0500002177
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR robtarget p4;
VAR robtarget p5;
VAR robtarget p6;
VAR pose frame1;
...
!Search for the new positions
SearchL sen1, p4, *, v50, tool1;
...
SearchL sen1, p5, *, v50, tool1;
...
SearchL sen1, p6, *, v50, tool1;
frame1 := DefDframe (p1, p2, p3, p4, p5, p6);
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Three positions p1-p3 related to an object in an original position have been stored. After a
displacement of the object, three new positions are searched for and stored as p4-p6 . The
displacement frame is calculated from these six positions. Then the calculated frame is used
to displace all the stored positions in the program.
Return value
Data type: pose
The displacement frame.
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2.33. DefDFrame - Define a displacement frame
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Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
OldP1
Data type: robtarget
The first original position.
OldP2
Data type: robtarget
The second original position.
OldP3
Data type: robtarget
The third original position.
NewP1
Data type: robtarget
The first displaced position. The difference between OldP1 and NewP1 will define the
translation part of the frame and must be measured and determined with great accuracy.
NewP2
Data type: robtarget
The second displaced position. The line NewP1 ... NewP2 will define the rotation of the
old line OldP1 ... OldP2 .
NewP3
Data type: robtarget
The third displaced position. This position will define the rotation of the plane, e.g. it should
be placed on the new plane of NewP1 , NewP2 , and NewP3 .
Error handling
If it is not possible to calculate the frame because of bad accuracy in the positions then the
system variable ERRNO is set to ERR_FRAME . This error can then be handled in the error
handler.
Syntax
DefDFrame’(’
[OldP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[OldP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[OldP3 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP1 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget> ’)’
A function with a return value of the data type pose .
Continued
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Related information
For information about
See
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Manual definition of displacement frame
Operating manual - IRC5 with FlexPendant ,
section Calibrating
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Arguments
DefDFrame (OldP1 OldP2 OldP3 NewP1 NewP2 NewP3)
OldP1
Data type: robtarget
The first original position.
OldP2
Data type: robtarget
The second original position.
OldP3
Data type: robtarget
The third original position.
NewP1
Data type: robtarget
The first displaced position. The difference between OldP1 and NewP1 will define the
translation part of the frame and must be measured and determined with great accuracy.
NewP2
Data type: robtarget
The second displaced position. The line NewP1 ... NewP2 will define the rotation of the
old line OldP1 ... OldP2 .
NewP3
Data type: robtarget
The third displaced position. This position will define the rotation of the plane, e.g. it should
be placed on the new plane of NewP1 , NewP2 , and NewP3 .
Error handling
If it is not possible to calculate the frame because of bad accuracy in the positions then the
system variable ERRNO is set to ERR_FRAME . This error can then be handled in the error
handler.
Syntax
DefDFrame’(’
[OldP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[OldP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[OldP3 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP1 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget> ’)’
A function with a return value of the data type pose .
Continued
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Related information
For information about
See
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Manual definition of displacement frame
Operating manual - IRC5 with FlexPendant ,
section Calibrating
Continued
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2.34. DefFrame - Define a frame
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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 DefFrame are illustrated below.
Example 1
xx0500002181
Three positions, p1- p3 related to the object coordinate system are used to define the new
coordinate system, frame1 . The first position, p1 , is defining the origin of the new
coordinate system. The second position, p2 , is defining the direction of the x-axis. The third
position, p3 , is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR pose frame1;
...
...
frame1 := DefFrame (p1, p2, p3);
...
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Return value
Data type: pose
The calculated frame.
The calculation is related to the active object coordinate system.
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Related information
For information about
See
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Manual definition of displacement frame
Operating manual - IRC5 with FlexPendant ,
section Calibrating
Continued
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2.34. DefFrame - Define a frame
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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 DefFrame are illustrated below.
Example 1
xx0500002181
Three positions, p1- p3 related to the object coordinate system are used to define the new
coordinate system, frame1 . The first position, p1 , is defining the origin of the new
coordinate system. The second position, p2 , is defining the direction of the x-axis. The third
position, p3 , is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR pose frame1;
...
...
frame1 := DefFrame (p1, p2, p3);
...
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Return value
Data type: pose
The calculated frame.
The calculation is related to the active object coordinate system.
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2.34. DefFrame - Define a frame
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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
The second position, which will define the direction of the x-axis of the new coordinate
frame.
NewP3
Data type: robtarget
The third position, which will define the xy-plane of the new coordinate system. The position
of point 3 will be on the positive y side, see the figure above.
[\Origin]
Data type: num
Optional argument, which will define how the origin of the new coordinate system will be
placed. Origin = 1 means that the origin is placed in NewP1 , i.e. the same as if this argument
is omitted. Origin = 2 means that the origin is placed in NewP2 . See the figure below.
xx0500002178
Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2 and
so that NewP3 will be placed on the y axis. See the figure below.
xx0500002180
Other values, or if Origin is omitted, will place the origin in NewP1 .
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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 DefFrame are illustrated below.
Example 1
xx0500002181
Three positions, p1- p3 related to the object coordinate system are used to define the new
coordinate system, frame1 . The first position, p1 , is defining the origin of the new
coordinate system. The second position, p2 , is defining the direction of the x-axis. The third
position, p3 , is defining the location of the xy-plane. The defined frame1 may be used as a
displacement frame, as shown in the example below:
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
VAR pose frame1;
...
...
frame1 := DefFrame (p1, p2, p3);
...
...
!Activation of the displacement defined by frame1
PDispSet frame1;
Return value
Data type: pose
The calculated frame.
The calculation is related to the active object coordinate system.
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2.34. DefFrame - Define a frame
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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
The second position, which will define the direction of the x-axis of the new coordinate
frame.
NewP3
Data type: robtarget
The third position, which will define the xy-plane of the new coordinate system. The position
of point 3 will be on the positive y side, see the figure above.
[\Origin]
Data type: num
Optional argument, which will define how the origin of the new coordinate system will be
placed. Origin = 1 means that the origin is placed in NewP1 , i.e. the same as if this argument
is omitted. Origin = 2 means that the origin is placed in NewP2 . See the figure below.
xx0500002178
Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2 and
so that NewP3 will be placed on the y axis. See the figure below.
xx0500002180
Other values, or if Origin is omitted, will place the origin in NewP1 .
Continued
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2.34. DefFrame - Define a frame
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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 handler.
Limitations
The three positions p1 - p3 , defining the frame, must define a well shaped triangle. The
most well shaped triangle is the one with all sides of equal length.
xx0500002182
The triangle is not considered to be well shaped if the angle α is too small. The angle α is too
small if:
|cos α | < 1 - 10 -4
The triangle p1 , p2 , p3 must not be too small, i.e. the positions cannot be too close. The
distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm.
Syntax
DefFrame’(’
[NewP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget>
[’\’Origin’:=’ <expression ( IN ) of num >]’)’
A function with a return value of the data type pose .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
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2.34. DefFrame - Define a frame
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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
The second position, which will define the direction of the x-axis of the new coordinate
frame.
NewP3
Data type: robtarget
The third position, which will define the xy-plane of the new coordinate system. The position
of point 3 will be on the positive y side, see the figure above.
[\Origin]
Data type: num
Optional argument, which will define how the origin of the new coordinate system will be
placed. Origin = 1 means that the origin is placed in NewP1 , i.e. the same as if this argument
is omitted. Origin = 2 means that the origin is placed in NewP2 . See the figure below.
xx0500002178
Origin = 3 means that the origin is placed on the line going through NewP1 and NewP2 and
so that NewP3 will be placed on the y axis. See the figure below.
xx0500002180
Other values, or if Origin is omitted, will place the origin in NewP1 .
Continued
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2.34. DefFrame - Define a frame
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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 handler.
Limitations
The three positions p1 - p3 , defining the frame, must define a well shaped triangle. The
most well shaped triangle is the one with all sides of equal length.
xx0500002182
The triangle is not considered to be well shaped if the angle α is too small. The angle α is too
small if:
|cos α | < 1 - 10 -4
The triangle p1 , p2 , p3 must not be too small, i.e. the positions cannot be too close. The
distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm.
Syntax
DefFrame’(’
[NewP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget>
[’\’Origin’:=’ <expression ( IN ) of num >]’)’
A function with a return value of the data type pose .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Continued
2 Functions
2.35. Dim - Obtains the size of an array
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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 are illustrated below.
See also More examples on page 826 .
Example 1
PROC arrmul(VAR num array{*}, num factor)
FOR index FROM 1 TO Dim(array, 1) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
All elements of a num array are multiplied by a factor. This procedure can take any one-
dimensional array of data type num as an input.
Return value
Data type: num
The number of array elements of the specified dimension.
Arguments
Dim (ArrPar DimNo)
ArrPar
Array Parameter
Data type: Any type
The name of the array.
DimNo
Dimension Number
Data type: num
The desired array dimension:
1 = first dimension
2 = second dimension
3 = third dimension
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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 handler.
Limitations
The three positions p1 - p3 , defining the frame, must define a well shaped triangle. The
most well shaped triangle is the one with all sides of equal length.
xx0500002182
The triangle is not considered to be well shaped if the angle α is too small. The angle α is too
small if:
|cos α | < 1 - 10 -4
The triangle p1 , p2 , p3 must not be too small, i.e. the positions cannot be too close. The
distances between the positions p1 - p2 and p1 - p3 must not be less than 0.1 mm.
Syntax
DefFrame’(’
[NewP1 ’:=’] <expression ( IN ) of robtarget>’ ,’
[NewP2 ’:=’] <expression ( IN ) of robtarget> ’,’
[NewP3 ’:=’] <expression ( IN ) of robtarget>
[’\’Origin’:=’ <expression ( IN ) of num >]’)’
A function with a return value of the data type pose .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics
Activation of displacement frame
PDispSet - Activates program displacement
using known frame on page 321
Continued
2 Functions
2.35. Dim - Obtains the size of an array
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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 are illustrated below.
See also More examples on page 826 .
Example 1
PROC arrmul(VAR num array{*}, num factor)
FOR index FROM 1 TO Dim(array, 1) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
All elements of a num array are multiplied by a factor. This procedure can take any one-
dimensional array of data type num as an input.
Return value
Data type: num
The number of array elements of the specified dimension.
Arguments
Dim (ArrPar DimNo)
ArrPar
Array Parameter
Data type: Any type
The name of the array.
DimNo
Dimension Number
Data type: num
The desired array dimension:
1 = first dimension
2 = second dimension
3 = third dimension
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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) <> Dim(array2,1) OR Dim(array1,2) <>
Dim(array2,2) OR Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
FOR i2 FROM 1 TO Dim(array1, 2) DO
FOR i3 FROM 1 TO Dim(array1, 3) DO
array1{i1,i2,i3} := array1{i1,i2,i3} +
array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;
ENDPROC
Two matrices are added. If the size of the matrices differs then the program stops and an error
message appears.
This procedure can take any three-dimensional array of data type num as an input.
Syntax
Dim ’(’
[ArrPar’:=’] <reference ( REF ) of any type> ’,’
[DimNo’:=’] <expression ( IN ) of num> ’)’
A REF parameter requires that the corresponding argument be either a constant, a variable,
or an entire persistent. The argument could also be an IN parameter, a VAR parameter, or an
entire PERS parameter.
A function with a return value of the data type num .
Related information
For information about
See
Array parameters
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
Array declaration
Technical reference manual - RAPID overview ,
section Basic characteristics - Data
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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 are illustrated below.
See also More examples on page 826 .
Example 1
PROC arrmul(VAR num array{*}, num factor)
FOR index FROM 1 TO Dim(array, 1) DO
array{index} := array{index} * factor;
ENDFOR
ENDPROC
All elements of a num array are multiplied by a factor. This procedure can take any one-
dimensional array of data type num as an input.
Return value
Data type: num
The number of array elements of the specified dimension.
Arguments
Dim (ArrPar DimNo)
ArrPar
Array Parameter
Data type: Any type
The name of the array.
DimNo
Dimension Number
Data type: num
The desired array dimension:
1 = first dimension
2 = second dimension
3 = third dimension
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2.35. Dim - Obtains the size of an array
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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) <> Dim(array2,1) OR Dim(array1,2) <>
Dim(array2,2) OR Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
FOR i2 FROM 1 TO Dim(array1, 2) DO
FOR i3 FROM 1 TO Dim(array1, 3) DO
array1{i1,i2,i3} := array1{i1,i2,i3} +
array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;
ENDPROC
Two matrices are added. If the size of the matrices differs then the program stops and an error
message appears.
This procedure can take any three-dimensional array of data type num as an input.
Syntax
Dim ’(’
[ArrPar’:=’] <reference ( REF ) of any type> ’,’
[DimNo’:=’] <expression ( IN ) of num> ’)’
A REF parameter requires that the corresponding argument be either a constant, a variable,
or an entire persistent. The argument could also be an IN parameter, a VAR parameter, or an
entire PERS parameter.
A function with a return value of the data type num .
Related information
For information about
See
Array parameters
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
Array declaration
Technical reference manual - RAPID overview ,
section Basic characteristics - Data
Continued
2 Functions
2.36. Distance - Distance between two points
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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 function Distance are illustrated below.
Example 1
xx0500002321
VAR num dist;
CONST pos p1 := [4,0,4];
CONST pos p2 := [-4,4,4];
...
dist := Distance(p1, p2);
The distance in space between the points p1 and p2 is calculated and stored in the variable
dist .
Return value
Data type: num
The distance (always positive) in mm between the points.
Arguments
Distance (Point1 Point2)
Point1
Data type: pos
The first point described by the pos data type.
Point2
Data type: pos
The second point described by the pos data type.
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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) <> Dim(array2,1) OR Dim(array1,2) <>
Dim(array2,2) OR Dim(array1,3) <> Dim(array2,3) THEN
TPWrite "The size of the matrices are not the same";
Stop;
ELSE
FOR i1 FROM 1 TO Dim(array1, 1) DO
FOR i2 FROM 1 TO Dim(array1, 2) DO
FOR i3 FROM 1 TO Dim(array1, 3) DO
array1{i1,i2,i3} := array1{i1,i2,i3} +
array2{i1,i2,i3};
ENDFOR
ENDFOR
ENDFOR
ENDIF
RETURN;
ENDPROC
Two matrices are added. If the size of the matrices differs then the program stops and an error
message appears.
This procedure can take any three-dimensional array of data type num as an input.
Syntax
Dim ’(’
[ArrPar’:=’] <reference ( REF ) of any type> ’,’
[DimNo’:=’] <expression ( IN ) of num> ’)’
A REF parameter requires that the corresponding argument be either a constant, a variable,
or an entire persistent. The argument could also be an IN parameter, a VAR parameter, or an
entire PERS parameter.
A function with a return value of the data type num .
Related information
For information about
See
Array parameters
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
Array declaration
Technical reference manual - RAPID overview ,
section Basic characteristics - Data
Continued
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2.36. Distance - Distance between two points
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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 function Distance are illustrated below.
Example 1
xx0500002321
VAR num dist;
CONST pos p1 := [4,0,4];
CONST pos p2 := [-4,4,4];
...
dist := Distance(p1, p2);
The distance in space between the points p1 and p2 is calculated and stored in the variable
dist .
Return value
Data type: num
The distance (always positive) in mm between the points.
Arguments
Distance (Point1 Point2)
Point1
Data type: pos
The first point described by the pos data type.
Point2
Data type: pos
The second point described by the pos data type.
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Program execution
Calculation of the distance between the two points:
xx0500002322
xx0500002323
Syntax
Distance’(’
[Point1 ’:=’] <expression ( IN ) of pos> ’,’
[Point2 ’:=’] <expression ( IN ) of pos> ’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Definition of pos
pos - Positions (only X, Y and Z) on page 1160
Continued
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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 function Distance are illustrated below.
Example 1
xx0500002321
VAR num dist;
CONST pos p1 := [4,0,4];
CONST pos p2 := [-4,4,4];
...
dist := Distance(p1, p2);
The distance in space between the points p1 and p2 is calculated and stored in the variable
dist .
Return value
Data type: num
The distance (always positive) in mm between the points.
Arguments
Distance (Point1 Point2)
Point1
Data type: pos
The first point described by the pos data type.
Point2
Data type: pos
The second point described by the pos data type.
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2.36. Distance - Distance between two points
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Program execution
Calculation of the distance between the two points:
xx0500002322
xx0500002323
Syntax
Distance’(’
[Point1 ’:=’] <expression ( IN ) of pos> ’,’
[Point2 ’:=’] <expression ( IN ) of pos> ’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Definition of pos
pos - Positions (only X, Y and Z) on page 1160
Continued
2 Functions
2.37. DnumToNum - Converts dnum to num
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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 the function DnumToNum is illustrated below.
Example 1
VAR num mynum:=0;
VAR dnum mydnum:=8388607;
VAR dnum testFloat:=8388609;
VAR dnum anotherdnum:=4294967295;
! Works OK
mynum:=DnumToNum(mydnum);
! Accept floating point value
mynum:=DnumToNum(testFloat);
! Cause error recovery error
mynum:=DnumToNum(anotherdnum \Integer);
The dnum value 8388607 is returned by the function as the num value 8388607.
The dnum value 8388609 is returned by the function as the num value 8.38861E+06 .
The dnum value 4294967295 generates the recoverable error ERR_ARGVALERR .
Return value
Data type: num
The input dnum value can be in the range -8388607 to 8388608 and return the same value as
a num . If the \Integer switch is not used, the input dnum value can be in the range -
3.40282347E+38 to 3.40282347E+38 and the return value might become a floating point
value.
Arguments
DnumToNum (Value [\Integer])
Value
Data type: dnum
The numeric value to be converted.
[\Integer]
Data type: switch
Only integer values
If switch \Integer is not used, an down cast is made even if the value becomes a floating
point value. If it is not used, a check is made whether the value is an integer between -8388607
to 8388608. If it is not, a recoverable error is generated.
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Program execution
Calculation of the distance between the two points:
xx0500002322
xx0500002323
Syntax
Distance’(’
[Point1 ’:=’] <expression ( IN ) of pos> ’,’
[Point2 ’:=’] <expression ( IN ) of pos> ’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Definition of pos
pos - Positions (only X, Y and Z) on page 1160
Continued
2 Functions
2.37. DnumToNum - Converts dnum to num
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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 the function DnumToNum is illustrated below.
Example 1
VAR num mynum:=0;
VAR dnum mydnum:=8388607;
VAR dnum testFloat:=8388609;
VAR dnum anotherdnum:=4294967295;
! Works OK
mynum:=DnumToNum(mydnum);
! Accept floating point value
mynum:=DnumToNum(testFloat);
! Cause error recovery error
mynum:=DnumToNum(anotherdnum \Integer);
The dnum value 8388607 is returned by the function as the num value 8388607.
The dnum value 8388609 is returned by the function as the num value 8.38861E+06 .
The dnum value 4294967295 generates the recoverable error ERR_ARGVALERR .
Return value
Data type: num
The input dnum value can be in the range -8388607 to 8388608 and return the same value as
a num . If the \Integer switch is not used, the input dnum value can be in the range -
3.40282347E+38 to 3.40282347E+38 and the return value might become a floating point
value.
Arguments
DnumToNum (Value [\Integer])
Value
Data type: dnum
The numeric value to be converted.
[\Integer]
Data type: switch
Only integer values
If switch \Integer is not used, an down cast is made even if the value becomes a floating
point value. If it is not used, a check is made whether the value is an integer between -8388607
to 8388608. If it is not, a recoverable error is generated.
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2.37. DnumToNum - Converts dnum to num
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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
[ Value ’:=’ ] < expression ( IN ) of dnum >
[\ Integer]’ ;’
A function with a return value of the data type num .
Related information
Error code
Description
ERR_ARGVALERR
Value is above 8388608 or below -8388607 or not an integer (if
optional argument Integer is used)
ERR_NUM_LIMIT
Value is above 3.40282347E+38 or below -3.40282347E+38
ERR_INT_NOTVAL
Value is not an integer
For information about
See
Dnum data type
dnum - Double numeric values on page 1104 .
Num data type
num - Numeric values on page 1146 .
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2.37. DnumToNum - Converts dnum to num
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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 the function DnumToNum is illustrated below.
Example 1
VAR num mynum:=0;
VAR dnum mydnum:=8388607;
VAR dnum testFloat:=8388609;
VAR dnum anotherdnum:=4294967295;
! Works OK
mynum:=DnumToNum(mydnum);
! Accept floating point value
mynum:=DnumToNum(testFloat);
! Cause error recovery error
mynum:=DnumToNum(anotherdnum \Integer);
The dnum value 8388607 is returned by the function as the num value 8388607.
The dnum value 8388609 is returned by the function as the num value 8.38861E+06 .
The dnum value 4294967295 generates the recoverable error ERR_ARGVALERR .
Return value
Data type: num
The input dnum value can be in the range -8388607 to 8388608 and return the same value as
a num . If the \Integer switch is not used, the input dnum value can be in the range -
3.40282347E+38 to 3.40282347E+38 and the return value might become a floating point
value.
Arguments
DnumToNum (Value [\Integer])
Value
Data type: dnum
The numeric value to be converted.
[\Integer]
Data type: switch
Only integer values
If switch \Integer is not used, an down cast is made even if the value becomes a floating
point value. If it is not used, a check is made whether the value is an integer between -8388607
to 8388608. If it is not, a recoverable error is generated.
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2.37. DnumToNum - Converts dnum to num
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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
[ Value ’:=’ ] < expression ( IN ) of dnum >
[\ Integer]’ ;’
A function with a return value of the data type num .
Related information
Error code
Description
ERR_ARGVALERR
Value is above 8388608 or below -8388607 or not an integer (if
optional argument Integer is used)
ERR_NUM_LIMIT
Value is above 3.40282347E+38 or below -3.40282347E+38
ERR_INT_NOTVAL
Value is not an integer
For information about
See
Dnum data type
dnum - Double numeric values on page 1104 .
Num data type
num - Numeric values on page 1146 .
Continued
2 Functions
2.38. DotProd - Dot product of two pos vectors
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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 calculate the projection of one vector upon the other or to calculate the angle
between the two vectors.
Basic examples
Basic examples of the function DotProd are illustrated below.
Example 1
xx0500002449
The dot or scalar product of two vectors A and B is a scalar, which equals the products of the
magnitudes of A and B and the cosine of the angle between them.
.
The dot product:
•
is less than or equal to the product of their magnitudes.
•
can be either a positive or a negative quantity, depending on whether the angle
between them is smaller or larger then 90 degrees.
•
is equal to the product of the magnitude of one vector and the projection of the other
vector upon the first one.
•
is zero when the vectors are perpendicular to each other.
The vectors are described by the data type pos and the dot product by the data type num :
VAR num dotprod;
VAR pos vector1;
VAR pos vector2;
...
...
vector1 := [1,1,1];
vector2 := [1,2,3];
dotprod := DotProd(vector1, vector2);
Return value
Data type: num
The value of the dot product of the two vectors.
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2.37. DnumToNum - Converts dnum to num
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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
[ Value ’:=’ ] < expression ( IN ) of dnum >
[\ Integer]’ ;’
A function with a return value of the data type num .
Related information
Error code
Description
ERR_ARGVALERR
Value is above 8388608 or below -8388607 or not an integer (if
optional argument Integer is used)
ERR_NUM_LIMIT
Value is above 3.40282347E+38 or below -3.40282347E+38
ERR_INT_NOTVAL
Value is not an integer
For information about
See
Dnum data type
dnum - Double numeric values on page 1104 .
Num data type
num - Numeric values on page 1146 .
Continued
2 Functions
2.38. DotProd - Dot product of two pos vectors
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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 calculate the projection of one vector upon the other or to calculate the angle
between the two vectors.
Basic examples
Basic examples of the function DotProd are illustrated below.
Example 1
xx0500002449
The dot or scalar product of two vectors A and B is a scalar, which equals the products of the
magnitudes of A and B and the cosine of the angle between them.
.
The dot product:
•
is less than or equal to the product of their magnitudes.
•
can be either a positive or a negative quantity, depending on whether the angle
between them is smaller or larger then 90 degrees.
•
is equal to the product of the magnitude of one vector and the projection of the other
vector upon the first one.
•
is zero when the vectors are perpendicular to each other.
The vectors are described by the data type pos and the dot product by the data type num :
VAR num dotprod;
VAR pos vector1;
VAR pos vector2;
...
...
vector1 := [1,1,1];
vector2 := [1,2,3];
dotprod := DotProd(vector1, vector2);
Return value
Data type: num
The value of the dot product of the two vectors.
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2.38. DotProd - Dot product of two pos vectors
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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 the pos data type.
Syntax
DotProd’(’
[Vector1 ’:=’] <expression ( IN ) of pos>’,’
[Vector2 ’:=’] <expression ( IN ) of pos>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
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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 calculate the projection of one vector upon the other or to calculate the angle
between the two vectors.
Basic examples
Basic examples of the function DotProd are illustrated below.
Example 1
xx0500002449
The dot or scalar product of two vectors A and B is a scalar, which equals the products of the
magnitudes of A and B and the cosine of the angle between them.
.
The dot product:
•
is less than or equal to the product of their magnitudes.
•
can be either a positive or a negative quantity, depending on whether the angle
between them is smaller or larger then 90 degrees.
•
is equal to the product of the magnitude of one vector and the projection of the other
vector upon the first one.
•
is zero when the vectors are perpendicular to each other.
The vectors are described by the data type pos and the dot product by the data type num :
VAR num dotprod;
VAR pos vector1;
VAR pos vector2;
...
...
vector1 := [1,1,1];
vector2 := [1,2,3];
dotprod := DotProd(vector1, vector2);
Return value
Data type: num
The value of the dot product of the two vectors.
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2.38. DotProd - Dot product of two pos vectors
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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 the pos data type.
Syntax
DotProd’(’
[Vector1 ’:=’] <expression ( IN ) of pos>’,’
[Vector2 ’:=’] <expression ( IN ) of pos>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2 Functions
2.39. DOutput - Reads the value of a digital output signal
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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 examples of the function DOutput are illustrated below.
See also More examples on page 833 .
Example 1
IF DOutput(do2) = 1 THEN...
If the current value of the signal do2 is equal to 1, then ...
Return value
Data type: dionum
The current value of the signal (0 or 1).
Arguments
DOutput (Signal)
Signal
Data type: signaldo
The name of the signal to be read.
Program execution
The value read depends on the configuration of the signal. If the signal is inverted in the
system parameters then the value returned by this function is the opposite of the true value of
the physical channel.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
More examples
More examples of the function DOutput are illustrated below.
Example 1
IF DOutput(auto_on) <> active THEN . . .
If the current value of the system signal auto_on is not active then ... , i.e. if the robot
is in the manual operating mode, then ...
NOTE!
The signal must first be defined as a system output in the system parameters.
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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 the pos data type.
Syntax
DotProd’(’
[Vector1 ’:=’] <expression ( IN ) of pos>’,’
[Vector2 ’:=’] <expression ( IN ) of pos>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2 Functions
2.39. DOutput - Reads the value of a digital output signal
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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 examples of the function DOutput are illustrated below.
See also More examples on page 833 .
Example 1
IF DOutput(do2) = 1 THEN...
If the current value of the signal do2 is equal to 1, then ...
Return value
Data type: dionum
The current value of the signal (0 or 1).
Arguments
DOutput (Signal)
Signal
Data type: signaldo
The name of the signal to be read.
Program execution
The value read depends on the configuration of the signal. If the signal is inverted in the
system parameters then the value returned by this function is the opposite of the true value of
the physical channel.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
More examples
More examples of the function DOutput are illustrated below.
Example 1
IF DOutput(auto_on) <> active THEN . . .
If the current value of the system signal auto_on is not active then ... , i.e. if the robot
is in the manual operating mode, then ...
NOTE!
The signal must first be defined as a system output in the system parameters.
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2 Functions
2.39. DOutput - Reads the value of a digital output signal
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Syntax
DOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’)’
A function with a return value of the data type dionum .
Related information
For information about
See
Set a digital output signal
SetDO - Changes the value of a digital output signal
on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
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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 examples of the function DOutput are illustrated below.
See also More examples on page 833 .
Example 1
IF DOutput(do2) = 1 THEN...
If the current value of the signal do2 is equal to 1, then ...
Return value
Data type: dionum
The current value of the signal (0 or 1).
Arguments
DOutput (Signal)
Signal
Data type: signaldo
The name of the signal to be read.
Program execution
The value read depends on the configuration of the signal. If the signal is inverted in the
system parameters then the value returned by this function is the opposite of the true value of
the physical channel.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
More examples
More examples of the function DOutput are illustrated below.
Example 1
IF DOutput(auto_on) <> active THEN . . .
If the current value of the system signal auto_on is not active then ... , i.e. if the robot
is in the manual operating mode, then ...
NOTE!
The signal must first be defined as a system output in the system parameters.
Continues on next page
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2.39. DOutput - Reads the value of a digital output signal
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Syntax
DOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’)’
A function with a return value of the data type dionum .
Related information
For information about
See
Set a digital output signal
SetDO - Changes the value of a digital output signal
on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
2 Functions
2.40. EulerZYX - Gets euler angles from orient
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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 examples
Basic examples of the function EulerZYX are illustrated below.
Example 1
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
...
...
anglex := EulerZYX(\X, object.rot);
angley := EulerZYX(\Y, object.rot);
anglez := EulerZYX(\Z, object.rot);
Return value
Data type: num
The corresponding Euler angle, expressed in degrees, range from [-180, 180].
Arguments
EulerZYX ([\X] | [\Y] | [\Z] Rotation)
[\X]
Data type: switch
Gets the rotation around the X axis.
[\Y]
Data type: switch
Gets the rotation around the Y axis.
[\Z]
Data type: switch
Gets the rotation around the Z axis.
Note!
The arguments \X , \Y , and \Z are mutually exclusive. If none of these are specified then a
run-time error is generated.
Rotation
Data type: orient
The rotation in its quaternion representation.
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Syntax
DOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signaldo > ’)’
A function with a return value of the data type dionum .
Related information
For information about
See
Set a digital output signal
SetDO - Changes the value of a digital output signal
on page 440
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
2 Functions
2.40. EulerZYX - Gets euler angles from orient
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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 examples
Basic examples of the function EulerZYX are illustrated below.
Example 1
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
...
...
anglex := EulerZYX(\X, object.rot);
angley := EulerZYX(\Y, object.rot);
anglez := EulerZYX(\Z, object.rot);
Return value
Data type: num
The corresponding Euler angle, expressed in degrees, range from [-180, 180].
Arguments
EulerZYX ([\X] | [\Y] | [\Z] Rotation)
[\X]
Data type: switch
Gets the rotation around the X axis.
[\Y]
Data type: switch
Gets the rotation around the Y axis.
[\Z]
Data type: switch
Gets the rotation around the Z axis.
Note!
The arguments \X , \Y , and \Z are mutually exclusive. If none of these are specified then a
run-time error is generated.
Rotation
Data type: orient
The rotation in its quaternion representation.
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Syntax
EulerZYX’(’
['\'X ’,’] | ['\'Y’ ,’] | ['\'Z’,’]
[Rotation’:=’] <expression ( IN ) of orient>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
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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 examples
Basic examples of the function EulerZYX are illustrated below.
Example 1
VAR num anglex;
VAR num angley;
VAR num anglez;
VAR pose object;
...
...
anglex := EulerZYX(\X, object.rot);
angley := EulerZYX(\Y, object.rot);
anglez := EulerZYX(\Z, object.rot);
Return value
Data type: num
The corresponding Euler angle, expressed in degrees, range from [-180, 180].
Arguments
EulerZYX ([\X] | [\Y] | [\Z] Rotation)
[\X]
Data type: switch
Gets the rotation around the X axis.
[\Y]
Data type: switch
Gets the rotation around the Y axis.
[\Z]
Data type: switch
Gets the rotation around the Z axis.
Note!
The arguments \X , \Y , and \Z are mutually exclusive. If none of these are specified then a
run-time error is generated.
Rotation
Data type: orient
The rotation in its quaternion representation.
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2.40. EulerZYX - Gets euler angles from orient
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Syntax
EulerZYX’(’
['\'X ’,’] | ['\'Y’ ,’] | ['\'Z’,’]
[Rotation’:=’] <expression ( IN ) of orient>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2 Functions
2.41. EventType - Get current event type inside any event routine
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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 executed event type.
If EventType is called from any program task routine then EventType always returns 0
meaning EVENT_NONE.
Basic examples
Basic examples of the function EventType are illustrated below.
Example 1
TEST EventType()
CASE EVENT_NONE:
! Not executing any event
CASE EVENT_POWERON:
! Executing POWER ON event
CASE EVENT_START:
! Executing START event
CASE EVENT_STOP:
! Executing STOP event
CASE EVENT_QSTOP:
! Executing QSTOP event
CASE EVENT_RESTART:
! Executing RESTART event
CASE EVENT_RESET:
! Executing RESET event
CASE EVENT_STEP:
! Executing STEP event
ENDTEST
Use of function EventType inside any event routine to find out which system event, if any,
is executing now.
Return value
Data type: event_type
The current executed event type 1 ... 7, or 0 if no event routine is executed.
Predefined data
The following predefined symbolic constants of type event_type can be used to check the
return value:
CONST event_type EVENT_NONE := 0;
CONST event_type EVENT_POWERON := 1;
CONST event_type EVENT_START := 2;
CONST event_type EVENT_STOP := 3;
CONST event_type EVENT_QSTOP:= 4;
CONST event_type EVENT_RESTART := 5;
CONST event_type EVENT_RESET := 6;
CONST event_type EVENT_STEP := 7;
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Syntax
EulerZYX’(’
['\'X ’,’] | ['\'Y’ ,’] | ['\'Z’,’]
[Rotation’:=’] <expression ( IN ) of orient>
’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2 Functions
2.41. EventType - Get current event type inside any event routine
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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 executed event type.
If EventType is called from any program task routine then EventType always returns 0
meaning EVENT_NONE.
Basic examples
Basic examples of the function EventType are illustrated below.
Example 1
TEST EventType()
CASE EVENT_NONE:
! Not executing any event
CASE EVENT_POWERON:
! Executing POWER ON event
CASE EVENT_START:
! Executing START event
CASE EVENT_STOP:
! Executing STOP event
CASE EVENT_QSTOP:
! Executing QSTOP event
CASE EVENT_RESTART:
! Executing RESTART event
CASE EVENT_RESET:
! Executing RESET event
CASE EVENT_STEP:
! Executing STEP event
ENDTEST
Use of function EventType inside any event routine to find out which system event, if any,
is executing now.
Return value
Data type: event_type
The current executed event type 1 ... 7, or 0 if no event routine is executed.
Predefined data
The following predefined symbolic constants of type event_type can be used to check the
return value:
CONST event_type EVENT_NONE := 0;
CONST event_type EVENT_POWERON := 1;
CONST event_type EVENT_START := 2;
CONST event_type EVENT_STOP := 3;
CONST event_type EVENT_QSTOP:= 4;
CONST event_type EVENT_RESTART := 5;
CONST event_type EVENT_RESET := 6;
CONST event_type EVENT_STEP := 7;
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2.41. EventType - Get current event type inside any event routine
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Syntax
EventType’(’ ’)’
A function with a return value of the data type event_type .
Related information
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Data type event_type, predefined constants event_type - Event routine type on page 1116
Continued
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2.41. EventType - Get current event type inside any event routine
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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 executed event type.
If EventType is called from any program task routine then EventType always returns 0
meaning EVENT_NONE.
Basic examples
Basic examples of the function EventType are illustrated below.
Example 1
TEST EventType()
CASE EVENT_NONE:
! Not executing any event
CASE EVENT_POWERON:
! Executing POWER ON event
CASE EVENT_START:
! Executing START event
CASE EVENT_STOP:
! Executing STOP event
CASE EVENT_QSTOP:
! Executing QSTOP event
CASE EVENT_RESTART:
! Executing RESTART event
CASE EVENT_RESET:
! Executing RESET event
CASE EVENT_STEP:
! Executing STEP event
ENDTEST
Use of function EventType inside any event routine to find out which system event, if any,
is executing now.
Return value
Data type: event_type
The current executed event type 1 ... 7, or 0 if no event routine is executed.
Predefined data
The following predefined symbolic constants of type event_type can be used to check the
return value:
CONST event_type EVENT_NONE := 0;
CONST event_type EVENT_POWERON := 1;
CONST event_type EVENT_START := 2;
CONST event_type EVENT_STOP := 3;
CONST event_type EVENT_QSTOP:= 4;
CONST event_type EVENT_RESTART := 5;
CONST event_type EVENT_RESET := 6;
CONST event_type EVENT_STEP := 7;
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2.41. EventType - Get current event type inside any event routine
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Syntax
EventType’(’ ’)’
A function with a return value of the data type event_type .
Related information
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Data type event_type, predefined constants event_type - Event routine type on page 1116
Continued
2 Functions
2.42. ExecHandler - Get type of execution handler
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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 handler.
Basic examples
Basic example of the function ExecHandler is illustrated below.
Example 1
TEST ExecHandler()
CASE HANDLER_NONE:
! Not executing in any routine handler
CASE HANDLER_BWD:
! Executing in routine BACKWARD handler
CASE HANDLER_ERR:
! Executing in routine ERROR handler
CASE HANDLER_UNDO:
! Executing in routine UNDO handler
ENDTEST
Use of function ExecHandler to find out if the code is executing in some type of routine
handler or not.
HANDLER_ERR will be returned even if the call is executed in a submethod to the error
handler.
Return value
Data type: handler_type
The current executed handler type 1 ... 3, or 0 if not executing in any routine handler.
Predefined data
The following predefined symbolic constants of type handler_type can be used to check
the return value:
CONST handler_type HANDLER_NONE := 0;
CONST handler_type HANDLER_BWD := 1;
CONST handler_type HANDLER_ERR := 2;
CONST handler_type HANDLER_UNDO := 3;
Syntax
ExecHandler’(’ ’)’
A function with a return value of the data type handler_type .
Related information
For information about
See
Type of execution handler
handler_type - Type of execution handler on
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2.41. EventType - Get current event type inside any event routine
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Syntax
EventType’(’ ’)’
A function with a return value of the data type event_type .
Related information
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Data type event_type, predefined constants event_type - Event routine type on page 1116
Continued
2 Functions
2.42. ExecHandler - Get type of execution handler
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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 handler.
Basic examples
Basic example of the function ExecHandler is illustrated below.
Example 1
TEST ExecHandler()
CASE HANDLER_NONE:
! Not executing in any routine handler
CASE HANDLER_BWD:
! Executing in routine BACKWARD handler
CASE HANDLER_ERR:
! Executing in routine ERROR handler
CASE HANDLER_UNDO:
! Executing in routine UNDO handler
ENDTEST
Use of function ExecHandler to find out if the code is executing in some type of routine
handler or not.
HANDLER_ERR will be returned even if the call is executed in a submethod to the error
handler.
Return value
Data type: handler_type
The current executed handler type 1 ... 3, or 0 if not executing in any routine handler.
Predefined data
The following predefined symbolic constants of type handler_type can be used to check
the return value:
CONST handler_type HANDLER_NONE := 0;
CONST handler_type HANDLER_BWD := 1;
CONST handler_type HANDLER_ERR := 2;
CONST handler_type HANDLER_UNDO := 3;
Syntax
ExecHandler’(’ ’)’
A function with a return value of the data type handler_type .
Related information
For information about
See
Type of execution handler
handler_type - Type of execution handler on
page 1120
2 Functions
2.43. ExecLevel - Get execution level
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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 example of the function ExecLevel is illustrated below.
Example 1
TEST ExecLevel()
CASE LEVEL_NORMAL:
! Execute on base level
CASE LEVEL_TRAP:
! Execute in TRAP routine
CASE LEVEL_SERVICE:
! Execute in service, event or system input interrupt routine
ENDTEST
Use of function ExecLevel to find out the current execution level.
Return value
Data type: exec_level
The current execution level 0... 2.
Predefined data
The following predefined symbolic constants of type event_level can be used to check the
return value:
CONST exec_level LEVEL_NORMAL := 0;
CONST exec_level LEVEL_TRAP
:= 1;
CONST exec_level LEVEL_SERVICE := 2;
Syntax
ExecLevel’(’ ’)’
A function with a return value of the data type exec_level .
Related information
For information about
See
Data type for execution level
exec_level - Execution level on page 1117
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2.42. ExecHandler - Get type of execution handler
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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 handler.
Basic examples
Basic example of the function ExecHandler is illustrated below.
Example 1
TEST ExecHandler()
CASE HANDLER_NONE:
! Not executing in any routine handler
CASE HANDLER_BWD:
! Executing in routine BACKWARD handler
CASE HANDLER_ERR:
! Executing in routine ERROR handler
CASE HANDLER_UNDO:
! Executing in routine UNDO handler
ENDTEST
Use of function ExecHandler to find out if the code is executing in some type of routine
handler or not.
HANDLER_ERR will be returned even if the call is executed in a submethod to the error
handler.
Return value
Data type: handler_type
The current executed handler type 1 ... 3, or 0 if not executing in any routine handler.
Predefined data
The following predefined symbolic constants of type handler_type can be used to check
the return value:
CONST handler_type HANDLER_NONE := 0;
CONST handler_type HANDLER_BWD := 1;
CONST handler_type HANDLER_ERR := 2;
CONST handler_type HANDLER_UNDO := 3;
Syntax
ExecHandler’(’ ’)’
A function with a return value of the data type handler_type .
Related information
For information about
See
Type of execution handler
handler_type - Type of execution handler on
page 1120
2 Functions
2.43. ExecLevel - Get execution level
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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 example of the function ExecLevel is illustrated below.
Example 1
TEST ExecLevel()
CASE LEVEL_NORMAL:
! Execute on base level
CASE LEVEL_TRAP:
! Execute in TRAP routine
CASE LEVEL_SERVICE:
! Execute in service, event or system input interrupt routine
ENDTEST
Use of function ExecLevel to find out the current execution level.
Return value
Data type: exec_level
The current execution level 0... 2.
Predefined data
The following predefined symbolic constants of type event_level can be used to check the
return value:
CONST exec_level LEVEL_NORMAL := 0;
CONST exec_level LEVEL_TRAP
:= 1;
CONST exec_level LEVEL_SERVICE := 2;
Syntax
ExecLevel’(’ ’)’
A function with a return value of the data type exec_level .
Related information
For information about
See
Data type for execution level
exec_level - Execution level on page 1117
2 Functions
2.44. Exp - Calculates the exponential value
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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 Exp are illustrated below.
Example 1
VAR num x;
VAR num value;
...
value:= Exp( x);
value will get the exponential value of x .
Return value
Data type: num
The exponential value e x .
Arguments
Exp (Exponent)
Exponent
Data type: num
The exponent argument value.
Syntax
Exp’(’
[Exponent ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics
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2.43. ExecLevel - Get execution level
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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 example of the function ExecLevel is illustrated below.
Example 1
TEST ExecLevel()
CASE LEVEL_NORMAL:
! Execute on base level
CASE LEVEL_TRAP:
! Execute in TRAP routine
CASE LEVEL_SERVICE:
! Execute in service, event or system input interrupt routine
ENDTEST
Use of function ExecLevel to find out the current execution level.
Return value
Data type: exec_level
The current execution level 0... 2.
Predefined data
The following predefined symbolic constants of type event_level can be used to check the
return value:
CONST exec_level LEVEL_NORMAL := 0;
CONST exec_level LEVEL_TRAP
:= 1;
CONST exec_level LEVEL_SERVICE := 2;
Syntax
ExecLevel’(’ ’)’
A function with a return value of the data type exec_level .
Related information
For information about
See
Data type for execution level
exec_level - Execution level on page 1117
2 Functions
2.44. Exp - Calculates the exponential value
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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 Exp are illustrated below.
Example 1
VAR num x;
VAR num value;
...
value:= Exp( x);
value will get the exponential value of x .
Return value
Data type: num
The exponential value e x .
Arguments
Exp (Exponent)
Exponent
Data type: num
The exponent argument value.
Syntax
Exp’(’
[Exponent ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics
2 Functions
2.45. FileSize - Retrieve the size of a file
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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 are illustrated below.
See also More examples on page 842 .
Example 1
PROC listfile(string filename)
VAR num size;
size := FileSize(filename);
TPWrite filename+" size: "+NumToStr(size,0)+" Bytes";
ENDPROC
This procedure prints out the name of specified file together with a size specification.
Return value
Data type: num
The size in bytes.
Arguments
FileSize (Path)
Path
Data type: string
The file name specified with full or relative path.
Program execution
This function returns a numeric that specifies the size in bytes of the specified file.
It is also possible to get the same information about a directory.
More examples
Basic examples of the function are illustrated below.
Example 1
This example lists all files bigger than 1 KByte under the " HOME :" directory structure,
including all subdirectories.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
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2.44. Exp - Calculates the exponential value
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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 Exp are illustrated below.
Example 1
VAR num x;
VAR num value;
...
value:= Exp( x);
value will get the exponential value of x .
Return value
Data type: num
The exponential value e x .
Arguments
Exp (Exponent)
Exponent
Data type: num
The exponent argument value.
Syntax
Exp’(’
[Exponent ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the data type num .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID overview ,
section RAPID Summary - Mathematics
2 Functions
2.45. FileSize - Retrieve the size of a file
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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 are illustrated below.
See also More examples on page 842 .
Example 1
PROC listfile(string filename)
VAR num size;
size := FileSize(filename);
TPWrite filename+" size: "+NumToStr(size,0)+" Bytes";
ENDPROC
This procedure prints out the name of specified file together with a size specification.
Return value
Data type: num
The size in bytes.
Arguments
FileSize (Path)
Path
Data type: string
The file name specified with full or relative path.
Program execution
This function returns a numeric that specifies the size in bytes of the specified file.
It is also possible to get the same information about a directory.
More examples
Basic examples of the function are illustrated below.
Example 1
This example lists all files bigger than 1 KByte under the " HOME :" directory structure,
including all subdirectories.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
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ENDIF
ENDWHILE
CloseDir directory;
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
IF FileSize(filename) > 1024 THEN
TPWrite filename;
ENDIF
ENDPROC
PROC main()
! Execute the listfile routine for all files found under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under " HOME :" and for each file found it calls
the listfile procedure. The searchdir is a generic part that knows nothing about the start
of the search or which routine should be called for each file. It uses IsFile to check whether
it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine listfile
checks whether the file is bigger than 1 KBytes.
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC . This error can
then be handled in the error handler.
Syntax
FileSize ’(’
[ Path ’:=’ ] < expression ( IN ) of string> ’)’
A function with a return value of the data type num .
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2.45. FileSize - Retrieve the size of a file
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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 are illustrated below.
See also More examples on page 842 .
Example 1
PROC listfile(string filename)
VAR num size;
size := FileSize(filename);
TPWrite filename+" size: "+NumToStr(size,0)+" Bytes";
ENDPROC
This procedure prints out the name of specified file together with a size specification.
Return value
Data type: num
The size in bytes.
Arguments
FileSize (Path)
Path
Data type: string
The file name specified with full or relative path.
Program execution
This function returns a numeric that specifies the size in bytes of the specified file.
It is also possible to get the same information about a directory.
More examples
Basic examples of the function are illustrated below.
Example 1
This example lists all files bigger than 1 KByte under the " HOME :" directory structure,
including all subdirectories.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
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ENDIF
ENDWHILE
CloseDir directory;
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
IF FileSize(filename) > 1024 THEN
TPWrite filename;
ENDIF
ENDPROC
PROC main()
! Execute the listfile routine for all files found under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under " HOME :" and for each file found it calls
the listfile procedure. The searchdir is a generic part that knows nothing about the start
of the search or which routine should be called for each file. It uses IsFile to check whether
it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine listfile
checks whether the file is bigger than 1 KBytes.
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC . This error can
then be handled in the error handler.
Syntax
FileSize ’(’
[ Path ’:=’ ] < expression ( IN ) of string> ’)’
A function with a return value of the data type num .
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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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file system size
FSSize - Retrieve the size of a file system on page 848
Continued
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ENDIF
ENDWHILE
CloseDir directory;
ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
IF FileSize(filename) > 1024 THEN
TPWrite filename;
ENDIF
ENDPROC
PROC main()
! Execute the listfile routine for all files found under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under " HOME :" and for each file found it calls
the listfile procedure. The searchdir is a generic part that knows nothing about the start
of the search or which routine should be called for each file. It uses IsFile to check whether
it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine listfile
checks whether the file is bigger than 1 KBytes.
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC . This error can
then be handled in the error handler.
Syntax
FileSize ’(’
[ Path ’:=’ ] < expression ( IN ) of string> ’)’
A function with a return value of the data type num .
Continued
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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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file system size
FSSize - Retrieve the size of a file system on page 848
Continued
2 Functions
2.46. FileTime - Retrieve time information about a file
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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
file. The time is measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned
as a num and optionally also in a stringdig .
Basic example
Basic examples of the function FileTime are illustrated below.
See also More examples on page 846 .
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:mymod.mod";
Load \Dynamic, "HOME:mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modification time for the specified module, and to compare it to the
FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and
loads the module again.
Limitation in this example: The data type num cannot handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime]
[\StrDig])
Path
Data type: string
The file specified with a full or relative path.
[\ModifyTime]
Data type: switch
Last modification time.
[\AccessTime]
Data type: switch
Time of last access (read, execute of modify).
[\StatCTime]
Data type: switch
Last file status (access qualification) change time.
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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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file system size
FSSize - Retrieve the size of a file system on page 848
Continued
2 Functions
2.46. FileTime - Retrieve time information about a file
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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
file. The time is measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned
as a num and optionally also in a stringdig .
Basic example
Basic examples of the function FileTime are illustrated below.
See also More examples on page 846 .
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:mymod.mod";
Load \Dynamic, "HOME:mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modification time for the specified module, and to compare it to the
FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and
loads the module again.
Limitation in this example: The data type num cannot handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime]
[\StrDig])
Path
Data type: string
The file specified with a full or relative path.
[\ModifyTime]
Data type: switch
Last modification time.
[\AccessTime]
Data type: switch
Time of last access (read, execute of modify).
[\StatCTime]
Data type: switch
Last file status (access qualification) change time.
Continues on next page
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2.46. FileTime - Retrieve time information about a file
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[\StrDig]
String Digit
Data type: stringdig
To get the file time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric that specifies the time since the last:
•
Modification
•
Access
•
File status change
of the specified file.
It is also possible to get the same information about a directory.
More examples
More examples of the function FileTime are illustrated below.
This is a complete example that implements an alert service for maximum 10 files.
LOCAL RECORD falert
string filename;
num ftime;
ENDRECORD
LOCAL VAR falert myfiles[10];
LOCAL VAR num currentpos:=0;
LOCAL VAR intnum timeint;
PROC alertInit(num freq)
currentpos:=0;
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
LOCAL TRAP mytrap
VAR num pos:=1;
WHILE pos <= currentpos DO
IF FileTime(myfiles{pos}.filename \ModifyTime) >
myfiles{pos}.ftime THEN
TPWrite "The file "+myfiles{pos}.filename+" is changed";
ENDIF
pos := pos+1;
ENDWHILE
ENDTRAP
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2.46. FileTime - Retrieve time information about a file
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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
file. The time is measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned
as a num and optionally also in a stringdig .
Basic example
Basic examples of the function FileTime are illustrated below.
See also More examples on page 846 .
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:mymod.mod";
Load \Dynamic, "HOME:mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modification time for the specified module, and to compare it to the
FileTime\ModifyTime at the source. Then, if the source is newer, the program unloads and
loads the module again.
Limitation in this example: The data type num cannot handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
FileTime ( Path [\ModifyTime] | [\AccessTime] | [\StatCTime]
[\StrDig])
Path
Data type: string
The file specified with a full or relative path.
[\ModifyTime]
Data type: switch
Last modification time.
[\AccessTime]
Data type: switch
Time of last access (read, execute of modify).
[\StatCTime]
Data type: switch
Last file status (access qualification) change time.
Continues on next page
2 Functions
2.46. FileTime - Retrieve time information about a file
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[\StrDig]
String Digit
Data type: stringdig
To get the file time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric that specifies the time since the last:
•
Modification
•
Access
•
File status change
of the specified file.
It is also possible to get the same information about a directory.
More examples
More examples of the function FileTime are illustrated below.
This is a complete example that implements an alert service for maximum 10 files.
LOCAL RECORD falert
string filename;
num ftime;
ENDRECORD
LOCAL VAR falert myfiles[10];
LOCAL VAR num currentpos:=0;
LOCAL VAR intnum timeint;
PROC alertInit(num freq)
currentpos:=0;
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
LOCAL TRAP mytrap
VAR num pos:=1;
WHILE pos <= currentpos DO
IF FileTime(myfiles{pos}.filename \ModifyTime) >
myfiles{pos}.ftime THEN
TPWrite "The file "+myfiles{pos}.filename+" is changed";
ENDIF
pos := pos+1;
ENDWHILE
ENDTRAP
Continued
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2.46. FileTime - Retrieve time information about a file
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PROC alertNew(string filename)
currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);
ENDIF
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can
then be handled in the error handler.
Syntax
FileTime ’(’
[ Path ’:=’ ] < expression ( IN ) of string>
[ '\'ModifyTime] |
[ '\'AccessTime] |
[ '\'StatCTime]
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Last modify time of a loaded module
ModTime - Get file modify time for the loaded
module on page 896
String with only digits
ModTime - Get file modify time for the loaded
module on page 896
stringdig - String with only digits on page 1197
Compare two strings with only digits
ModTime - Get file modify time for the loaded
module on page 896
StrDigCmp - Compare two strings with only
digits on page 991
Continued
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2.46. FileTime - Retrieve time information about a file
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[\StrDig]
String Digit
Data type: stringdig
To get the file time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric that specifies the time since the last:
•
Modification
•
Access
•
File status change
of the specified file.
It is also possible to get the same information about a directory.
More examples
More examples of the function FileTime are illustrated below.
This is a complete example that implements an alert service for maximum 10 files.
LOCAL RECORD falert
string filename;
num ftime;
ENDRECORD
LOCAL VAR falert myfiles[10];
LOCAL VAR num currentpos:=0;
LOCAL VAR intnum timeint;
PROC alertInit(num freq)
currentpos:=0;
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
LOCAL TRAP mytrap
VAR num pos:=1;
WHILE pos <= currentpos DO
IF FileTime(myfiles{pos}.filename \ModifyTime) >
myfiles{pos}.ftime THEN
TPWrite "The file "+myfiles{pos}.filename+" is changed";
ENDIF
pos := pos+1;
ENDWHILE
ENDTRAP
Continued
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2.46. FileTime - Retrieve time information about a file
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PROC alertNew(string filename)
currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);
ENDIF
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can
then be handled in the error handler.
Syntax
FileTime ’(’
[ Path ’:=’ ] < expression ( IN ) of string>
[ '\'ModifyTime] |
[ '\'AccessTime] |
[ '\'StatCTime]
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Last modify time of a loaded module
ModTime - Get file modify time for the loaded
module on page 896
String with only digits
ModTime - Get file modify time for the loaded
module on page 896
stringdig - String with only digits on page 1197
Compare two strings with only digits
ModTime - Get file modify time for the loaded
module on page 896
StrDigCmp - Compare two strings with only
digits on page 991
Continued
2 Functions
2.47. FSSize - Retrieve the size of a file system
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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 resides. The size in bytes, kilo bytes or mega bytes are returned as a num .
Basic example
Basic examples of the function FSSize are illustrated below.
See also More examples on page 849 .
Example 1
PROC main()
VAR num totalfsyssize;
VAR num freefsyssize;
freefsyssize := FSSize("HOME:/spy.log" \Free);
totalfsyssize := FSSize("HOME:/spy.log" \Total);
TPWrite NumToStr(((totalfsyssize - freefsyssize)/
totalfsyssize)*100,0)
+" percent used";
ENDPROC
This procedure prints out the amount of disk space used on the HOME : file system (flash disk
/hd0a/ ) as a percentage.
Return value
Data type: num
The size in bytes.
Arguments
FSSize (Name [\Total] | [\Free] [\Kbyte] [\Mbyte])
Name
Data type: string
The name of a file in the file system, specified with full or relative path.
[ \Total ]
Data type: switch
Retrieves the total amount of space in the file system.
[ \Free ]
Data type: switch
Retrieves the amount of free space in the file system.
[ \Kbyte ]
Data type: switch
Convert the number of bytes read to kilobytes, e.g divide the size with 1024.
Continues on next page
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2.46. FileTime - Retrieve time information about a file
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PROC alertNew(string filename)
currentpos := currentpos+1;
IF currentpos <= 10 THEN
myfiles{currentpos}.filename := filename;
myfiles{currentpos}.ftime := FileTime (filename \ModifyTime);
ENDIF
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
Error handling
If the file does not exist, the system variable ERRNO is set to ERR_FILEACC. This error can
then be handled in the error handler.
Syntax
FileTime ’(’
[ Path ’:=’ ] < expression ( IN ) of string>
[ '\'ModifyTime] |
[ '\'AccessTime] |
[ '\'StatCTime]
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Last modify time of a loaded module
ModTime - Get file modify time for the loaded
module on page 896
String with only digits
ModTime - Get file modify time for the loaded
module on page 896
stringdig - String with only digits on page 1197
Compare two strings with only digits
ModTime - Get file modify time for the loaded
module on page 896
StrDigCmp - Compare two strings with only
digits on page 991
Continued
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 resides. The size in bytes, kilo bytes or mega bytes are returned as a num .
Basic example
Basic examples of the function FSSize are illustrated below.
See also More examples on page 849 .
Example 1
PROC main()
VAR num totalfsyssize;
VAR num freefsyssize;
freefsyssize := FSSize("HOME:/spy.log" \Free);
totalfsyssize := FSSize("HOME:/spy.log" \Total);
TPWrite NumToStr(((totalfsyssize - freefsyssize)/
totalfsyssize)*100,0)
+" percent used";
ENDPROC
This procedure prints out the amount of disk space used on the HOME : file system (flash disk
/hd0a/ ) as a percentage.
Return value
Data type: num
The size in bytes.
Arguments
FSSize (Name [\Total] | [\Free] [\Kbyte] [\Mbyte])
Name
Data type: string
The name of a file in the file system, specified with full or relative path.
[ \Total ]
Data type: switch
Retrieves the total amount of space in the file system.
[ \Free ]
Data type: switch
Retrieves the amount of free space in the file system.
[ \Kbyte ]
Data type: switch
Convert the number of bytes read to kilobytes, e.g divide the size with 1024.
Continues on next page
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2.47. FSSize - Retrieve the size of a file system
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[ \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 numeric that specifies the size of the file system in which the specified
file resides.
More examples
More examples of the function FSSize are illustrated below.
Example 1
LOCAL VAR intnum timeint;
LOCAL TRAP mytrap
IF FSSize("HOME:/spy.log" \Free)/FSSize("HOME:/spy.log" \Total)
<= 0.1 THEN
TPWrite "The disk is almost full";
alertFree;
ENDIF
ENDTRAP
PROC alertInit(num freq)
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
This is a complete example for implementing an alert service that prints a warning on the
FlexPendant when the remaining free space in the " HOME :" file system is less than 10%.
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
FSSize’(’
[ Name ’:=’ ] < expression ( IN ) of string>
[ ´\´Total ] | [ ´\´Free ]
[ ´\´Kbyte ]
[ ´\´Mbyte ]’)’
A function with a return value of the data type num .
ERR_FILEACC
The file system does not exist
ERR_FILESIZE
The size exceeds the max integer value for a num, 8388608
Continued
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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 resides. The size in bytes, kilo bytes or mega bytes are returned as a num .
Basic example
Basic examples of the function FSSize are illustrated below.
See also More examples on page 849 .
Example 1
PROC main()
VAR num totalfsyssize;
VAR num freefsyssize;
freefsyssize := FSSize("HOME:/spy.log" \Free);
totalfsyssize := FSSize("HOME:/spy.log" \Total);
TPWrite NumToStr(((totalfsyssize - freefsyssize)/
totalfsyssize)*100,0)
+" percent used";
ENDPROC
This procedure prints out the amount of disk space used on the HOME : file system (flash disk
/hd0a/ ) as a percentage.
Return value
Data type: num
The size in bytes.
Arguments
FSSize (Name [\Total] | [\Free] [\Kbyte] [\Mbyte])
Name
Data type: string
The name of a file in the file system, specified with full or relative path.
[ \Total ]
Data type: switch
Retrieves the total amount of space in the file system.
[ \Free ]
Data type: switch
Retrieves the amount of free space in the file system.
[ \Kbyte ]
Data type: switch
Convert the number of bytes read to kilobytes, e.g divide the size with 1024.
Continues on next page
2 Functions
2.47. FSSize - Retrieve the size of a file system
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© 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 numeric that specifies the size of the file system in which the specified
file resides.
More examples
More examples of the function FSSize are illustrated below.
Example 1
LOCAL VAR intnum timeint;
LOCAL TRAP mytrap
IF FSSize("HOME:/spy.log" \Free)/FSSize("HOME:/spy.log" \Total)
<= 0.1 THEN
TPWrite "The disk is almost full";
alertFree;
ENDIF
ENDTRAP
PROC alertInit(num freq)
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
This is a complete example for implementing an alert service that prints a warning on the
FlexPendant when the remaining free space in the " HOME :" file system is less than 10%.
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
FSSize’(’
[ Name ’:=’ ] < expression ( IN ) of string>
[ ´\´Total ] | [ ´\´Free ]
[ ´\´Kbyte ]
[ ´\´Mbyte ]’)’
A function with a return value of the data type num .
ERR_FILEACC
The file system does not exist
ERR_FILESIZE
The size exceeds the max integer value for a num, 8388608
Continued
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2.47. FSSize - Retrieve the size of a file system
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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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page 842
Continued
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[ \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 numeric that specifies the size of the file system in which the specified
file resides.
More examples
More examples of the function FSSize are illustrated below.
Example 1
LOCAL VAR intnum timeint;
LOCAL TRAP mytrap
IF FSSize("HOME:/spy.log" \Free)/FSSize("HOME:/spy.log" \Total)
<= 0.1 THEN
TPWrite "The disk is almost full";
alertFree;
ENDIF
ENDTRAP
PROC alertInit(num freq)
CONNECT timeint WITH mytrap;
ITimer freq,timeint;
ENDPROC
PROC alertFree()
IDelete timeint;
ENDPROC
This is a complete example for implementing an alert service that prints a warning on the
FlexPendant when the remaining free space in the " HOME :" file system is less than 10%.
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
FSSize’(’
[ Name ’:=’ ] < expression ( IN ) of string>
[ ´\´Total ] | [ ´\´Free ]
[ ´\´Kbyte ]
[ ´\´Mbyte ]’)’
A function with a return value of the data type num .
ERR_FILEACC
The file system does not exist
ERR_FILESIZE
The size exceeds the max integer value for a num, 8388608
Continued
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2.47. FSSize - Retrieve the size of a file system
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© 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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page 842
Continued
2 Functions
2.48. GetMecUnitName - Get the name of the mechanical unit
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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
mechanical units as the argument. This function returns the mechanical units name as a
string .
Basic examples
Basic examples of the function GetMecUnitName are illustrated below.
Example 1
VAR string mecname;
mecname:= GetMecUnitName(T_ROB1);
mecname will get the value "T_ROB1" as a string . All mechanical units (data type
mecunit ) such as T_ROB1 are predefined in the system.
Return value
Data type: string
The return value will be the mechanical unit name as a string .
Arguments
GetMecUnitName ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
MechUnit takes one of the predefined mechanical units found in the configuration.
Syntax
GetMecUnitName’(’
[ MechUnit ’:=’ ] < variable ( VAR ) of mecunit > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
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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
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page 842
Continued
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
mechanical units as the argument. This function returns the mechanical units name as a
string .
Basic examples
Basic examples of the function GetMecUnitName are illustrated below.
Example 1
VAR string mecname;
mecname:= GetMecUnitName(T_ROB1);
mecname will get the value "T_ROB1" as a string . All mechanical units (data type
mecunit ) such as T_ROB1 are predefined in the system.
Return value
Data type: string
The return value will be the mechanical unit name as a string .
Arguments
GetMecUnitName ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
MechUnit takes one of the predefined mechanical units found in the configuration.
Syntax
GetMecUnitName’(’
[ MechUnit ’:=’ ] < variable ( VAR ) of mecunit > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
2 Functions
2.49. GetNextMechUnit - Get name and data for mechanical units
RobotWare - OS
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© 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
mechanical units in the robot system. Besides the mechanical unit name, several optional
properties of the mechanical unit can be retrieved.
Basic examples
Basic examples of the function GetNextMechUnit are illustrated below.
See also More examples on page 853 .
Example 1
VAR num listno := 0;
VAR string name := "";
TPWrite "List of mechanical units:";
WHILE GetNextMechUnit(listno, name) DO
TPWrite name;
! listno := listno + 1 is done by GetNextMechUnit
ENDWHILE
The name of all mechanical units available in the system, will be displayed on the
FlexPendant.
Return Value
Data type: bool
TRUE if a mechanical unit was found, otherwise FALSE .
Arguments
GetNextMechUnit
( ListNumber UnitName [\MecRef] [\TCPRob]
[\NoOfAxes] [\MecTaskNo] [\MotPlanNo] [\Active]
[\DriveModule] [\OKToDeact])
ListNumber
Data type: num
This specifies which items in the system internal list of mechanical units are to be retrieved.
At return, this variable is always incremented by one by the system to make it easy to access
the next unit in the list. The first mechanical unit in the list has index 0.
UnitName
Data type: string
The name of the mechanical unit.
[\MecRef]
Data type: mecunit
The system reference to the mechanical unit.
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2.48. GetMecUnitName - Get the name of the mechanical unit
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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
mechanical units as the argument. This function returns the mechanical units name as a
string .
Basic examples
Basic examples of the function GetMecUnitName are illustrated below.
Example 1
VAR string mecname;
mecname:= GetMecUnitName(T_ROB1);
mecname will get the value "T_ROB1" as a string . All mechanical units (data type
mecunit ) such as T_ROB1 are predefined in the system.
Return value
Data type: string
The return value will be the mechanical unit name as a string .
Arguments
GetMecUnitName ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
MechUnit takes one of the predefined mechanical units found in the configuration.
Syntax
GetMecUnitName’(’
[ MechUnit ’:=’ ] < variable ( VAR ) of mecunit > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
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
mechanical units in the robot system. Besides the mechanical unit name, several optional
properties of the mechanical unit can be retrieved.
Basic examples
Basic examples of the function GetNextMechUnit are illustrated below.
See also More examples on page 853 .
Example 1
VAR num listno := 0;
VAR string name := "";
TPWrite "List of mechanical units:";
WHILE GetNextMechUnit(listno, name) DO
TPWrite name;
! listno := listno + 1 is done by GetNextMechUnit
ENDWHILE
The name of all mechanical units available in the system, will be displayed on the
FlexPendant.
Return Value
Data type: bool
TRUE if a mechanical unit was found, otherwise FALSE .
Arguments
GetNextMechUnit
( ListNumber UnitName [\MecRef] [\TCPRob]
[\NoOfAxes] [\MecTaskNo] [\MotPlanNo] [\Active]
[\DriveModule] [\OKToDeact])
ListNumber
Data type: num
This specifies which items in the system internal list of mechanical units are to be retrieved.
At return, this variable is always incremented by one by the system to make it easy to access
the next unit in the list. The first mechanical unit in the list has index 0.
UnitName
Data type: string
The name of the mechanical unit.
[\MecRef]
Data type: mecunit
The system reference to the mechanical unit.
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[\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 unit. Integer value.
[\MecTaskNo]
Data type: num
The program task number that controls the mechanical unit. Integer value in range 1-20. If
not controlling by any program task, -1 is returned.
This actual connection is defined in the system parameters domain controller (can in some
application be redefined at runtime).
[\MotPlanNo]
Data type: num
The motion planner number that controls the mechanical unit. Integer value in range 1-6. If
not controlling by any motion planner, -1 is returned.
This connection is defined in the system parameters domain controller.
[\Active]
Data type: bool
TRUE if the mechanical unit is active, otherwise FALSE.
[\DriveModule]
Data type: num
The Drive Module number 1 - 4 used by this mechanical unit.
[\OKToDeact]
Data type: bool
Return TRUE, if allowed to deactivate the mechanical unit from RAPID program.
More examples
More examples of the instruction GetNextMechUnit are illustrated below.
Example 1
VAR num listno := 4;
VAR string name := "";
VAR bool found := FALSE;
found := GetNextMechUnit (listno, name);
If found is set to TRUE , the name of mechanical unit number 4 will be in the variable name ,
else name contains only an empty string.
Continued
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2.49. GetNextMechUnit - Get name and data for mechanical units
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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
mechanical units in the robot system. Besides the mechanical unit name, several optional
properties of the mechanical unit can be retrieved.
Basic examples
Basic examples of the function GetNextMechUnit are illustrated below.
See also More examples on page 853 .
Example 1
VAR num listno := 0;
VAR string name := "";
TPWrite "List of mechanical units:";
WHILE GetNextMechUnit(listno, name) DO
TPWrite name;
! listno := listno + 1 is done by GetNextMechUnit
ENDWHILE
The name of all mechanical units available in the system, will be displayed on the
FlexPendant.
Return Value
Data type: bool
TRUE if a mechanical unit was found, otherwise FALSE .
Arguments
GetNextMechUnit
( ListNumber UnitName [\MecRef] [\TCPRob]
[\NoOfAxes] [\MecTaskNo] [\MotPlanNo] [\Active]
[\DriveModule] [\OKToDeact])
ListNumber
Data type: num
This specifies which items in the system internal list of mechanical units are to be retrieved.
At return, this variable is always incremented by one by the system to make it easy to access
the next unit in the list. The first mechanical unit in the list has index 0.
UnitName
Data type: string
The name of the mechanical unit.
[\MecRef]
Data type: mecunit
The system reference to the mechanical unit.
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[\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 unit. Integer value.
[\MecTaskNo]
Data type: num
The program task number that controls the mechanical unit. Integer value in range 1-20. If
not controlling by any program task, -1 is returned.
This actual connection is defined in the system parameters domain controller (can in some
application be redefined at runtime).
[\MotPlanNo]
Data type: num
The motion planner number that controls the mechanical unit. Integer value in range 1-6. If
not controlling by any motion planner, -1 is returned.
This connection is defined in the system parameters domain controller.
[\Active]
Data type: bool
TRUE if the mechanical unit is active, otherwise FALSE.
[\DriveModule]
Data type: num
The Drive Module number 1 - 4 used by this mechanical unit.
[\OKToDeact]
Data type: bool
Return TRUE, if allowed to deactivate the mechanical unit from RAPID program.
More examples
More examples of the instruction GetNextMechUnit are illustrated below.
Example 1
VAR num listno := 4;
VAR string name := "";
VAR bool found := FALSE;
found := GetNextMechUnit (listno, name);
If found is set to TRUE , the name of mechanical unit number 4 will be in the variable name ,
else name contains only an empty string.
Continued
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2 Functions
2.49. GetNextMechUnit - Get name and data for mechanical units
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
GetNextMechUnit ’(’
[ ListNumber ’:=’ ] < variable ( VAR ) of num>’ ,’
[ UnitName’ :=’ ] < variable ( VAR ) of string> ’,’
[ ’\’ MecRef’ :=’ < variable ( VAR ) of mecunit> ]
[ ’\’ TCPRob’ :=’ < variable ( VAR ) of bool> ]
[ ’\’ NoOfAxes’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MecTaskNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MotPlanNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ Active’ :=’ < variable ( VAR ) of bool>]
[ ’\’ DriveModule’ :=’ < variable ( VAR ) of num>]
[ ’\’ OKToDeact’ :=’ < variable ( VAR ) of bool>] ’;’
A function with a return value of the data type bool .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
Activating/Deactivating mechanical units
ActUnit - Activates a mechanical unit on page
17
DeactUnit - Deactivates a mechanical unit on
page 79
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
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[\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 unit. Integer value.
[\MecTaskNo]
Data type: num
The program task number that controls the mechanical unit. Integer value in range 1-20. If
not controlling by any program task, -1 is returned.
This actual connection is defined in the system parameters domain controller (can in some
application be redefined at runtime).
[\MotPlanNo]
Data type: num
The motion planner number that controls the mechanical unit. Integer value in range 1-6. If
not controlling by any motion planner, -1 is returned.
This connection is defined in the system parameters domain controller.
[\Active]
Data type: bool
TRUE if the mechanical unit is active, otherwise FALSE.
[\DriveModule]
Data type: num
The Drive Module number 1 - 4 used by this mechanical unit.
[\OKToDeact]
Data type: bool
Return TRUE, if allowed to deactivate the mechanical unit from RAPID program.
More examples
More examples of the instruction GetNextMechUnit are illustrated below.
Example 1
VAR num listno := 4;
VAR string name := "";
VAR bool found := FALSE;
found := GetNextMechUnit (listno, name);
If found is set to TRUE , the name of mechanical unit number 4 will be in the variable name ,
else name contains only an empty string.
Continued
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2.49. GetNextMechUnit - Get name and data for mechanical units
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Syntax
GetNextMechUnit ’(’
[ ListNumber ’:=’ ] < variable ( VAR ) of num>’ ,’
[ UnitName’ :=’ ] < variable ( VAR ) of string> ’,’
[ ’\’ MecRef’ :=’ < variable ( VAR ) of mecunit> ]
[ ’\’ TCPRob’ :=’ < variable ( VAR ) of bool> ]
[ ’\’ NoOfAxes’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MecTaskNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MotPlanNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ Active’ :=’ < variable ( VAR ) of bool>]
[ ’\’ DriveModule’ :=’ < variable ( VAR ) of num>]
[ ’\’ OKToDeact’ :=’ < variable ( VAR ) of bool>] ’;’
A function with a return value of the data type bool .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
Activating/Deactivating mechanical units
ActUnit - Activates a mechanical unit on page
17
DeactUnit - Deactivates a mechanical unit on
page 79
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
Continued
2 Functions
2.50. GetNextSym - Get next matching symbol
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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 examples
Basic examples of the function GetNextSym are illustrated below.
Example 1
VAR datapos block;
VAR string name;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool data objects that begin with my in the module mymod to
TRUE .
Return value
Data type: bool
TRUE if a new object has been retrieved, the object name and its enclosed block is then
returned in its arguments.
FALSE if no more objects match.
Arguments
GetNextSym (Object Block [\Recursive])
Object
Data type: string
Variable ( VAR or PERS ) to store the name of the data object that will be retrieved.
Block
Data type: datapos
The enclosed block to the object.
[ \Recursive ]
Data type: switch
This will force the search to enter the block below, e.g. if the search session has begun at the
task level, it will also search modules and routines below the task.
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Syntax
GetNextMechUnit ’(’
[ ListNumber ’:=’ ] < variable ( VAR ) of num>’ ,’
[ UnitName’ :=’ ] < variable ( VAR ) of string> ’,’
[ ’\’ MecRef’ :=’ < variable ( VAR ) of mecunit> ]
[ ’\’ TCPRob’ :=’ < variable ( VAR ) of bool> ]
[ ’\’ NoOfAxes’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MecTaskNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ MotPlanNo’ :=’ < variable ( VAR ) of num> ]
[ ’\’ Active’ :=’ < variable ( VAR ) of bool>]
[ ’\’ DriveModule’ :=’ < variable ( VAR ) of num>]
[ ’\’ OKToDeact’ :=’ < variable ( VAR ) of bool>] ’;’
A function with a return value of the data type bool .
Related information
For information about
See
Mechanical unit
mecunit - Mechanical unit on page 1139
Activating/Deactivating mechanical units
ActUnit - Activates a mechanical unit on page
17
DeactUnit - Deactivates a mechanical unit on
page 79
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
Continued
2 Functions
2.50. GetNextSym - Get next matching symbol
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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 examples
Basic examples of the function GetNextSym are illustrated below.
Example 1
VAR datapos block;
VAR string name;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool data objects that begin with my in the module mymod to
TRUE .
Return value
Data type: bool
TRUE if a new object has been retrieved, the object name and its enclosed block is then
returned in its arguments.
FALSE if no more objects match.
Arguments
GetNextSym (Object Block [\Recursive])
Object
Data type: string
Variable ( VAR or PERS ) to store the name of the data object that will be retrieved.
Block
Data type: datapos
The enclosed block to the object.
[ \Recursive ]
Data type: switch
This will force the search to enter the block below, e.g. if the search session has begun at the
task level, it will also search modules and routines below the task.
Continues on next page
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2.50. GetNextSym - Get next matching symbol
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Syntax
GetNextSym ‘(‘
[ Object ’:=’ ] < variable or persistent ( INOUT ) of string > ’,’
[ Block ’:=’] <variable ( VAR ) of datapos>
[’\’Recursive ] ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
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2.50. GetNextSym - Get next matching symbol
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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 examples
Basic examples of the function GetNextSym are illustrated below.
Example 1
VAR datapos block;
VAR string name;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool data objects that begin with my in the module mymod to
TRUE .
Return value
Data type: bool
TRUE if a new object has been retrieved, the object name and its enclosed block is then
returned in its arguments.
FALSE if no more objects match.
Arguments
GetNextSym (Object Block [\Recursive])
Object
Data type: string
Variable ( VAR or PERS ) to store the name of the data object that will be retrieved.
Block
Data type: datapos
The enclosed block to the object.
[ \Recursive ]
Data type: switch
This will force the search to enter the block below, e.g. if the search session has begun at the
task level, it will also search modules and routines below the task.
Continues on next page
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2.50. GetNextSym - Get next matching symbol
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© 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 return value of the data type bool .
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
2 Functions
2.51. GetSysInfo - Get information about the system
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2.51. GetSysInfo - Get information about the system
Usage
GetSysInfo is used to read information about the system. Available information includes
Serial Number, SoftWare Version, Robot Type, Controller ID or Lan ip address.
Basic examples
Basic examples of the function GetSysInfo are illustrated below.
Example 1
VAR string serial;
VAR string version;
VAR string rtype;
VAR string cid;
VAR string lanip;
VAR string clang;
serial := GetSysInfo(\SerialNo);
version := GetSysInfo(\SWVersion);
rtype := GetSysInfo(\RobotType);
cid := GetSysInfo(\CtrlId);
lanip := GetSysInfo(\LanIp);
clang := GetSysInfo(\CtrlLang);
The serial number will be stored in the variable serial , the version number will be stored in
the variable version , the robot number will be stored in the variable rtype, the controller
ID number will be stored in the variable cid , the LAN ip address will be stored in the variable
lanip and the controller language will be stored in the variable clang .
Examples of returned strings:
Serial Number: 14-21858
Software Version: ROBOTWARE_5.08.134
Robot Type: 2400/16 Type A
Controller ID: 44-1267
LAN ip address: 192.168.8.103
Language: en
Return value
Data type: string
One of Serial Number, SoftWare Version, Robot Type, Controller ID, LAN ip address or
Controller Language. Read more about the return values in Arguments below.
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Syntax
GetNextSym ‘(‘
[ Object ’:=’ ] < variable or persistent ( INOUT ) of string > ’,’
[ Block ’:=’] <variable ( VAR ) of datapos>
[’\’Recursive ] ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
Continued
2 Functions
2.51. GetSysInfo - Get information about the system
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© 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, SoftWare Version, Robot Type, Controller ID or Lan ip address.
Basic examples
Basic examples of the function GetSysInfo are illustrated below.
Example 1
VAR string serial;
VAR string version;
VAR string rtype;
VAR string cid;
VAR string lanip;
VAR string clang;
serial := GetSysInfo(\SerialNo);
version := GetSysInfo(\SWVersion);
rtype := GetSysInfo(\RobotType);
cid := GetSysInfo(\CtrlId);
lanip := GetSysInfo(\LanIp);
clang := GetSysInfo(\CtrlLang);
The serial number will be stored in the variable serial , the version number will be stored in
the variable version , the robot number will be stored in the variable rtype, the controller
ID number will be stored in the variable cid , the LAN ip address will be stored in the variable
lanip and the controller language will be stored in the variable clang .
Examples of returned strings:
Serial Number: 14-21858
Software Version: ROBOTWARE_5.08.134
Robot Type: 2400/16 Type A
Controller ID: 44-1267
LAN ip address: 192.168.8.103
Language: en
Return value
Data type: string
One of Serial Number, SoftWare Version, Robot Type, Controller ID, LAN ip address or
Controller Language. Read more about the return values in Arguments below.
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2.51. GetSysInfo - Get information about the system
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Arguments
GetSysInfo ([\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId]
| [\LanIp] | [\CtrlLang])
One of the arguments SerialNo , SWVersion , RobotType , CtrlId , LanIp or CtrlLang
must be present.
[ \SerialNo ]
Serial Number
Data type: switch
Returns the serial number.
[ \SWVersion ]
Software Version
Data type: switch
Returns the software version.
[ \RobotType ]
Data type: switch
Returns the robot type in the current or connected task. If the mechanical unit is not a TCP-
robot, a "-" is returned.
[ \CtrlId ]
Controller ID
Data type: switch
Returns the controller ID. Returns an empty string if no Controller ID is specified. A string
with " VC " is returned if this option is used in the Virtual Controller.
[ \LanIp ]
Lan Ip address
Data type: switch
Returns the LAN ip address for the controller. A string with " VC " is returned if this option is
used in the Virtual Controller. An empty string is returned if no LAN ip address is configured
in the system.
[ \CtrlLang ]
Controller Language
Data type: switch
Returns the language used on the controller.
Return value
Language
cs
Czech
zh
Chinese (simplified Chinese, mainland Chinese)
da
Danish
nl
Dutch
en
English
fi
Finnish
fr
French
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2.51. GetSysInfo - Get information about the system
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2.51. GetSysInfo - Get information about the system
Usage
GetSysInfo is used to read information about the system. Available information includes
Serial Number, SoftWare Version, Robot Type, Controller ID or Lan ip address.
Basic examples
Basic examples of the function GetSysInfo are illustrated below.
Example 1
VAR string serial;
VAR string version;
VAR string rtype;
VAR string cid;
VAR string lanip;
VAR string clang;
serial := GetSysInfo(\SerialNo);
version := GetSysInfo(\SWVersion);
rtype := GetSysInfo(\RobotType);
cid := GetSysInfo(\CtrlId);
lanip := GetSysInfo(\LanIp);
clang := GetSysInfo(\CtrlLang);
The serial number will be stored in the variable serial , the version number will be stored in
the variable version , the robot number will be stored in the variable rtype, the controller
ID number will be stored in the variable cid , the LAN ip address will be stored in the variable
lanip and the controller language will be stored in the variable clang .
Examples of returned strings:
Serial Number: 14-21858
Software Version: ROBOTWARE_5.08.134
Robot Type: 2400/16 Type A
Controller ID: 44-1267
LAN ip address: 192.168.8.103
Language: en
Return value
Data type: string
One of Serial Number, SoftWare Version, Robot Type, Controller ID, LAN ip address or
Controller Language. Read more about the return values in Arguments below.
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Arguments
GetSysInfo ([\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId]
| [\LanIp] | [\CtrlLang])
One of the arguments SerialNo , SWVersion , RobotType , CtrlId , LanIp or CtrlLang
must be present.
[ \SerialNo ]
Serial Number
Data type: switch
Returns the serial number.
[ \SWVersion ]
Software Version
Data type: switch
Returns the software version.
[ \RobotType ]
Data type: switch
Returns the robot type in the current or connected task. If the mechanical unit is not a TCP-
robot, a "-" is returned.
[ \CtrlId ]
Controller ID
Data type: switch
Returns the controller ID. Returns an empty string if no Controller ID is specified. A string
with " VC " is returned if this option is used in the Virtual Controller.
[ \LanIp ]
Lan Ip address
Data type: switch
Returns the LAN ip address for the controller. A string with " VC " is returned if this option is
used in the Virtual Controller. An empty string is returned if no LAN ip address is configured
in the system.
[ \CtrlLang ]
Controller Language
Data type: switch
Returns the language used on the controller.
Return value
Language
cs
Czech
zh
Chinese (simplified Chinese, mainland Chinese)
da
Danish
nl
Dutch
en
English
fi
Finnish
fr
French
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2.51. GetSysInfo - Get information about the system
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Syntax
GetSysInfo’(’
[’\’SerialNo]
| [’\’SWVersion]
| [’\’RobotType]
| [’\’CtrlId]
| [’\’LanIp]
| [’\’CtrlLang]’)’
A function with a return value of the data type string .
Related information
de
German
hu
Hungarian
it
Italian
ja
Japanese
ko
Korean
pt
Portuguese (Brazilian Portuguese)
ru
Russian
es
Spanish
sv
Swedish
tr
Turkish
Return value
Language
For information about
See
Test the identity of the system
IsSysId - Test system identity on page 890
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Arguments
GetSysInfo ([\SerialNo] | [\SWVersion] | [\RobotType] | [\CtrlId]
| [\LanIp] | [\CtrlLang])
One of the arguments SerialNo , SWVersion , RobotType , CtrlId , LanIp or CtrlLang
must be present.
[ \SerialNo ]
Serial Number
Data type: switch
Returns the serial number.
[ \SWVersion ]
Software Version
Data type: switch
Returns the software version.
[ \RobotType ]
Data type: switch
Returns the robot type in the current or connected task. If the mechanical unit is not a TCP-
robot, a "-" is returned.
[ \CtrlId ]
Controller ID
Data type: switch
Returns the controller ID. Returns an empty string if no Controller ID is specified. A string
with " VC " is returned if this option is used in the Virtual Controller.
[ \LanIp ]
Lan Ip address
Data type: switch
Returns the LAN ip address for the controller. A string with " VC " is returned if this option is
used in the Virtual Controller. An empty string is returned if no LAN ip address is configured
in the system.
[ \CtrlLang ]
Controller Language
Data type: switch
Returns the language used on the controller.
Return value
Language
cs
Czech
zh
Chinese (simplified Chinese, mainland Chinese)
da
Danish
nl
Dutch
en
English
fi
Finnish
fr
French
Continued
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Syntax
GetSysInfo’(’
[’\’SerialNo]
| [’\’SWVersion]
| [’\’RobotType]
| [’\’CtrlId]
| [’\’LanIp]
| [’\’CtrlLang]’)’
A function with a return value of the data type string .
Related information
de
German
hu
Hungarian
it
Italian
ja
Japanese
ko
Korean
pt
Portuguese (Brazilian Portuguese)
ru
Russian
es
Spanish
sv
Swedish
tr
Turkish
Return value
Language
For information about
See
Test the identity of the system
IsSysId - Test system identity on page 890
Continued
2 Functions
2.52. GetTaskName - Gets the name and number of current task
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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
number.
It is also possible from some Non Motion Task to get the name and number of its connected
Motion Task . For MultiMove System the system parameter Controller/Tasks/Use Mechanical
Unit Group define the connected Motion Task and in a base system the main task is always
the connected Motion Task from any other task.
Basic examples
Basic examples of the function GetTaskName are illustrated below.
Example 1
VAR string taskname;
...
taskname := GetTaskName();
The current task name is returned in the variable taskname.
Example 2
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\TaskNo:=taskno);
The current task name is returned in the variable taskname . The integer identity of the task
is stored in the variable taskno .
Example 3
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\MecTaskNo:=taskno);
If current task is a Non Motion Task task, the name of the connected motion task is returned
in the variable taskname . The numerical identity of the connected motion task is stored in
the variable taskno .
If current task controls some mechanical units, current task name is returned in the variable
taskname . The numerical identity of the task is stored in the variable taskno .
Return value
Data type: string
The name of the task in which the function is executed or the name of the connected motion
task.
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Syntax
GetSysInfo’(’
[’\’SerialNo]
| [’\’SWVersion]
| [’\’RobotType]
| [’\’CtrlId]
| [’\’LanIp]
| [’\’CtrlLang]’)’
A function with a return value of the data type string .
Related information
de
German
hu
Hungarian
it
Italian
ja
Japanese
ko
Korean
pt
Portuguese (Brazilian Portuguese)
ru
Russian
es
Spanish
sv
Swedish
tr
Turkish
Return value
Language
For information about
See
Test the identity of the system
IsSysId - Test system identity on page 890
Continued
2 Functions
2.52. GetTaskName - Gets the name and number of current task
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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
number.
It is also possible from some Non Motion Task to get the name and number of its connected
Motion Task . For MultiMove System the system parameter Controller/Tasks/Use Mechanical
Unit Group define the connected Motion Task and in a base system the main task is always
the connected Motion Task from any other task.
Basic examples
Basic examples of the function GetTaskName are illustrated below.
Example 1
VAR string taskname;
...
taskname := GetTaskName();
The current task name is returned in the variable taskname.
Example 2
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\TaskNo:=taskno);
The current task name is returned in the variable taskname . The integer identity of the task
is stored in the variable taskno .
Example 3
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\MecTaskNo:=taskno);
If current task is a Non Motion Task task, the name of the connected motion task is returned
in the variable taskname . The numerical identity of the connected motion task is stored in
the variable taskno .
If current task controls some mechanical units, current task name is returned in the variable
taskname . The numerical identity of the task is stored in the variable taskno .
Return value
Data type: string
The name of the task in which the function is executed or the name of the connected motion
task.
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2.52. GetTaskName - Gets the name and number of current task
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Arguments
GetTaskName ( [\TaskNo] | [\MecTaskNo] )
[\TaskNo]
Data type: num
Return current task name (same functionality if none of the switch \TaskNo or \MecTaskNo
is used). Also get the identity of the current task represented as a integer value. The numbers
returned will be in the range 1-20.
[\MecTaskNo]
Data type: num
Return connected motion task name or current motion task name. Also get the identity of
connected or current motion task represented as a integer value. The numbers returned will
be in the range 1-20.
Syntax
GetTaskName’(’
[ \TaskNo ’:=’ ] < variable ( VAR ) of num >
[ \MecTaskNo’:=’ ] < variable ( VAR ) of num > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Multitasking
Technical reference manual - RAPID
overview , section RAPID Overview - RAPID
summary Multitasking
Technical reference manual - RAPID
overview , section Basic characteristics - Mul-
titasking
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2.52. GetTaskName - Gets the name and number of current task
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860
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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
number.
It is also possible from some Non Motion Task to get the name and number of its connected
Motion Task . For MultiMove System the system parameter Controller/Tasks/Use Mechanical
Unit Group define the connected Motion Task and in a base system the main task is always
the connected Motion Task from any other task.
Basic examples
Basic examples of the function GetTaskName are illustrated below.
Example 1
VAR string taskname;
...
taskname := GetTaskName();
The current task name is returned in the variable taskname.
Example 2
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\TaskNo:=taskno);
The current task name is returned in the variable taskname . The integer identity of the task
is stored in the variable taskno .
Example 3
VAR string taskname;
VAR num taskno;
...
taskname := GetTaskName(\MecTaskNo:=taskno);
If current task is a Non Motion Task task, the name of the connected motion task is returned
in the variable taskname . The numerical identity of the connected motion task is stored in
the variable taskno .
If current task controls some mechanical units, current task name is returned in the variable
taskname . The numerical identity of the task is stored in the variable taskno .
Return value
Data type: string
The name of the task in which the function is executed or the name of the connected motion
task.
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2.52. GetTaskName - Gets the name and number of current task
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Arguments
GetTaskName ( [\TaskNo] | [\MecTaskNo] )
[\TaskNo]
Data type: num
Return current task name (same functionality if none of the switch \TaskNo or \MecTaskNo
is used). Also get the identity of the current task represented as a integer value. The numbers
returned will be in the range 1-20.
[\MecTaskNo]
Data type: num
Return connected motion task name or current motion task name. Also get the identity of
connected or current motion task represented as a integer value. The numbers returned will
be in the range 1-20.
Syntax
GetTaskName’(’
[ \TaskNo ’:=’ ] < variable ( VAR ) of num >
[ \MecTaskNo’:=’ ] < variable ( VAR ) of num > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Multitasking
Technical reference manual - RAPID
overview , section RAPID Overview - RAPID
summary Multitasking
Technical reference manual - RAPID
overview , section Basic characteristics - Mul-
titasking
Continued
2 Functions
2.53. GetTime - Reads the current time as a numeric value
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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.
GetTime can be used to:
•
have the program perform an action at a certain time
•
perform certain activities on a weekday
•
abstain from performing certain activities on the weekend
•
respond to errors differently depending on the time of day.
Basic examples
Basic examples of the function GetTime are illustrated below.
Example 1
hour := GetTime(\Hour);
The current hour is stored in the variable hour .
Return value
Data type: num
One of the four time components specified below.
Argument
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )
[\ WDay]
Data type: switch
Return the current weekday. Range: 1 to 7 (Monday to Sunday).
[\Hour]
Data type: switch
Return the current hour. Range: 0 to 23.
[\ Min]
Data type: switch
Return the current minute. Range: 0 to 59.
[\ Sec]
Data type: switch
Return the current second. Range: 0 to 59.
One of the arguments must be specified, otherwise program execution stops with an error
message.
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Arguments
GetTaskName ( [\TaskNo] | [\MecTaskNo] )
[\TaskNo]
Data type: num
Return current task name (same functionality if none of the switch \TaskNo or \MecTaskNo
is used). Also get the identity of the current task represented as a integer value. The numbers
returned will be in the range 1-20.
[\MecTaskNo]
Data type: num
Return connected motion task name or current motion task name. Also get the identity of
connected or current motion task represented as a integer value. The numbers returned will
be in the range 1-20.
Syntax
GetTaskName’(’
[ \TaskNo ’:=’ ] < variable ( VAR ) of num >
[ \MecTaskNo’:=’ ] < variable ( VAR ) of num > ’)’
A function with a return value of the data type string .
Related information
For information about
See
Multitasking
Technical reference manual - RAPID
overview , section RAPID Overview - RAPID
summary Multitasking
Technical reference manual - RAPID
overview , section Basic characteristics - Mul-
titasking
Continued
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.
GetTime can be used to:
•
have the program perform an action at a certain time
•
perform certain activities on a weekday
•
abstain from performing certain activities on the weekend
•
respond to errors differently depending on the time of day.
Basic examples
Basic examples of the function GetTime are illustrated below.
Example 1
hour := GetTime(\Hour);
The current hour is stored in the variable hour .
Return value
Data type: num
One of the four time components specified below.
Argument
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )
[\ WDay]
Data type: switch
Return the current weekday. Range: 1 to 7 (Monday to Sunday).
[\Hour]
Data type: switch
Return the current hour. Range: 0 to 23.
[\ Min]
Data type: switch
Return the current minute. Range: 0 to 59.
[\ Sec]
Data type: switch
Return the current second. Range: 0 to 59.
One of the arguments must be specified, otherwise program execution stops with an error
message.
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2.53. GetTime - Reads the current time as a numeric value
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More examples
More examples of the function GetTime are illustrated below.
Example 1
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF
If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At
all other times, the robot is in the maintenance mode.
Syntax
GetTime ’(’
[’\’ WDay ]
| [ ’\’ Hour ]
| [ ’\’ Min ]
| [ ’\’ Sec ] ’)’
A function with a return value of the type num .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Setting the system clock
Operating manual - IRC5 with FlexPendant ,
section Changing FlexPendant settings
Continued
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2.53. GetTime - Reads the current time as a numeric value
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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.
GetTime can be used to:
•
have the program perform an action at a certain time
•
perform certain activities on a weekday
•
abstain from performing certain activities on the weekend
•
respond to errors differently depending on the time of day.
Basic examples
Basic examples of the function GetTime are illustrated below.
Example 1
hour := GetTime(\Hour);
The current hour is stored in the variable hour .
Return value
Data type: num
One of the four time components specified below.
Argument
GetTime ( [\WDay] | [\Hour] | [\Min] | [\Sec] )
[\ WDay]
Data type: switch
Return the current weekday. Range: 1 to 7 (Monday to Sunday).
[\Hour]
Data type: switch
Return the current hour. Range: 0 to 23.
[\ Min]
Data type: switch
Return the current minute. Range: 0 to 59.
[\ Sec]
Data type: switch
Return the current second. Range: 0 to 59.
One of the arguments must be specified, otherwise program execution stops with an error
message.
Continues on next page
2 Functions
2.53. GetTime - Reads the current time as a numeric value
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More examples
More examples of the function GetTime are illustrated below.
Example 1
weekday := GetTime(\WDay);
hour := GetTime(\Hour);
IF weekday < 6 AND hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF
If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At
all other times, the robot is in the maintenance mode.
Syntax
GetTime ’(’
[’\’ WDay ]
| [ ’\’ Hour ]
| [ ’\’ Min ]
| [ ’\’ Sec ] ’)’
A function with a return value of the type num .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Setting the system clock
Operating manual - IRC5 with FlexPendant ,
section Changing FlexPendant settings
Continued
2 Functions
2.54. GInputDnum - Read value of group input signal
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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 examples of the function GInputDnum are illustrated below.
Example 1
IF GInputDnum(gi2) = 55 THEN ...
If the current value of the signal gi2 is equal to 55 , then ...
Example 2
IF GInputDnum(gi2) = 4294967295 THEN ...
If the current value of the signal gi2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
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863
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© 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 hour >6 AND hour < 16 THEN
production;
ELSE
maintenance;
ENDIF
If it is a weekday and the time is between 7:00 and 15:59 the robot performs production. At
all other times, the robot is in the maintenance mode.
Syntax
GetTime ’(’
[’\’ WDay ]
| [ ’\’ Hour ]
| [ ’\’ Min ]
| [ ’\’ Sec ] ’)’
A function with a return value of the type num .
Related information
For information about
See
Time and date instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Setting the system clock
Operating manual - IRC5 with FlexPendant ,
section Changing FlexPendant settings
Continued
2 Functions
2.54. GInputDnum - Read value of group input signal
RobotWare - OS
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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 examples of the function GInputDnum are illustrated below.
Example 1
IF GInputDnum(gi2) = 55 THEN ...
If the current value of the signal gi2 is equal to 55 , then ...
Example 2
IF GInputDnum(gi2) = 4294967295 THEN ...
If the current value of the signal gi2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
Continues on next page
2 Functions
2.54. GInputDnum - Read value of group input signal
RobotWare - OS
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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. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GInputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit.
For information about
See
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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2.54. GInputDnum - Read value of group input signal
RobotWare - OS
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© 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 examples of the function GInputDnum are illustrated below.
Example 1
IF GInputDnum(gi2) = 55 THEN ...
If the current value of the signal gi2 is equal to 55 , then ...
Example 2
IF GInputDnum(gi2) = 4294967295 THEN ...
If the current value of the signal gi2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
Continues on next page
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. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GInputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit.
For information about
See
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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 signals.
Basic examples
Basic example of the function GOutput is illustrated below.
Example 1
IF GOutput(go2) = 5 THEN ...
If the current value of the signal go2 is equal to 5 , then ...
Return value
Data type: num
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
No. of signals
Permitted value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
22
0-4194303
23
0-8388607
Continues on next page
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2.54. GInputDnum - Read value of group input signal
RobotWare - OS
865
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© 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. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GInputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgi > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit.
For information about
See
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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 signals.
Basic examples
Basic example of the function GOutput is illustrated below.
Example 1
IF GOutput(go2) = 5 THEN ...
If the current value of the signal go2 is equal to 5 , then ...
Return value
Data type: num
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
No. of signals
Permitted value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
22
0-4194303
23
0-8388607
Continues on next page
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 generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Syntax
GOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type num .
Related information
For information about
See
Set an output signal group
SetGO - Changes the value of a group of digital output
signals on page 442
Read a group of output signals
GOutputDnum - Read value of group output signal on
page 868
Read a group of input signals
GInputDnum - Read value of group input signal on
page 864
Input/Output instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Input and Output Signals
Input/Output functionality in general Technical reference manual - RAPID overview , section
Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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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 signals.
Basic examples
Basic example of the function GOutput is illustrated below.
Example 1
IF GOutput(go2) = 5 THEN ...
If the current value of the signal go2 is equal to 5 , then ...
Return value
Data type: num
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
No. of signals
Permitted value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
22
0-4194303
23
0-8388607
Continues on next page
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 generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Syntax
GOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type num .
Related information
For information about
See
Set an output signal group
SetGO - Changes the value of a group of digital output
signals on page 442
Read a group of output signals
GOutputDnum - Read value of group output signal on
page 868
Read a group of input signals
GInputDnum - Read value of group input signal on
page 864
Input/Output instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Input and Output Signals
Input/Output functionality in general Technical reference manual - RAPID overview , section
Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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
Basic examples of the function GOutputDnum are illustrated below.
Example 1
IF GOutputDnum(go2) = 55 THEN ...
If the current value of the signal go2 is equal to 55 , then ...
Example 2
IF GOutputDnum(go2) = 4294967295 THEN ...
If the current value of the signal go2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
Continues on next page
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2 Functions
2.55. GOutput - Reads the value of a group of digital output signals
RobotWare - OS
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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 generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Syntax
GOutput ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type num .
Related information
For information about
See
Set an output signal group
SetGO - Changes the value of a group of digital output
signals on page 442
Read a group of output signals
GOutputDnum - Read value of group output signal on
page 868
Read a group of input signals
GInputDnum - Read value of group input signal on
page 864
Input/Output instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Input and Output Signals
Input/Output functionality in general Technical reference manual - RAPID overview , section
Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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
Basic examples of the function GOutputDnum are illustrated below.
Example 1
IF GOutputDnum(go2) = 55 THEN ...
If the current value of the signal go2 is equal to 55 , then ...
Example 2
IF GOutputDnum(go2) = 4294967295 THEN ...
If the current value of the signal go2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
Continues on next page
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 generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GOutputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit
For information about
See
Set an output signal group
SetGO - Changes the value of a group of
digital output signals on page 442 I
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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2.56. GOutputDnum - Read value of group output signal
RobotWare - OS
3HAC 16581-1 Revision: J
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© 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
Basic examples of the function GOutputDnum are illustrated below.
Example 1
IF GOutputDnum(go2) = 55 THEN ...
If the current value of the signal go2 is equal to 55 , then ...
Example 2
IF GOutputDnum(go2) = 4294967295 THEN ...
If the current value of the signal go2 is equal to 4294967295 , then ...
Return value
Data type: dnum
The current value of the signal (a positive integer).
The values of each signal in the group are read and interpreted as an unsigned binary number.
This binary number is then converted to an integer.
The value returned lies within a range that is dependent on the number of signals in the group.
Number of signals
Allowed value
1
0-1
2
0-3
3
0-7
4
0-15
5
0-31
6
0-63
7
0-127
8
0-255
9
0-511
10
0-1023
11
0-2047
12
0-4095
13
0-8191
14
0-16383
15
0-32767
16
0-65535
17
0-131071
18
0-262143
19
0-524287
20
0-1048575
21
0-2097151
Continues on next page
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 generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GOutputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit
For information about
See
Set an output signal group
SetGO - Changes the value of a group of
digital output signals on page 442 I
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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 input string should be constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function HexToDec are illustrated below.
Example 1
VAR string str;
str := HexToDec("5F5E0FF");
The variable str is given the value "99999999".
Return value
Data type: string
The string converted to a decimal representation of the given number in the inparameter
string.
Arguments
HexToDec ( Str )
Str
String
Data type: string
The string to convert.
Syntax
HexToDec’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID
overview , section RAPID summary - String
functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
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2.56. GOutputDnum - Read value of group output signal
RobotWare - OS
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© 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 generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
Syntax
GOutputDnum ’(’
[ Signal ’:=’ ] < variable ( VAR ) of signalgo > ’)’
A function with a return value of data type dnum .
Related information
22
0-4194303
23
0-8388607
24
0-16777215
25
0-33554431
26
0-67108863
27
0-134217727
28
0-268435455
29
0-536870911
30
0-1073741823
31
0-2147483647
32
0-4294967295
Number of signals
Allowed value
Error code
Description
ERR_NORUNUNIT
No contact with the unit
For information about
See
Set an output signal group
SetGO - Changes the value of a group of
digital output signals on page 442 I
Input/Output instructions
Technical reference manual - RAPID
overview, section RAPID Summary - Input
and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Continued
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 input string should be constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function HexToDec are illustrated below.
Example 1
VAR string str;
str := HexToDec("5F5E0FF");
The variable str is given the value "99999999".
Return value
Data type: string
The string converted to a decimal representation of the given number in the inparameter
string.
Arguments
HexToDec ( Str )
Str
String
Data type: string
The string to convert.
Syntax
HexToDec’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID
overview , section RAPID summary - String
functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
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 examples
Basic examples of the function IndInpos are illustrated below
Example 1
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1) = TRUE;
WaitTime 0.2;
Wait until axis 1 of Station_A is in the 90 degrees position.
Return value
Data type: bool
The table describes the return values from IndInpos :
Arguments
IndInpos ( MecUnit Axis )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
Limitations
An independent axis executed with the instruction IndCMove always returns the value
FALSE , even when the speed is set to zero.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the correct
status has been achieved. This time period should be longer for external axes with poor
performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Return value
Axis status
TRUE
In position and has zero speed.
FALSE
Not in position and/or has not zero speed.
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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 input string should be constructed from the character set [0-9,A-F,a-f].
This routine handle numbers from 0 up to 9223372036854775807dec or
7FFFFFFFFFFFFFFF hex.
Basic examples
Basic examples of the function HexToDec are illustrated below.
Example 1
VAR string str;
str := HexToDec("5F5E0FF");
The variable str is given the value "99999999".
Return value
Data type: string
The string converted to a decimal representation of the given number in the inparameter
string.
Arguments
HexToDec ( Str )
Str
String
Data type: string
The string to convert.
Syntax
HexToDec’(’
[ Str ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID
overview , section RAPID summary - String
functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
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 examples
Basic examples of the function IndInpos are illustrated below
Example 1
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1) = TRUE;
WaitTime 0.2;
Wait until axis 1 of Station_A is in the 90 degrees position.
Return value
Data type: bool
The table describes the return values from IndInpos :
Arguments
IndInpos ( MecUnit Axis )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
Limitations
An independent axis executed with the instruction IndCMove always returns the value
FALSE , even when the speed is set to zero.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the correct
status has been achieved. This time period should be longer for external axes with poor
performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Return value
Axis status
TRUE
In position and has zero speed.
FALSE
Not in position and/or has not zero speed.
Continues on next page
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 type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Positioning during program
execution
Other independent instruction
and functions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Check the speed status for
independent axes
IndSpeed - Independent speed status on page 873
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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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 examples
Basic examples of the function IndInpos are illustrated below
Example 1
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1) = TRUE;
WaitTime 0.2;
Wait until axis 1 of Station_A is in the 90 degrees position.
Return value
Data type: bool
The table describes the return values from IndInpos :
Arguments
IndInpos ( MecUnit Axis )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
Limitations
An independent axis executed with the instruction IndCMove always returns the value
FALSE , even when the speed is set to zero.
A wait period of 0.2 seconds should be added after the instruction, to ensure that the correct
status has been achieved. This time period should be longer for external axes with poor
performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Return value
Axis status
TRUE
In position and has zero speed.
FALSE
Not in position and/or has not zero speed.
Continues on next page
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 type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Positioning during program
execution
Other independent instruction
and functions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Check the speed status for
independent axes
IndSpeed - Independent speed status on page 873
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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 function IndSpeed are illustrated below.
Example 1
IndCMove Station_A, 2, 3.4;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
Wait until axis 2 of Station_A has reached the speed 3.4 degrees/s.
Return value
Data type: bool
The table describes the return values from IndSpeed \IndSpeed :
The table describes the return values from IndSpeed \ZeroSpeed:
Arguments
IndSpeed ( MecUnit Axis [ \InSpeed ] | [ \ZeroSpeed ] )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
[ \InSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has reached the selected speed otherwise FALSE .
[ \ZeroSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has zero speed otherwise FALSE .
If both the arguments \InSpeed and \ZeroSpeed are omitted, an error message will be
displayed.
Return value
Axis status
TRUE
Has reached the selected speed.
FALSE
Has not reached the selected speed.
Return value
Axis status
TRUE
Zero speed.
FALSE
Not zero speed
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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 type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview , section
Motion and I/O Principles - Positioning during program
execution
Other independent instruction
and functions
Technical reference manual - RAPID overview , section
RAPID summary - Motion
Check the speed status for
independent axes
IndSpeed - Independent speed status on page 873
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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 function IndSpeed are illustrated below.
Example 1
IndCMove Station_A, 2, 3.4;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
Wait until axis 2 of Station_A has reached the speed 3.4 degrees/s.
Return value
Data type: bool
The table describes the return values from IndSpeed \IndSpeed :
The table describes the return values from IndSpeed \ZeroSpeed:
Arguments
IndSpeed ( MecUnit Axis [ \InSpeed ] | [ \ZeroSpeed ] )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
[ \InSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has reached the selected speed otherwise FALSE .
[ \ZeroSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has zero speed otherwise FALSE .
If both the arguments \InSpeed and \ZeroSpeed are omitted, an error message will be
displayed.
Return value
Axis status
TRUE
Has reached the selected speed.
FALSE
Has not reached the selected speed.
Return value
Axis status
TRUE
Zero speed.
FALSE
Not zero speed
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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 is reduced using the VelSet instruction.
•
The speed is reduced from the production window.
A wait period of 0.2 seconds should be added after the instruction to ensure that the correct
status is obtained. This time period should be longer for external axes with poor performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Syntax
IndSpeed ’(’
[ MecUnit’:=’ ] < variable ( VAR ) of mecunit>’,’
[ Axis’:=’ ] < expression ( IN ) of num>
[ ’\’ InSpeed ] | [ ’\’ ZeroSpeed ] ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Other independent instruction and
functions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
More examples
IndCMove - Independent continuous movement on
page 137
Check the position status for
independent axes
IndInpos - Independent axis in position status on page
871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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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 function IndSpeed are illustrated below.
Example 1
IndCMove Station_A, 2, 3.4;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
Wait until axis 2 of Station_A has reached the speed 3.4 degrees/s.
Return value
Data type: bool
The table describes the return values from IndSpeed \IndSpeed :
The table describes the return values from IndSpeed \ZeroSpeed:
Arguments
IndSpeed ( MecUnit Axis [ \InSpeed ] | [ \ZeroSpeed ] )
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
[ \InSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has reached the selected speed otherwise FALSE .
[ \ZeroSpeed ]
Data type: switch
IndSpeed returns value TRUE if the axis has zero speed otherwise FALSE .
If both the arguments \InSpeed and \ZeroSpeed are omitted, an error message will be
displayed.
Return value
Axis status
TRUE
Has reached the selected speed.
FALSE
Has not reached the selected speed.
Return value
Axis status
TRUE
Zero speed.
FALSE
Not zero speed
Continues on next page
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 is reduced using the VelSet instruction.
•
The speed is reduced from the production window.
A wait period of 0.2 seconds should be added after the instruction to ensure that the correct
status is obtained. This time period should be longer for external axes with poor performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Syntax
IndSpeed ’(’
[ MecUnit’:=’ ] < variable ( VAR ) of mecunit>’,’
[ Axis’:=’ ] < expression ( IN ) of num>
[ ’\’ InSpeed ] | [ ’\’ ZeroSpeed ] ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Other independent instruction and
functions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
More examples
IndCMove - Independent continuous movement on
page 137
Check the position status for
independent axes
IndInpos - Independent axis in position status on page
871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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 define the status for an I/O unit.
Basic examples
Basic examples of the instruction IOUnitState are illustrated below.
Example 1
IF (IOUnitState("UNIT1" \Phys)=IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done to see if the I/O unit UNIT1 is up and running.
Example 2
IF (IOUnitState("UNIT1" \Logic)=IOUNIT_LOG_STATE_DISABLED) THEN
! Unit is disabled by user from RAPID or FlexPendant
ELSE
! Unit is enabled.
ENDIF
Test is done to see if the I/O unit UNIT1 is disabled.
Return value
Data type: iounit_state
The return value has different values depending on if the optional arguments \Logic or
\Phys or no optional argument at all is used.
The I/O unit logical states describes the state a user can order the unit into.The state of the I/
O unit as defined in the table below when using optional argument \Logic .
Return value Symbolic constant
Comment
10
IOUNIT_LOG_STATE_DISABLED
Unit is disabled by user from
RAPID, FlexPendant or
System Parameters.
11
IOUNIT_LOG_STATE_ENABLED
Unit is enabled by user from
RAPID, FlexPendant or
System Parameters. Default
after startup.
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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 is reduced using the VelSet instruction.
•
The speed is reduced from the production window.
A wait period of 0.2 seconds should be added after the instruction to ensure that the correct
status is obtained. This time period should be longer for external axes with poor performance.
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT .
If the axis is not in independent mode, the system variable ERRNO will be set to
ERR_AXIS_IND.
These errors can then be handled in the error handler.
Syntax
IndSpeed ’(’
[ MecUnit’:=’ ] < variable ( VAR ) of mecunit>’,’
[ Axis’:=’ ] < expression ( IN ) of num>
[ ’\’ InSpeed ] | [ ’\’ ZeroSpeed ] ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning during
program execution
Other independent instruction and
functions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
More examples
IndCMove - Independent continuous movement on
page 137
Check the position status for
independent axes
IndInpos - Independent axis in position status on page
871
Defining independent joints
Technical reference manual - System parameters ,
section Motion - Arm
Continued
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 define the status for an I/O unit.
Basic examples
Basic examples of the instruction IOUnitState are illustrated below.
Example 1
IF (IOUnitState("UNIT1" \Phys)=IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done to see if the I/O unit UNIT1 is up and running.
Example 2
IF (IOUnitState("UNIT1" \Logic)=IOUNIT_LOG_STATE_DISABLED) THEN
! Unit is disabled by user from RAPID or FlexPendant
ELSE
! Unit is enabled.
ENDIF
Test is done to see if the I/O unit UNIT1 is disabled.
Return value
Data type: iounit_state
The return value has different values depending on if the optional arguments \Logic or
\Phys or no optional argument at all is used.
The I/O unit logical states describes the state a user can order the unit into.The state of the I/
O unit as defined in the table below when using optional argument \Logic .
Return value Symbolic constant
Comment
10
IOUNIT_LOG_STATE_DISABLED
Unit is disabled by user from
RAPID, FlexPendant or
System Parameters.
11
IOUNIT_LOG_STATE_ENABLED
Unit is enabled by user from
RAPID, FlexPendant or
System Parameters. Default
after startup.
Continues on next page
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 into other states for
various reasons (see table below).
The state of the I/O unit as defined in the table below when using optional argument \Phys .
-
NOTE!
For RobotWare 5.08 and earlier versions it is not possible to use the instruction
IOUnitState with optional arguments \Phys or \Logic . From RobotWare 5.09 it is
recommended to use the optional arguments \Phys or \Logic .
The state of the I/O unit is defined in the table below when not using any of the optional
arguments \Phys or \Logic .
1) Not possible to get this state in the RAPID program with current version of RobotWare -
OS.
Return value Symbolic constant
Comment
20
IOUNIT_PHYS_STATE_DEACTIVATED
Unit is not running, disabled
by user
21
IOUNIT_PHYS_STATE_RUNNING
Unit is running
22
IOUNIT_PHYS_STATE_ERROR
Unit is not working because of
some runtime error
23
IOUNIT_PHYS_STATE_UNCONNECTED
Unit is configured but not
connected to the bus or the
bus is stopped
24
IOUNIT_PHYS_STATE_UNCONFIGURED Unit is not configured but
connected to the bus. 1)
25
IOUNIT_PHYS_STATE_STARTUP
Unit is in start up mode. 1)
26
IOUNIT_PHYS_STATE_INIT
Unit is created. 1)
Return value Symbolic constant
Comment
1
IOUNIT_RUNNING
Unit is up and running
2
IOUNIT_RUNERROR
Unit is not working because of
some runtime error
3
IOUNIT_DISABLE
Unit is disabled by user from
RAPID or FlexPendant
4
IOUNIT_OTHERERR
Other configuration or startup
errors
Continued
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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 define the status for an I/O unit.
Basic examples
Basic examples of the instruction IOUnitState are illustrated below.
Example 1
IF (IOUnitState("UNIT1" \Phys)=IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done to see if the I/O unit UNIT1 is up and running.
Example 2
IF (IOUnitState("UNIT1" \Logic)=IOUNIT_LOG_STATE_DISABLED) THEN
! Unit is disabled by user from RAPID or FlexPendant
ELSE
! Unit is enabled.
ENDIF
Test is done to see if the I/O unit UNIT1 is disabled.
Return value
Data type: iounit_state
The return value has different values depending on if the optional arguments \Logic or
\Phys or no optional argument at all is used.
The I/O unit logical states describes the state a user can order the unit into.The state of the I/
O unit as defined in the table below when using optional argument \Logic .
Return value Symbolic constant
Comment
10
IOUNIT_LOG_STATE_DISABLED
Unit is disabled by user from
RAPID, FlexPendant or
System Parameters.
11
IOUNIT_LOG_STATE_ENABLED
Unit is enabled by user from
RAPID, FlexPendant or
System Parameters. Default
after startup.
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2 Functions
2.60. IOUnitState - Get current state of I/O unit
RobotWare - OS
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© 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 into other states for
various reasons (see table below).
The state of the I/O unit as defined in the table below when using optional argument \Phys .
-
NOTE!
For RobotWare 5.08 and earlier versions it is not possible to use the instruction
IOUnitState with optional arguments \Phys or \Logic . From RobotWare 5.09 it is
recommended to use the optional arguments \Phys or \Logic .
The state of the I/O unit is defined in the table below when not using any of the optional
arguments \Phys or \Logic .
1) Not possible to get this state in the RAPID program with current version of RobotWare -
OS.
Return value Symbolic constant
Comment
20
IOUNIT_PHYS_STATE_DEACTIVATED
Unit is not running, disabled
by user
21
IOUNIT_PHYS_STATE_RUNNING
Unit is running
22
IOUNIT_PHYS_STATE_ERROR
Unit is not working because of
some runtime error
23
IOUNIT_PHYS_STATE_UNCONNECTED
Unit is configured but not
connected to the bus or the
bus is stopped
24
IOUNIT_PHYS_STATE_UNCONFIGURED Unit is not configured but
connected to the bus. 1)
25
IOUNIT_PHYS_STATE_STARTUP
Unit is in start up mode. 1)
26
IOUNIT_PHYS_STATE_INIT
Unit is created. 1)
Return value Symbolic constant
Comment
1
IOUNIT_RUNNING
Unit is up and running
2
IOUNIT_RUNERROR
Unit is not working because of
some runtime error
3
IOUNIT_DISABLE
Unit is disabled by user from
RAPID or FlexPendant
4
IOUNIT_OTHERERR
Other configuration or startup
errors
Continued
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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]
Physical
Data type: switch
If using this parameter the physical state of the I/O unit is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the I/O unit is read.
Syntax
IOUnitState ´(´
[ UnitName ’:=’ ] < expression ( IN ) of string >
[ ’\’ Phys] | [ ’\’ Logic] ´)´
A function with a return value of the data type iounit_state .
Related information
For information about
See
State of I/O unit
IOEnable - Enable I/O unit on page 162
iounit_state - State of I/O unit on page 1128
Enable an I/O unit
IOEnable - Enable I/O unit on page 162
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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2.60. IOUnitState - Get current state of I/O unit
RobotWare - OS
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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 into other states for
various reasons (see table below).
The state of the I/O unit as defined in the table below when using optional argument \Phys .
-
NOTE!
For RobotWare 5.08 and earlier versions it is not possible to use the instruction
IOUnitState with optional arguments \Phys or \Logic . From RobotWare 5.09 it is
recommended to use the optional arguments \Phys or \Logic .
The state of the I/O unit is defined in the table below when not using any of the optional
arguments \Phys or \Logic .
1) Not possible to get this state in the RAPID program with current version of RobotWare -
OS.
Return value Symbolic constant
Comment
20
IOUNIT_PHYS_STATE_DEACTIVATED
Unit is not running, disabled
by user
21
IOUNIT_PHYS_STATE_RUNNING
Unit is running
22
IOUNIT_PHYS_STATE_ERROR
Unit is not working because of
some runtime error
23
IOUNIT_PHYS_STATE_UNCONNECTED
Unit is configured but not
connected to the bus or the
bus is stopped
24
IOUNIT_PHYS_STATE_UNCONFIGURED Unit is not configured but
connected to the bus. 1)
25
IOUNIT_PHYS_STATE_STARTUP
Unit is in start up mode. 1)
26
IOUNIT_PHYS_STATE_INIT
Unit is created. 1)
Return value Symbolic constant
Comment
1
IOUNIT_RUNNING
Unit is up and running
2
IOUNIT_RUNERROR
Unit is not working because of
some runtime error
3
IOUNIT_DISABLE
Unit is disabled by user from
RAPID or FlexPendant
4
IOUNIT_OTHERERR
Other configuration or startup
errors
Continued
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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]
Physical
Data type: switch
If using this parameter the physical state of the I/O unit is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the I/O unit is read.
Syntax
IOUnitState ´(´
[ UnitName ’:=’ ] < expression ( IN ) of string >
[ ’\’ Phys] | [ ’\’ Logic] ´)´
A function with a return value of the data type iounit_state .
Related information
For information about
See
State of I/O unit
IOEnable - Enable I/O unit on page 162
iounit_state - State of I/O unit on page 1128
Enable an I/O unit
IOEnable - Enable I/O unit on page 162
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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 type. If no type is specified, only an existence check is
performed.
The path argument specifies the file. Read, write or execute permission for the named file is
not required, but all directories listed in the path name leading to the file must be searchable.
Basic examples
Basic examples of the function IsFile are illustrated below.
See also More examples on page 879 .
Example 1
PROC printFT(string filename)
IF IsFile(filename \Directory) THEN
TPWrite filename+" is a directory";
RETURN;
ENDIF
IF IsFile(filename \Fifo) THEN
TPWrite filename+" is a fifo file";
RETURN;
ENDIF
IF IsFile(filename \RegFile) THEN
TPWrite filename+" is a regular file";
RETURN;
ENDIF
IF IsFile(filename \BlockSpec) THEN
TPWrite filename+" is a block special file";
RETURN;
ENDIF
IF IsFile(filename \CharSpec) THEN
TPWrite filename+" is a character special file";
RETURN;
ENDIF
ENDPROC
This example prints out the filename and the type of the specified file on the FlexPendant.
Return value
Data type: bool
The function will return TRUE if the specified type and actual type match, otherwise FALSE .
When no type is specified, it returns TRUE if the file exists and otherwise FALSE .
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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]
Physical
Data type: switch
If using this parameter the physical state of the I/O unit is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the I/O unit is read.
Syntax
IOUnitState ´(´
[ UnitName ’:=’ ] < expression ( IN ) of string >
[ ’\’ Phys] | [ ’\’ Logic] ´)´
A function with a return value of the data type iounit_state .
Related information
For information about
See
State of I/O unit
IOEnable - Enable I/O unit on page 162
iounit_state - State of I/O unit on page 1128
Enable an I/O unit
IOEnable - Enable I/O unit on page 162
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
Continued
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 type. If no type is specified, only an existence check is
performed.
The path argument specifies the file. Read, write or execute permission for the named file is
not required, but all directories listed in the path name leading to the file must be searchable.
Basic examples
Basic examples of the function IsFile are illustrated below.
See also More examples on page 879 .
Example 1
PROC printFT(string filename)
IF IsFile(filename \Directory) THEN
TPWrite filename+" is a directory";
RETURN;
ENDIF
IF IsFile(filename \Fifo) THEN
TPWrite filename+" is a fifo file";
RETURN;
ENDIF
IF IsFile(filename \RegFile) THEN
TPWrite filename+" is a regular file";
RETURN;
ENDIF
IF IsFile(filename \BlockSpec) THEN
TPWrite filename+" is a block special file";
RETURN;
ENDIF
IF IsFile(filename \CharSpec) THEN
TPWrite filename+" is a character special file";
RETURN;
ENDIF
ENDPROC
This example prints out the filename and the type of the specified file on the FlexPendant.
Return value
Data type: bool
The function will return TRUE if the specified type and actual type match, otherwise FALSE .
When no type is specified, it returns TRUE if the file exists and otherwise FALSE .
Continues on next page
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2.61. IsFile - Check the type of a file
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© 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 type: switch
Is the file a directory.
[ \Fifo ]
Data type: switch
Is the file a fifo file.
[ \RegFile ]
Data type: switch
Is the file a regular file, i.e. a normal binary or ASCII file.
[ \BlockSpec ]
Data type: switch
Is the file a block special file.
[ \CharSpec ]
Data type: switch
Is the file a character special file.
Program execution
This function returns a bool that specifies match or not.
More examples
More examples of the function IsFile are illustrated below.
Example 1
This example implements a generic traverse of a directory structure function.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
ENDIF
ENDWHILE
CloseDir directory;
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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 type. If no type is specified, only an existence check is
performed.
The path argument specifies the file. Read, write or execute permission for the named file is
not required, but all directories listed in the path name leading to the file must be searchable.
Basic examples
Basic examples of the function IsFile are illustrated below.
See also More examples on page 879 .
Example 1
PROC printFT(string filename)
IF IsFile(filename \Directory) THEN
TPWrite filename+" is a directory";
RETURN;
ENDIF
IF IsFile(filename \Fifo) THEN
TPWrite filename+" is a fifo file";
RETURN;
ENDIF
IF IsFile(filename \RegFile) THEN
TPWrite filename+" is a regular file";
RETURN;
ENDIF
IF IsFile(filename \BlockSpec) THEN
TPWrite filename+" is a block special file";
RETURN;
ENDIF
IF IsFile(filename \CharSpec) THEN
TPWrite filename+" is a character special file";
RETURN;
ENDIF
ENDPROC
This example prints out the filename and the type of the specified file on the FlexPendant.
Return value
Data type: bool
The function will return TRUE if the specified type and actual type match, otherwise FALSE .
When no type is specified, it returns TRUE if the file exists and otherwise FALSE .
Continues on next page
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 type: switch
Is the file a directory.
[ \Fifo ]
Data type: switch
Is the file a fifo file.
[ \RegFile ]
Data type: switch
Is the file a regular file, i.e. a normal binary or ASCII file.
[ \BlockSpec ]
Data type: switch
Is the file a block special file.
[ \CharSpec ]
Data type: switch
Is the file a character special file.
Program execution
This function returns a bool that specifies match or not.
More examples
More examples of the function IsFile are illustrated below.
Example 1
This example implements a generic traverse of a directory structure function.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
ENDIF
ENDWHILE
CloseDir directory;
Continued
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2.61. IsFile - Check the type of a file
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© 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 under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under the " HOME :" and for each file found, it
calls the listfile procedure. The searchdir is the generic part that knows nothing about
the start of the search or which routine should be called for each file. It uses IsFile to check
whether it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine should be
a procedure with one parameter of the type string .
Error handling
If the file does not exist and there is a type specified, the system variable ERRNO is set to
ERR_FILEACC . This error can then be handled in the error handler.
Limitations
This function is not possible to use against serial channels or field buses.
If using against FTP or NFS mounted discs, the file existance or type information is not always
updated. To get correct information an explicit order may be needed against the search path
(with instruction Open ) before using IsFile .
Syntax
Isfile ’(’
[ Path’:=’ ] < expression ( IN ) of string>
[ ´\´Directory ]
| [ ´\´Fifo ]
| [ ´\´RegFile ]
| [ ´\´BlockSpec ]
| [ ´\´CharSpec ]
’)’
A function with a return value of the data type bool .
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Arguments
IsFile (Path [\Directory] [\Fifo] [\RegFile] [\BlockSpec]
[\CharSpec])
Path
Data type: string
The file specified with a full or relative path.
[ \Directory ]
Data type: switch
Is the file a directory.
[ \Fifo ]
Data type: switch
Is the file a fifo file.
[ \RegFile ]
Data type: switch
Is the file a regular file, i.e. a normal binary or ASCII file.
[ \BlockSpec ]
Data type: switch
Is the file a block special file.
[ \CharSpec ]
Data type: switch
Is the file a character special file.
Program execution
This function returns a bool that specifies match or not.
More examples
More examples of the function IsFile are illustrated below.
Example 1
This example implements a generic traverse of a directory structure function.
PROC searchdir(string dirname, string actionproc)
VAR dir directory;
VAR string filename;
IF IsFile(dirname \Directory) THEN
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
! .. and . is the parent and resp. this directory
IF filename <> ".." AND filename <> "." THEN
searchdir dirname+"/"+filename, actionproc;
ENDIF
ENDWHILE
CloseDir directory;
Continued
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2.61. IsFile - Check the type of a file
RobotWare - OS
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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 under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under the " HOME :" and for each file found, it
calls the listfile procedure. The searchdir is the generic part that knows nothing about
the start of the search or which routine should be called for each file. It uses IsFile to check
whether it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine should be
a procedure with one parameter of the type string .
Error handling
If the file does not exist and there is a type specified, the system variable ERRNO is set to
ERR_FILEACC . This error can then be handled in the error handler.
Limitations
This function is not possible to use against serial channels or field buses.
If using against FTP or NFS mounted discs, the file existance or type information is not always
updated. To get correct information an explicit order may be needed against the search path
(with instruction Open ) before using IsFile .
Syntax
Isfile ’(’
[ Path’:=’ ] < expression ( IN ) of string>
[ ´\´Directory ]
| [ ´\´Fifo ]
| [ ´\´RegFile ]
| [ ´\´BlockSpec ]
| [ ´\´CharSpec ]
’)’
A function with a return value of the data type bool .
Continued
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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
CloseDir - Close a directory on page 56
Read a directory
ReadDir - Read next entry in a directory on page 944
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file size
FileSize - Retrieve the size of a file on page 842
Check file system size
FSSize - Retrieve the size of a file system on page 848
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ELSE
%actionproc% dirname;
ENDIF
ERROR
RAISE;
ENDPROC
PROC listfile(string filename)
TPWrite filename;
ENDPROC
PROC main()
! Execute the listfile routine for all files found under the
! tree of HOME:
searchdir "HOME:","listfile";
ENDPROC
This program traverses the directory structure under the " HOME :" and for each file found, it
calls the listfile procedure. The searchdir is the generic part that knows nothing about
the start of the search or which routine should be called for each file. It uses IsFile to check
whether it has found a subdirectory or a file and it uses the late binding mechanism to call the
procedure specified in actionproc for all files found. The actionproc routine should be
a procedure with one parameter of the type string .
Error handling
If the file does not exist and there is a type specified, the system variable ERRNO is set to
ERR_FILEACC . This error can then be handled in the error handler.
Limitations
This function is not possible to use against serial channels or field buses.
If using against FTP or NFS mounted discs, the file existance or type information is not always
updated. To get correct information an explicit order may be needed against the search path
(with instruction Open ) before using IsFile .
Syntax
Isfile ’(’
[ Path’:=’ ] < expression ( IN ) of string>
[ ´\´Directory ]
| [ ´\´Fifo ]
| [ ´\´RegFile ]
| [ ´\´BlockSpec ]
| [ ´\´CharSpec ]
’)’
A function with a return value of the data type bool .
Continued
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2.61. IsFile - Check the type of a file
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881
3HAC 16581-1 Revision: J
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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
CloseDir - Close a directory on page 56
Read a directory
ReadDir - Read next entry in a directory on page 944
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file size
FileSize - Retrieve the size of a file on page 842
Check file system size
FSSize - Retrieve the size of a file system on page 848
Continued
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 not.
Basic examples
Basic examples of the function IsMechUnitActive are illustrated below.
Example 1
IF IsMechUnitActive(SpotWeldGun) CloseGun SpotWeldGun;
If the mechanical unit SpotWeldGun is active, the routine CloseGun will be invoked in
which the gun is closed.
Return value
Data type: bool
The function returns:
•
TRUE , if the mechanical unit is active
•
FALSE , if the mechanical unit is deactive
Arguments
IsMechUnitActive ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Syntax
IsMechUnitActive ’(’
[MechUnit’:=’] < variable ( VAR ) of mecunit> ´,´
A function with a return value of the data type bool .
Related information
For information about
See
Activating mechanical units
ActUnit - Activates a mechanical unit on page 17
Deactivating mechanical units
DeactUnit - Deactivates a mechanical unit on page 79
Mechanical units
mecunit - Mechanical unit on page 1139
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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
CloseDir - Close a directory on page 56
Read a directory
ReadDir - Read next entry in a directory on page 944
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file size
FileSize - Retrieve the size of a file on page 842
Check file system size
FSSize - Retrieve the size of a file system on page 848
Continued
2 Functions
2.62. IsMechUnitActive - Is mechanical unit active
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2.62. IsMechUnitActive - Is mechanical unit active
Usage
IsMechUnitActive ( Is Mechanical Unit Active ) is used to check whether a mechanical
unit is activated or not.
Basic examples
Basic examples of the function IsMechUnitActive are illustrated below.
Example 1
IF IsMechUnitActive(SpotWeldGun) CloseGun SpotWeldGun;
If the mechanical unit SpotWeldGun is active, the routine CloseGun will be invoked in
which the gun is closed.
Return value
Data type: bool
The function returns:
•
TRUE , if the mechanical unit is active
•
FALSE , if the mechanical unit is deactive
Arguments
IsMechUnitActive ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Syntax
IsMechUnitActive ’(’
[MechUnit’:=’] < variable ( VAR ) of mecunit> ´,´
A function with a return value of the data type bool .
Related information
For information about
See
Activating mechanical units
ActUnit - Activates a mechanical unit on page 17
Deactivating mechanical units
DeactUnit - Deactivates a mechanical unit on page 79
Mechanical units
mecunit - Mechanical unit on page 1139
2 Functions
2.63. IsPers - Is persistent
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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.
Example 1
PROC procedure1 (INOUT num parameter1)
IF IsVar(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a persistent variable. FALSE if the tested actual
INOUT parameter is not a persistent variable.
Arguments
IsPers (DatObj)
DatObj ()
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsPers’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if variable
IsVar - Is variable on page 891
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
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2.62. IsMechUnitActive - Is mechanical unit active
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2.62. IsMechUnitActive - Is mechanical unit active
Usage
IsMechUnitActive ( Is Mechanical Unit Active ) is used to check whether a mechanical
unit is activated or not.
Basic examples
Basic examples of the function IsMechUnitActive are illustrated below.
Example 1
IF IsMechUnitActive(SpotWeldGun) CloseGun SpotWeldGun;
If the mechanical unit SpotWeldGun is active, the routine CloseGun will be invoked in
which the gun is closed.
Return value
Data type: bool
The function returns:
•
TRUE , if the mechanical unit is active
•
FALSE , if the mechanical unit is deactive
Arguments
IsMechUnitActive ( MechUnit )
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Syntax
IsMechUnitActive ’(’
[MechUnit’:=’] < variable ( VAR ) of mecunit> ´,´
A function with a return value of the data type bool .
Related information
For information about
See
Activating mechanical units
ActUnit - Activates a mechanical unit on page 17
Deactivating mechanical units
DeactUnit - Deactivates a mechanical unit on page 79
Mechanical units
mecunit - Mechanical unit on page 1139
2 Functions
2.63. IsPers - Is persistent
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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.
Example 1
PROC procedure1 (INOUT num parameter1)
IF IsVar(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a persistent variable. FALSE if the tested actual
INOUT parameter is not a persistent variable.
Arguments
IsPers (DatObj)
DatObj ()
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsPers’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if variable
IsVar - Is variable on page 891
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
2 Functions
2.64. IsStopMoveAct - Is stop move flags active
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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 examples
Basic examples of the function IsStopMoveAct are illustrated below.
Example 1
stopflag2:= IsStopMoveAct(\FromNonMoveTask);
stopflag2 will be TRUE if the stop move flag from non-motion tasks is set in current or
connected motion task, else it will be FALSE.
Example 2
IF IsStopMoveAct(\FromMoveTask) THEN
StartMove;
ENDIF
If the stop move flag from motion task is set in the current motion task, it will be reset by the
StartMove instruction.
Return value
Data type: bool
The return value will be TRUE if the selected stop move flag is set, else the return value will
be FALSE.
Arguments
IsStopMoveAct ( [\FromMoveTask] | [\FromNonMoveTask] )
[\FromMoveTask]
Data type: switch
FromMoveTask is used to get the status of the stop move flag of type private motion task.
This type of stop move flag can only be set by:
•
The motion task itself with instruction StopMove
•
After leaving the RestoPath level in the program
•
At execution in an asynchronous error handler for process- or motion errors before any
StorePath and after any RestoPath
[\FromNonMoveTask]
Data type: switch
FromNonMoveTask is used to get the status of the stop move flag of type any non-motion
tasks. This type of stop move flag can only be set by any non-motion task in connected or all
motion tasks with the instruction StopMove .
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2.63. IsPers - Is persistent
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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.
Example 1
PROC procedure1 (INOUT num parameter1)
IF IsVar(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a persistent variable. FALSE if the tested actual
INOUT parameter is not a persistent variable.
Arguments
IsPers (DatObj)
DatObj ()
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsPers’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if variable
IsVar - Is variable on page 891
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
2 Functions
2.64. IsStopMoveAct - Is stop move flags active
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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 examples
Basic examples of the function IsStopMoveAct are illustrated below.
Example 1
stopflag2:= IsStopMoveAct(\FromNonMoveTask);
stopflag2 will be TRUE if the stop move flag from non-motion tasks is set in current or
connected motion task, else it will be FALSE.
Example 2
IF IsStopMoveAct(\FromMoveTask) THEN
StartMove;
ENDIF
If the stop move flag from motion task is set in the current motion task, it will be reset by the
StartMove instruction.
Return value
Data type: bool
The return value will be TRUE if the selected stop move flag is set, else the return value will
be FALSE.
Arguments
IsStopMoveAct ( [\FromMoveTask] | [\FromNonMoveTask] )
[\FromMoveTask]
Data type: switch
FromMoveTask is used to get the status of the stop move flag of type private motion task.
This type of stop move flag can only be set by:
•
The motion task itself with instruction StopMove
•
After leaving the RestoPath level in the program
•
At execution in an asynchronous error handler for process- or motion errors before any
StorePath and after any RestoPath
[\FromNonMoveTask]
Data type: switch
FromNonMoveTask is used to get the status of the stop move flag of type any non-motion
tasks. This type of stop move flag can only be set by any non-motion task in connected or all
motion tasks with the instruction StopMove .
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2 Functions
2.64. IsStopMoveAct - Is stop move flags active
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Syntax
IsStopMoveAct’(’
[’\’ FromMoveTask]
| [’\’ FromNonMoveTask]’ )’
A function with a return value of the data type bool .
Related information
For information about
See
Stop robot movement
StopMove - Stops robot movement on page 515
Restart robot movement
StartMove - Restarts robot movement on page 486
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2.64. IsStopMoveAct - Is stop move flags active
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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 examples
Basic examples of the function IsStopMoveAct are illustrated below.
Example 1
stopflag2:= IsStopMoveAct(\FromNonMoveTask);
stopflag2 will be TRUE if the stop move flag from non-motion tasks is set in current or
connected motion task, else it will be FALSE.
Example 2
IF IsStopMoveAct(\FromMoveTask) THEN
StartMove;
ENDIF
If the stop move flag from motion task is set in the current motion task, it will be reset by the
StartMove instruction.
Return value
Data type: bool
The return value will be TRUE if the selected stop move flag is set, else the return value will
be FALSE.
Arguments
IsStopMoveAct ( [\FromMoveTask] | [\FromNonMoveTask] )
[\FromMoveTask]
Data type: switch
FromMoveTask is used to get the status of the stop move flag of type private motion task.
This type of stop move flag can only be set by:
•
The motion task itself with instruction StopMove
•
After leaving the RestoPath level in the program
•
At execution in an asynchronous error handler for process- or motion errors before any
StorePath and after any RestoPath
[\FromNonMoveTask]
Data type: switch
FromNonMoveTask is used to get the status of the stop move flag of type any non-motion
tasks. This type of stop move flag can only be set by any non-motion task in connected or all
motion tasks with the instruction StopMove .
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2 Functions
2.64. IsStopMoveAct - Is stop move flags active
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Syntax
IsStopMoveAct’(’
[’\’ FromMoveTask]
| [’\’ FromNonMoveTask]’ )’
A function with a return value of the data type bool .
Related information
For information about
See
Stop robot movement
StopMove - Stops robot movement on page 515
Restart robot movement
StartMove - Restarts robot movement on page 486
Continued
2 Functions
2.65. IsStopStateEvent - Test whether moved program pointer
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2.65. IsStopStateEvent - Test whether moved program pointer
Usage
IsStopStateEvent returns information about the movement of the Program Pointer (PP)
in current program task.
Basic examples
Basic examples of the function IsStopStateEvent are illustrated below.
Example 1
IF IsStopStateEvent (\PPMoved) = TRUE THEN
! PP has been moved during the last program stop
ELSE
! PP has not been moved during the last program stop
ENDIF
IF IsStopStateEvent (\PPToMain) THEN
! PP has been moved to main routine during the last program stop
ENDIF
Return value
Data type: bool
Status if and how PP has been moved during the last stop state.
TRUE if PP has been moved during the last stop.
FALSE if PP has not been moved during the last stop.
If PP has been moved to the main routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved to a routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved within a list of a routine, \PPMoved will return TRUE and \PPToMain
will return FALSE .
After calling a service routine (keep execution context in main program sequence) \PPMove
will return FALSE and \PPToMain will return FALSE .
Arguments
IsStopStateEvent ([\PPMoved] | [\PPToMain])
[ \PPMoved ]
Data type: switch
Test whether PP has been moved.
[ \PPToMain ]
Data type: switch
Test whether PP has been moved to main or to a routine.
Limitations
This function in most cases cannot be used during forward or backward execution because
the system is in stop state between every single step.
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2.64. IsStopMoveAct - Is stop move flags active
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Syntax
IsStopMoveAct’(’
[’\’ FromMoveTask]
| [’\’ FromNonMoveTask]’ )’
A function with a return value of the data type bool .
Related information
For information about
See
Stop robot movement
StopMove - Stops robot movement on page 515
Restart robot movement
StartMove - Restarts robot movement on page 486
Continued
2 Functions
2.65. IsStopStateEvent - Test whether moved program pointer
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2.65. IsStopStateEvent - Test whether moved program pointer
Usage
IsStopStateEvent returns information about the movement of the Program Pointer (PP)
in current program task.
Basic examples
Basic examples of the function IsStopStateEvent are illustrated below.
Example 1
IF IsStopStateEvent (\PPMoved) = TRUE THEN
! PP has been moved during the last program stop
ELSE
! PP has not been moved during the last program stop
ENDIF
IF IsStopStateEvent (\PPToMain) THEN
! PP has been moved to main routine during the last program stop
ENDIF
Return value
Data type: bool
Status if and how PP has been moved during the last stop state.
TRUE if PP has been moved during the last stop.
FALSE if PP has not been moved during the last stop.
If PP has been moved to the main routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved to a routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved within a list of a routine, \PPMoved will return TRUE and \PPToMain
will return FALSE .
After calling a service routine (keep execution context in main program sequence) \PPMove
will return FALSE and \PPToMain will return FALSE .
Arguments
IsStopStateEvent ([\PPMoved] | [\PPToMain])
[ \PPMoved ]
Data type: switch
Test whether PP has been moved.
[ \PPToMain ]
Data type: switch
Test whether PP has been moved to main or to a routine.
Limitations
This function in most cases cannot be used during forward or backward execution because
the system is in stop state between every single step.
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2.65. IsStopStateEvent - Test whether moved program pointer
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Syntax
IsStopStateEvent’(’
[’\’ PPMoved] | [’\’ PPToMain] ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Making own instructions
Technical reference manual - RAPID
overview , section - Programming off-line -
Making your own instructions
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2.65. IsStopStateEvent - Test whether moved program pointer
Usage
IsStopStateEvent returns information about the movement of the Program Pointer (PP)
in current program task.
Basic examples
Basic examples of the function IsStopStateEvent are illustrated below.
Example 1
IF IsStopStateEvent (\PPMoved) = TRUE THEN
! PP has been moved during the last program stop
ELSE
! PP has not been moved during the last program stop
ENDIF
IF IsStopStateEvent (\PPToMain) THEN
! PP has been moved to main routine during the last program stop
ENDIF
Return value
Data type: bool
Status if and how PP has been moved during the last stop state.
TRUE if PP has been moved during the last stop.
FALSE if PP has not been moved during the last stop.
If PP has been moved to the main routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved to a routine, both \PPMoved and \PPToMain will return TRUE .
If PP has been moved within a list of a routine, \PPMoved will return TRUE and \PPToMain
will return FALSE .
After calling a service routine (keep execution context in main program sequence) \PPMove
will return FALSE and \PPToMain will return FALSE .
Arguments
IsStopStateEvent ([\PPMoved] | [\PPToMain])
[ \PPMoved ]
Data type: switch
Test whether PP has been moved.
[ \PPToMain ]
Data type: switch
Test whether PP has been moved to main or to a routine.
Limitations
This function in most cases cannot be used during forward or backward execution because
the system is in stop state between every single step.
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2.65. IsStopStateEvent - Test whether moved program pointer
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Syntax
IsStopStateEvent’(’
[’\’ PPMoved] | [’\’ PPToMain] ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Making own instructions
Technical reference manual - RAPID
overview , section - Programming off-line -
Making your own instructions
Continued
2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
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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
synchronized movement mode or not.
It is also possible from some Non Motion Task to test if the connected Motion Task is in
synchronized movement mode or not. The system parameter Controller/Tasks/Use
Mechanical Unit Group define the connected Motion Task .
When the Motion Task is executing at StorePath level IsSyncMoveOn will test if the task
is in synchronized mode on that level, independently of the synchronized mode on the
original level.
The instruction IsSyncMoveOn is usually used in a MultiMove system with option
Coordinated Robots but can be used in any system and in any program task.
Basic examples
Basic examples of the function IsSyncMoveOn are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
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Syntax
IsStopStateEvent’(’
[’\’ PPMoved] | [’\’ PPToMain] ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Making own instructions
Technical reference manual - RAPID
overview , section - Programming off-line -
Making your own instructions
Continued
2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
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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
synchronized movement mode or not.
It is also possible from some Non Motion Task to test if the connected Motion Task is in
synchronized movement mode or not. The system parameter Controller/Tasks/Use
Mechanical Unit Group define the connected Motion Task .
When the Motion Task is executing at StorePath level IsSyncMoveOn will test if the task
is in synchronized mode on that level, independently of the synchronized mode on the
original level.
The instruction IsSyncMoveOn is usually used in a MultiMove system with option
Coordinated Robots but can be used in any system and in any program task.
Basic examples
Basic examples of the function IsSyncMoveOn are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
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2.66. IsSyncMoveOn - Test if in synchronized movement mode
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Program example in task BCK1
PROC main()
...
IF IsSyncMoveOn() THEN
! Connected Motion Task is in synchronized movement mode
ELSE
! Connected Motion Task is in independent mode
ENDIF
...
ENDPROC
At the execution time of IsSyncMoveOn , in the background task BCK1 , we test if the
connected motion task at that moment is in synchronized movement mode or not.
Return value
Data type: bool
TRUE if current or connected program task is in synchronized movement mode at the moment,
otherwise FALSE .
Program execution
Test if current or connected program task is in synchronized movement mode at the moment
or not. If the MotionTask is executing at StorePath level , the SyncMoveOn will test if
the task is in synchronized movement on the StorePath level , not on the original level.
Syntax
IsSyncMoveOn ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Store path and execute on new level
StorePath - Stores the path when an interrupt
occurs on page 521
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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
synchronized movement mode or not.
It is also possible from some Non Motion Task to test if the connected Motion Task is in
synchronized movement mode or not. The system parameter Controller/Tasks/Use
Mechanical Unit Group define the connected Motion Task .
When the Motion Task is executing at StorePath level IsSyncMoveOn will test if the task
is in synchronized mode on that level, independently of the synchronized mode on the
original level.
The instruction IsSyncMoveOn is usually used in a MultiMove system with option
Coordinated Robots but can be used in any system and in any program task.
Basic examples
Basic examples of the function IsSyncMoveOn are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
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2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
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Program example in task BCK1
PROC main()
...
IF IsSyncMoveOn() THEN
! Connected Motion Task is in synchronized movement mode
ELSE
! Connected Motion Task is in independent mode
ENDIF
...
ENDPROC
At the execution time of IsSyncMoveOn , in the background task BCK1 , we test if the
connected motion task at that moment is in synchronized movement mode or not.
Return value
Data type: bool
TRUE if current or connected program task is in synchronized movement mode at the moment,
otherwise FALSE .
Program execution
Test if current or connected program task is in synchronized movement mode at the moment
or not. If the MotionTask is executing at StorePath level , the SyncMoveOn will test if
the task is in synchronized movement on the StorePath level , not on the original level.
Syntax
IsSyncMoveOn ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Store path and execute on new level
StorePath - Stores the path when an interrupt
occurs on page 521
Continued
2 Functions
2.67. IsSysId - Test system identity
RobotWare - OS
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© 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 the function IsSysId are illustrated below.
Example 1
IF NOT IsSysId("6400-1234") THEN
ErrWrite "System identity fault","Faulty system identity for
this program";
EXIT;
ENDIF
The program is made for a special robot system with serial number 6400-1234 and cannot
be used by another robot system.
Return value
Data type: bool
TRUE = The robot system serial number is the same as specified in the test.
FALSE = The robot system serial number is not the same as specified in the test.
Arguments
IsSysId ( SystemId)
SystemId
Data type: string
The robot system serial number, marking the system identity.
Syntax
IsSysId ’(’
[ SystemId’:=’ ] < expression ( IN ) of string> ´)´
A function with a return value of the data type bool.
Related information
For information about
See
Read system information
GetSysInfo - Get information about the system on page
857
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2 Functions
2.66. IsSyncMoveOn - Test if in synchronized movement mode
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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 is in independent mode
ENDIF
...
ENDPROC
At the execution time of IsSyncMoveOn , in the background task BCK1 , we test if the
connected motion task at that moment is in synchronized movement mode or not.
Return value
Data type: bool
TRUE if current or connected program task is in synchronized movement mode at the moment,
otherwise FALSE .
Program execution
Test if current or connected program task is in synchronized movement mode at the moment
or not. If the MotionTask is executing at StorePath level , the SyncMoveOn will test if
the task is in synchronized movement on the StorePath level , not on the original level.
Syntax
IsSyncMoveOn ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Store path and execute on new level
StorePath - Stores the path when an interrupt
occurs on page 521
Continued
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 the function IsSysId are illustrated below.
Example 1
IF NOT IsSysId("6400-1234") THEN
ErrWrite "System identity fault","Faulty system identity for
this program";
EXIT;
ENDIF
The program is made for a special robot system with serial number 6400-1234 and cannot
be used by another robot system.
Return value
Data type: bool
TRUE = The robot system serial number is the same as specified in the test.
FALSE = The robot system serial number is not the same as specified in the test.
Arguments
IsSysId ( SystemId)
SystemId
Data type: string
The robot system serial number, marking the system identity.
Syntax
IsSysId ’(’
[ SystemId’:=’ ] < expression ( IN ) of string> ´)´
A function with a return value of the data type bool.
Related information
For information about
See
Read system information
GetSysInfo - Get information about the system on page
857
2 Functions
2.68. IsVar - Is variable
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3HAC 16581-1 Revision: J
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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
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions, depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a variable. FALSE if the tested actual INOUT
parameter is not a variable.
Arguments
IsVar (DatObj)
DatObj
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsVar’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if persistent
IsPers - Is persistent on page 883
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
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2.67. IsSysId - Test system identity
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© 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 the function IsSysId are illustrated below.
Example 1
IF NOT IsSysId("6400-1234") THEN
ErrWrite "System identity fault","Faulty system identity for
this program";
EXIT;
ENDIF
The program is made for a special robot system with serial number 6400-1234 and cannot
be used by another robot system.
Return value
Data type: bool
TRUE = The robot system serial number is the same as specified in the test.
FALSE = The robot system serial number is not the same as specified in the test.
Arguments
IsSysId ( SystemId)
SystemId
Data type: string
The robot system serial number, marking the system identity.
Syntax
IsSysId ’(’
[ SystemId’:=’ ] < expression ( IN ) of string> ´)´
A function with a return value of the data type bool.
Related information
For information about
See
Read system information
GetSysInfo - Get information about the system on page
857
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
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions, depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a variable. FALSE if the tested actual INOUT
parameter is not a variable.
Arguments
IsVar (DatObj)
DatObj
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsVar’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if persistent
IsPers - Is persistent on page 883
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
2 Functions
2.69. MaxRobSpeed - Maximum robot speed
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© 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 function MaxRobSpeed are illustrated below.
Example 1
TPWrite "Max. TCP speed in mm/s for my robot="\Num:=MaxRobSpeed();
The message Max. TCP speed in mm/s for my robot = 5000 is written on the
FlexPendant.
Return value
Data type: num
Return the max. TCP speed in mm/s for the used robot type and normal practical TCP values.
If extremely large TCP values are used in the tool frame, one should create his own speeddata
with bigger TCP speed than returned by MaxRobSpeed .
Syntax
MaxRobSpeed ’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Definition of velocity
speeddata - Speed data on page 1185
Definition of maximum velocity
VelSet - Changes the programmed velocity on page 662
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2.68. IsVar - Is variable
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3HAC 16581-1 Revision: J
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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
PROC procedure1 (INOUT num parameter1)
IF IsVAR(parameter1) THEN
! For this call reference to a variable
...
ELSEIF IsPers(parameter1) THEN
! For this call reference to a persistent variable
...
ELSE
! Should not happen
EXIT;
ENDIF
ENDPROC
The procedure procedure1 will take different actions, depending on whether the actual
parameter parameter1 is a variable or a persistent variable.
Return value
Data type: bool
TRUE if the tested actual INOUT parameter is a variable. FALSE if the tested actual INOUT
parameter is not a variable.
Arguments
IsVar (DatObj)
DatObj
Data Object
Data type: any type
The name of the formal INOUT parameter.
Syntax
IsVar’(’
[ DatObj’ :=’ ] < var or pers ( INOUT ) of any type > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Test if persistent
IsPers - Is persistent on page 883
Types of parameters (access modes)
Technical reference manual - RAPID overview ,
section Basic characteristics - Routines
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 function MaxRobSpeed are illustrated below.
Example 1
TPWrite "Max. TCP speed in mm/s for my robot="\Num:=MaxRobSpeed();
The message Max. TCP speed in mm/s for my robot = 5000 is written on the
FlexPendant.
Return value
Data type: num
Return the max. TCP speed in mm/s for the used robot type and normal practical TCP values.
If extremely large TCP values are used in the tool frame, one should create his own speeddata
with bigger TCP speed than returned by MaxRobSpeed .
Syntax
MaxRobSpeed ’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Definition of velocity
speeddata - Speed data on page 1185
Definition of maximum velocity
VelSet - Changes the programmed velocity on page 662
2 Functions
2.70. MirPos - Mirroring of a position
RobotWare - OS
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3HAC 16581-1 Revision: J
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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 the function MirPos are illustrated below.
CONST robtarget p1:= [...];
VAR robtarget p2;
PERS wobjdata mirror:= [...];
...
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This position is
mirrored in the xy-plane of the frame defined by mirror , relative to the world coordinate
system. The result is new robtarget data, which is stored in p2 .
Return value
Data type: robtarget
The new position which is the mirrored position of the input position.
Arguments
MirPos
(Point
MirPlane
[\WObj]
[\MirY])
Point
Data type: robtarget
The input robot position. The orientation part of this position defines the current orientation
of the tool coordinate system.
MirPlane
Mirror Plane
Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane of the object
frame defined in MirPlane . The location of the object frame is defined relative to the user
frame (also defined in MirPlane ) which in turn is defined relative to the world frame.
[\WObj]
Work Object
Data type: wobjdata
The work object data defining the object frame and user frame relative to which the input
position Point is defined. If this argument is left out the position is defined relative to the
World coordinate system.
NOTE!
If the position is created with an active work object, this work object must be referred to in
the argument.
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2.69. MaxRobSpeed - Maximum robot speed
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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 function MaxRobSpeed are illustrated below.
Example 1
TPWrite "Max. TCP speed in mm/s for my robot="\Num:=MaxRobSpeed();
The message Max. TCP speed in mm/s for my robot = 5000 is written on the
FlexPendant.
Return value
Data type: num
Return the max. TCP speed in mm/s for the used robot type and normal practical TCP values.
If extremely large TCP values are used in the tool frame, one should create his own speeddata
with bigger TCP speed than returned by MaxRobSpeed .
Syntax
MaxRobSpeed ’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Definition of velocity
speeddata - Speed data on page 1185
Definition of maximum velocity
VelSet - Changes the programmed velocity on page 662
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 the function MirPos are illustrated below.
CONST robtarget p1:= [...];
VAR robtarget p2;
PERS wobjdata mirror:= [...];
...
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This position is
mirrored in the xy-plane of the frame defined by mirror , relative to the world coordinate
system. The result is new robtarget data, which is stored in p2 .
Return value
Data type: robtarget
The new position which is the mirrored position of the input position.
Arguments
MirPos
(Point
MirPlane
[\WObj]
[\MirY])
Point
Data type: robtarget
The input robot position. The orientation part of this position defines the current orientation
of the tool coordinate system.
MirPlane
Mirror Plane
Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane of the object
frame defined in MirPlane . The location of the object frame is defined relative to the user
frame (also defined in MirPlane ) which in turn is defined relative to the world frame.
[\WObj]
Work Object
Data type: wobjdata
The work object data defining the object frame and user frame relative to which the input
position Point is defined. If this argument is left out the position is defined relative to the
World coordinate system.
NOTE!
If the position is created with an active work object, this work object must be referred to in
the argument.
Continues on next page
2 Functions
2.70. MirPos - Mirroring of a position
RobotWare - OS
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© 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 switch is specified the tool frame will be mirrored
with regards to the y-axis and the z-axis.
Limitations
No recalculation is done of the robot configuration part of the input robtarget data.
If a coordinate frame is used, the coordinated unit has to be situated in the same task as the
robot.
Syntax
MirPos’(’
[ Point ’:=’ ] < expression ( IN ) of robtarget>’,’
[MirPlane’ :=’] <expression ( IN ) of wobjdata>’,’
[’\’WObj ’:=’ <expression ( IN ) of wobjdata> ]
[’\’MirY ]’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Position data
robtarget - Position data on page 1176
Work object data
wobjdata - Work object data on page 1224
Continued
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2.70. MirPos - Mirroring of a position
RobotWare - OS
893
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© 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 the function MirPos are illustrated below.
CONST robtarget p1:= [...];
VAR robtarget p2;
PERS wobjdata mirror:= [...];
...
p2 := MirPos(p1, mirror);
p1 is a robtarget storing a position of the robot and an orientation of the tool. This position is
mirrored in the xy-plane of the frame defined by mirror , relative to the world coordinate
system. The result is new robtarget data, which is stored in p2 .
Return value
Data type: robtarget
The new position which is the mirrored position of the input position.
Arguments
MirPos
(Point
MirPlane
[\WObj]
[\MirY])
Point
Data type: robtarget
The input robot position. The orientation part of this position defines the current orientation
of the tool coordinate system.
MirPlane
Mirror Plane
Data type: wobjdata
The work object data defining the mirror plane. The mirror plane is the xy-plane of the object
frame defined in MirPlane . The location of the object frame is defined relative to the user
frame (also defined in MirPlane ) which in turn is defined relative to the world frame.
[\WObj]
Work Object
Data type: wobjdata
The work object data defining the object frame and user frame relative to which the input
position Point is defined. If this argument is left out the position is defined relative to the
World coordinate system.
NOTE!
If the position is created with an active work object, this work object must be referred to in
the argument.
Continues on next page
2 Functions
2.70. MirPos - Mirroring of a position
RobotWare - OS
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© 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 switch is specified the tool frame will be mirrored
with regards to the y-axis and the z-axis.
Limitations
No recalculation is done of the robot configuration part of the input robtarget data.
If a coordinate frame is used, the coordinated unit has to be situated in the same task as the
robot.
Syntax
MirPos’(’
[ Point ’:=’ ] < expression ( IN ) of robtarget>’,’
[MirPlane’ :=’] <expression ( IN ) of wobjdata>’,’
[’\’WObj ’:=’ <expression ( IN ) of wobjdata> ]
[’\’MirY ]’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Position data
robtarget - Position data on page 1176
Work object data
wobjdata - Work object data on page 1224
Continued
2 Functions
2.71. ModExist - Check if program module exist
RobotWare - OS
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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 first done for loaded modules and afterward, if none is found, for installed
modules.
Basic examples
Basic examples of the function ModExist are illustrated below.
Example 1
VAR bool mod_exist;
mod_exist:=ModExist ("MyModule");
If module MyModule exists within the task, the function will return TRUE . If not, the function
will return FALSE .
Return value
Data type: bool
TRUE if the module was found, FALSE if not.
Arguments
ModExist (ModuleName)
ModuleName
Data type: string
Name of the module to search for.
Syntax
ModExist ‘(‘
[ ModuleName ‘:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Find modify time for loaded module
ModTime - Get file modify time for the loaded
module on page 896
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2.70. MirPos - Mirroring of a position
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© 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 switch is specified the tool frame will be mirrored
with regards to the y-axis and the z-axis.
Limitations
No recalculation is done of the robot configuration part of the input robtarget data.
If a coordinate frame is used, the coordinated unit has to be situated in the same task as the
robot.
Syntax
MirPos’(’
[ Point ’:=’ ] < expression ( IN ) of robtarget>’,’
[MirPlane’ :=’] <expression ( IN ) of wobjdata>’,’
[’\’WObj ’:=’ <expression ( IN ) of wobjdata> ]
[’\’MirY ]’)’
A function with a return value of the data type robtarget .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID Summary -
Mathematics
Position data
robtarget - Position data on page 1176
Work object data
wobjdata - Work object data on page 1224
Continued
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 first done for loaded modules and afterward, if none is found, for installed
modules.
Basic examples
Basic examples of the function ModExist are illustrated below.
Example 1
VAR bool mod_exist;
mod_exist:=ModExist ("MyModule");
If module MyModule exists within the task, the function will return TRUE . If not, the function
will return FALSE .
Return value
Data type: bool
TRUE if the module was found, FALSE if not.
Arguments
ModExist (ModuleName)
ModuleName
Data type: string
Name of the module to search for.
Syntax
ModExist ‘(‘
[ ModuleName ‘:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Find modify time for loaded module
ModTime - Get file modify time for the loaded
module on page 896
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
module. The module is specified by its name and must be in the task memory. The time is
measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num and
optionally also as a stringdig .
Basic examples
Basic examples of the function ModTime are illustrated below.
See also More examples on page 897 .
Example 1
MODULE mymod
VAR num mytime;
PROC printMyTime()
mytime := ModTime("mymod");
TPWrite "My time is "+NumToStr(mytime,0);
ENDPROC
ENDMODULE
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
ModTime ( Object [\StrDig] )
Object
Data type: string
The name of the module.
[\StrDig]
String Digit
Data type: stringdig
To get the mod loading time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric value that specifies the last time a file was modified before it
was loaded as a program module in the system.
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2.71. ModExist - Check if program module exist
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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 first done for loaded modules and afterward, if none is found, for installed
modules.
Basic examples
Basic examples of the function ModExist are illustrated below.
Example 1
VAR bool mod_exist;
mod_exist:=ModExist ("MyModule");
If module MyModule exists within the task, the function will return TRUE . If not, the function
will return FALSE .
Return value
Data type: bool
TRUE if the module was found, FALSE if not.
Arguments
ModExist (ModuleName)
ModuleName
Data type: string
Name of the module to search for.
Syntax
ModExist ‘(‘
[ ModuleName ‘:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Find modify time for loaded module
ModTime - Get file modify time for the loaded
module on page 896
2 Functions
2.72. ModTime - Get file modify time for the loaded module
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© 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
module. The module is specified by its name and must be in the task memory. The time is
measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num and
optionally also as a stringdig .
Basic examples
Basic examples of the function ModTime are illustrated below.
See also More examples on page 897 .
Example 1
MODULE mymod
VAR num mytime;
PROC printMyTime()
mytime := ModTime("mymod");
TPWrite "My time is "+NumToStr(mytime,0);
ENDPROC
ENDMODULE
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
ModTime ( Object [\StrDig] )
Object
Data type: string
The name of the module.
[\StrDig]
String Digit
Data type: stringdig
To get the mod loading time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric value that specifies the last time a file was modified before it
was loaded as a program module in the system.
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2.72. ModTime - Get file modify time for the loaded module
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More examples
More examples of the function ModTime are illustrated below.
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:/mymod.mod";
Load \Dynamic, "HOME:/mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modify time for the specified module, and compares it to the FileTime\ModifyTime
at the source. Then, if the source is newer, the program unloads and loads the module again.
Limitation in this example: The data type num can’t handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Error handling
If no module with specified name is in the program task, the system variable ERRNO is set
to ERR_MOD_NOT_LOADED. This error can then be handled in the error handler.
Limitations
This function will always return 0 if used on a module that is encoded or installed shared.
Syntax
ModTime ’(’
[ Object ’:=’ ] < expression ( IN ) of string>
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Retrieve time information about a file
FileTime - Retrieve time information about a file
on page 845
String with only digits
stringdig - String with only digits on page 1197
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
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2.72. ModTime - Get file modify time for the loaded module
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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
module. The module is specified by its name and must be in the task memory. The time is
measured in seconds since 00:00:00 GMT, Jan. 1 1970. The time is returned as a num and
optionally also as a stringdig .
Basic examples
Basic examples of the function ModTime are illustrated below.
See also More examples on page 897 .
Example 1
MODULE mymod
VAR num mytime;
PROC printMyTime()
mytime := ModTime("mymod");
TPWrite "My time is "+NumToStr(mytime,0);
ENDPROC
ENDMODULE
Return value
Data type: num
The time measured in seconds since 00:00:00 GMT, Jan. 1 1970.
Arguments
ModTime ( Object [\StrDig] )
Object
Data type: string
The name of the module.
[\StrDig]
String Digit
Data type: stringdig
To get the mod loading time in a stringdig representation.
Further use in StrDigCmp can handle positive integers above 8388608 with exact
representation.
Program execution
This function returns a numeric value that specifies the last time a file was modified before it
was loaded as a program module in the system.
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2.72. ModTime - Get file modify time for the loaded module
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More examples
More examples of the function ModTime are illustrated below.
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:/mymod.mod";
Load \Dynamic, "HOME:/mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modify time for the specified module, and compares it to the FileTime\ModifyTime
at the source. Then, if the source is newer, the program unloads and loads the module again.
Limitation in this example: The data type num can’t handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Error handling
If no module with specified name is in the program task, the system variable ERRNO is set
to ERR_MOD_NOT_LOADED. This error can then be handled in the error handler.
Limitations
This function will always return 0 if used on a module that is encoded or installed shared.
Syntax
ModTime ’(’
[ Object ’:=’ ] < expression ( IN ) of string>
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Retrieve time information about a file
FileTime - Retrieve time information about a file
on page 845
String with only digits
stringdig - String with only digits on page 1197
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
Continued
2 Functions
2.73. MotionPlannerNo - Get connected motion planner number
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2.73. MotionPlannerNo - Get connected motion planner number
Usage
MotionPlannerNo returns the connected motion planner number. If executing
MotionPlannerNo in a motion task, it returns its planner number. Else if executing
MotionPlannerNo in a non-motion task it returns the connected motion planner number
according to the setup in the system parameters.
Basic examples
Basic examples of the function MotionPlannerNo are illustrated below.
Example 1
!Motion task T_ROB1
PERS string buffer{6} := [stEmpty, stEmpty, stEmpty, stEmpty,
stEmpty, stEmpty];
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
!Background task BCK1
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buffer[motion_planner];
...
ENDPROC
!Motion T_ROB2
PERS string buffer{6};
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
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2.72. ModTime - Get file modify time for the loaded module
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More examples
More examples of the function ModTime are illustrated below.
Example 1
IF FileTime ("HOME:/mymod.mod" \ModifyTime)
> ModTime ("mymod") THEN
UnLoad "HOME:/mymod.mod";
Load \Dynamic, "HOME:/mymod.mod";
ENDIF
This program reloads a module if the source file is newer. It uses the ModTime to retrieve the
latest modify time for the specified module, and compares it to the FileTime\ModifyTime
at the source. Then, if the source is newer, the program unloads and loads the module again.
Limitation in this example: The data type num can’t handle positive integers above 8388608
seconds with exact representation. To get better dissolution, see example in function
StrDigCmp .
Error handling
If no module with specified name is in the program task, the system variable ERRNO is set
to ERR_MOD_NOT_LOADED. This error can then be handled in the error handler.
Limitations
This function will always return 0 if used on a module that is encoded or installed shared.
Syntax
ModTime ’(’
[ Object ’:=’ ] < expression ( IN ) of string>
[ '\' StrDig’ :=’ < variable ( VAR ) of stringdig> ] ’)’
A function with a return value of the data type num .
Related information
For information about
See
Retrieve time information about a file
FileTime - Retrieve time information about a file
on page 845
String with only digits
stringdig - String with only digits on page 1197
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
Continued
2 Functions
2.73. MotionPlannerNo - Get connected motion planner number
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2.73. MotionPlannerNo - Get connected motion planner number
Usage
MotionPlannerNo returns the connected motion planner number. If executing
MotionPlannerNo in a motion task, it returns its planner number. Else if executing
MotionPlannerNo in a non-motion task it returns the connected motion planner number
according to the setup in the system parameters.
Basic examples
Basic examples of the function MotionPlannerNo are illustrated below.
Example 1
!Motion task T_ROB1
PERS string buffer{6} := [stEmpty, stEmpty, stEmpty, stEmpty,
stEmpty, stEmpty];
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
!Background task BCK1
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buffer[motion_planner];
...
ENDPROC
!Motion T_ROB2
PERS string buffer{6};
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
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2 Functions
2.73. MotionPlannerNo - Get connected motion planner number
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!Background task BCK2
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buffer[motion_planner];
...
ENDPROC
Use the function MotionPlannerNo to find out which motion planner number is connected
to the task. The exact same code can by implemented in all motion tasks and background
tasks. Then each background task can check the status for their connected motion task.
Return value
Data type: num
The number of the connected motion planner. For non-motion tasks, the motion planner
number of the associated mechanical unit will be returned.
The return value range is 1 ... 6.
Syntax
MotionPlannerNo’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Specify cooperated program tasks
Technical reference manual - System parameters ,
section Controller - Task
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2.73. MotionPlannerNo - Get connected motion planner number
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2.73. MotionPlannerNo - Get connected motion planner number
Usage
MotionPlannerNo returns the connected motion planner number. If executing
MotionPlannerNo in a motion task, it returns its planner number. Else if executing
MotionPlannerNo in a non-motion task it returns the connected motion planner number
according to the setup in the system parameters.
Basic examples
Basic examples of the function MotionPlannerNo are illustrated below.
Example 1
!Motion task T_ROB1
PERS string buffer{6} := [stEmpty, stEmpty, stEmpty, stEmpty,
stEmpty, stEmpty];
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
!Background task BCK1
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buffer[motion_planner];
...
ENDPROC
!Motion T_ROB2
PERS string buffer{6};
VAR num motion_planner;
PROC main()
...
MoveL point, v1000, fine, tcp1;
motion_planner := MotionPlannerNo();
buffer[motion_planner] := "READY";
...
ENDPROC
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2.73. MotionPlannerNo - Get connected motion planner number
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!Background task BCK2
PERS string buffer{6};
VAR num motion_planner;
VAR string status;
PROC main()
...
motion_planner := MotionPlannerNo();
status := buffer[motion_planner];
...
ENDPROC
Use the function MotionPlannerNo to find out which motion planner number is connected
to the task. The exact same code can by implemented in all motion tasks and background
tasks. Then each background task can check the status for their connected motion task.
Return value
Data type: num
The number of the connected motion planner. For non-motion tasks, the motion planner
number of the associated mechanical unit will be returned.
The return value range is 1 ... 6.
Syntax
MotionPlannerNo’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Specify cooperated program tasks
Technical reference manual - System parameters ,
section Controller - Task
Continued
2 Functions
2.74. NonMotionMode - Read the Non-Motion execution mode
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2.74. NonMotionMode - Read the Non-Motion execution mode
Usage
NonMotionMode ( Non-Motion Execution Mode ) is used to read the current Non-Motion
execution mode of the program task. Non-motion execution mode is selected or removed
from the FlexPendant under the menu ABB\Control Panel\Supervision .
Basic examples
Basic examples of the function NonMotionMode are illustrated below.
Example 1
IF NonMotionMode() =TRUE THEN
...
ENDIF
The program section is executed only if the robot is in Non-Motion execution mode.
Return value
Data type: bool
The current Non-motion mode as defined in the table below.
Arguments
NonMotionMode ( [ \Main] )
[ \Main ]
Data type: switch
Return current running mode for connected motion task. Used in a multi-tasking system to
get the current running mode for the actual task, if it is a motion task or connected motion
task, if function NonMotionMode is executed in a nonmotion task.
If this argument is omitted, the return value always mirrors the current running mode for the
program task that executes the function NonMotionMode .
Note that the execution mode is connected to the system and not any task. This means that all
tasks in a system will give the same return value from NonMotionMode .
Syntax
NonMotionMode ’(’ [’\’Main]’)’
A function with a return value of the data type bool .
Related information
Return value
Symbolic constant Comment
0
FALSE
Non-Motion execution is not used
1
TRUE
Non-Motion execution is used
For information about
See
Reading operating mode
OpMode - Read the operating mode on page 908
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2.73. MotionPlannerNo - Get connected motion planner number
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© 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 := buffer[motion_planner];
...
ENDPROC
Use the function MotionPlannerNo to find out which motion planner number is connected
to the task. The exact same code can by implemented in all motion tasks and background
tasks. Then each background task can check the status for their connected motion task.
Return value
Data type: num
The number of the connected motion planner. For non-motion tasks, the motion planner
number of the associated mechanical unit will be returned.
The return value range is 1 ... 6.
Syntax
MotionPlannerNo’(’ ’)’
A function with a return value of the data type num .
Related information
For information about
See
Specify cooperated program tasks
Technical reference manual - System parameters ,
section Controller - Task
Continued
2 Functions
2.74. NonMotionMode - Read the Non-Motion execution mode
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2.74. NonMotionMode - Read the Non-Motion execution mode
Usage
NonMotionMode ( Non-Motion Execution Mode ) is used to read the current Non-Motion
execution mode of the program task. Non-motion execution mode is selected or removed
from the FlexPendant under the menu ABB\Control Panel\Supervision .
Basic examples
Basic examples of the function NonMotionMode are illustrated below.
Example 1
IF NonMotionMode() =TRUE THEN
...
ENDIF
The program section is executed only if the robot is in Non-Motion execution mode.
Return value
Data type: bool
The current Non-motion mode as defined in the table below.
Arguments
NonMotionMode ( [ \Main] )
[ \Main ]
Data type: switch
Return current running mode for connected motion task. Used in a multi-tasking system to
get the current running mode for the actual task, if it is a motion task or connected motion
task, if function NonMotionMode is executed in a nonmotion task.
If this argument is omitted, the return value always mirrors the current running mode for the
program task that executes the function NonMotionMode .
Note that the execution mode is connected to the system and not any task. This means that all
tasks in a system will give the same return value from NonMotionMode .
Syntax
NonMotionMode ’(’ [’\’Main]’)’
A function with a return value of the data type bool .
Related information
Return value
Symbolic constant Comment
0
FALSE
Non-Motion execution is not used
1
TRUE
Non-Motion execution is used
For information about
See
Reading operating mode
OpMode - Read the operating mode on page 908
2 Functions
2.75. NOrient - Normalize orientation
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2.75. NOrient - Normalize orientation
Usage
NOrient ( Normalize Orientation ) is used to normalize un-normalized orientation
(quaternion).
Description
An orientation must be normalized, i.e. the sum of the squares must equal 1:
.
If the orientation is slightly un-normalized, it is possible to normalize it. The normalization
error is the absolute value of the sum of the squares of the orientation components. The
orientation is considered to be slightly un-normalized if the normalization error is greater then
0.00001 and less then 0.1. If the normalization error is greater then 0.1 the orient is unusable.
.
normerr > 0.1
Unusable
normerr > 0.00001 AND normerr <= 0.1
Slightly un-normalized
normerr <= 0.00001
Normalized
Basic examples
Basic examples of the function NOrient are illustrated below.
Example 1
We have a slightly un-normalized position (0.707170, 0, 0, 0.707170)
.
VAR orient unnormorient := [0.707170, 0, 0, 0.707170];
VAR orient normorient;
...
...
normorient := NOrient(unnormorient);
The normalization of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes (0.707107, 0, 0,
0.707107).
Return value
Data type: orient
The normalized orientation.
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2.74. NonMotionMode - Read the Non-Motion execution mode
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2.74. NonMotionMode - Read the Non-Motion execution mode
Usage
NonMotionMode ( Non-Motion Execution Mode ) is used to read the current Non-Motion
execution mode of the program task. Non-motion execution mode is selected or removed
from the FlexPendant under the menu ABB\Control Panel\Supervision .
Basic examples
Basic examples of the function NonMotionMode are illustrated below.
Example 1
IF NonMotionMode() =TRUE THEN
...
ENDIF
The program section is executed only if the robot is in Non-Motion execution mode.
Return value
Data type: bool
The current Non-motion mode as defined in the table below.
Arguments
NonMotionMode ( [ \Main] )
[ \Main ]
Data type: switch
Return current running mode for connected motion task. Used in a multi-tasking system to
get the current running mode for the actual task, if it is a motion task or connected motion
task, if function NonMotionMode is executed in a nonmotion task.
If this argument is omitted, the return value always mirrors the current running mode for the
program task that executes the function NonMotionMode .
Note that the execution mode is connected to the system and not any task. This means that all
tasks in a system will give the same return value from NonMotionMode .
Syntax
NonMotionMode ’(’ [’\’Main]’)’
A function with a return value of the data type bool .
Related information
Return value
Symbolic constant Comment
0
FALSE
Non-Motion execution is not used
1
TRUE
Non-Motion execution is used
For information about
See
Reading operating mode
OpMode - Read the operating mode on page 908
2 Functions
2.75. NOrient - Normalize orientation
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2.75. NOrient - Normalize orientation
Usage
NOrient ( Normalize Orientation ) is used to normalize un-normalized orientation
(quaternion).
Description
An orientation must be normalized, i.e. the sum of the squares must equal 1:
.
If the orientation is slightly un-normalized, it is possible to normalize it. The normalization
error is the absolute value of the sum of the squares of the orientation components. The
orientation is considered to be slightly un-normalized if the normalization error is greater then
0.00001 and less then 0.1. If the normalization error is greater then 0.1 the orient is unusable.
.
normerr > 0.1
Unusable
normerr > 0.00001 AND normerr <= 0.1
Slightly un-normalized
normerr <= 0.00001
Normalized
Basic examples
Basic examples of the function NOrient are illustrated below.
Example 1
We have a slightly un-normalized position (0.707170, 0, 0, 0.707170)
.
VAR orient unnormorient := [0.707170, 0, 0, 0.707170];
VAR orient normorient;
...
...
normorient := NOrient(unnormorient);
The normalization of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes (0.707107, 0, 0,
0.707107).
Return value
Data type: orient
The normalized orientation.
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2.75. NOrient - Normalize orientation
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Arguments
NOrient (Rotation)
Rotation
Data type: orient
The orientation to be normalized.
Syntax
NOrient’(’
[Rotation ’:=’] <expression ( IN ) of orient>
’)’
A function with a return value of the data type orient .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
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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 normalized, i.e. the sum of the squares must equal 1:
.
If the orientation is slightly un-normalized, it is possible to normalize it. The normalization
error is the absolute value of the sum of the squares of the orientation components. The
orientation is considered to be slightly un-normalized if the normalization error is greater then
0.00001 and less then 0.1. If the normalization error is greater then 0.1 the orient is unusable.
.
normerr > 0.1
Unusable
normerr > 0.00001 AND normerr <= 0.1
Slightly un-normalized
normerr <= 0.00001
Normalized
Basic examples
Basic examples of the function NOrient are illustrated below.
Example 1
We have a slightly un-normalized position (0.707170, 0, 0, 0.707170)
.
VAR orient unnormorient := [0.707170, 0, 0, 0.707170];
VAR orient normorient;
...
...
normorient := NOrient(unnormorient);
The normalization of the orientation ( 0.707170, 0, 0, 0.707170 ) becomes (0.707107, 0, 0,
0.707107).
Return value
Data type: orient
The normalized orientation.
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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 return value of the data type orient .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2 Functions
2.76. NumToDnum - Converts num to dnum
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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
VAR num mynum:=55;
VAR dnum mydnum:=0;
mydnum:=NumToDnum(mynum);
The num value 55 is returned by the function as the dnum value 55.
Return value
Data type: dnum
The return value of type dnum will have the same value as the input value of type num .
Arguments
NumToDnum (Value)
Value
Data type: num
The numeric value to be converted.
Syntax
NumToDnum
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
A function with a return value of the data type dnum .
Related information
For information about
See
Num data type
num - Numeric values on page 1146
Dnum data type
dnum - Double numeric values on page 1104
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ABB_Technical_Reference_Manual
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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 return value of the data type orient .
Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
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
VAR num mynum:=55;
VAR dnum mydnum:=0;
mydnum:=NumToDnum(mynum);
The num value 55 is returned by the function as the dnum value 55.
Return value
Data type: dnum
The return value of type dnum will have the same value as the input value of type num .
Arguments
NumToDnum (Value)
Value
Data type: num
The numeric value to be converted.
Syntax
NumToDnum
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
A function with a return value of the data type dnum .
Related information
For information about
See
Num data type
num - Numeric values on page 1146
Dnum data type
dnum - Double numeric values on page 1104
2 Functions
2.77. NumToStr - Converts numeric value to string
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904
© Copyright 2004-2010 ABB. All rights reserved.
2.77. NumToStr - Converts numeric value to string
Usage
NumToStr ( Numeric To String ) is used to convert a numeric value to a string.
Basic examples
Basic examples of the function NumToStr are illustrated below.
Example 1
VAR string str;
str := NumToStr(0.38521,3);
The variable str is given the value "0.385" .
Example 2
reg1 := 0.38521;
str := NumToStr(reg1, 2\Exp);
The variable str is given the value "3.85E-01" .
Example 3
VAR dnum ex3 := 1234567890.123456;
str := NumToStr(ex3, 15\Exp);
The variable str is given the value "1.234567890123456E+09" .
Return value
Data type: string
The numeric value converted to a string with the specified number of decimals, with exponent
if so requested. The numeric value is rounded if necessary. The decimal point is suppressed
if no decimals are included.
Arguments
NumToStr (Val | Dval Dec [\Exp])
Val
Value
Data type: num
The numeric value to be converted.
Dval
Value
Data type: dnum
The numeric value to be converted.
Dec
Decimals
Data type: num
Number of decimals. The number of decimals must not be negative or greater than the
available precision for numeric values.
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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
VAR num mynum:=55;
VAR dnum mydnum:=0;
mydnum:=NumToDnum(mynum);
The num value 55 is returned by the function as the dnum value 55.
Return value
Data type: dnum
The return value of type dnum will have the same value as the input value of type num .
Arguments
NumToDnum (Value)
Value
Data type: num
The numeric value to be converted.
Syntax
NumToDnum
[ Value ’:=’ ] < expression ( IN ) of num > ’;’
A function with a return value of the data type dnum .
Related information
For information about
See
Num data type
num - Numeric values on page 1146
Dnum data type
dnum - Double numeric values on page 1104
2 Functions
2.77. NumToStr - Converts numeric value to string
RobotWare - OS
3HAC 16581-1 Revision: J
904
© Copyright 2004-2010 ABB. All rights reserved.
2.77. NumToStr - Converts numeric value to string
Usage
NumToStr ( Numeric To String ) is used to convert a numeric value to a string.
Basic examples
Basic examples of the function NumToStr are illustrated below.
Example 1
VAR string str;
str := NumToStr(0.38521,3);
The variable str is given the value "0.385" .
Example 2
reg1 := 0.38521;
str := NumToStr(reg1, 2\Exp);
The variable str is given the value "3.85E-01" .
Example 3
VAR dnum ex3 := 1234567890.123456;
str := NumToStr(ex3, 15\Exp);
The variable str is given the value "1.234567890123456E+09" .
Return value
Data type: string
The numeric value converted to a string with the specified number of decimals, with exponent
if so requested. The numeric value is rounded if necessary. The decimal point is suppressed
if no decimals are included.
Arguments
NumToStr (Val | Dval Dec [\Exp])
Val
Value
Data type: num
The numeric value to be converted.
Dval
Value
Data type: dnum
The numeric value to be converted.
Dec
Decimals
Data type: num
Number of decimals. The number of decimals must not be negative or greater than the
available precision for numeric values.
Continues on next page
2 Functions
2.77. NumToStr - Converts numeric value to string
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\Exp]
Exponent
Data type: switch
To use exponent in return value.
Syntax
NumToStr’(’
[ Val ’:=’ ] <expression ( IN ) of num>
| [ Dval ’:=’ ] <expression ( IN ) of dnum> ’,’
[ Dec ’:=’ ] <expression ( IN ) of num>
[ \Exp ]
’)’
A function with a return value of the data type string .
Related information
For information about
See
String functions
Technical reference manual - RAPID overview , section
RAPID summary - String functions
Definition of string
string - Strings on page 1195
String values
Technical reference manual - RAPID overview , section
Basic characteristics - Basic elements
Continued
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