Document Name stringclasses 11
values | URL stringclasses 11
values | page_number int64 1 1.26k | full_text stringlengths 65 18.2k |
|---|---|---|---|
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 907 | 2 Functions
2.77. NumToStr - Converts numeric value to string
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© 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 908 | 2 Functions
2.77. NumToStr - Converts numeric value to string
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[\Exp]
Exponent
Data type: switch
To use exponent in return value.
Syntax
NumToStr’(’
[ Val ’:=’ ] <expression ( IN ) of num>
| [ Dval ’:=’ ] <expression ( IN ) of ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 909 | 2 Functions
2.78. Offs - Displaces a robot position
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© Copyright 2004-2010 ABB. All rights reserved.
2.78. Offs - Displaces a robot position
Usage
Offs is used to add an offset in the object coordinate system to a robot position.
Basic examples
Basic examples of the function... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 910 | 2 Functions
2.78. Offs - Displaces a robot position
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More examples
More examples of the function Offs are illustrated below.
Example 1
PROC pallet (num row, num column, num distance, PERS tooldata tool,
PERS wobjdata wobj)
VAR... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 911 | 2 Functions
2.79. OpMode - Read the operating mode
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© Copyright 2004-2010 ABB. All rights reserved.
2.79. OpMode - Read the operating mode
Usage
OpMode ( Operating Mode ) is used to read the current operating mode of the system.
Basic examples
Basic examples of the function ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 912 | 2 Functions
2.80. OrientZYX - Builds an orient from euler angles
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© Copyright 2004-2010 ABB. All rights reserved.
2.80. OrientZYX - Builds an orient from euler angles
Usage
OrientZYX ( Orient from Euler ZYX angles ) is used to build an orient type variable out of
Euler angle... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 913 | 2 Functions
2.80. OrientZYX - Builds an orient from euler angles
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
OrientZYX’(’
[ZAngle’:=’] <expression ( IN ) of num>’ ,’
[YAngle ’:=’] <expression ( IN ) of num> ’,’
[XAngle’:=’] <expression ( IN ) of num>
’)’
A functio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 914 | 2 Functions
2.81. ORobT - Removes the program displacement from a position
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911
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© Copyright 2004-2010 ABB. All rights reserved.
2.81. ORobT - Removes the program displacement from a position
Usage
ORobT ( Object Robot Target ) is used to transform a robot position from the progr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 915 | 2 Functions
2.81. ORobT - Removes the program displacement from a position
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the function ORobT are illustrated below.
Example 1
p10 := ORobT(p10 \InEOffs );
The ORobT function will r... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 916 | 2 Functions
2.82. ParIdPosValid - Valid robot position for parameter identification
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© Copyright 2004-2010 ABB. All rights reserved.
2.82. ParIdPosValid - Valid robot position for parameter identification
Usage
ParIdPosValid ( Parameter Identification Position Valid ) checks... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 917 | 2 Functions
2.82. ParIdPosValid - Valid robot position for parameter identification
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© Copyright 2004-2010 ABB. All rights reserved.
Arguments
ParIdPosValid (ParIdType Pos AxValid [\ConfAngle])
ParIdType
Data type: paridnum
Type of parameter identification as defined in tabl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 918 | 2 Functions
2.82. ParIdPosValid - Valid robot position for parameter identification
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[ \ConfAngle ]
Data type: num
Option argument for specification of specific configuration angle +/- degrees to be used for
parameter identific... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 919 | 2 Functions
2.83. ParIdRobValid - Valid robot type for parameter identification
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© Copyright 2004-2010 ABB. All rights reserved.
2.83. ParIdRobValid - Valid robot type for parameter identification
Usage
ParIdRobValid ( Parameter Identification Robot Valid ) checks whether th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 920 | 2 Functions
2.83. ParIdRobValid - Valid robot type for parameter identification
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© Copyright 2004-2010 ABB. All rights reserved.
Arguments
ParIdRobValid(ParIdType [\MechUnit] [\AxisNo])
ParIdType
Data type: paridnum
Type of parameter identification as defined in table below.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 921 | 2 Functions
2.83. ParIdRobValid - Valid robot type for parameter identification
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Related information
For information about
See
Type of parameter identification
paridnum - Type of parameter identification on
page 1154
Mechanical ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 922 | 2 Functions
2.84. PathLevel - Get current path level
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2.84. PathLevel - Get current path level
Usage
PathLevel is used to get the current path level. This function will show whether the task is
executing on the original level o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 923 | 2 Functions
2.84. PathLevel - Get current path level
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© Copyright 2004-2010 ABB. All rights reserved.
Limitations
RobotWare option Path Recovery must be installed to be able to use function PathLevel at
path level 2
Syntax
PathLevel’(’’)’
A function with a return value of t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 924 | 2 Functions
2.85. PathRecValidBwd - Is there a valid backward path recorded
Path Recovery
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2.85. PathRecValidBwd - Is there a valid backward path recorded
Usage
PathRecValidBwd is used to check if the path recorder is active and if a recorded... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 925 | 2 Functions
2.85. PathRecValidBwd - Is there a valid backward path recorded
Path Recovery
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Arguments
PathRecValidBwd ([\ID])
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the name of the recording start position. Data type pa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 926 | 2 Functions
2.85. PathRecValidBwd - Is there a valid backward path recorded
Path Recovery
923
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Example 4
PathRecStart id1;
MoveL p1, vmax, z50, tool1;
WaitSyncTask sync101, tasklist_r1o1;
MoveL p2, vmax, z50, tool1;
bwd_path1 := PathRecValidBwd ()... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 927 | 2 Functions
2.86. PathRecValidFwd - Is there a valid forward path recorded
Path Recovery
3HAC 16581-1 Revision: J
924
© Copyright 2004-2010 ABB. All rights reserved.
2.86. PathRecValidFwd - Is there a valid forward path recorded
Usage
PathRecValidFwd is used to check if the path recorder can be used to move forward. ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 928 | 2 Functions
2.86. PathRecValidFwd - Is there a valid forward path recorded
Path Recovery
925
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Program execution
After the path recorder has been ordered to move backwards using PathRecMoveBwd it is
possible to check if a valid recorded path to m... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 929 | 2 Functions
2.86. PathRecValidFwd - Is there a valid forward path recorded
Path Recovery
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!See figure 7 in the following table.
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
1
xx0500002121
2
xx0500002124
3
xx0500002126
4
xx0500002127
5
xx050000... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 930 | 2 Functions
2.86. PathRecValidFwd - Is there a valid forward path recorded
Path Recovery
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The example above will start the path recorder and add identifiers at three different locations
along the executed path. The picture above references the... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 931 | 2 Functions
2.87. PFRestart - Check interrupted path after power failure
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© Copyright 2004-2010 ABB. All rights reserved.
2.87. PFRestart - Check interrupted path after power failure
Usage
PFRestart (Power Failure Restart) is used to check if the path has been interrupted a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 932 | 2 Functions
2.88. PoseInv - Inverts pose data
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2.88. PoseInv - Inverts pose data
Usage
PoseInv ( Pose Invert ) calculates the reverse transformation of a pose .
Basic examples
Basic examples of the function PoseInv are illus... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 933 | 2 Functions
2.88. PoseInv - Inverts pose data
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Related information
For information about
See
Mathematical instructions and functions
Technical reference manual - RAPID
overview , section RAPID summary -
Mathematics
Continued
2... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 934 | 2 Functions
2.89. PoseMult - Multiplies pose data
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2.89. PoseMult - Multiplies pose data
Usage
PoseMult ( Pose Multiply ) is used to calculate the product of two pose transformations. A
typical use is to calculate a new pose as... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 935 | 2 Functions
2.89. PoseMult - Multiplies pose data
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Syntax
PoseMult’(’
[Pose1 ’:=’] <expression ( IN ) of pose>’,’
[Pose2 ’:=’] <expression ( IN ) of pose>
’)’
A function with a return value of the data type pose .
Related infor... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 936 | 2 Functions
2.90. PoseVect - Applies a transformation to a vector
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2.90. PoseVect - Applies a transformation to a vector
Usage
PoseVect ( Pose Vector ) is used to calculate the product of a pose and a vector. It is typically
us... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 937 | 2 Functions
2.90. PoseVect - Applies a transformation to a vector
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Syntax
PoseVect’(’
[Pose ’:=’] <expression ( IN ) of pose>’,’
[Pos ’:=’] <expression ( IN ) of pos>
’)’
A function with a return value of the data type pos .
Re... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 938 | 2 Functions
2.91. Pow - Calculates the power of a value
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© Copyright 2004-2010 ABB. All rights reserved.
2.91. Pow - Calculates the power of a value
Usage
Pow ( Power ) is used to calculate the exponential value in any base.
Basic examples
Basic examples of the function Pow... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 939 | 2 Functions
2.92. PPMovedInManMode - Test whether the program pointer is moved in manual mode
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2.92. PPMovedInManMode - Test whether the program pointer is moved in manual
mode
Usage
PPMovedInManMode returns TRUE if the user ha... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 940 | 2 Functions
2.93. Present - Tests if an optional parameter is used
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© Copyright 2004-2010 ABB. All rights reserved.
2.93. Present - Tests if an optional parameter is used
Usage
Present is used to test if an optional argument has been used when calling a routine.
An optional ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 941 | 2 Functions
2.93. Present - Tests if an optional parameter is used
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More examples
More examples of how to use the function Present are illustrated below.
Example 1
PROC glue (\switch on, num glueflow, robtarget topoint, speedd... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 942 | 2 Functions
2.94. ProgMemFree - Get the size of free program memory
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© Copyright 2004-2010 ABB. All rights reserved.
2.94. ProgMemFree - Get the size of free program memory
Usage
ProgMemFree ( Program Memory Free ) is used to get the size of free program memory.
Basic examp... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 943 | 2 Functions
2.95. RawBytesLen - Get the length of rawbytes data
RobotWare - OS
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
2.95. RawBytesLen - Get the length of rawbytes data
Usage
RawBytesLen is used to get the current length of valid bytes in a rawbytes variable.
Basic examples
Basi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 944 | 2 Functions
2.95. RawBytesLen - Get the length of rawbytes data
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Syntax
RawBytesLen ´(´
[RawData ´:=´ ] < variable ( VAR ) of rawbytes> ´)´
A function with a return value of the data type num .
Related information
For informati... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 945 | 2 Functions
2.96. ReadBin - Reads a byte from a file or serial channel
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© Copyright 2004-2010 ABB. All rights reserved.
2.96. ReadBin - Reads a byte from a file or serial channel
Usage
ReadBin ( Read Binary ) is used to read a byte (8 bits) from a file or serial channel.
Thi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 946 | 2 Functions
2.96. ReadBin - Reads a byte from a file or serial channel
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function ReadBin are illustrated below.
Example 1
VAR num bindata;
VAR iodev file;
Open "HOME:/myfile.bin", file \Read ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 947 | 2 Functions
2.97. ReadDir - Read next entry in a directory
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© Copyright 2004-2010 ABB. All rights reserved.
2.97. ReadDir - Read next entry in a directory
Usage
ReadDir is used to retrieve the name of the next file or subdirectory under a directory that
has been opened with ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 948 | 2 Functions
2.97. ReadDir - Read next entry in a directory
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function ReadDir are illustrated below
Example 1
This example implements a generic traverse of a directory structure function.
PROC... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 949 | 2 Functions
2.97. ReadDir - Read next entry in a directory
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Syntax
ReadDir ’(’
[ Dev’:=’ ] < variable ( VAR ) of dir>’,’
[ FileName’:=’ ] < var or pers ( INOUT ) of string>´)´
A function with a return value of the data type boo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 950 | 2 Functions
2.98. ReadMotor - Reads the current motor angles
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© Copyright 2004-2010 ABB. All rights reserved.
2.98. ReadMotor - Reads the current motor angles
Usage
ReadMotor is used to read the current angles of the different motors of the robot and external
axes. The prima... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 951 | 2 Functions
2.98. ReadMotor - Reads the current motor angles
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
ReadMotor’(’
[’\’MecUnit ’:=’ < variable ( VAR ) of mecunit>’,’]
[Axis’ :=’ ] < expression ( IN ) of num> ’)’
A function with a return value of the data type ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 952 | 2 Functions
2.99. ReadNum - Reads a number from a file or serial channel
RobotWare - OS
949
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.99. ReadNum - Reads a number from a file or serial channel
Usage
ReadNum ( Read Numeric ) is used to read a number from a character-based file or seria... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 953 | 2 Functions
2.99. ReadNum - Reads a number from a file or serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
950
© Copyright 2004-2010 ABB. All rights reserved.
[\Time]
Data type: num
The max. time for the reading operation (timeout) in seconds. If this argument is not
specified, the max. time is set to 60 second... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 954 | 2 Functions
2.99. ReadNum - Reads a number from a file or serial channel
RobotWare - OS
951
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
ReadNum ’(’
[IODevice ’:=’]<variable ( VAR ) of iodev>
[’\’Delim’:=’<expression ( IN ) of string>]
[’\’Time’:=’<expression ( IN ) of num>]’)’
A fun... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 955 | 2 Functions
2.100. ReadStr - Reads a string from a file or serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
952
© Copyright 2004-2010 ABB. All rights reserved.
2.100. ReadStr - Reads a string from a file or serial channel
Usage
ReadStr ( Read String ) is used to read a string from a character-based file or seri... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 956 | 2 Functions
2.100. ReadStr - Reads a string from a file or serial channel
RobotWare - OS
953
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[\DiscardHeaders]
Data type: switch
This argument specifies whether the heading delimiters (specified in \Delim plus default
line-feed) are skipped or... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 957 | 2 Functions
2.100. ReadStr - Reads a string from a file or serial channel
RobotWare - OS
3HAC 16581-1 Revision: J
954
© Copyright 2004-2010 ABB. All rights reserved.
Example 2
Consider a file containing:
<LF><SPACE><TAB>Hello<SPACE><SPACE>World<CR><LF>
text := ReadStr(infile);
text will be an empty string: the first ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 958 | 2 Functions
2.100. ReadStr - Reads a string from a file or serial channel
RobotWare - OS
955
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
The function can only be used for files or serial channels that have been opened for reading
in a character-based mode.
Error handling
If an ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 959 | 2 Functions
2.101. ReadStrBin - Reads a string from a binary serial channel or file
RobotWare - OS
3HAC 16581-1 Revision: J
956
© Copyright 2004-2010 ABB. All rights reserved.
2.101. ReadStrBin - Reads a string from a binary serial channel or file
Usage
ReadStrBin ( Read String Binary ) is used to read a string from ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 960 | 2 Functions
2.101. ReadStrBin - Reads a string from a binary serial channel or file
RobotWare - OS
957
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The function reads the specified number of characters from the binary serial channel or file.
Limitations
The function can on... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 961 | 2 Functions
2.102. ReadVar - Read variable from a device
Sensor Interface
3HAC 16581-1 Revision: J
958
© Copyright 2004-2010 ABB. All rights reserved.
2.102. ReadVar - Read variable from a device
Usage
ReadVar is used to read a variable from a device connected to the serial sensor interface.
The sensor interface comm... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 962 | 2 Functions
2.102. ReadVar - Read variable from a device
Sensor Interface
959
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
ReadVar (device, VarNo, [ \TaskName ])
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
VarNo
Data type: num
The argu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 963 | 2 Functions
2.102. ReadVar - Read variable from a device
Sensor Interface
3HAC 16581-1 Revision: J
960
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Connect to a sensor device
SenDevice - connect to a sensor device on page
425
Write a sensor variable
WriteVar - write var... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 964 | 2 Functions
2.103. RelTool - Make a displacement relative to the tool
RobotWare - OS
961
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.103. RelTool - Make a displacement relative to the tool
Usage
RelTool ( Relative Tool ) is used to add a displacement and/or a rotation, expressed in the
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 965 | 2 Functions
2.103. RelTool - Make a displacement relative to the tool
RobotWare - OS
3HAC 16581-1 Revision: J
962
© Copyright 2004-2010 ABB. All rights reserved.
[\Rz]
Data type: num
The rotation in degrees around the z axis of the tool coordinate system.
If two or three rotations are specified at the same time, thes... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 966 | 2 Functions
2.104. RemainingRetries - Remaining retries left to do
RobotWare - OS
963
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.104. RemainingRetries - Remaining retries left to do
Usage
RemainingRetries is used to find out how many RETRY that is left to do from the error
handler in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 967 | 2 Functions
2.105. RMQGetSlotName - Get the name of an RMQ client
FlexPendant Interface, PC Interface, or Multitasking
3HAC 16581-1 Revision: J
964
© Copyright 2004-2010 ABB. All rights reserved.
2.105. RMQGetSlotName - Get the name of an RMQ client
Usage
RMQGetSlotName ( RAPID Mesasage Queue Get Slot Name ) is used ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 968 | 2 Functions
2.105. RMQGetSlotName - Get the name of an RMQ client
FlexPendant Interface, PC Interface, or Multitasking
965
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
RMQGetSlotName‘(‘
[ Slot ‘:=’ ] < variable ( VAR ) of rmqslot >‘)‘
A function with a return value of the data type ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 969 | 2 Functions
2.106. RobName - Get the TCP robot name
RobotWare - OS
3HAC 16581-1 Revision: J
966
© Copyright 2004-2010 ABB. All rights reserved.
2.106. RobName - Get the TCP robot name
Usage
RobName ( Robot Name ) is used to get the name of the TCP robot in some program task. If the
task doesn’t control any TCP robot,... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 970 | 2 Functions
2.106. RobName - Get the TCP robot name
RobotWare - OS
967
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Check if task run some TCP robot
TaskRunRob - Check if task controls some robot
on page 1014
Check if task run some mechanical un... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 971 | 2 Functions
2.107. RobOS - Check if execution is on RC or VC
RobotWare - OS
3HAC 16581-1 Revision: J
968
© Copyright 2004-2010 ABB. All rights reserved.
2.107. RobOS - Check if execution is on RC or VC
Usage
RobOS ( Robot Operating System ) can be used to check if the execution is performed on Robot
Controller RC or ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 972 | 2 Functions
2.108. Round - Round is a numeric value
RobotWare - OS
969
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.108. Round - Round is a numeric value
Usage
Round is used to round a numeric value to a specified number of decimals or to an integer
value.
Basic examples
Basic examples o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 973 | 2 Functions
2.108. Round - Round is a numeric value
RobotWare - OS
3HAC 16581-1 Revision: J
970
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
Round’(’
[ Val ’:=’ ] <expression ( IN ) of num>
[ \Dec ’:=’ <expression ( IN ) of num> ]
’)’
A function with a return value of the data type num .
Related information... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 974 | 2 Functions
2.109. RunMode - Read the running mode
RobotWare - OS
971
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.109. RunMode - Read the running mode
Usage
RunMode ( Running Mode ) is used to read the current running mode of the program task.
Basic examples
Basic examples of the functi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 975 | 2 Functions
2.110. Sin - Calculates the sine value
RobotWare - OS
3HAC 16581-1 Revision: J
972
© Copyright 2004-2010 ABB. All rights reserved.
2.110. Sin - Calculates the sine value
Usage
Sin ( Sine ) is used to calculate the sine value from an angle value.
Basic examples
Basic examples of the function Sin are il... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 976 | 2 Functions
2.111. SocketGetStatus - Get current socket state
Socket Messaging
973
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.111. SocketGetStatus - Get current socket state
Usage
SocketGetStatus returns the current state of a socket.
Basic examples
Basic examples of the function Sock... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 977 | 2 Functions
2.111. SocketGetStatus - Get current socket state
Socket Messaging
3HAC 16581-1 Revision: J
974
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function SocketGetStatus are illustrated below.
VAR socketstatus status;
VAR socketdev my_socket;
...
SocketCreate my_socket;
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 978 | 2 Functions
2.111. SocketGetStatus - Get current socket state
Socket Messaging
975
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and
I/O control
Create a new socket
SocketCr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 979 | 2 Functions
2.112. Sqrt - Calculates the square root value
RobotWare - OS
3HAC 16581-1 Revision: J
976
© Copyright 2004-2010 ABB. All rights reserved.
2.112. Sqrt - Calculates the square root value
Usage
Sqrt ( Square root ) is used to calculate the square root value.
Basic examples
Basic examples of the function Sq... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 980 | 2 Functions
2.113. STCalcForce - Calculate the tip force for a Servo Tool
Servo tool control
977
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.113. STCalcForce - Calculate the tip force for a Servo Tool
Usage
STCalcForce is used to calculate the tip force for a Servo Tool. This function i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 981 | 2 Functions
2.113. STCalcForce - Calculate the tip force for a Servo Tool
Servo tool control
3HAC 16581-1 Revision: J
978
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Too... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 982 | 2 Functions
2.114. STCalcTorque - Calc. the motor torque for a servo tool
Servo tool control
979
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.114. STCalcTorque - Calc. the motor torque for a servo tool
Usage
STCalcTorque is used to calculate the motor torque for a Servo Tool. This functi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 983 | 2 Functions
2.114. STCalcTorque - Calc. the motor torque for a servo tool
Servo tool control
3HAC 16581-1 Revision: J
980
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Too... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 984 | 2 Functions
2.115. STIsCalib - Tests if a servo tool is calibrated
Servo Tool Control
981
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.115. STIsCalib - Tests if a servo tool is calibrated
Usage
STIsCalib is used to test if a servo tool is calibrated - that is, check if the gun tips are
c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 985 | 2 Functions
2.115. STIsCalib - Tests if a servo tool is calibrated
Servo Tool Control
3HAC 16581-1 Revision: J
982
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
STIsCalib´(´
[ ´ToolName ´:=´ ] < expression ( IN ) of string >
[ ´\´sguninit ] | [ ´\´sgunsynch ] ´)´
A function with a return value of the data typ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 986 | 2 Functions
2.116. STIsClosed - Tests if a servo tool is closed
Servo Tool Control
983
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.116. STIsClosed - Tests if a servo tool is closed
Usage
STIsClosed is used to test if a servo tool is closed.
Basic examples
Basic examples of the instructi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 987 | 2 Functions
2.116. STIsClosed - Tests if a servo tool is closed
Servo Tool Control
3HAC 16581-1 Revision: J
984
© Copyright 2004-2010 ABB. All rights reserved.
Return value
Data type: bool
TRUE if the tested tool is closed, i.e. the desired tip force is achieved.
FALSE if the tested tool is not closed.
Arguments
STIs... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 988 | 2 Functions
2.117. STIsIndGun - Tests if a servo tool is in independent mode
Servo Tool Control
985
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.117. STIsIndGun - Tests if a servo tool is in independent mode
Usage
STIsIndGun is used to test if a servo tool is in independent mode.
Basic e... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 989 | 2 Functions
2.118. STIsOpen - Tests if a servo tool is open
Servo Tool Control
3HAC 16581-1 Revision: J
986
© Copyright 2004-2010 ABB. All rights reserved.
2.118. STIsOpen - Tests if a servo tool is open
Usage
STIsOpen is used to test if a servo tool is open.
Basic examples
Basic examples of the instruction STIsOpen... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 990 | 2 Functions
2.118. STIsOpen - Tests if a servo tool is open
Servo Tool Control
987
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Perform a tip wear calibration. The parameter tipwear_1 will hold a valid value since the
\Conc switch is not used. When STIsOpen returns TRUE , the paramete... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 991 | 2 Functions
2.119. StrDigCalc - Arithmetic operations with datatype stringdig
RobotWare - OS
3HAC 16581-1 Revision: J
988
© Copyright 2004-2010 ABB. All rights reserved.
2.119. StrDigCalc - Arithmetic operations with datatype stringdig
Usage
StrDigCalc is used to perform arithmetic operations (+, -, *, /, %) on two p... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 992 | 2 Functions
2.119. StrDigCalc - Arithmetic operations with datatype stringdig
RobotWare - OS
989
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
This function will:
•
Check only digits 0...9 in StrDig1 and StrDig2
•
Convert the two digital strings to long integers
•
Perfo... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 993 | 2 Functions
2.119. StrDigCalc - Arithmetic operations with datatype stringdig
RobotWare - OS
3HAC 16581-1 Revision: J
990
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StrDigCalc‘(‘
[ StrDig1 ‘:=’ ] < expression ( IN ) of stringdig > ’,’
[ Operation‘ :=’ ] < expression ( IN ) of opcalc > ‘,’
[ StrDig2‘ :=’ ] ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 994 | 2 Functions
2.120. StrDigCmp - Compare two strings with only digits
RobotWare - OS
991
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.120. StrDigCmp - Compare two strings with only digits
Usage
StrDigCmp is used to compare two positive digit strings in the same way as numeric compare
of po... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 995 | 2 Functions
2.120. StrDigCmp - Compare two strings with only digits
RobotWare - OS
3HAC 16581-1 Revision: J
992
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
StrDigCmp (StrDig1 Relation StrDig2)
StrDig1
String Digit 1
Data type: stringdig
The first string with only digits to be numerical compared.
Relatio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 996 | 2 Functions
2.120. StrDigCmp - Compare two strings with only digits
RobotWare - OS
993
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
String with only digits
stringdig - String with only digits on page 1197
Comparison operators
opnum - Comparison ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 997 | 2 Functions
2.121. StrFind - Searches for a character in a string
RobotWare - OS
3HAC 16581-1 Revision: J
994
© Copyright 2004-2010 ABB. All rights reserved.
2.121. StrFind - Searches for a character in a string
Usage
StrFind ( String Find ) is used to search in a string, starting at a specified position, for a
chara... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 998 | 2 Functions
2.121. StrFind - Searches for a character in a string
RobotWare - OS
995
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StrFind’(’
[ Str ’:=’ ] <expression ( IN ) of string> ’,’
[ ChPos ’:=’ ] <expression ( IN ) of num> ’,’
[ Set ’:=’ ] <expression ( IN ) of string>
[’\’Not... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 999 | 2 Functions
2.122. StrLen - Gets the string length
RobotWare - OS
3HAC 16581-1 Revision: J
996
© Copyright 2004-2010 ABB. All rights reserved.
2.122. StrLen - Gets the string length
Usage
StrLen ( String Length ) is used to find the current length of a string.
Basic examples
Basic examples of the function StrLen ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,000 | 2 Functions
2.123. StrMap - Maps a string
RobotWare - OS
997
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.123. StrMap - Maps a string
Usage
StrMap ( String Mapping ) is used to create a copy of a string in which all characters are
translated according to a specified mapping.
Basic exampl... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,001 | 2 Functions
2.123. StrMap - Maps a string
RobotWare - OS
3HAC 16581-1 Revision: J
998
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
A number of predefined string constants are available in the system and can be used together
with string functions.
Related information
Name
Character set
STR_DIGIT
<dig... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,002 | 2 Functions
2.124. StrMatch - Search for pattern in string
RobotWare - OS
999
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.124. StrMatch - Search for pattern in string
Usage
StrMatch ( String Match ) is used to search in a string, starting at a specified position, for a
specified pattern... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,003 | 2 Functions
2.124. StrMatch - Search for pattern in string
RobotWare - OS
3HAC 16581-1 Revision: J
1000
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
String functions
Technical reference manual - RAPID overview , section
RAPID summary - String functions
Definition of str... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,004 | 2 Functions
2.125. StrMemb - Checks if a character belongs to a set
RobotWare - OS
1001
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.125. StrMemb - Checks if a character belongs to a set
Usage
StrMemb ( String Member ) is used to check whether a specified character in a string belongs
to... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,005 | 2 Functions
2.125. StrMemb - Checks if a character belongs to a set
RobotWare - OS
3HAC 16581-1 Revision: J
1002
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
StrMemb’(’
[ Str ’:=’ ] <expression ( IN ) of string> ’,’
[ ChPos ’:=’ ] <expression ( IN ) of num> ’,’
[ Set ’:=’ ] <expression ( IN ) of string>
’)’
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,006 | 2 Functions
2.126. StrOrder - Checks if strings are ordered
RobotWare - OS
1003
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.126. StrOrder - Checks if strings are ordered
Usage
StrOrder ( String Order ) compares two strings (character by character ) and returns a
boolean indicating wheth... |
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