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2 Functions
2.126. StrOrder - Checks if strings are ordered
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Str2
String 2
Data type: string
Second string value.
Order
Data type: string
Sequence of characters that define the ordering. See also Predefined data on page 1004 .
Syntax
StrOrder’(’
[ Str1 ’:=’ ] <expression ( IN ) of string> ´,´
[ Str2 ’:=’ ] <expression ( IN ) of string> ´,´
[ Order ’:=’ ] <expression ( IN ) of string>
’)’
A function with a return value of the data type bool .
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
<digit> ::=
0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9
STR_UPPER
<upper case letter> ::=
A | B | C | D | E | F | G | H | I | J
| K | L | M | N | O | P | Q | R | S | T
| U | V | W | X | Y | Z | À | Á | Â | Ã
| Ä | Å | Æ | Ç | È | É | Ê | Ë | Ì | Í
| Î | Ï | 1)| Ñ | Ò | Ó | Ô | Õ | Ö | Ø
| Ù | Ú | Û | Ü | 2) | 3)
STR_LOWER
<lower case letter> ::=
a | b | c | d | e | f | g | h | i | j
| k | l | m | n | o | p | q | r | s | t
| u | v | w | x | y | z | à | á | â | ã
| ä | å | æ | ç | è | é | ê | ë | ì | í
| î | ï | 1) | ñ | ò | ó | ô | õ | ö | ø
| ù | ú | û | ü | 2) | 3) | ß | ÿ-
STR_WHITE
<blank character> ::=
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
2 Functions
2.127. StrPart - Finds a part of a string
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2.127. StrPart - Finds a part of a string
Usage
StrPart ( String Part) is used to find a part of a string, as a new string.
Basic examples
Basic examples of the function StrPart are illustrated below.
Example 1
VAR string part;
part := StrPart("Robotics",1,5);
The variable part is given the value "Robot" .
Return value
Data type: string
The substring of the specified string which has the specified length and starts at the specified
character position.
Arguments
StrPart (Str ChPos Len)
Str
String
Data type: string
The string in which a part is to be found.
ChPos
Character Position
Start character position. A runtime error is generated if the position is outside the string.
Len
Length
Data type: num
Length of string part. A runtime error is generated if the length is negative or greater than the
length of the string, or if the substring is (partially) outside the string.
Syntax
StrPart’(’
[ Str ’:=’ ] <expression ( IN ) of string> ’,’
[ ChPos ’:=’ ] <expression ( IN ) of num> ’,’
[ Len ’:=’ ] <expression ( IN ) of num>
’)’
A function with a return value of the data type string .
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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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2 Functions
2.127. StrPart - Finds a part of a string
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2.127. StrPart - Finds a part of a string
Usage
StrPart ( String Part) is used to find a part of a string, as a new string.
Basic examples
Basic examples of the function StrPart are illustrated below.
Example 1
VAR string part;
part := StrPart("Robotics",1,5);
The variable part is given the value "Robot" .
Return value
Data type: string
The substring of the specified string which has the specified length and starts at the specified
character position.
Arguments
StrPart (Str ChPos Len)
Str
String
Data type: string
The string in which a part is to be found.
ChPos
Character Position
Start character position. A runtime error is generated if the position is outside the string.
Len
Length
Data type: num
Length of string part. A runtime error is generated if the length is negative or greater than the
length of the string, or if the substring is (partially) outside the string.
Syntax
StrPart’(’
[ Str ’:=’ ] <expression ( IN ) of string> ’,’
[ ChPos ’:=’ ] <expression ( IN ) of num> ’,’
[ Len ’:=’ ] <expression ( IN ) of num>
’)’
A function with a return value of the data type string .
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2 Functions
2.127. StrPart - Finds a part of a string
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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
2 Functions
2.128. StrToByte - Converts a string to a byte data
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2.128. StrToByte - Converts a string to a byte data
Usage
StrToByte ( String To Byte ) is used to convert a string with a defined byte data format into
a byte data.
Basic examples
Basic examples of the function StrToByte are illustrated below.
Example 1
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010",
"A"];
VAR byte data_buffer{5};
data_buffer{1} := StrToByte(con_data_buffer{1});
The content of the array component data_buffer{1} will be 10 decimal after the
StrToByte ... function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);
The content of the array component data_buffer{2} will be 174 decimal after the
StrToByte ... function.
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);
The content of the array component data_buffer{3} will be 126 decimal after the
StrToByte ... function.
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);
The content of the array component data_buffer{4} will be 10 decimal after the
StrToByte ... function.
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);
The content of the array component data_buffer{5} will be 65 decimal after the
StrToByte ... function.
Return value
Data type: byte
The result of the conversion operation in decimal representation.
Arguments
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
ConStr
Convert String
Data type: string
The string data to be converted.
If the optional switch argument is omitted, the string to be converted has decimal (Dec)
format.
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2 Functions
2.127. StrPart - Finds a part of a string
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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
2 Functions
2.128. StrToByte - Converts a string to a byte data
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2.128. StrToByte - Converts a string to a byte data
Usage
StrToByte ( String To Byte ) is used to convert a string with a defined byte data format into
a byte data.
Basic examples
Basic examples of the function StrToByte are illustrated below.
Example 1
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010",
"A"];
VAR byte data_buffer{5};
data_buffer{1} := StrToByte(con_data_buffer{1});
The content of the array component data_buffer{1} will be 10 decimal after the
StrToByte ... function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);
The content of the array component data_buffer{2} will be 174 decimal after the
StrToByte ... function.
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);
The content of the array component data_buffer{3} will be 126 decimal after the
StrToByte ... function.
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);
The content of the array component data_buffer{4} will be 10 decimal after the
StrToByte ... function.
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);
The content of the array component data_buffer{5} will be 65 decimal after the
StrToByte ... function.
Return value
Data type: byte
The result of the conversion operation in decimal representation.
Arguments
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
ConStr
Convert String
Data type: string
The string data to be converted.
If the optional switch argument is omitted, the string to be converted has decimal (Dec)
format.
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2.128. StrToByte - Converts a string to a byte data
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[\Hex]
Hexadecimal
Data type: switch
The string to be converted has hexadecimal format.
[\Okt]
Octal
Data type: switch
The string to be converted has octal format.
[\Bin]
Binary
Data type: switch
The string to be converted has binary format.
[\Char]
Character
Data type: switch
The string to be converted has ASCII character format.
Limitations
Depending on the format of the string to be converted, the following string data is valid:
RAPID character codes (e.g. “\07” for BEL control character) can be used as arguments in
ConStr .
Syntax
StrToByte’(’
[ConStr’ :=’] <expression ( IN ) of string>
[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]
’)’
A function with a return value of the data type byte .
Format
String length
Range
Dec .....: ’0’ - ’9’
3
"0" - "255"
Hex .....: ’0’ - ’9’, ’a’ -’f’, ’A’ - ’F’
2
"0" - "FF"
Okt ......: ’0’ - ’7’
3
"0" - "377"
Bin ......: ’0’ - ’1’
8
"0" - "11111111"
Char ....: Any ASCII character
1
One ASCII char
Continued
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2.128. StrToByte - Converts a string to a byte data
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2.128. StrToByte - Converts a string to a byte data
Usage
StrToByte ( String To Byte ) is used to convert a string with a defined byte data format into
a byte data.
Basic examples
Basic examples of the function StrToByte are illustrated below.
Example 1
VAR string con_data_buffer{5} := ["10", "AE", "176", "00001010",
"A"];
VAR byte data_buffer{5};
data_buffer{1} := StrToByte(con_data_buffer{1});
The content of the array component data_buffer{1} will be 10 decimal after the
StrToByte ... function.
data_buffer{2} := StrToByte(con_data_buffer{2}\Hex);
The content of the array component data_buffer{2} will be 174 decimal after the
StrToByte ... function.
data_buffer{3} := StrToByte(con_data_buffer{3}\Okt);
The content of the array component data_buffer{3} will be 126 decimal after the
StrToByte ... function.
data_buffer{4} := StrToByte(con_data_buffer{4}\Bin);
The content of the array component data_buffer{4} will be 10 decimal after the
StrToByte ... function.
data_buffer{5} := StrToByte(con_data_buffer{5}\Char);
The content of the array component data_buffer{5} will be 65 decimal after the
StrToByte ... function.
Return value
Data type: byte
The result of the conversion operation in decimal representation.
Arguments
StrToByte (ConStr [\Hex] | [\Okt] | [\Bin] | [\Char])
ConStr
Convert String
Data type: string
The string data to be converted.
If the optional switch argument is omitted, the string to be converted has decimal (Dec)
format.
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2.128. StrToByte - Converts a string to a byte data
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[\Hex]
Hexadecimal
Data type: switch
The string to be converted has hexadecimal format.
[\Okt]
Octal
Data type: switch
The string to be converted has octal format.
[\Bin]
Binary
Data type: switch
The string to be converted has binary format.
[\Char]
Character
Data type: switch
The string to be converted has ASCII character format.
Limitations
Depending on the format of the string to be converted, the following string data is valid:
RAPID character codes (e.g. “\07” for BEL control character) can be used as arguments in
ConStr .
Syntax
StrToByte’(’
[ConStr’ :=’] <expression ( IN ) of string>
[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]
’)’
A function with a return value of the data type byte .
Format
String length
Range
Dec .....: ’0’ - ’9’
3
"0" - "255"
Hex .....: ’0’ - ’9’, ’a’ -’f’, ’A’ - ’F’
2
"0" - "FF"
Okt ......: ’0’ - ’7’
3
"0" - "377"
Bin ......: ’0’ - ’1’
8
"0" - "11111111"
Char ....: Any ASCII character
1
One ASCII char
Continued
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2.128. StrToByte - Converts a string to a byte data
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Related information
For information about
See
Convert a byte to a string data
ByteToStr - Converts a byte to a string data on
page 784
Other bit (byte) functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
functions
Other string functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Continued
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[\Hex]
Hexadecimal
Data type: switch
The string to be converted has hexadecimal format.
[\Okt]
Octal
Data type: switch
The string to be converted has octal format.
[\Bin]
Binary
Data type: switch
The string to be converted has binary format.
[\Char]
Character
Data type: switch
The string to be converted has ASCII character format.
Limitations
Depending on the format of the string to be converted, the following string data is valid:
RAPID character codes (e.g. “\07” for BEL control character) can be used as arguments in
ConStr .
Syntax
StrToByte’(’
[ConStr’ :=’] <expression ( IN ) of string>
[’\’ Hex ] | [’\’ Okt] | [’\’ Bin] | [’\’ Char]
’)’
A function with a return value of the data type byte .
Format
String length
Range
Dec .....: ’0’ - ’9’
3
"0" - "255"
Hex .....: ’0’ - ’9’, ’a’ -’f’, ’A’ - ’F’
2
"0" - "FF"
Okt ......: ’0’ - ’7’
3
"0" - "377"
Bin ......: ’0’ - ’1’
8
"0" - "11111111"
Char ....: Any ASCII character
1
One ASCII char
Continued
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2.128. StrToByte - Converts a string to a byte data
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Related information
For information about
See
Convert a byte to a string data
ByteToStr - Converts a byte to a string data on
page 784
Other bit (byte) functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
functions
Other string functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Continued
2 Functions
2.129. StrToVal - Converts a string to a value
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2.129. StrToVal - Converts a string to a value
Usage
StrToVal ( String To Value ) is used to convert a string to a value of any data type.
Basic examples
Basic examples of the function StrToVal are illustrated below.
See also More examples on page 1011 .
Example 1
VAR bool ok;
VAR num nval;
ok := StrToVal("3.85",nval);
The variable ok is given the value TRUE and nval is given the value 3.85 .
Return value
Data type: bool
TRUE if the requested conversion succeeded, FALSE otherwise.
Arguments
StrToVal ( Str Val )
Str
String
Data type: string
A string value containing literal data with format corresponding to the data type used in
argument Val . Valid format as for RAPID literal aggregates.
Val
Value
Data type: ANYTYPE
Name of the variable or persistent of any data type for storage of the result from the
conversion.
All type of value data with structure atomic, record, record component, array or array element
can be used. The data is unchanged if the requested conversion failed because the format
don’t correspond to the data used in argument Str .
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2.128. StrToByte - Converts a string to a byte data
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Related information
For information about
See
Convert a byte to a string data
ByteToStr - Converts a byte to a string data on
page 784
Other bit (byte) functions
Technical reference manual - RAPID overview ,
section RAPID summary - Mathematics - Bit
functions
Other string functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Continued
2 Functions
2.129. StrToVal - Converts a string to a value
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2.129. StrToVal - Converts a string to a value
Usage
StrToVal ( String To Value ) is used to convert a string to a value of any data type.
Basic examples
Basic examples of the function StrToVal are illustrated below.
See also More examples on page 1011 .
Example 1
VAR bool ok;
VAR num nval;
ok := StrToVal("3.85",nval);
The variable ok is given the value TRUE and nval is given the value 3.85 .
Return value
Data type: bool
TRUE if the requested conversion succeeded, FALSE otherwise.
Arguments
StrToVal ( Str Val )
Str
String
Data type: string
A string value containing literal data with format corresponding to the data type used in
argument Val . Valid format as for RAPID literal aggregates.
Val
Value
Data type: ANYTYPE
Name of the variable or persistent of any data type for storage of the result from the
conversion.
All type of value data with structure atomic, record, record component, array or array element
can be used. The data is unchanged if the requested conversion failed because the format
don’t correspond to the data used in argument Str .
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2.129. StrToVal - Converts a string to a value
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More examples
More examples of the function StrToVal are illustrated below.
Example 1
VAR string str15 := "[600, 500, 225.3]";
VAR bool ok;
VAR pos pos15;
ok := StrToVal(str15,pos15);
The variable ok is given the value TRUE and the variable pos15 is given the value that are
specified in the string str15 .
Syntax
StrToVal’(’
[ Str ’:=’ ] <expression ( IN ) of string> ´,´
[ Val ’:=’ ] <var or pers ( INOUT ) of ANYTYPE>
’)’
A function with a return value of the data type bool .
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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2.129. StrToVal - Converts a string to a value
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2.129. StrToVal - Converts a string to a value
Usage
StrToVal ( String To Value ) is used to convert a string to a value of any data type.
Basic examples
Basic examples of the function StrToVal are illustrated below.
See also More examples on page 1011 .
Example 1
VAR bool ok;
VAR num nval;
ok := StrToVal("3.85",nval);
The variable ok is given the value TRUE and nval is given the value 3.85 .
Return value
Data type: bool
TRUE if the requested conversion succeeded, FALSE otherwise.
Arguments
StrToVal ( Str Val )
Str
String
Data type: string
A string value containing literal data with format corresponding to the data type used in
argument Val . Valid format as for RAPID literal aggregates.
Val
Value
Data type: ANYTYPE
Name of the variable or persistent of any data type for storage of the result from the
conversion.
All type of value data with structure atomic, record, record component, array or array element
can be used. The data is unchanged if the requested conversion failed because the format
don’t correspond to the data used in argument Str .
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2.129. StrToVal - Converts a string to a value
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More examples
More examples of the function StrToVal are illustrated below.
Example 1
VAR string str15 := "[600, 500, 225.3]";
VAR bool ok;
VAR pos pos15;
ok := StrToVal(str15,pos15);
The variable ok is given the value TRUE and the variable pos15 is given the value that are
specified in the string str15 .
Syntax
StrToVal’(’
[ Str ’:=’ ] <expression ( IN ) of string> ´,´
[ Val ’:=’ ] <var or pers ( INOUT ) of ANYTYPE>
’)’
A function with a return value of the data type bool .
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
2 Functions
2.130. Tan - Calculates the tangent value
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2.130. Tan - Calculates the tangent value
Usage
Tan ( Tangent ) is used to calculate the tangent value from an angle value.
Basic examples
Basic examples of the function are illustrated below.
Example 1
VAR num angle;
VAR num value;
...
...
value := Tan(angle);
value will get the tangent value of angle .
Return value
Data type: num
The tangent value.
Arguments
Tan (Angle)
Angle
Data type: num
The angle value, expressed in degrees.
Syntax
Tan’(’
[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
Arc tangent with return value in the range
[-180, 180]
ATan2 - Calculates the arc tangent2 value on
page 769
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2.129. StrToVal - Converts a string to a value
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More examples
More examples of the function StrToVal are illustrated below.
Example 1
VAR string str15 := "[600, 500, 225.3]";
VAR bool ok;
VAR pos pos15;
ok := StrToVal(str15,pos15);
The variable ok is given the value TRUE and the variable pos15 is given the value that are
specified in the string str15 .
Syntax
StrToVal’(’
[ Str ’:=’ ] <expression ( IN ) of string> ´,´
[ Val ’:=’ ] <var or pers ( INOUT ) of ANYTYPE>
’)’
A function with a return value of the data type bool .
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
2 Functions
2.130. Tan - Calculates the tangent value
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2.130. Tan - Calculates the tangent value
Usage
Tan ( Tangent ) is used to calculate the tangent value from an angle value.
Basic examples
Basic examples of the function are illustrated below.
Example 1
VAR num angle;
VAR num value;
...
...
value := Tan(angle);
value will get the tangent value of angle .
Return value
Data type: num
The tangent value.
Arguments
Tan (Angle)
Angle
Data type: num
The angle value, expressed in degrees.
Syntax
Tan’(’
[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
Arc tangent with return value in the range
[-180, 180]
ATan2 - Calculates the arc tangent2 value on
page 769
2 Functions
2.131. TaskRunMec - Check if task controls any mechanical unit
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2.131. TaskRunMec - Check if task controls any mechanical unit
Usage
TaskRunMec is used to check if the program task controls any mechanical units (robot with
TCP or manipulator without TCP).
Basic examples
Basic examples of the function TaskRunMec are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunMec( );
If current task controls any mechanical unit flag will be TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls any mechanical unit the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls any mechanical unit.
Syntax
TaskRunMec’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task control some robot
TaskRunRob - Check if task controls some robot on
page 1014
Activating/Deactivating mech. units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page 79
Configuration of mechanical units
Technical reference manual - System parameters
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2 Functions
2.130. Tan - Calculates the tangent value
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© Copyright 2004-2010 ABB. All rights reserved.
2.130. Tan - Calculates the tangent value
Usage
Tan ( Tangent ) is used to calculate the tangent value from an angle value.
Basic examples
Basic examples of the function are illustrated below.
Example 1
VAR num angle;
VAR num value;
...
...
value := Tan(angle);
value will get the tangent value of angle .
Return value
Data type: num
The tangent value.
Arguments
Tan (Angle)
Angle
Data type: num
The angle value, expressed in degrees.
Syntax
Tan’(’
[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
Arc tangent with return value in the range
[-180, 180]
ATan2 - Calculates the arc tangent2 value on
page 769
2 Functions
2.131. TaskRunMec - Check if task controls any mechanical unit
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2.131. TaskRunMec - Check if task controls any mechanical unit
Usage
TaskRunMec is used to check if the program task controls any mechanical units (robot with
TCP or manipulator without TCP).
Basic examples
Basic examples of the function TaskRunMec are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunMec( );
If current task controls any mechanical unit flag will be TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls any mechanical unit the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls any mechanical unit.
Syntax
TaskRunMec’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task control some robot
TaskRunRob - Check if task controls some robot on
page 1014
Activating/Deactivating mech. units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page 79
Configuration of mechanical units
Technical reference manual - System parameters
2 Functions
2.132. TaskRunRob - Check if task controls some robot
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2.132. TaskRunRob - Check if task controls some robot
Usage
TaskRunRob is used to check if the program task controls some robot (mechanical unit with
TCP).
Basic examples
Basic examples of the function TaskRunRob are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunRob( );
If current task controls some robot, flag will be set to TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls some robot, the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls some robot.
Syntax
TaskRunRob ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task controls any mechanical
unit
TaskRunMec - Check if task controls any
mechanical unit on page 1013
Activating/Deactivating mechanical
units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page
79
Configuration of mechanical units
Technical reference manual - System parameters
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2.131. TaskRunMec - Check if task controls any mechanical unit
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2.131. TaskRunMec - Check if task controls any mechanical unit
Usage
TaskRunMec is used to check if the program task controls any mechanical units (robot with
TCP or manipulator without TCP).
Basic examples
Basic examples of the function TaskRunMec are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunMec( );
If current task controls any mechanical unit flag will be TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls any mechanical unit the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls any mechanical unit.
Syntax
TaskRunMec’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task control some robot
TaskRunRob - Check if task controls some robot on
page 1014
Activating/Deactivating mech. units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page 79
Configuration of mechanical units
Technical reference manual - System parameters
2 Functions
2.132. TaskRunRob - Check if task controls some robot
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© Copyright 2004-2010 ABB. All rights reserved.
2.132. TaskRunRob - Check if task controls some robot
Usage
TaskRunRob is used to check if the program task controls some robot (mechanical unit with
TCP).
Basic examples
Basic examples of the function TaskRunRob are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunRob( );
If current task controls some robot, flag will be set to TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls some robot, the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls some robot.
Syntax
TaskRunRob ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task controls any mechanical
unit
TaskRunMec - Check if task controls any
mechanical unit on page 1013
Activating/Deactivating mechanical
units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page
79
Configuration of mechanical units
Technical reference manual - System parameters
2 Functions
2.133. TasksInSync - Returns the number of synchronized tasks
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2.133. TasksInSync - Returns the number of synchronized tasks
Usage
TasksInSync is used to retrieve the number of synchronized tasks.
Basic examples
A basic example of the function TasksInSync is illustrated below.
Example 1
VAR tasks tasksInSyncList{6};
...
PROC main ()
VAR num noOfSynchTasks;
...
noOfSynchTasks:= TasksInSync (tasksInSyncList);
TPWrite "No of synchronized tasks = "\Num:=noOfSynchTasks;
ENDPROC
The variable noOfSynchTasks is assigned the number of synchronized tasks and the
tasksInSyncList will contain the names of the synchronized tasks. In this example the
task list is a variable but it can also be a persistent.
Return value
Data type: num
The number of synchronized tasks.
Arguments
TaskInSync (TaskList)
TaskList
Data type: tasks
Inout argument that in a task list (array) will present the name ( string ) of the program tasks
that are synchronized. The task list can be either of type VAR or PERS .
Program execution
The function returns the number of synchronized tasks in the system. The names of the
synchronized tasks are presented in the inout argument TaskList. In cases where there are no
synchronized tasks, the list will only contain empty strings.
Limitations
Currently only one synch group is supported, so TasksInSync returns the number of tasks
that are synchronized in that group.
Syntax
TasksInSync
[ TaskList‘ :=’ ] < var or pers array {*} ( INOUT ) of tasks> ´,’
A function with a return value of the data type num .
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2.132. TaskRunRob - Check if task controls some robot
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2.132. TaskRunRob - Check if task controls some robot
Usage
TaskRunRob is used to check if the program task controls some robot (mechanical unit with
TCP).
Basic examples
Basic examples of the function TaskRunRob are illustrated below.
Example 1
VAR bool flag;
...
flag := TaskRunRob( );
If current task controls some robot, flag will be set to TRUE , otherwise FALSE .
Return value
Data type: bool
If current task controls some robot, the return value will be TRUE , otherwise FALSE .
Program execution
Check if current program task controls some robot.
Syntax
TaskRunRob ’(’ ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Check if task controls any mechanical
unit
TaskRunMec - Check if task controls any
mechanical unit on page 1013
Activating/Deactivating mechanical
units
ActUnit - Activates a mechanical unit on page 17
DeactUnit - Deactivates a mechanical unit on page
79
Configuration of mechanical units
Technical reference manual - System parameters
2 Functions
2.133. TasksInSync - Returns the number of synchronized tasks
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2.133. TasksInSync - Returns the number of synchronized tasks
Usage
TasksInSync is used to retrieve the number of synchronized tasks.
Basic examples
A basic example of the function TasksInSync is illustrated below.
Example 1
VAR tasks tasksInSyncList{6};
...
PROC main ()
VAR num noOfSynchTasks;
...
noOfSynchTasks:= TasksInSync (tasksInSyncList);
TPWrite "No of synchronized tasks = "\Num:=noOfSynchTasks;
ENDPROC
The variable noOfSynchTasks is assigned the number of synchronized tasks and the
tasksInSyncList will contain the names of the synchronized tasks. In this example the
task list is a variable but it can also be a persistent.
Return value
Data type: num
The number of synchronized tasks.
Arguments
TaskInSync (TaskList)
TaskList
Data type: tasks
Inout argument that in a task list (array) will present the name ( string ) of the program tasks
that are synchronized. The task list can be either of type VAR or PERS .
Program execution
The function returns the number of synchronized tasks in the system. The names of the
synchronized tasks are presented in the inout argument TaskList. In cases where there are no
synchronized tasks, the list will only contain empty strings.
Limitations
Currently only one synch group is supported, so TasksInSync returns the number of tasks
that are synchronized in that group.
Syntax
TasksInSync
[ TaskList‘ :=’ ] < var or pers array {*} ( INOUT ) of tasks> ´,’
A function with a return value of the data type num .
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Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Continued
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2.133. TasksInSync - Returns the number of synchronized tasks
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2.133. TasksInSync - Returns the number of synchronized tasks
Usage
TasksInSync is used to retrieve the number of synchronized tasks.
Basic examples
A basic example of the function TasksInSync is illustrated below.
Example 1
VAR tasks tasksInSyncList{6};
...
PROC main ()
VAR num noOfSynchTasks;
...
noOfSynchTasks:= TasksInSync (tasksInSyncList);
TPWrite "No of synchronized tasks = "\Num:=noOfSynchTasks;
ENDPROC
The variable noOfSynchTasks is assigned the number of synchronized tasks and the
tasksInSyncList will contain the names of the synchronized tasks. In this example the
task list is a variable but it can also be a persistent.
Return value
Data type: num
The number of synchronized tasks.
Arguments
TaskInSync (TaskList)
TaskList
Data type: tasks
Inout argument that in a task list (array) will present the name ( string ) of the program tasks
that are synchronized. The task list can be either of type VAR or PERS .
Program execution
The function returns the number of synchronized tasks in the system. The names of the
synchronized tasks are presented in the inout argument TaskList. In cases where there are no
synchronized tasks, the list will only contain empty strings.
Limitations
Currently only one synch group is supported, so TasksInSync returns the number of tasks
that are synchronized in that group.
Syntax
TasksInSync
[ TaskList‘ :=’ ] < var or pers array {*} ( INOUT ) of tasks> ´,’
A function with a return value of the data type num .
Continues on next page
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Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Continued
2 Functions
2.134. TestAndSet - Test variable and set if unset
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2.134. TestAndSet - Test variable and set if unset
Usage
TestAndSet can be used together with a normal data object of the type bool , as a binary
semaphore, to retrieve exclusive right to specific RAPID code areas or system resources. The
function could be used both between different program tasks and different execution levels
(TRAP or Event Routines) within the same program task.
Example of resources that can need protection from access at the same time:
•
Use of some RAPID routines with function problems when executed in parallel.
•
Use of the FlexPendant - Operator Log
Basic examples
Basic examples of the function TestAndSet are illustrated below.
See also More examples on page 1018 .
Example 1
MAIN program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
BACK1 program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite" Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
To avoid mixing up the lines, in the Operator Log, one from MAIN and one from BACK1 , the
use of the TestAndSet function guarantees that all three lines from each task are not
separated.
If program task MAIN takes the semaphore TestAndSet(tproutine_inuse) first, then
program task BACK1 must wait until the program task MAIN has left the semaphore.
Return value
Data type: bool
TRUE if the semaphore has been taken by me (executor of TestAndSet function), otherwise
FALSE .
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2.133. TasksInSync - Returns the number of synchronized tasks
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Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
Continued
2 Functions
2.134. TestAndSet - Test variable and set if unset
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2.134. TestAndSet - Test variable and set if unset
Usage
TestAndSet can be used together with a normal data object of the type bool , as a binary
semaphore, to retrieve exclusive right to specific RAPID code areas or system resources. The
function could be used both between different program tasks and different execution levels
(TRAP or Event Routines) within the same program task.
Example of resources that can need protection from access at the same time:
•
Use of some RAPID routines with function problems when executed in parallel.
•
Use of the FlexPendant - Operator Log
Basic examples
Basic examples of the function TestAndSet are illustrated below.
See also More examples on page 1018 .
Example 1
MAIN program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
BACK1 program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite" Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
To avoid mixing up the lines, in the Operator Log, one from MAIN and one from BACK1 , the
use of the TestAndSet function guarantees that all three lines from each task are not
separated.
If program task MAIN takes the semaphore TestAndSet(tproutine_inuse) first, then
program task BACK1 must wait until the program task MAIN has left the semaphore.
Return value
Data type: bool
TRUE if the semaphore has been taken by me (executor of TestAndSet function), otherwise
FALSE .
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2 Functions
2.134. TestAndSet - Test variable and set if unset
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Arguments
TestAndSet Object
Object
Data type: bool
User defined data object to be used as semaphore. The data object could be a variable VAR or
a persistent variable PERS . If TestAndSet are used between different program tasks, the
object must be a persistent variable PERS or an installed variable VAR (intertask objects).
Program execution
This function will in one indivisible step check the user defined variable and, if it is unset,
will set it and return TRUE , otherwise it will return FALSE .
IF Object = FALSE THEN
Object := TRUE;
RETURN TRUE;
ELSE
RETURN FALSE;
ENDIF
More examples
More examples of the function TestAndSet are illustrated below.
Example 1
LOCAL VAR bool doit_inuse := FALSE;
...
PROC doit(...)
WaitUntil TestAndSet (doit_inuse);
...
doit_inuse := FALSE;
ENDPROC
If a module is installed built-in and shared, it is possible to use a local module variable for
protection of access from different program tasks at the same time.
NOTE!
In this case with installed built-in modules and when using persistent variable as semaphore
object: If program execution is stopped in the routine doit and the program pointer is moved
to main , the variable doit_inuse will not be reset. To avoid this, reset the variable
doit_inuse to FALSE in the START event routine.
Syntax
TestAndSet ´(´
[ Object ’:=’ ] < variable or persistent ( INOUT ) of bool> ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Wait until variable unset - then set (type wait
with interrupt control)
WaitTestAndSet - Wait until variable unset -
then set on page 692
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2.134. TestAndSet - Test variable and set if unset
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2.134. TestAndSet - Test variable and set if unset
Usage
TestAndSet can be used together with a normal data object of the type bool , as a binary
semaphore, to retrieve exclusive right to specific RAPID code areas or system resources. The
function could be used both between different program tasks and different execution levels
(TRAP or Event Routines) within the same program task.
Example of resources that can need protection from access at the same time:
•
Use of some RAPID routines with function problems when executed in parallel.
•
Use of the FlexPendant - Operator Log
Basic examples
Basic examples of the function TestAndSet are illustrated below.
See also More examples on page 1018 .
Example 1
MAIN program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
BACK1 program task:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite" Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
To avoid mixing up the lines, in the Operator Log, one from MAIN and one from BACK1 , the
use of the TestAndSet function guarantees that all three lines from each task are not
separated.
If program task MAIN takes the semaphore TestAndSet(tproutine_inuse) first, then
program task BACK1 must wait until the program task MAIN has left the semaphore.
Return value
Data type: bool
TRUE if the semaphore has been taken by me (executor of TestAndSet function), otherwise
FALSE .
Continues on next page
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2.134. TestAndSet - Test variable and set if unset
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Arguments
TestAndSet Object
Object
Data type: bool
User defined data object to be used as semaphore. The data object could be a variable VAR or
a persistent variable PERS . If TestAndSet are used between different program tasks, the
object must be a persistent variable PERS or an installed variable VAR (intertask objects).
Program execution
This function will in one indivisible step check the user defined variable and, if it is unset,
will set it and return TRUE , otherwise it will return FALSE .
IF Object = FALSE THEN
Object := TRUE;
RETURN TRUE;
ELSE
RETURN FALSE;
ENDIF
More examples
More examples of the function TestAndSet are illustrated below.
Example 1
LOCAL VAR bool doit_inuse := FALSE;
...
PROC doit(...)
WaitUntil TestAndSet (doit_inuse);
...
doit_inuse := FALSE;
ENDPROC
If a module is installed built-in and shared, it is possible to use a local module variable for
protection of access from different program tasks at the same time.
NOTE!
In this case with installed built-in modules and when using persistent variable as semaphore
object: If program execution is stopped in the routine doit and the program pointer is moved
to main , the variable doit_inuse will not be reset. To avoid this, reset the variable
doit_inuse to FALSE in the START event routine.
Syntax
TestAndSet ´(´
[ Object ’:=’ ] < variable or persistent ( INOUT ) of bool> ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Wait until variable unset - then set (type wait
with interrupt control)
WaitTestAndSet - Wait until variable unset -
then set on page 692
Continued
2 Functions
2.135. TestDI - Tests if a digital input is set
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2.135. TestDI - Tests if a digital input is set
Usage
TestDI is used to test whether a digital input is set.
Basic examples
Basic examples of the function TestDI are illustrated below.
Example 1
IF TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 1 , then . . .
IF NOT TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 0 , then . . .
WaitUntil TestDI(di1) AND TestDI(di2);
Program execution continues only after both the di1 input and the di2 input have been set.
Return value
Data type: bool
TRUE = The current value of the signal is equal to 1.
FALSE = The current value of the signal is equal to 0.
Arguments
TestDI (Signal)
Signal
Data type: signaldi
The name of the signal to be tested.
Syntax
TestDI ’(’
[ Signal’ :=’ ] < variable ( VAR ) of signaldi > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Reading the value of a digital input signal
signalxx - Digital and analog signals on page
1181
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output
Signals
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2.134. TestAndSet - Test variable and set if unset
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Arguments
TestAndSet Object
Object
Data type: bool
User defined data object to be used as semaphore. The data object could be a variable VAR or
a persistent variable PERS . If TestAndSet are used between different program tasks, the
object must be a persistent variable PERS or an installed variable VAR (intertask objects).
Program execution
This function will in one indivisible step check the user defined variable and, if it is unset,
will set it and return TRUE , otherwise it will return FALSE .
IF Object = FALSE THEN
Object := TRUE;
RETURN TRUE;
ELSE
RETURN FALSE;
ENDIF
More examples
More examples of the function TestAndSet are illustrated below.
Example 1
LOCAL VAR bool doit_inuse := FALSE;
...
PROC doit(...)
WaitUntil TestAndSet (doit_inuse);
...
doit_inuse := FALSE;
ENDPROC
If a module is installed built-in and shared, it is possible to use a local module variable for
protection of access from different program tasks at the same time.
NOTE!
In this case with installed built-in modules and when using persistent variable as semaphore
object: If program execution is stopped in the routine doit and the program pointer is moved
to main , the variable doit_inuse will not be reset. To avoid this, reset the variable
doit_inuse to FALSE in the START event routine.
Syntax
TestAndSet ´(´
[ Object ’:=’ ] < variable or persistent ( INOUT ) of bool> ´)´
A function with a return value of the data type bool .
Related information
For information about
See
Wait until variable unset - then set (type wait
with interrupt control)
WaitTestAndSet - Wait until variable unset -
then set on page 692
Continued
2 Functions
2.135. TestDI - Tests if a digital input is set
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2.135. TestDI - Tests if a digital input is set
Usage
TestDI is used to test whether a digital input is set.
Basic examples
Basic examples of the function TestDI are illustrated below.
Example 1
IF TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 1 , then . . .
IF NOT TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 0 , then . . .
WaitUntil TestDI(di1) AND TestDI(di2);
Program execution continues only after both the di1 input and the di2 input have been set.
Return value
Data type: bool
TRUE = The current value of the signal is equal to 1.
FALSE = The current value of the signal is equal to 0.
Arguments
TestDI (Signal)
Signal
Data type: signaldi
The name of the signal to be tested.
Syntax
TestDI ’(’
[ Signal’ :=’ ] < variable ( VAR ) of signaldi > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Reading the value of a digital input signal
signalxx - Digital and analog signals on page
1181
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output
Signals
2 Functions
2.136. TestSignRead - Read test signal value
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2.136. TestSignRead - Read test signal value
Usage
TestSignRead is used to read the actual test signal value.
This function returns the momentary value or the mean value of the latest samples, depending
on channel specification in instruction TestSignDefine .
Basic examples
Basic examples of the function TestSignRead are illustrated below.
See also More examples on page 1021 .
Example 1
CONST num speed_channel:=1;
VAR num speed_value;
...
TestSignDefine speed_channel, speed, orbit, 1, 0;
...
! During some movements with orbit’s axis 1
speed_value := TestSignRead(speed_channel);
...
TestSignReset;
speed_value is assigned the mean value of the latest 8 samples generated each 0.5 ms of
the test signal speed on channel speed_channel defined as channel 1 . The channel
speed_channel measures the speed of axis 1 on the mechanical unit orbit .
Return value
Data type: num
The numeric value in SI units on the motor side for the specified channel according to the
definition in instruction TestSignDefine .
Arguments
TestSignRead (Channel)
Channel
Data type: num
The channel number 1-12 for the test signal to be read. The same number must be used in the
definition instruction TestSignDefine.
Program execution
Returns the momentary value or the mean value of the latest samples, depending on the
channel specification in the instruction TestSignDefine .
For predefined test signals with valid SI units for external manipulator axes, see data type
testsignal .
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2.135. TestDI - Tests if a digital input is set
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2.135. TestDI - Tests if a digital input is set
Usage
TestDI is used to test whether a digital input is set.
Basic examples
Basic examples of the function TestDI are illustrated below.
Example 1
IF TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 1 , then . . .
IF NOT TestDI (di2) THEN . . .
If the current value of the signal di2 is equal to 0 , then . . .
WaitUntil TestDI(di1) AND TestDI(di2);
Program execution continues only after both the di1 input and the di2 input have been set.
Return value
Data type: bool
TRUE = The current value of the signal is equal to 1.
FALSE = The current value of the signal is equal to 0.
Arguments
TestDI (Signal)
Signal
Data type: signaldi
The name of the signal to be tested.
Syntax
TestDI ’(’
[ Signal’ :=’ ] < variable ( VAR ) of signaldi > ’)’
A function with a return value of the data type bool .
Related information
For information about
See
Reading the value of a digital input signal
signalxx - Digital and analog signals on page
1181
Input/Output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and Output
Signals
2 Functions
2.136. TestSignRead - Read test signal value
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2.136. TestSignRead - Read test signal value
Usage
TestSignRead is used to read the actual test signal value.
This function returns the momentary value or the mean value of the latest samples, depending
on channel specification in instruction TestSignDefine .
Basic examples
Basic examples of the function TestSignRead are illustrated below.
See also More examples on page 1021 .
Example 1
CONST num speed_channel:=1;
VAR num speed_value;
...
TestSignDefine speed_channel, speed, orbit, 1, 0;
...
! During some movements with orbit’s axis 1
speed_value := TestSignRead(speed_channel);
...
TestSignReset;
speed_value is assigned the mean value of the latest 8 samples generated each 0.5 ms of
the test signal speed on channel speed_channel defined as channel 1 . The channel
speed_channel measures the speed of axis 1 on the mechanical unit orbit .
Return value
Data type: num
The numeric value in SI units on the motor side for the specified channel according to the
definition in instruction TestSignDefine .
Arguments
TestSignRead (Channel)
Channel
Data type: num
The channel number 1-12 for the test signal to be read. The same number must be used in the
definition instruction TestSignDefine.
Program execution
Returns the momentary value or the mean value of the latest samples, depending on the
channel specification in the instruction TestSignDefine .
For predefined test signals with valid SI units for external manipulator axes, see data type
testsignal .
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2.136. TestSignRead - Read test signal value
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More examples
More examples of the function TestSignRead are illustrated below.
Example 1
CONST num torque_channel:=2;
VAR num torque_value;
VAR intnum timer_int;
CONST jointtarget psync := [...];
...
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001;
...
MoveAbsJ psync \NoEOffs, v5, fine, tool0;
...
IDelete timer_int;
TestSignReset;
TRAP TorqueTrap
IF (TestSignRead(torque_channel) > 6) THEN
TPWrite "Torque pos = " + ValToStr(CJointT());
Stop;
ELSE
IDelete timer_int;
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
ENDIF
ENDTRAP
When the torque reference for manipulator IRBP_K axis 2 is for the first time greater than 6
Nm on the motor side during the slow movement to position psync , the joint position is
displayed on the FlexPendant.
Syntax
TestSignRead’(’
[ Channel ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the type num .
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Reset test signals
TestSignReset - Reset all test signal definitions on page 553
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2.136. TestSignRead - Read test signal value
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2.136. TestSignRead - Read test signal value
Usage
TestSignRead is used to read the actual test signal value.
This function returns the momentary value or the mean value of the latest samples, depending
on channel specification in instruction TestSignDefine .
Basic examples
Basic examples of the function TestSignRead are illustrated below.
See also More examples on page 1021 .
Example 1
CONST num speed_channel:=1;
VAR num speed_value;
...
TestSignDefine speed_channel, speed, orbit, 1, 0;
...
! During some movements with orbit’s axis 1
speed_value := TestSignRead(speed_channel);
...
TestSignReset;
speed_value is assigned the mean value of the latest 8 samples generated each 0.5 ms of
the test signal speed on channel speed_channel defined as channel 1 . The channel
speed_channel measures the speed of axis 1 on the mechanical unit orbit .
Return value
Data type: num
The numeric value in SI units on the motor side for the specified channel according to the
definition in instruction TestSignDefine .
Arguments
TestSignRead (Channel)
Channel
Data type: num
The channel number 1-12 for the test signal to be read. The same number must be used in the
definition instruction TestSignDefine.
Program execution
Returns the momentary value or the mean value of the latest samples, depending on the
channel specification in the instruction TestSignDefine .
For predefined test signals with valid SI units for external manipulator axes, see data type
testsignal .
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More examples
More examples of the function TestSignRead are illustrated below.
Example 1
CONST num torque_channel:=2;
VAR num torque_value;
VAR intnum timer_int;
CONST jointtarget psync := [...];
...
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001;
...
MoveAbsJ psync \NoEOffs, v5, fine, tool0;
...
IDelete timer_int;
TestSignReset;
TRAP TorqueTrap
IF (TestSignRead(torque_channel) > 6) THEN
TPWrite "Torque pos = " + ValToStr(CJointT());
Stop;
ELSE
IDelete timer_int;
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
ENDIF
ENDTRAP
When the torque reference for manipulator IRBP_K axis 2 is for the first time greater than 6
Nm on the motor side during the slow movement to position psync , the joint position is
displayed on the FlexPendant.
Syntax
TestSignRead’(’
[ Channel ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the type num .
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Reset test signals
TestSignReset - Reset all test signal definitions on page 553
Continued
2 Functions
2.137. TextGet - Get text from system text tables
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2.137. TextGet - Get text from system text tables
Usage
TextGet is used to get a text string from the system text tables.
Basic examples
Basic examples of the function TextGet are illustrated below.
Example 1
VAR string text1;
...
text1 := TextGet(14, 5);
The variable text1 is assigned the text stored in text resource 14 and index 5 .
Return value
Data type: string
Specified text from the system text tables.
Arguments
TextGet ( Table Index )
Table
Data type: num
The text table number (positive integer).
Index
Data type: num
The index number (positive integer) within the text table.
Error handling
If table or index is not valid, and no text string can be fetched from the system text tables, the
system variable ERRNO is set to ERR_TXTNOEXIST . The execution continues in the error
handler.
Syntax
TextGet ’(’
[ Table ’:=’ ] < expression ( IN ) of num > ’,’
[ Index ’:=’ ] < expression ( IN ) of num> ’)’
A function with a return value of the data type string .
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More examples
More examples of the function TestSignRead are illustrated below.
Example 1
CONST num torque_channel:=2;
VAR num torque_value;
VAR intnum timer_int;
CONST jointtarget psync := [...];
...
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
TestSignDefine torque_channel, torque_ref, IRBP_K, 2, 0.001;
...
MoveAbsJ psync \NoEOffs, v5, fine, tool0;
...
IDelete timer_int;
TestSignReset;
TRAP TorqueTrap
IF (TestSignRead(torque_channel) > 6) THEN
TPWrite "Torque pos = " + ValToStr(CJointT());
Stop;
ELSE
IDelete timer_int;
CONNECT timer_int WITH TorqueTrap;
ITimer \Single, 0.05, timer_int;
ENDIF
ENDTRAP
When the torque reference for manipulator IRBP_K axis 2 is for the first time greater than 6
Nm on the motor side during the slow movement to position psync , the joint position is
displayed on the FlexPendant.
Syntax
TestSignRead’(’
[ Channel ’:=’] <expression ( IN ) of num>’)’
A function with a return value of the type num .
Related information
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Reset test signals
TestSignReset - Reset all test signal definitions on page 553
Continued
2 Functions
2.137. TextGet - Get text from system text tables
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2.137. TextGet - Get text from system text tables
Usage
TextGet is used to get a text string from the system text tables.
Basic examples
Basic examples of the function TextGet are illustrated below.
Example 1
VAR string text1;
...
text1 := TextGet(14, 5);
The variable text1 is assigned the text stored in text resource 14 and index 5 .
Return value
Data type: string
Specified text from the system text tables.
Arguments
TextGet ( Table Index )
Table
Data type: num
The text table number (positive integer).
Index
Data type: num
The index number (positive integer) within the text table.
Error handling
If table or index is not valid, and no text string can be fetched from the system text tables, the
system variable ERRNO is set to ERR_TXTNOEXIST . The execution continues in the error
handler.
Syntax
TextGet ’(’
[ Table ’:=’ ] < expression ( IN ) of num > ’,’
[ Index ’:=’ ] < expression ( IN ) of num> ’)’
A function with a return value of the data type string .
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Related information
For information about
See
Get text table number
TextTabGet - Get text table number on page 1026
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
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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2.137. TextGet - Get text from system text tables
Usage
TextGet is used to get a text string from the system text tables.
Basic examples
Basic examples of the function TextGet are illustrated below.
Example 1
VAR string text1;
...
text1 := TextGet(14, 5);
The variable text1 is assigned the text stored in text resource 14 and index 5 .
Return value
Data type: string
Specified text from the system text tables.
Arguments
TextGet ( Table Index )
Table
Data type: num
The text table number (positive integer).
Index
Data type: num
The index number (positive integer) within the text table.
Error handling
If table or index is not valid, and no text string can be fetched from the system text tables, the
system variable ERRNO is set to ERR_TXTNOEXIST . The execution continues in the error
handler.
Syntax
TextGet ’(’
[ Table ’:=’ ] < expression ( IN ) of num > ’,’
[ Index ’:=’ ] < expression ( IN ) of num> ’)’
A function with a return value of the data type string .
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Related information
For information about
See
Get text table number
TextTabGet - Get text table number on page 1026
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
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
2 Functions
2.138. TextTabFreeToUse - Test whether text table is free
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2.138. TextTabFreeToUse - Test whether text table is free
Usage
TextTabFreeToUse should be used to test whether the text table name (text resource string)
is free to use (not already installed in the system), i.e. whether it is possible to install the text
table in the system or not.
Basic examples
Basic examples of the function TextTabFreeToUse are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed, the function
TextTabFreeToUse returns TRUE and the text file text_file.eng is installed in the
system. After that the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
Next time the event routine install_text is executed, the function TextTabFreeToUse
returns FALSE and the installation is not repeated.
Return value
Data type: bool
This function returns:
•
TRUE , if the text table is not already installed in the system
•
FALSE , if the text table is already installed in the system
Arguments
TextTabFreeToUse ( TableName )
TableName
Data type: string
The text table name (a string with max. 80 characters). Refer to <text_resource> :: in
RAPID Reference Manual - RAPID Kernel , section Text files . The string text_resource is
the text table name.
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2.137. TextGet - Get text from system text tables
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Related information
For information about
See
Get text table number
TextTabGet - Get text table number on page 1026
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
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
2 Functions
2.138. TextTabFreeToUse - Test whether text table is free
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2.138. TextTabFreeToUse - Test whether text table is free
Usage
TextTabFreeToUse should be used to test whether the text table name (text resource string)
is free to use (not already installed in the system), i.e. whether it is possible to install the text
table in the system or not.
Basic examples
Basic examples of the function TextTabFreeToUse are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed, the function
TextTabFreeToUse returns TRUE and the text file text_file.eng is installed in the
system. After that the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
Next time the event routine install_text is executed, the function TextTabFreeToUse
returns FALSE and the installation is not repeated.
Return value
Data type: bool
This function returns:
•
TRUE , if the text table is not already installed in the system
•
FALSE , if the text table is already installed in the system
Arguments
TextTabFreeToUse ( TableName )
TableName
Data type: string
The text table name (a string with max. 80 characters). Refer to <text_resource> :: in
RAPID Reference Manual - RAPID Kernel , section Text files . The string text_resource is
the text table name.
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2.138. TextTabFreeToUse - Test whether text table is free
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Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Syntax
TextTabFreeToUse’(’
[ TableName’:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool
Related information
For information about
See
Install text table
TextTabInstall - Installing a text table on page 554
Format of text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page
1022
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
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2.138. TextTabFreeToUse - Test whether text table is free
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2.138. TextTabFreeToUse - Test whether text table is free
Usage
TextTabFreeToUse should be used to test whether the text table name (text resource string)
is free to use (not already installed in the system), i.e. whether it is possible to install the text
table in the system or not.
Basic examples
Basic examples of the function TextTabFreeToUse are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed, the function
TextTabFreeToUse returns TRUE and the text file text_file.eng is installed in the
system. After that the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet .
Next time the event routine install_text is executed, the function TextTabFreeToUse
returns FALSE and the installation is not repeated.
Return value
Data type: bool
This function returns:
•
TRUE , if the text table is not already installed in the system
•
FALSE , if the text table is already installed in the system
Arguments
TextTabFreeToUse ( TableName )
TableName
Data type: string
The text table name (a string with max. 80 characters). Refer to <text_resource> :: in
RAPID Reference Manual - RAPID Kernel , section Text files . The string text_resource is
the text table name.
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2.138. TextTabFreeToUse - Test whether text table is free
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Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Syntax
TextTabFreeToUse’(’
[ TableName’:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool
Related information
For information about
See
Install text table
TextTabInstall - Installing a text table on page 554
Format of text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page
1022
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
Continued
2 Functions
2.139. TextTabGet - Get text table number
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2.139. TextTabGet - Get text table number
Usage
TextTabGet is used to get the text table number of a user defined text table during run time.
Basic examples
Basic examples of the function TextTabGet are illustrated below.
A new text table named deburr_part1 for user defined texts. The new text table has the file
name deburr.eng.
# deburr.eng - USERS deburr_part1 english text description file
#
# DESCRIPTION:
# Users text file for RAPID development
#
deburr_part1::
0:
RAPID S4: Users text table deburring part1
1:
Part 1 is not in pos
2:
Identity of worked part: XYZ
3:
Part error in line 1
#
# End of file
Example 1
VAR num text_res_no;
...
text_res_no := TextTabGet("deburr_part1");
The variable text_res_no is assigned the text table number for the defined text table
deburr_part1 .
Example 2
ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
A message is stored in the robot log. The message is also shown on the FlexPendant display.
The messages will be taken from the text table deburr_part1 :
Part 1 is not in pos
Identity of worked part: XYZ
Return value
Data type: num
The text table number of the defined text table.
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2.138. TextTabFreeToUse - Test whether text table is free
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Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Syntax
TextTabFreeToUse’(’
[ TableName’:=’ ] < expression ( IN ) of string > ’)’
A function with a return value of the data type bool
Related information
For information about
See
Install text table
TextTabInstall - Installing a text table on page 554
Format of text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual - Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page
1022
String functions
Technical reference manual - RAPID overview ,
section RAPID summary - String functions
Definition of string
string - Strings on page 1195
Continued
2 Functions
2.139. TextTabGet - Get text table number
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2.139. TextTabGet - Get text table number
Usage
TextTabGet is used to get the text table number of a user defined text table during run time.
Basic examples
Basic examples of the function TextTabGet are illustrated below.
A new text table named deburr_part1 for user defined texts. The new text table has the file
name deburr.eng.
# deburr.eng - USERS deburr_part1 english text description file
#
# DESCRIPTION:
# Users text file for RAPID development
#
deburr_part1::
0:
RAPID S4: Users text table deburring part1
1:
Part 1 is not in pos
2:
Identity of worked part: XYZ
3:
Part error in line 1
#
# End of file
Example 1
VAR num text_res_no;
...
text_res_no := TextTabGet("deburr_part1");
The variable text_res_no is assigned the text table number for the defined text table
deburr_part1 .
Example 2
ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
A message is stored in the robot log. The message is also shown on the FlexPendant display.
The messages will be taken from the text table deburr_part1 :
Part 1 is not in pos
Identity of worked part: XYZ
Return value
Data type: num
The text table number of the defined text table.
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2.139. TextTabGet - Get text table number
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Arguments
TextTabGet ( TableName )
TableName
Data type: string
The text table name.
Syntax
TextTabGet ’(’
[ TableName’ =’ ] < expression ( IN ) of string > ’;)’
A function with a return value of the data type num .
Related information
For information about
See
Get text from system text tables
TextGet - Get text from system text tables on page
1022
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual -Text files
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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2.139. TextTabGet - Get text table number
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2.139. TextTabGet - Get text table number
Usage
TextTabGet is used to get the text table number of a user defined text table during run time.
Basic examples
Basic examples of the function TextTabGet are illustrated below.
A new text table named deburr_part1 for user defined texts. The new text table has the file
name deburr.eng.
# deburr.eng - USERS deburr_part1 english text description file
#
# DESCRIPTION:
# Users text file for RAPID development
#
deburr_part1::
0:
RAPID S4: Users text table deburring part1
1:
Part 1 is not in pos
2:
Identity of worked part: XYZ
3:
Part error in line 1
#
# End of file
Example 1
VAR num text_res_no;
...
text_res_no := TextTabGet("deburr_part1");
The variable text_res_no is assigned the text table number for the defined text table
deburr_part1 .
Example 2
ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
A message is stored in the robot log. The message is also shown on the FlexPendant display.
The messages will be taken from the text table deburr_part1 :
Part 1 is not in pos
Identity of worked part: XYZ
Return value
Data type: num
The text table number of the defined text table.
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2.139. TextTabGet - Get text table number
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Arguments
TextTabGet ( TableName )
TableName
Data type: string
The text table name.
Syntax
TextTabGet ’(’
[ TableName’ =’ ] < expression ( IN ) of string > ’;)’
A function with a return value of the data type num .
Related information
For information about
See
Get text from system text tables
TextGet - Get text from system text tables on page
1022
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual -Text files
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
2 Functions
2.140. Trunc - Truncates a numeric value
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2.140. Trunc - Truncates a numeric value
Usage
Trunc ( Truncate ) is used to truncate a numeric value to a specified number of decimals or to
an integer value.
Basic examples
Basic examples of the function Trunc are illustrated below.
Example 1
VAR num val;
val := Trunc(0.38521\Dec:=3);
The variable val is given the value 0.385 .
Example 2
reg1 := 0.38521
val := Trunc(reg1\Dec:=1);
The variable val is given the value 0.3 .
Example 3
val := Trunc(0.38521);
The variable val is given the value 0 .
Return value
Data type: num
The numeric value truncated to the specified number of decimals.
Arguments
Trunc ( Val [\Dec] )
Val
Value
Data type: num
The numeric value to be truncated.
[\Dec]
Decimals
Data type: num
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value is truncated
to an integer.
The number of decimals must not be negative or greater than the available precision for
numeric values.
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Arguments
TextTabGet ( TableName )
TableName
Data type: string
The text table name.
Syntax
TextTabGet ’(’
[ TableName’ =’ ] < expression ( IN ) of string > ’;)’
A function with a return value of the data type num .
Related information
For information about
See
Get text from system text tables
TextGet - Get text from system text tables on page
1022
Install text table
TextTabInstall - Installing a text table on page 554
Format text files
Technical reference manual - RAPID kernel , section
RAPID Kernel reference manual -Text files
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
2 Functions
2.140. Trunc - Truncates a numeric value
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2.140. Trunc - Truncates a numeric value
Usage
Trunc ( Truncate ) is used to truncate a numeric value to a specified number of decimals or to
an integer value.
Basic examples
Basic examples of the function Trunc are illustrated below.
Example 1
VAR num val;
val := Trunc(0.38521\Dec:=3);
The variable val is given the value 0.385 .
Example 2
reg1 := 0.38521
val := Trunc(reg1\Dec:=1);
The variable val is given the value 0.3 .
Example 3
val := Trunc(0.38521);
The variable val is given the value 0 .
Return value
Data type: num
The numeric value truncated to the specified number of decimals.
Arguments
Trunc ( Val [\Dec] )
Val
Value
Data type: num
The numeric value to be truncated.
[\Dec]
Decimals
Data type: num
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value is truncated
to an integer.
The number of decimals must not be negative or greater than the available precision for
numeric values.
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2.140. Trunc - Truncates a numeric value
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Syntax
Trunc’(’
[ Val ’:=’ ] <expression ( IN ) of num>
[ \Dec ’:=’ <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
Rounding a value
Round - Round is a numeric value on page 969
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2.140. Trunc - Truncates a numeric value
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2.140. Trunc - Truncates a numeric value
Usage
Trunc ( Truncate ) is used to truncate a numeric value to a specified number of decimals or to
an integer value.
Basic examples
Basic examples of the function Trunc are illustrated below.
Example 1
VAR num val;
val := Trunc(0.38521\Dec:=3);
The variable val is given the value 0.385 .
Example 2
reg1 := 0.38521
val := Trunc(reg1\Dec:=1);
The variable val is given the value 0.3 .
Example 3
val := Trunc(0.38521);
The variable val is given the value 0 .
Return value
Data type: num
The numeric value truncated to the specified number of decimals.
Arguments
Trunc ( Val [\Dec] )
Val
Value
Data type: num
The numeric value to be truncated.
[\Dec]
Decimals
Data type: num
Number of decimals.
If the specified number of decimals is 0 or if the argument is omitted, the value is truncated
to an integer.
The number of decimals must not be negative or greater than the available precision for
numeric values.
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2.140. Trunc - Truncates a numeric value
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Syntax
Trunc’(’
[ Val ’:=’ ] <expression ( IN ) of num>
[ \Dec ’:=’ <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
Rounding a value
Round - Round is a numeric value on page 969
Continued
2 Functions
2.141. Type - Get the data type name for a variable
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2.141. Type - Get the data type name for a variable
Usage
Type is used to get the data type name for the specified variable in argument Data .
Basic examples
Basic examples of the function Type are illustrated below.
Example 1
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: intnum"
Example 2
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype \BaseName);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Example 3
VAR string rettype;
VAR num numtype;
rettype := Type(numtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Return value
Data type: string
A string with the data type name for the specified variable in argument Data .
Arguments
Type (Data [\BaseName])
Data
Data object name
Data type: anytype
The name of the variable to get the data type name for.
[\BaseName]
Base data type Name
Data type: switch
If used, then the function returns the underlying data type name, when the specified Data is
an ALIAS declared data type.
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Syntax
Trunc’(’
[ Val ’:=’ ] <expression ( IN ) of num>
[ \Dec ’:=’ <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
Rounding a value
Round - Round is a numeric value on page 969
Continued
2 Functions
2.141. Type - Get the data type name for a variable
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2.141. Type - Get the data type name for a variable
Usage
Type is used to get the data type name for the specified variable in argument Data .
Basic examples
Basic examples of the function Type are illustrated below.
Example 1
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: intnum"
Example 2
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype \BaseName);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Example 3
VAR string rettype;
VAR num numtype;
rettype := Type(numtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Return value
Data type: string
A string with the data type name for the specified variable in argument Data .
Arguments
Type (Data [\BaseName])
Data
Data object name
Data type: anytype
The name of the variable to get the data type name for.
[\BaseName]
Base data type Name
Data type: switch
If used, then the function returns the underlying data type name, when the specified Data is
an ALIAS declared data type.
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Syntax
Type’(’
[ Data‘ :=’ ] < reference ( REF ) of anytype >
[ ‘\’ BaseName ]
’)’
A function with a return value of the data type string .
Related information
For information about
See
Definition of Alias types.
Technical reference manual - RAPID kernel ,
section Lexical elements - Alias types
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2.141. Type - Get the data type name for a variable
Usage
Type is used to get the data type name for the specified variable in argument Data .
Basic examples
Basic examples of the function Type are illustrated below.
Example 1
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: intnum"
Example 2
VAR string rettype;
VAR intnum intnumtype;
rettype := Type(intnumtype \BaseName);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Example 3
VAR string rettype;
VAR num numtype;
rettype := Type(numtype);
TPWrite "Data type name: " + rettype;
The print out will be: "Data type name: num"
Return value
Data type: string
A string with the data type name for the specified variable in argument Data .
Arguments
Type (Data [\BaseName])
Data
Data object name
Data type: anytype
The name of the variable to get the data type name for.
[\BaseName]
Base data type Name
Data type: switch
If used, then the function returns the underlying data type name, when the specified Data is
an ALIAS declared data type.
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Syntax
Type’(’
[ Data‘ :=’ ] < reference ( REF ) of anytype >
[ ‘\’ BaseName ]
’)’
A function with a return value of the data type string .
Related information
For information about
See
Definition of Alias types.
Technical reference manual - RAPID kernel ,
section Lexical elements - Alias types
Continued
2 Functions
2.142. UIAlphaEntry - User Alpha Entry
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2.142. UIAlphaEntry - User Alpha Entry
Usage
UIAlphaEntry ( User Interaction Alpha Entry ) is used to let the operator enter a string from
the available user device, such as the FlexPendant. A message is written to the operator, who
answers with a text string. The string is then transferred back to the program.
Basic examples
Basic examples of the instruction UIAlpaEntry are illustrated below.
See More examples on page 1035 .
Example 1
VAR string answer;
...
answer := UIAlphaEntry(
\Header:= "UIAlphaEntry Header",
\Message:= "Which procedure do You want to run?"
\Icon:=iconInfo
\InitString:= "default_proc");
%answer%;
xx0500002437
Above alpha message box with icon, header, message, and init string are written on the
FlexPendant display. The user edit init string or write a new string with the supported Alpha
Pad. Program execution waits until OK is pressed and then the written string is returned in
the variable answer . The program then calls the specified procedure with late binding.
![Image]
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Syntax
Type’(’
[ Data‘ :=’ ] < reference ( REF ) of anytype >
[ ‘\’ BaseName ]
’)’
A function with a return value of the data type string .
Related information
For information about
See
Definition of Alias types.
Technical reference manual - RAPID kernel ,
section Lexical elements - Alias types
Continued
2 Functions
2.142. UIAlphaEntry - User Alpha Entry
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2.142. UIAlphaEntry - User Alpha Entry
Usage
UIAlphaEntry ( User Interaction Alpha Entry ) is used to let the operator enter a string from
the available user device, such as the FlexPendant. A message is written to the operator, who
answers with a text string. The string is then transferred back to the program.
Basic examples
Basic examples of the instruction UIAlpaEntry are illustrated below.
See More examples on page 1035 .
Example 1
VAR string answer;
...
answer := UIAlphaEntry(
\Header:= "UIAlphaEntry Header",
\Message:= "Which procedure do You want to run?"
\Icon:=iconInfo
\InitString:= "default_proc");
%answer%;
xx0500002437
Above alpha message box with icon, header, message, and init string are written on the
FlexPendant display. The user edit init string or write a new string with the supported Alpha
Pad. Program execution waits until OK is pressed and then the written string is returned in
the variable answer . The program then calls the specified procedure with late binding.
![Image]
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2.142. UIAlphaEntry - User Alpha Entry
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Return value
Data type: string
This functions returns the input string.
If function breaks via \ BreakFlag:
- If parameter \InitString is specified, this string is returned
- If parameter \ InitString is not specified, empty string "" is returned.
If function breaks via ERROR handler, no return value will be returned at all.
Arguments
UIAlphaEntry ([\Header][\Message]|[\MsgArray]
[\Wrap][\Icon][\InitString]
[\MaxTime][\DIBreak][\DOBreak][\BreakFlag])
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \ Message or \ MsgArray can be used at the same time.
Max. layout space is 9 lines with 55 characters.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \ MsgArray will be concatenated to one
string with single space between each individual strings and spread out on as few lines as
possible.
Default, each string in the argument \ MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1034 .
Default no icon.
[\InitString]
Data type: string
An initial string to be display in the text entry box as default.
Continued
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2 Functions
2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
3HAC 16581-1 Revision: J
1032
© Copyright 2004-2010 ABB. All rights reserved.
2.142. UIAlphaEntry - User Alpha Entry
Usage
UIAlphaEntry ( User Interaction Alpha Entry ) is used to let the operator enter a string from
the available user device, such as the FlexPendant. A message is written to the operator, who
answers with a text string. The string is then transferred back to the program.
Basic examples
Basic examples of the instruction UIAlpaEntry are illustrated below.
See More examples on page 1035 .
Example 1
VAR string answer;
...
answer := UIAlphaEntry(
\Header:= "UIAlphaEntry Header",
\Message:= "Which procedure do You want to run?"
\Icon:=iconInfo
\InitString:= "default_proc");
%answer%;
xx0500002437
Above alpha message box with icon, header, message, and init string are written on the
FlexPendant display. The user edit init string or write a new string with the supported Alpha
Pad. Program execution waits until OK is pressed and then the written string is returned in
the variable answer . The program then calls the specified procedure with late binding.
![Image]
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2.142. UIAlphaEntry - User Alpha Entry
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Return value
Data type: string
This functions returns the input string.
If function breaks via \ BreakFlag:
- If parameter \InitString is specified, this string is returned
- If parameter \ InitString is not specified, empty string "" is returned.
If function breaks via ERROR handler, no return value will be returned at all.
Arguments
UIAlphaEntry ([\Header][\Message]|[\MsgArray]
[\Wrap][\Icon][\InitString]
[\MaxTime][\DIBreak][\DOBreak][\BreakFlag])
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \ Message or \ MsgArray can be used at the same time.
Max. layout space is 9 lines with 55 characters.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \ MsgArray will be concatenated to one
string with single space between each individual strings and spread out on as few lines as
possible.
Default, each string in the argument \ MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1034 .
Default no icon.
[\InitString]
Data type: string
An initial string to be display in the text entry box as default.
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2.142. UIAlphaEntry - User Alpha Entry
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[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime,
\DIBreak or \ DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The alpha message box with alpha pad, icon, header, message lines, and init string are
displayed according to the programmed arguments. Program execution waits until the user
edits or creates a new string and presses OK, or the message box is interrupted by time-out or
signal action. The input string and interrupt reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
Continued
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2.142. UIAlphaEntry - User Alpha Entry
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© Copyright 2004-2010 ABB. All rights reserved.
Return value
Data type: string
This functions returns the input string.
If function breaks via \ BreakFlag:
- If parameter \InitString is specified, this string is returned
- If parameter \ InitString is not specified, empty string "" is returned.
If function breaks via ERROR handler, no return value will be returned at all.
Arguments
UIAlphaEntry ([\Header][\Message]|[\MsgArray]
[\Wrap][\Icon][\InitString]
[\MaxTime][\DIBreak][\DOBreak][\BreakFlag])
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \ Message or \ MsgArray can be used at the same time.
Max. layout space is 9 lines with 55 characters.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \ MsgArray will be concatenated to one
string with single space between each individual strings and spread out on as few lines as
possible.
Default, each string in the argument \ MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1034 .
Default no icon.
[\InitString]
Data type: string
An initial string to be display in the text entry box as default.
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2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
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© Copyright 2004-2010 ABB. All rights reserved.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime,
\DIBreak or \ DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The alpha message box with alpha pad, icon, header, message lines, and init string are
displayed according to the programmed arguments. Program execution waits until the user
edits or creates a new string and presses OK, or the message box is interrupted by time-out or
signal action. The input string and interrupt reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
Continued
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2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function UIAlphaEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR string answer;
VAR string logfile;
...
answer := UIAlphaEntry (\Header:= "Log file name:"
\Message:= "Enter the name of the log file to create?"
\Icon:=iconInfo
\InitString:= "signal.log" \MaxTime:=60
\DIBreak:=di5\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
logfile:="signal.log";
CASE 0:
! Operator answer
logfile := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a string and press OK. The message
box can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \ BreakFlag is not used, these situations can then be dealt with by the error
handler:
If there is a time-out (parameter \MaxTime ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input is set (parameter \ DIBreak ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output is set (parameter \ DOBreak) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
This situation can only be dealt with by the error handler:
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \ MaxTime when UIAlphaEntry is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Continued
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2.142. UIAlphaEntry - User Alpha Entry
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[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime,
\DIBreak or \ DOBreak is used. The constants ERR_TP_MAXTIME, ERR_TP_DIBREAK and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The alpha message box with alpha pad, icon, header, message lines, and init string are
displayed according to the programmed arguments. Program execution waits until the user
edits or creates a new string and presses OK, or the message box is interrupted by time-out or
signal action. The input string and interrupt reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
Continued
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2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
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© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function UIAlphaEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR string answer;
VAR string logfile;
...
answer := UIAlphaEntry (\Header:= "Log file name:"
\Message:= "Enter the name of the log file to create?"
\Icon:=iconInfo
\InitString:= "signal.log" \MaxTime:=60
\DIBreak:=di5\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
logfile:="signal.log";
CASE 0:
! Operator answer
logfile := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a string and press OK. The message
box can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \ BreakFlag is not used, these situations can then be dealt with by the error
handler:
If there is a time-out (parameter \MaxTime ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input is set (parameter \ DIBreak ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output is set (parameter \ DOBreak) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
This situation can only be dealt with by the error handler:
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \ MaxTime when UIAlphaEntry is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Continued
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2.142. UIAlphaEntry - User Alpha Entry
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© Copyright 2004-2010 ABB. All rights reserved.
Syntax
UIAlphaEntry´(´
[´\´Header’:=’ <expression ( IN ) of string>]
[´\´ Message’:=’ <expression ( IN ) of string>]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitString’:=’<expression ( IN ) of string>]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[´\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´<variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type string.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type
advanced
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Procedure call with Late binding
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines - Procedure call
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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2 Functions
2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
1035
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the function UIAlphaEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR string answer;
VAR string logfile;
...
answer := UIAlphaEntry (\Header:= "Log file name:"
\Message:= "Enter the name of the log file to create?"
\Icon:=iconInfo
\InitString:= "signal.log" \MaxTime:=60
\DIBreak:=di5\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
logfile:="signal.log";
CASE 0:
! Operator answer
logfile := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a string and press OK. The message
box can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \ BreakFlag is not used, these situations can then be dealt with by the error
handler:
If there is a time-out (parameter \MaxTime ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If digital input is set (parameter \ DIBreak ) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If a digital output is set (parameter \ DOBreak) before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
This situation can only be dealt with by the error handler:
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \ MaxTime when UIAlphaEntry is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Continued
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2 Functions
2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
3HAC 16581-1 Revision: J
1036
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
UIAlphaEntry´(´
[´\´Header’:=’ <expression ( IN ) of string>]
[´\´ Message’:=’ <expression ( IN ) of string>]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitString’:=’<expression ( IN ) of string>]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[´\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´<variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type string.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type
advanced
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Procedure call with Late binding
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines - Procedure call
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.143. UIClientExist - Exist User Client
RobotWare - OS
1037
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.143. UIClientExist - Exist User Client
Usage
UIClientExist ( User Interaction Client Exist ) is used to check if some User Device such
as the FlexPendant is connected to the controller.
Basic examples
Basic examples of the function UIClientExist are illustrated below.
Example 1
IF UIClientExist() THEN
! Possible to get answer from the operator
! The TPReadFK and UIMsgBox ... can be used
ELSE
! Not possible to communicate with any operator
ENDIF
The test is done if it is possible to get some answer from the operator of the system.
Return value
Data type: bool
Returns TRUE if a FlexPendant is connected to the system, otherwise FALSE .
Limitations
UIClientExist returns TRUE up to 16 seconds. After that, the FlexPendant is removed.
After that time, UIClientExist returns FALSE (i.e when network connection lost from
FlexPendent is detected). Same limitation when the FlexPendant is connected again.
Syntax
UIClientExist’(’ ’)
A function with return value of the type bool .
Related information
For information about
See
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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2 Functions
2.142. UIAlphaEntry - User Alpha Entry
RobotWare-OS
3HAC 16581-1 Revision: J
1036
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
UIAlphaEntry´(´
[´\´Header’:=’ <expression ( IN ) of string>]
[´\´ Message’:=’ <expression ( IN ) of string>]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitString’:=’<expression ( IN ) of string>]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[´\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´<variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type string.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type
advanced
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Procedure call with Late binding
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines - Procedure call
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.143. UIClientExist - Exist User Client
RobotWare - OS
1037
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
2.143. UIClientExist - Exist User Client
Usage
UIClientExist ( User Interaction Client Exist ) is used to check if some User Device such
as the FlexPendant is connected to the controller.
Basic examples
Basic examples of the function UIClientExist are illustrated below.
Example 1
IF UIClientExist() THEN
! Possible to get answer from the operator
! The TPReadFK and UIMsgBox ... can be used
ELSE
! Not possible to communicate with any operator
ENDIF
The test is done if it is possible to get some answer from the operator of the system.
Return value
Data type: bool
Returns TRUE if a FlexPendant is connected to the system, otherwise FALSE .
Limitations
UIClientExist returns TRUE up to 16 seconds. After that, the FlexPendant is removed.
After that time, UIClientExist returns FALSE (i.e when network connection lost from
FlexPendent is detected). Same limitation when the FlexPendant is connected again.
Syntax
UIClientExist’(’ ’)
A function with return value of the type bool .
Related information
For information about
See
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
2 Functions
2.144. UIDnumEntry - User Number Entry
RobotWare - OS
3HAC 16581-1 Revision: J
1038
© Copyright 2004-2010 ABB. All rights reserved.
2.144. UIDnumEntry - User Number Entry
Usage
UIDnumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UIDnumEntry are illustrated below.
See also More examples on page 1041 .
Example 1
VAR dnum answer;
...
answer := UIDnumEntry(
\Header:="UIDnumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=50000000
\MinValue:=10000000
\MaxValue:=100000000
\AsInteger);
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2 Functions
2.143. UIClientExist - Exist User Client
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© Copyright 2004-2010 ABB. All rights reserved.
2.143. UIClientExist - Exist User Client
Usage
UIClientExist ( User Interaction Client Exist ) is used to check if some User Device such
as the FlexPendant is connected to the controller.
Basic examples
Basic examples of the function UIClientExist are illustrated below.
Example 1
IF UIClientExist() THEN
! Possible to get answer from the operator
! The TPReadFK and UIMsgBox ... can be used
ELSE
! Not possible to communicate with any operator
ENDIF
The test is done if it is possible to get some answer from the operator of the system.
Return value
Data type: bool
Returns TRUE if a FlexPendant is connected to the system, otherwise FALSE .
Limitations
UIClientExist returns TRUE up to 16 seconds. After that, the FlexPendant is removed.
After that time, UIClientExist returns FALSE (i.e when network connection lost from
FlexPendent is detected). Same limitation when the FlexPendant is connected again.
Syntax
UIClientExist’(’ ’)
A function with return value of the type bool .
Related information
For information about
See
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
2 Functions
2.144. UIDnumEntry - User Number Entry
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3HAC 16581-1 Revision: J
1038
© Copyright 2004-2010 ABB. All rights reserved.
2.144. UIDnumEntry - User Number Entry
Usage
UIDnumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UIDnumEntry are illustrated below.
See also More examples on page 1041 .
Example 1
VAR dnum answer;
...
answer := UIDnumEntry(
\Header:="UIDnumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=50000000
\MinValue:=10000000
\MaxValue:=100000000
\AsInteger);
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2.144. UIDnumEntry - User Number Entry
RobotWare - OS
1039
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric message box with icon, header, message, init-, max-, and minvalue
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned.
Return value
Data type: dnum
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler there is no return value at all.
Arguments
UIDnumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1041 .
Default no icon.
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2 Functions
2.144. UIDnumEntry - User Number Entry
RobotWare - OS
3HAC 16581-1 Revision: J
1038
© Copyright 2004-2010 ABB. All rights reserved.
2.144. UIDnumEntry - User Number Entry
Usage
UIDnumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UIDnumEntry are illustrated below.
See also More examples on page 1041 .
Example 1
VAR dnum answer;
...
answer := UIDnumEntry(
\Header:="UIDnumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=50000000
\MinValue:=10000000
\MaxValue:=100000000
\AsInteger);
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2 Functions
2.144. UIDnumEntry - User Number Entry
RobotWare - OS
1039
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric message box with icon, header, message, init-, max-, and minvalue
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned.
Return value
Data type: dnum
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler there is no return value at all.
Arguments
UIDnumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1041 .
Default no icon.
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[\InitValue]
Data type: dnum
Initial value that is displayed in the entry box.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
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2 Functions
2.144. UIDnumEntry - User Number Entry
RobotWare - OS
1039
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric message box with icon, header, message, init-, max-, and minvalue
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned.
Return value
Data type: dnum
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler there is no return value at all.
Arguments
UIDnumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1041 .
Default no icon.
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[\InitValue]
Data type: dnum
Initial value that is displayed in the entry box.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2.144. UIDnumEntry - User Number Entry
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue is displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and pressed OK or the message box is
interrupted by timeout or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum answer;
VAR dnum distance;
...
answer := UIDnumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! No such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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[\InitValue]
Data type: dnum
Initial value that is displayed in the entry box.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2.144. UIDnumEntry - User Number Entry
RobotWare - OS
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue is displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and pressed OK or the message box is
interrupted by timeout or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum answer;
VAR dnum distance;
...
answer := UIDnumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! No such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in
the error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumEntry is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like the slow response of the FlexPendant.
Syntax
UIDnumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of dnum>]
[´\´MinValue’:=’<expression ( IN ) of dnum>]
[´\´MaxValue’:=’<expression ( IN ) of dnum>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type dnum .
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2 Functions
2.144. UIDnumEntry - User Number Entry
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1041
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue is displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and pressed OK or the message box is
interrupted by timeout or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum answer;
VAR dnum distance;
...
answer := UIDnumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! No such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in
the error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumEntry is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like the slow response of the FlexPendant.
Syntax
UIDnumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of dnum>]
[´\´MinValue’:=’<expression ( IN ) of dnum>]
[´\´MaxValue’:=’<expression ( IN ) of dnum>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type dnum .
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UIDnumTune - User Number Tune on page
1044
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in
the error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumEntry is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like the slow response of the FlexPendant.
Syntax
UIDnumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of dnum>]
[´\´MinValue’:=’<expression ( IN ) of dnum>]
[´\´MaxValue’:=’<expression ( IN ) of dnum>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type dnum .
Continued
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2 Functions
2.144. UIDnumEntry - User Number Entry
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UIDnumTune - User Number Tune on page
1044
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
2.145. UIDnumTune - User Number Tune
Usage
UIDnumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UIDnumTune are illustrated below.
See also More examples on page 1047 .
Example 1
VAR dnum flow;
...
flow := UIDnumTune(
\Header:="UIDnumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
10000000,
1000000
\MinValue:=1000000
\MaxValue:=20000000);
xx0900001063
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2.144. UIDnumEntry - User Number Entry
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UIDnumTune - User Number Tune on page
1044
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.145. UIDnumTune - User Number Tune
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3HAC 16581-1 Revision: J
1044
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2.145. UIDnumTune - User Number Tune
Usage
UIDnumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UIDnumTune are illustrated below.
See also More examples on page 1047 .
Example 1
VAR dnum flow;
...
flow := UIDnumTune(
\Header:="UIDnumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
10000000,
1000000
\MinValue:=1000000
\MaxValue:=20000000);
xx0900001063
![Image]
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2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1045
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue written on the FlexPendant display. The message box checks that the operator tunes
the flow value with step 1000000 from init value 10000000 and is within the value range
1000000-20000000. Program execution waits until OK is pressed and then the selected
numerical value is returned and stored in the variable flow .
Return value
Data type: dnum
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIDnumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1047 .
Default no icon.
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2.145. UIDnumTune - User Number Tune
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2.145. UIDnumTune - User Number Tune
Usage
UIDnumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UIDnumTune are illustrated below.
See also More examples on page 1047 .
Example 1
VAR dnum flow;
...
flow := UIDnumTune(
\Header:="UIDnumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
10000000,
1000000
\MinValue:=1000000
\MaxValue:=20000000);
xx0900001063
![Image]
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2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1045
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue written on the FlexPendant display. The message box checks that the operator tunes
the flow value with step 1000000 from init value 10000000 and is within the value range
1000000-20000000. Program execution waits until OK is pressed and then the selected
numerical value is returned and stored in the variable flow .
Return value
Data type: dnum
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIDnumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1047 .
Default no icon.
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InitValue
Initial Value
Data type: dnum
Initial value that is displayed in the entry box.
Increment
Data type: dnum
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1045
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Above, the numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue written on the FlexPendant display. The message box checks that the operator tunes
the flow value with step 1000000 from init value 10000000 and is within the value range
1000000-20000000. Program execution waits until OK is pressed and then the selected
numerical value is returned and stored in the variable flow .
Return value
Data type: dnum
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIDnumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max. 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1047 .
Default no icon.
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InitValue
Initial Value
Data type: dnum
Initial value that is displayed in the entry box.
Increment
Data type: dnum
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2.145. UIDnumTune - User Number Tune
RobotWare - OS
1047
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue is displayed according to the programmed arguments. Program
execution waits until the user has tuned the numeric value and pressed OK or the message
box is interrupted by timeout or signal action. The input numeric value and interrupt reason
are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum tune_answer;
VAR dnum distance;
...
tune_answer := UIDnumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! No such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with timeout or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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InitValue
Initial Value
Data type: dnum
Initial value that is displayed in the entry box.
Increment
Data type: dnum
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: dnum
The minimum value for the return value.
[\MaxValue]
Data type: dnum
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used, set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1047
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue is displayed according to the programmed arguments. Program
execution waits until the user has tuned the numeric value and pressed OK or the message
box is interrupted by timeout or signal action. The input numeric value and interrupt reason
are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum tune_answer;
VAR dnum distance;
...
tune_answer := UIDnumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! No such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with timeout or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumTune is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like a slow response of the FlexPendant.
Syntax
UIDnumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of dnum> ’,’
[Increment’:=’ ] <expression ( IN ) of dnum>
[’\’MinValue’:=’ <expression ( IN ) of dnum>]
[’\’MaxValue’:=’ <expression( IN ) of dnum>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type dnum .
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2.145. UIDnumTune - User Number Tune
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1047
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue is displayed according to the programmed arguments. Program
execution waits until the user has tuned the numeric value and pressed OK or the message
box is interrupted by timeout or signal action. The input numeric value and interrupt reason
are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UIDnumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR dnum tune_answer;
VAR dnum distance;
...
tune_answer := UIDnumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! No such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with timeout or break by digital input signal. In the
program, it is possible to find out the reason and take the appropriate action.
Continued
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RobotWare - OS
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1048
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumTune is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like a slow response of the FlexPendant.
Syntax
UIDnumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of dnum> ’,’
[Increment’:=’ ] <expression ( IN ) of dnum>
[’\’MinValue’:=’ <expression ( IN ) of dnum>]
[’\’MaxValue’:=’ <expression( IN ) of dnum>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type dnum .
Continued
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2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1049
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UIDnumEntry - User Number Entry on page
1038
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a timeout (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If a digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the timeout parameter \MaxTime when UIDnumTune is
frequently executed, for example, in a loop. It can result in unpredictable behavior from the
system performance, like a slow response of the FlexPendant.
Syntax
UIDnumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of dnum> ’,’
[Increment’:=’ ] <expression ( IN ) of dnum>
[’\’MinValue’:=’ <expression ( IN ) of dnum>]
[’\’MaxValue’:=’ <expression( IN ) of dnum>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type dnum .
Continued
Continues on next page
2 Functions
2.145. UIDnumTune - User Number Tune
RobotWare - OS
1049
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UIDnumEntry - User Number Entry on page
1038
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.146. UIListView - User List View
RobotWare - OS
3HAC 16581-1 Revision: J
1050
© Copyright 2004-2010 ABB. All rights reserved.
2.146. UIListView - User List View
Usage
UIListView ( User Interaction List View ) is used to define menu lists with text and optional
icons on the available User Device such as the FlexPendant. The menu has two different
styles, one with validations buttons and one that reacts instantly to the user selection.
Basic examples
Basic examples of the function UIListView are illustrated below.
See also More examples on page 1054 .
Example 1
CONST listitem list{3} := [ ["","Item 1"], ["","Item 2"],
["","Item 3"] ];
VAR num list_item;
VAR btnres button_answer;
...
list_item := UIListView (
\Result:=button_answer
\Header:="UIListView Header",
list
\Buttons:=btnOKCancel
\Icon:=iconInfo
\DefaultIndex:=1);
IF button_answer = resOK THEN
IF list_item = 1 THEN
! Do item1
ELSEIF list_item = 2 THEN
! Do item 2
ELSE
! Do item3
ENDIF
ELSE
! User has select Cancel
ENDIF
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2.145. UIDnumTune - User Number Tune
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UIDnumEntry - User Number Entry on page
1038
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.146. UIListView - User List View
RobotWare - OS
3HAC 16581-1 Revision: J
1050
© Copyright 2004-2010 ABB. All rights reserved.
2.146. UIListView - User List View
Usage
UIListView ( User Interaction List View ) is used to define menu lists with text and optional
icons on the available User Device such as the FlexPendant. The menu has two different
styles, one with validations buttons and one that reacts instantly to the user selection.
Basic examples
Basic examples of the function UIListView are illustrated below.
See also More examples on page 1054 .
Example 1
CONST listitem list{3} := [ ["","Item 1"], ["","Item 2"],
["","Item 3"] ];
VAR num list_item;
VAR btnres button_answer;
...
list_item := UIListView (
\Result:=button_answer
\Header:="UIListView Header",
list
\Buttons:=btnOKCancel
\Icon:=iconInfo
\DefaultIndex:=1);
IF button_answer = resOK THEN
IF list_item = 1 THEN
! Do item1
ELSEIF list_item = 2 THEN
! Do item 2
ELSE
! Do item3
ENDIF
ELSE
! User has select Cancel
ENDIF
Continues on next page
2 Functions
2.146. UIListView - User List View
RobotWare - OS
1051
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002416
Above menu list with icon, header, menu Item 1 ... Item 3 , and buttons are written on
the FlexPendant display. Program execution waits until OK or Cancel is pressed. Both the
selection in the list and the pressed button are transfered to the program.
Return value
Data type: num
This function returns the user selection in the list menu corresponding to the index in the array
specified in the parameter ListItems .
If the function breaks via \BreakFlag :
•
If parameter \DefaultIndex is specified, this index is returned
•
If parameter \DefaultIndex is not specified, 0 is returned
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIListView ( [\Result] [\Header] ListItems [\Buttons] |
[\BtnArray] [\Icon] [\DefaultIndex ] [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag])
[\Result]
Data type: btnres
The numeric value of the button that is selected from the list menu box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
Argument \Result set to resUnkwn equal to 0 if one of following condition:
•
none of parameters \Buttons or \BtnArray are used
•
argument \Buttons:=btnNone is used
•
if the function breaks via \BreakFlag or ERROR handler
See Predefined data on page 1054 .
![Image]
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2 Functions
2.146. UIListView - User List View
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3HAC 16581-1 Revision: J
1050
© Copyright 2004-2010 ABB. All rights reserved.
2.146. UIListView - User List View
Usage
UIListView ( User Interaction List View ) is used to define menu lists with text and optional
icons on the available User Device such as the FlexPendant. The menu has two different
styles, one with validations buttons and one that reacts instantly to the user selection.
Basic examples
Basic examples of the function UIListView are illustrated below.
See also More examples on page 1054 .
Example 1
CONST listitem list{3} := [ ["","Item 1"], ["","Item 2"],
["","Item 3"] ];
VAR num list_item;
VAR btnres button_answer;
...
list_item := UIListView (
\Result:=button_answer
\Header:="UIListView Header",
list
\Buttons:=btnOKCancel
\Icon:=iconInfo
\DefaultIndex:=1);
IF button_answer = resOK THEN
IF list_item = 1 THEN
! Do item1
ELSEIF list_item = 2 THEN
! Do item 2
ELSE
! Do item3
ENDIF
ELSE
! User has select Cancel
ENDIF
Continues on next page
2 Functions
2.146. UIListView - User List View
RobotWare - OS
1051
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002416
Above menu list with icon, header, menu Item 1 ... Item 3 , and buttons are written on
the FlexPendant display. Program execution waits until OK or Cancel is pressed. Both the
selection in the list and the pressed button are transfered to the program.
Return value
Data type: num
This function returns the user selection in the list menu corresponding to the index in the array
specified in the parameter ListItems .
If the function breaks via \BreakFlag :
•
If parameter \DefaultIndex is specified, this index is returned
•
If parameter \DefaultIndex is not specified, 0 is returned
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIListView ( [\Result] [\Header] ListItems [\Buttons] |
[\BtnArray] [\Icon] [\DefaultIndex ] [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag])
[\Result]
Data type: btnres
The numeric value of the button that is selected from the list menu box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
Argument \Result set to resUnkwn equal to 0 if one of following condition:
•
none of parameters \Buttons or \BtnArray are used
•
argument \Buttons:=btnNone is used
•
if the function breaks via \BreakFlag or ERROR handler
See Predefined data on page 1054 .
![Image]
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
[\Header]
Data type: string
Header text to be written at the top of the list menu box. Max. 40 characters.
ListItem
Data type: listitem
An array with one or several list menu items to be displayed consisting of:
Component image of type string :
The name of the icon image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width and height of 28 pixels. If the image is
bigger, then it will be resized to show only 28 * 28 pixels.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
Use empty string ”” or stEmpty if no icon to display.
Component text of type string :
•
The text for the menu line to display.
•
Max. 75 characters for each list menu item.
[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1054 .
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time. If none of
the parameters \Buttons or \BtnArray or argument \Buttons:=btnNone are used then
the menu list reacts instantly to the user selection.
Max. 5 buttons with 42 characters each.
Continued
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| 1,054
|
2 Functions
2.146. UIListView - User List View
RobotWare - OS
1051
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002416
Above menu list with icon, header, menu Item 1 ... Item 3 , and buttons are written on
the FlexPendant display. Program execution waits until OK or Cancel is pressed. Both the
selection in the list and the pressed button are transfered to the program.
Return value
Data type: num
This function returns the user selection in the list menu corresponding to the index in the array
specified in the parameter ListItems .
If the function breaks via \BreakFlag :
•
If parameter \DefaultIndex is specified, this index is returned
•
If parameter \DefaultIndex is not specified, 0 is returned
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UIListView ( [\Result] [\Header] ListItems [\Buttons] |
[\BtnArray] [\Icon] [\DefaultIndex ] [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag])
[\Result]
Data type: btnres
The numeric value of the button that is selected from the list menu box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
Argument \Result set to resUnkwn equal to 0 if one of following condition:
•
none of parameters \Buttons or \BtnArray are used
•
argument \Buttons:=btnNone is used
•
if the function breaks via \BreakFlag or ERROR handler
See Predefined data on page 1054 .
![Image]
Continued
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2.146. UIListView - User List View
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© Copyright 2004-2010 ABB. All rights reserved.
[\Header]
Data type: string
Header text to be written at the top of the list menu box. Max. 40 characters.
ListItem
Data type: listitem
An array with one or several list menu items to be displayed consisting of:
Component image of type string :
The name of the icon image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width and height of 28 pixels. If the image is
bigger, then it will be resized to show only 28 * 28 pixels.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
Use empty string ”” or stEmpty if no icon to display.
Component text of type string :
•
The text for the menu line to display.
•
Max. 75 characters for each list menu item.
[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1054 .
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time. If none of
the parameters \Buttons or \BtnArray or argument \Buttons:=btnNone are used then
the menu list reacts instantly to the user selection.
Max. 5 buttons with 42 characters each.
Continued
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2.146. UIListView - User List View
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1053
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© Copyright 2004-2010 ABB. All rights reserved.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used.
Default no icon. See Predefined data on page 1054 .
[\DefaultIndex]
Data type: num
The default user selection in the list menu corresponding to the index in the array specified in
the parameter ListItems .
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
pressed or no selection is done within this time then the program continues to execute in the
error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can
be used to test whether or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DIBREAK can be used to test whether or not this has occurred.
[\DOBreak]()
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DOBREAK can be used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if \MaxTime , \DIBreak , or \DOBreak is used. The
constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to
select the reason. If this optional variable is omitted, the error handler will be executed.
Program execution
The menu list with icon, header, list items, and default item are displayed according to the
programmed arguments. Program execution waits until the operator has done the selection or
the menu list is interrupted by time-out or signal action. The selected list item and interrupt
reason are transferred back to the program.
New menu list on TRAP level takes focus from menu list on basic level.
Continued
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2.146. UIListView - User List View
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[\Header]
Data type: string
Header text to be written at the top of the list menu box. Max. 40 characters.
ListItem
Data type: listitem
An array with one or several list menu items to be displayed consisting of:
Component image of type string :
The name of the icon image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width and height of 28 pixels. If the image is
bigger, then it will be resized to show only 28 * 28 pixels.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
Use empty string ”” or stEmpty if no icon to display.
Component text of type string :
•
The text for the menu line to display.
•
Max. 75 characters for each list menu item.
[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1054 .
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time. If none of
the parameters \Buttons or \BtnArray or argument \Buttons:=btnNone are used then
the menu list reacts instantly to the user selection.
Max. 5 buttons with 42 characters each.
Continued
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[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used.
Default no icon. See Predefined data on page 1054 .
[\DefaultIndex]
Data type: num
The default user selection in the list menu corresponding to the index in the array specified in
the parameter ListItems .
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
pressed or no selection is done within this time then the program continues to execute in the
error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can
be used to test whether or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DIBREAK can be used to test whether or not this has occurred.
[\DOBreak]()
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DOBREAK can be used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if \MaxTime , \DIBreak , or \DOBreak is used. The
constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to
select the reason. If this optional variable is omitted, the error handler will be executed.
Program execution
The menu list with icon, header, list items, and default item are displayed according to the
programmed arguments. Program execution waits until the operator has done the selection or
the menu list is interrupted by time-out or signal action. The selected list item and interrupt
reason are transferred back to the program.
New menu list on TRAP level takes focus from menu list on basic level.
Continued
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Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIListView are illustrated below.
Example 1
CONST listitem list{2} := [ ["","Calibrate tool1"], ["","Calibrate
tool2"] ];
VAR num list_item;
VAR errnum err_var;
...
list_item := UIListView
( \Header:="Select tool ?",
list \Icon:=iconInfo
\MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
CASE 0:
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[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used.
Default no icon. See Predefined data on page 1054 .
[\DefaultIndex]
Data type: num
The default user selection in the list menu corresponding to the index in the array specified in
the parameter ListItems .
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
pressed or no selection is done within this time then the program continues to execute in the
error handler unless the BreakFlag is used (see below). The constant ERR_TP_MAXTIME can
be used to test whether or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DIBREAK can be used to test whether or not this has occurred.
[\DOBreak]()
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is pressed or no
selection is done before the signal is set to 1 (or is already 1) then the program continues to
execute in the error handler, unless the BreakFlag is used (see below). The constant
ERR_TP_DOBREAK can be used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if \MaxTime , \DIBreak , or \DOBreak is used. The
constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and ERR_TP_DOBREAK can be used to
select the reason. If this optional variable is omitted, the error handler will be executed.
Program execution
The menu list with icon, header, list items, and default item are displayed according to the
programmed arguments. Program execution waits until the operator has done the selection or
the menu list is interrupted by time-out or signal action. The selected list item and interrupt
reason are transferred back to the program.
New menu list on TRAP level takes focus from menu list on basic level.
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Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIListView are illustrated below.
Example 1
CONST listitem list{2} := [ ["","Calibrate tool1"], ["","Calibrate
tool2"] ];
VAR num list_item;
VAR errnum err_var;
...
list_item := UIListView
( \Header:="Select tool ?",
list \Icon:=iconInfo
\MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
CASE 0:
Continued
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! Operator answer
IF list_item =1 THEN
! Calibrate tool1
ELSEIF list_item=2 THEN
! Calibrate tool2
ENDIF
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can select an item in the list. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIListView is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
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Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIListView are illustrated below.
Example 1
CONST listitem list{2} := [ ["","Calibrate tool1"], ["","Calibrate
tool2"] ];
VAR num list_item;
VAR errnum err_var;
...
list_item := UIListView
( \Header:="Select tool ?",
list \Icon:=iconInfo
\MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
CASE 0:
Continued
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! Operator answer
IF list_item =1 THEN
! Calibrate tool1
ELSEIF list_item=2 THEN
! Calibrate tool2
ENDIF
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can select an item in the list. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIListView is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Continued
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Syntax
UIListView ’(’
[[’\’Result ´:=´ <var or pers ( INOUT ) of btnres>]
[’\’Header ´:=´ <expression ( IN ) of string>] ’,’]
[ListItems ´=´] <array {*} ( IN ) of listitem>
[’\’Buttons ´:=´ <expression ( IN ) of buttondata>]
| [’\’BtnArray ´:=´<array {*} ( IN ) of string>]
[’\’Icon ’:=’ <expression ( IN ) of icondata>]
[’\’DefaultIndex ´:=´<expression ( IN ) of num>]
[’\’MaxTime ´:=´ <expression ( IN ) of num>]
[’\’DIBreak ´:=´ <variable ( VAR ) of signaldi>]
[’\’DOBreak ´:=´ <variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
List item data structure
listitem - List item data structure on page 1131
User Interaction Message Box
type basic
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
type advanced
UIMessageBox - User Message Box type advanced on
page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
System connected to
FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant on
page 556
Continued
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! Operator answer
IF list_item =1 THEN
! Calibrate tool1
ELSEIF list_item=2 THEN
! Calibrate tool2
ENDIF
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can select an item in the list. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason and take the appropriate action.
Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIListView is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Continued
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Syntax
UIListView ’(’
[[’\’Result ´:=´ <var or pers ( INOUT ) of btnres>]
[’\’Header ´:=´ <expression ( IN ) of string>] ’,’]
[ListItems ´=´] <array {*} ( IN ) of listitem>
[’\’Buttons ´:=´ <expression ( IN ) of buttondata>]
| [’\’BtnArray ´:=´<array {*} ( IN ) of string>]
[’\’Icon ’:=’ <expression ( IN ) of icondata>]
[’\’DefaultIndex ´:=´<expression ( IN ) of num>]
[’\’MaxTime ´:=´ <expression ( IN ) of num>]
[’\’DIBreak ´:=´ <variable ( VAR ) of signaldi>]
[’\’DOBreak ´:=´ <variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
List item data structure
listitem - List item data structure on page 1131
User Interaction Message Box
type basic
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
type advanced
UIMessageBox - User Message Box type advanced on
page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
System connected to
FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant on
page 556
Continued
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2.147. UIMessageBox - User Message Box type advanced
Usage
UIMessageBox ( User Interaction Message Box ) is used to communicate with the user of the
robot system on available user device, such as the FlexPendant. A message is written to the
operator, who answers by selecting a button. The user selection is then transferred back to the
program.
Basic examples
Basic examples of the function UIMessageBox are illustrated below.
See also More examples on page 1061 .
Example 1
VAR btnres answer;
CONST string my_message{5}:= ["Message Line 1","Message Line 2",
"Message Line 3","Message Line 4","Message Line 5"];
CONST string my_buttons{2}:=["OK","Skip"];
...
answer:= UIMessageBox (
\Header:="UIMessageBox Header"
\MsgArray:=my_message
\BtnArray:=my_buttons
\Icon:=iconInfo);
IF answer = 1 THEN
! Operator selection OK
ELSEIF answer = 2 THEN
! Operator selection Skip
ELSE
! No such case defined
ENDIF
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Syntax
UIListView ’(’
[[’\’Result ´:=´ <var or pers ( INOUT ) of btnres>]
[’\’Header ´:=´ <expression ( IN ) of string>] ’,’]
[ListItems ´=´] <array {*} ( IN ) of listitem>
[’\’Buttons ´:=´ <expression ( IN ) of buttondata>]
| [’\’BtnArray ´:=´<array {*} ( IN ) of string>]
[’\’Icon ’:=’ <expression ( IN ) of icondata>]
[’\’DefaultIndex ´:=´<expression ( IN ) of num>]
[’\’MaxTime ´:=´ <expression ( IN ) of num>]
[’\’DIBreak ´:=´ <variable ( VAR ) of signaldi>]
[’\’DOBreak ´:=´ <variable ( VAR ) of signaldo>]
[’\’BreakFlag ´:=´ <var or pers ( INOUT ) of errnum>]‘)’
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
List item data structure
listitem - List item data structure on page 1131
User Interaction Message Box
type basic
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
type advanced
UIMessageBox - User Message Box type advanced on
page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
System connected to
FlexPendant etc.
UIClientExist - Exist User Client on page 1037
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant on
page 556
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
2.147. UIMessageBox - User Message Box type advanced
Usage
UIMessageBox ( User Interaction Message Box ) is used to communicate with the user of the
robot system on available user device, such as the FlexPendant. A message is written to the
operator, who answers by selecting a button. The user selection is then transferred back to the
program.
Basic examples
Basic examples of the function UIMessageBox are illustrated below.
See also More examples on page 1061 .
Example 1
VAR btnres answer;
CONST string my_message{5}:= ["Message Line 1","Message Line 2",
"Message Line 3","Message Line 4","Message Line 5"];
CONST string my_buttons{2}:=["OK","Skip"];
...
answer:= UIMessageBox (
\Header:="UIMessageBox Header"
\MsgArray:=my_message
\BtnArray:=my_buttons
\Icon:=iconInfo);
IF answer = 1 THEN
! Operator selection OK
ELSEIF answer = 2 THEN
! Operator selection Skip
ELSE
! No such case defined
ENDIF
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Above message box is with icon, header, message, and user defined push buttons that are
written on the FlexPendant display. Program execution waits until OK or Skip is pressed. In
other words, answer will be assigned 1 (OK) or 2 (Skip) depending on which of the buttons
is pressed (corresponding array index).
NOTE!
Message Line 1 ... Message Line 5 are displayed on separate lines 1 to 5 (the switch
\Wrap is not used).
Return value
Data type: btnres
The numeric value of the button that is selected from the message box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
If function breaks via \BreakFlag or if \Buttons:=btnNone :
•
If parameter \DefaultBtn is specified, this index is returned.
•
If parameter \DefaultBtn is not specified, resUnkwn equal to 0 is returned.
If function breaks via ERROR handler, there is no return value at all.
Arguments
UIMessageBox ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Buttons] | [\BtnArray] [\DefaultBtn]
[\Icon] [\Image] [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 55 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with single spaces between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
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2.147. UIMessageBox - User Message Box type advanced
Usage
UIMessageBox ( User Interaction Message Box ) is used to communicate with the user of the
robot system on available user device, such as the FlexPendant. A message is written to the
operator, who answers by selecting a button. The user selection is then transferred back to the
program.
Basic examples
Basic examples of the function UIMessageBox are illustrated below.
See also More examples on page 1061 .
Example 1
VAR btnres answer;
CONST string my_message{5}:= ["Message Line 1","Message Line 2",
"Message Line 3","Message Line 4","Message Line 5"];
CONST string my_buttons{2}:=["OK","Skip"];
...
answer:= UIMessageBox (
\Header:="UIMessageBox Header"
\MsgArray:=my_message
\BtnArray:=my_buttons
\Icon:=iconInfo);
IF answer = 1 THEN
! Operator selection OK
ELSEIF answer = 2 THEN
! Operator selection Skip
ELSE
! No such case defined
ENDIF
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© Copyright 2004-2010 ABB. All rights reserved.
Above message box is with icon, header, message, and user defined push buttons that are
written on the FlexPendant display. Program execution waits until OK or Skip is pressed. In
other words, answer will be assigned 1 (OK) or 2 (Skip) depending on which of the buttons
is pressed (corresponding array index).
NOTE!
Message Line 1 ... Message Line 5 are displayed on separate lines 1 to 5 (the switch
\Wrap is not used).
Return value
Data type: btnres
The numeric value of the button that is selected from the message box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
If function breaks via \BreakFlag or if \Buttons:=btnNone :
•
If parameter \DefaultBtn is specified, this index is returned.
•
If parameter \DefaultBtn is not specified, resUnkwn equal to 0 is returned.
If function breaks via ERROR handler, there is no return value at all.
Arguments
UIMessageBox ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Buttons] | [\BtnArray] [\DefaultBtn]
[\Icon] [\Image] [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 55 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with single spaces between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
Continued
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[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1060 .
Default, the system displays the OK button.
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time.
Max. 5 buttons with 42 characters each.
[\DefaultBtn]
Default Button
Data type: btnres
Allows to specify a value that should be returned if the message box is interrupted by
\MaxTime , \DIBreak , or \DOBreak . It’s possible to specify the predefined symbolic
constant of type btnres or any user defined value. See Predefined data on page 1060 .
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1060 .
Default, no icon.
[\Image]
Data type: string
The name of the image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width of 185 pixels and the height of 300 pixels.
If the image is bigger, only 185 * 300 pixels of the image will be shown starting at the top left
of the image.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
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Above message box is with icon, header, message, and user defined push buttons that are
written on the FlexPendant display. Program execution waits until OK or Skip is pressed. In
other words, answer will be assigned 1 (OK) or 2 (Skip) depending on which of the buttons
is pressed (corresponding array index).
NOTE!
Message Line 1 ... Message Line 5 are displayed on separate lines 1 to 5 (the switch
\Wrap is not used).
Return value
Data type: btnres
The numeric value of the button that is selected from the message box.
If argument \Buttons is used, the predefined symbolic constants of type btnres is returned.
If argument \BtnArray is used, the corresponding array index is returned.
If function breaks via \BreakFlag or if \Buttons:=btnNone :
•
If parameter \DefaultBtn is specified, this index is returned.
•
If parameter \DefaultBtn is not specified, resUnkwn equal to 0 is returned.
If function breaks via ERROR handler, there is no return value at all.
Arguments
UIMessageBox ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Buttons] | [\BtnArray] [\DefaultBtn]
[\Icon] [\Image] [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 55 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 55 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with single spaces between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
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[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1060 .
Default, the system displays the OK button.
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time.
Max. 5 buttons with 42 characters each.
[\DefaultBtn]
Default Button
Data type: btnres
Allows to specify a value that should be returned if the message box is interrupted by
\MaxTime , \DIBreak , or \DOBreak . It’s possible to specify the predefined symbolic
constant of type btnres or any user defined value. See Predefined data on page 1060 .
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1060 .
Default, no icon.
[\Image]
Data type: string
The name of the image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width of 185 pixels and the height of 300 pixels.
If the image is bigger, only 185 * 300 pixels of the image will be shown starting at the top left
of the image.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
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[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
selected within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \ MaxTime,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The message box with icon, header, message lines, image, and buttons are displayed
according to the programmed arguments. Program execution waits until the user selects one
button or the message box is interrupted by time-out or signal action. The user selection and
interrupt reason are transferred back to the program.
A new message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
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[\Buttons]
Data type: buttondata
Defines the push buttons to be displayed. Only one of the predefined buttons combination of
type buttondata can be used. See Predefined data on page 1060 .
Default, the system displays the OK button.
[\BtnArray]
Button Array
Data type: string
Own definition of push buttons stored in an array of strings. This function returns the array
index when corresponding string is selected.
Only one of parameter \Buttons or \BtnArray can be used at the same time.
Max. 5 buttons with 42 characters each.
[\DefaultBtn]
Default Button
Data type: btnres
Allows to specify a value that should be returned if the message box is interrupted by
\MaxTime , \DIBreak , or \DOBreak . It’s possible to specify the predefined symbolic
constant of type btnres or any user defined value. See Predefined data on page 1060 .
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1060 .
Default, no icon.
[\Image]
Data type: string
The name of the image that should be used. To launch own images, the images has to be
placed in the HOME: directory in the active system or directly in the active system.
The recommendation is to place the files in the HOME: directory so that they are saved if a
Backup and Restore is done.
A warmstart is required and then the FlexPendant loads the images.
A demand on the system is that the RobotWare option FlexPendant Interface is used.
The image that will be shown can have the width of 185 pixels and the height of 300 pixels.
If the image is bigger, only 185 * 300 pixels of the image will be shown starting at the top left
of the image.
No exact value can be specified on the size that an image can have or the amount of images
that can be loaded to the FlexPendant. It depends on the size of other files loaded to the
FlexPendant. The program execution will just continue if an image is used that has not been
loaded to the FlexPendant.
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[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
selected within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \ MaxTime,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The message box with icon, header, message lines, image, and buttons are displayed
according to the programmed arguments. Program execution waits until the user selects one
button or the message box is interrupted by time-out or signal action. The user selection and
interrupt reason are transferred back to the program.
A new message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
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!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIMessageBox are illustrated below.
Example 1
VAR errnum err_var;
VAR btnres answer;
...
answer := UIMessageBox (\Header:= "Cycle step 3"
\Message:="Continue with the calibration ?"
\Buttons:=btnOKCancel
\DefaultBtn:=resCancel \Icon:=iconInfo \MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
IF answer = resOK THEN
! OK from the operator
ELSE
! Cancel from the operator or operation break
TEST err_var
CASE ERR_TP_MAXTIME:
! Time out
CASE ERR_TP_DIBREAK:
! Input signal break
DEFAULT:
! Not such case defined
ENDTEST
ENDIF
The message box is displayed, and the operator can answer OK or Cancel. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason.
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[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no button is
selected within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If no button is selected when
the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \ MaxTime,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Program execution
The message box with icon, header, message lines, image, and buttons are displayed
according to the programmed arguments. Program execution waits until the user selects one
button or the message box is interrupted by time-out or signal action. The user selection and
interrupt reason are transferred back to the program.
A new message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
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!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIMessageBox are illustrated below.
Example 1
VAR errnum err_var;
VAR btnres answer;
...
answer := UIMessageBox (\Header:= "Cycle step 3"
\Message:="Continue with the calibration ?"
\Buttons:=btnOKCancel
\DefaultBtn:=resCancel \Icon:=iconInfo \MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
IF answer = resOK THEN
! OK from the operator
ELSE
! Cancel from the operator or operation break
TEST err_var
CASE ERR_TP_MAXTIME:
! Time out
CASE ERR_TP_DIBREAK:
! Input signal break
DEFAULT:
! Not such case defined
ENDTEST
ENDIF
The message box is displayed, and the operator can answer OK or Cancel. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason.
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIMessageBox is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Syntax
UIMessageBox´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[´\´Message´:=´ <expression ( IN ) of string>]
| [´\´MsgArray´:=´<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Buttons´=´ <expression ( IN ) of buttondata>]
| [´\´BtnArray´:=´<array {*}( IN ) of string>]
[‘\’DefaultBtn´:=´<expression ( IN ) of btnres>]
[‘\’Icon´:=´<expression ( IN ) of icondata>]
[‘\’Image´:=´<expression ( IN ) of string>]
[´\´MaxTime´:=´ <expression ( IN ) of num>]
[´\´DIBreak´:=´ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´ <variable ( VAR ) of signaldo>]
[´\´BreakFlag´:=´ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type btnres .
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!Buttons:
CONST buttondata btnNone := -1;
CONST buttondata btnOK := 0;
CONST buttondata btnAbrtRtryIgn := 1;
CONST buttondata btnOKCancel := 2;
CONST buttondata btnRetryCancel := 3;
CONST buttondata btnYesNo := 4;
CONST buttondata btnYesNoCancel := 5;
!Results:
CONST btnres resUnkwn := 0;
CONST btnres resOK := 1;
CONST btnres resAbort := 2;
CONST btnres resRetry := 3;
CONST btnres resIgnore := 4;
CONST btnres resCancel := 5;
CONST btnres resYes := 6;
CONST btnres resNo := 7;
More examples
More examples of the function UIMessageBox are illustrated below.
Example 1
VAR errnum err_var;
VAR btnres answer;
...
answer := UIMessageBox (\Header:= "Cycle step 3"
\Message:="Continue with the calibration ?"
\Buttons:=btnOKCancel
\DefaultBtn:=resCancel \Icon:=iconInfo \MaxTime:=60
\DIBreak:=di5
\BreakFlag:=err_var);
IF answer = resOK THEN
! OK from the operator
ELSE
! Cancel from the operator or operation break
TEST err_var
CASE ERR_TP_MAXTIME:
! Time out
CASE ERR_TP_DIBREAK:
! Input signal break
DEFAULT:
! Not such case defined
ENDTEST
ENDIF
The message box is displayed, and the operator can answer OK or Cancel. The message box
can also be interrupted with time out or break by digital input signal. In the program it’s
possible to find out the reason.
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIMessageBox is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Syntax
UIMessageBox´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[´\´Message´:=´ <expression ( IN ) of string>]
| [´\´MsgArray´:=´<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Buttons´=´ <expression ( IN ) of buttondata>]
| [´\´BtnArray´:=´<array {*}( IN ) of string>]
[‘\’DefaultBtn´:=´<expression ( IN ) of btnres>]
[‘\’Icon´:=´<expression ( IN ) of icondata>]
[‘\’Image´:=´<expression ( IN ) of string>]
[´\´MaxTime´:=´ <expression ( IN ) of num>]
[´\´DIBreak´:=´ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´ <variable ( VAR ) of signaldo>]
[´\´BreakFlag´:=´ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type btnres .
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
User Interaction Message Box type basic UIMsgBox - User Message Dialog Box type basic
on page 644
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
FlexPendant interface
Product Specification - Controller Software IRC5,
RobotWare 5.0 , section Communication -
FlexPendant Interface
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UIMessageBox is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slow response of the FlexPendant.
Syntax
UIMessageBox´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[´\´Message´:=´ <expression ( IN ) of string>]
| [´\´MsgArray´:=´<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Buttons´=´ <expression ( IN ) of buttondata>]
| [´\´BtnArray´:=´<array {*}( IN ) of string>]
[‘\’DefaultBtn´:=´<expression ( IN ) of btnres>]
[‘\’Icon´:=´<expression ( IN ) of icondata>]
[‘\’Image´:=´<expression ( IN ) of string>]
[´\´MaxTime´:=´ <expression ( IN ) of num>]
[´\´DIBreak´:=´ <variable ( VAR ) of signaldi>]
[´\´DOBreak´:=´ <variable ( VAR ) of signaldo>]
[´\´BreakFlag´:=´ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type btnres .
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
User Interaction Message Box type basic UIMsgBox - User Message Dialog Box type basic
on page 644
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
FlexPendant interface
Product Specification - Controller Software IRC5,
RobotWare 5.0 , section Communication -
FlexPendant Interface
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
Continued
2 Functions
2.148. UINumEntry - User Number Entry
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2.148. UINumEntry - User Number Entry
Usage
UINumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UINumEntry are illustrated below.
See also More examples on page 1067 .
Example 1
VAR num answer;
...
answer := UINumEntry(
\Header:="UINumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=5
\MinValue:=1
\MaxValue:=10
\AsInteger);
FOR i FROM 1 TO answer DO
produce_part;
ENDFOR
xx0500002412
Above numeric message box with icon, header, message, init-, max-, and minvalue are
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned. The routine produce_part is then repeated the number
of input times via the FlexPendant.
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2.147. UIMessageBox - User Message Box type advanced
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
Push button data
buttondata - Push button data on page 1089
Push button result data
btnres - Push button result data on page 1086
User Interaction Message Box type basic UIMsgBox - User Message Dialog Box type basic
on page 644
User Interaction Number Entry
UINumEntry - User Number Entry on page 1064
User Interaction Number Tune
UINumTune - User Number Tune on page 1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page 1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page 1037
FlexPendant interface
Product Specification - Controller Software IRC5,
RobotWare 5.0 , section Communication -
FlexPendant Interface
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
Continued
2 Functions
2.148. UINumEntry - User Number Entry
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© Copyright 2004-2010 ABB. All rights reserved.
2.148. UINumEntry - User Number Entry
Usage
UINumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UINumEntry are illustrated below.
See also More examples on page 1067 .
Example 1
VAR num answer;
...
answer := UINumEntry(
\Header:="UINumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=5
\MinValue:=1
\MaxValue:=10
\AsInteger);
FOR i FROM 1 TO answer DO
produce_part;
ENDFOR
xx0500002412
Above numeric message box with icon, header, message, init-, max-, and minvalue are
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned. The routine produce_part is then repeated the number
of input times via the FlexPendant.
![Image]
Continues on next page
2 Functions
2.148. UINumEntry - User Number Entry
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Return value
Data type: num
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler, no return value at all.
Arguments
UINumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1067 .
Default no icon.
[\InitValue]
Data type: num
Initial value that is displayed in the entry box.
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2.148. UINumEntry - User Number Entry
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© Copyright 2004-2010 ABB. All rights reserved.
2.148. UINumEntry - User Number Entry
Usage
UINumEntry ( User Interaction Number Entry ) is used to let the operator enter a numeric
value from the available user device, such as the FlexPendant. A message is written to the
operator, who answers with a numeric value. The numeric value is then checked, approved
and transferred back to the program.
Basic examples
Basic examples of the function UINumEntry are illustrated below.
See also More examples on page 1067 .
Example 1
VAR num answer;
...
answer := UINumEntry(
\Header:="UINumEntry Header"
\Message:="How many units should be produced?"
\Icon:=iconInfo
\InitValue:=5
\MinValue:=1
\MaxValue:=10
\AsInteger);
FOR i FROM 1 TO answer DO
produce_part;
ENDFOR
xx0500002412
Above numeric message box with icon, header, message, init-, max-, and minvalue are
written on the FlexPendant display. The message box checks that the operator selects an
integer within the value range. Program execution waits until OK is pressed and then the
selected numerical value is returned. The routine produce_part is then repeated the number
of input times via the FlexPendant.
![Image]
Continues on next page
2 Functions
2.148. UINumEntry - User Number Entry
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© Copyright 2004-2010 ABB. All rights reserved.
Return value
Data type: num
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler, no return value at all.
Arguments
UINumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1067 .
Default no icon.
[\InitValue]
Data type: num
Initial value that is displayed in the entry box.
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[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2.148. UINumEntry - User Number Entry
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Return value
Data type: num
This function returns the input numeric value.
If function breaks via \BreakFlag :
•
If parameter \ InitValue is specified, this value is returned
•
If parameter \ InitValue is not specified, value 0 is returned.
If function breaks via ERROR handler, no return value at all.
Arguments
UINumEntry ( [\Header] [\Message] | [\MsgArray]
[\Wrap] [\Icon] [\InitValue] [\MinValue] [\MaxValue]
[\AsInteger] [\MaxTime] [\DIBreak] [\DOBreak]
\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 9 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string, and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on a separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1067 .
Default no icon.
[\InitValue]
Data type: num
Initial value that is displayed in the entry box.
Continued
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[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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2.148. UINumEntry - User Number Entry
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue are displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and presses OK or the message box is
interrupted by time-out or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level take focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR num answer;
VAR num distance;
...
answer := UINumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
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[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\AsInteger]
Data type: switch
Eliminates the decimal point from the number pad to ensure that the return value is an integer.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be
used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue are displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and presses OK or the message box is
interrupted by time-out or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level take focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR num answer;
VAR num distance;
...
answer := UINumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater then the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
•
If the initial value (parameter \InitValue ) is not an integer as specified in the
parameter \AsInteger then the system variable ERRNO is set to ERR_UI_NOTINT
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumEntry is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Continued
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric message box with numeric pad, icon, header, message lines, init-, max-, and
minvalue are displayed according to the programmed arguments. Program execution waits
until the user has entered an approved numeric value and presses OK or the message box is
interrupted by time-out or signal action. The input numeric value and interrupt reason are
transferred back to the program.
New message box on TRAP level take focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumEntry are illustrated below.
Example 1
VAR errnum err_var;
VAR num answer;
VAR num distance;
...
answer := UINumEntry (\Header:= "BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo
\InitValue:=5 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer distance := 5;
CASE 0
! Operator answer
distance := answer;
DEFAULT:
! Not such case defined
ENDTEST
The message box is displayed and the operator can enter a numeric value and press OK. The
message box can also be interrupted with a time out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater then the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
•
If the initial value (parameter \InitValue ) is not an integer as specified in the
parameter \AsInteger then the system variable ERRNO is set to ERR_UI_NOTINT
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumEntry is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Continued
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Syntax
UINumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of num>]
[´\´MinValue’:=’<expression ( IN ) of num>]
[´\´MaxValue’:=’<expression ( IN ) of num>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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Error handling
If parameter \BreakFlag is not used, these situations can then be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator then
the system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in
the error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater then the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
•
If the initial value (parameter \InitValue ) is not an integer as specified in the
parameter \AsInteger then the system variable ERRNO is set to ERR_UI_NOTINT
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumEntry is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
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Syntax
UINumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of num>]
[´\´MinValue’:=’<expression ( IN ) of num>]
[´\´MaxValue’:=’<expression ( IN ) of num>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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2.149. UINumTune - User Number Tune
Usage
UINumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UINumTune are illustrated below.
See also More examples on page 1073 .
Example 1
VAR num flow;
...
flow := UINumTune(
\Header:="UINumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
2.5,
0.1
\MinValue:=1.5
\MaxValue:=3.5);
xx0500002414
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Syntax
UINumEntry´(´
[´\´Header´:=´ <expression ( IN ) of string>]
[Message’:=’ <expression ( IN ) of string> ]
| [´\´MsgArray’:=’<array {*} ( IN ) of string>]
[´\´Wrap]
[´\´Icon’:=’ <expression ( IN ) of icondata>]
[´\´InitValue’:=’<expression ( IN ) of num>]
[´\´MinValue’:=’<expression ( IN ) of num>]
[´\´MaxValue’:=’<expression ( IN ) of num>]
[´\´AsInteger]
[´\´MaxTime’:=’ <expression ( IN ) of num>]
[\´DIBreak’:=’ <variable ( VAR ) of signaldi>]
[´\´DOBreak’:=’ <variable ( VAR ) of signaldo>]
[´\´BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ´)´
A function with return value of the data type num .
Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Tune
UINumTune - User Number Tune on page
1070
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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2.149. UINumTune - User Number Tune
Usage
UINumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UINumTune are illustrated below.
See also More examples on page 1073 .
Example 1
VAR num flow;
...
flow := UINumTune(
\Header:="UINumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
2.5,
0.1
\MinValue:=1.5
\MaxValue:=3.5);
xx0500002414
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Above numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue are written on the FlexPendant display. The message box checks that the operator
tune the flow value with step 0.1 from init value 2.5 is within the value range 1.5 .. 3.5.
Program execution waits until OK is pressed and then the selected numerical value is returned
and stored in the variable flow .
Return value
Data type: num
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UINumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1073 .
Default no icon.
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2.149. UINumTune - User Number Tune
Usage
UINumTune ( User Interaction Number Tune ) is used to let the operator tune a numeric value
from the available user device, such as the FlexPendant. A message is written to the operator,
who tunes a numeric value. The tuned numeric value is then checked, approved and
transferred back to the program.
Basic examples
Basic examples of the function UINumTune are illustrated below.
See also More examples on page 1073 .
Example 1
VAR num flow;
...
flow := UINumTune(
\Header:="UINumTune Header"
\Message:="Tune the flow?"
\Icon:=iconInfo,
2.5,
0.1
\MinValue:=1.5
\MaxValue:=3.5);
xx0500002414
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© Copyright 2004-2010 ABB. All rights reserved.
Above numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue are written on the FlexPendant display. The message box checks that the operator
tune the flow value with step 0.1 from init value 2.5 is within the value range 1.5 .. 3.5.
Program execution waits until OK is pressed and then the selected numerical value is returned
and stored in the variable flow .
Return value
Data type: num
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UINumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1073 .
Default no icon.
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InitValue
Initial Value
Data type: num
Initial value that is displayed in the entry box.
Increment
Data type: num
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
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2.149. UINumTune - User Number Tune
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Above numeric tune message box with icon, header, message, init-, increment, max-, and
minvalue are written on the FlexPendant display. The message box checks that the operator
tune the flow value with step 0.1 from init value 2.5 is within the value range 1.5 .. 3.5.
Program execution waits until OK is pressed and then the selected numerical value is returned
and stored in the variable flow .
Return value
Data type: num
This function returns the tuned numeric value.
If function breaks via \BreakFlag , the specified InitValue is returned.
If function breaks via ERROR handler, no return value is returned at all.
Arguments
UINumTune ( [\Header] [\Message] | [\MsgArray] [\Wrap]
[\Icon] InitValue Increment [\MinValue] [\MaxValue]
[\MaxTime] [\DIBreak] [\DOBreak] [\BreakFlag] )
[\Header]
Data type: string
Header text to be written at the top of the message box. Max. 40 characters.
[\Message]
Data type: string
One text line to be written on the display. Max 40 characters.
[\MsgArray]
Message Array
Data type: string
Several text lines from an array to be written on the display.
Only one of parameter \Message or \MsgArray can be used at the same time.
Max. layout space is 11 lines with 40 characters each.
[\Wrap]
Data type: switch
If selected, all the specified strings in the argument \MsgArray will be concatenated to one
string with a single space between each individual string and spread out on as few lines as
possible.
Default, each string in the argument \MsgArray will be on separate line on the display.
[\Icon]
Data type: icondata
Defines the icon to be displayed. Only one of the predefined icons of type icondata can be
used. See Predefined data on page 1073 .
Default no icon.
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InitValue
Initial Value
Data type: num
Initial value that is displayed in the entry box.
Increment
Data type: num
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
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Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue are displayed according to the programmed arguments.
Program execution waits until the user has tuned the numeric value and pressed OK or the
message box is interrupted by time-out or signal action. The input numeric value and interrupt
reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR num tune_answer;
VAR num distance;
...
tune_answer := UINumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! Not such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with time-out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
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InitValue
Initial Value
Data type: num
Initial value that is displayed in the entry box.
Increment
Data type: num
This parameter specifies how much the value should change when the plus or minus button
is pressed.
[\MinValue]
Data type: num
The minimum value for the return value.
[\MaxValue]
Data type: num
The maximum value for the return value.
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If the OK button is
not pressed within this time, the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital input signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can
be used to test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital output signal that may interrupt the operator dialog. If the OK button is not pressed
before the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable (before used set to 0 by the system) that will hold the error code if \MaxTime ,
\DIBreak , or \DOBreak is used. The constants ERR_TP_MAXTIME , ERR_TP_DIBREAK , and
ERR_TP_DOBREAK can be used to select the reason. If this optional variable is omitted, the
error handler will be executed.
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© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue are displayed according to the programmed arguments.
Program execution waits until the user has tuned the numeric value and pressed OK or the
message box is interrupted by time-out or signal action. The input numeric value and interrupt
reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR num tune_answer;
VAR num distance;
...
tune_answer := UINumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! Not such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with time-out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumTune is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Syntax
UINumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of num> ’,’
[Increment’:=’ ] <expression ( IN ) of num>
[’\’MinValue’:=’<expression ( IN ) of num>]
[’\’MaxValue’:=’<expression( IN ) of num>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type num .
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2.149. UINumTune - User Number Tune
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Program execution
The numeric tune message box with tune +/- buttons, icon, header, message lines, init-,
increment, max, and minvalue are displayed according to the programmed arguments.
Program execution waits until the user has tuned the numeric value and pressed OK or the
message box is interrupted by time-out or signal action. The input numeric value and interrupt
reason are transferred back to the program.
New message box on TRAP level takes focus from message box on basic level.
Predefined data
!Icons:
CONST icondata iconNone := 0;
CONST icondata iconInfo := 1;
CONST icondata iconWarning := 2;
CONST icondata iconError := 3;
More examples
More examples of the function UINumTune are illustrated below.
Example 1
VAR errnum err_var;
VAR num tune_answer;
VAR num distance;
...
tune_answer := UINumTune (\Header:=" BWD move on path"
\Message:="Enter the path overlap ?" \Icon:=iconInfo,
5, 1 \MinValue:=0 \MaxValue:=10
\MaxTime:=60 \DIBreak:=di5 \BreakFlag:=err_var);
TEST err_var
CASE ERR_TP_MAXTIME:
CASE ERR_TP_DIBREAK:
! No operator answer
distance := 5;
CASE 0:
! Operator answer
distance := tune_answer;
DEFAULT:
! Not such case defined
ENDTEST
The tune message box is displayed and the operator can tune the numeric value and press OK.
The message box can also be interrupted with time-out or break by digital input signal. In the
program it’s possible to find out the reason and take the appropriate action.
Continued
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Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumTune is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Syntax
UINumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of num> ’,’
[Increment’:=’ ] <expression ( IN ) of num>
[’\’MinValue’:=’<expression ( IN ) of num>]
[’\’MaxValue’:=’<expression( IN ) of num>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type num .
Continued
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
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Error handling
If parameter \BreakFlag is not used then these situations can be dealt with by the error
handler:
•
If there is a time-out (parameter \MaxTime ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_MAXTIME and the execution continues in the
error handler.
•
If digital input is set (parameter \DIBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the
error handler.
•
If a digital output is set (parameter \DOBreak ) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the
error handler.
This situation can only be dealt with by the error handler:
•
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system
variable ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error
handler.
•
If the initial value (parameter \InitValue ) is not specified within the range of the
minimum and maximum value (parameters \MinValue and \MaxValue ) then the
system variable ERRNO is set to ERR_UI_INITVALUE and the execution continues in
the error handler.
•
If the minimum value (parameter \MinValue ) is greater than the maximum value
(parameter \MaxValue ) then the system variable ERRNO is set to ERR_UI_MAXMIN
and the execution continues in the error handler.
Limitations
Avoid using too small a value for the time-out parameter \MaxTime when UINumTune is
frequently executed, for example in a loop. It can result in unpredictable behavior from the
system performance, like slow response of the FlexPendant.
Syntax
UINumTune’(’
[’\’Header’:=’ <expression ( IN ) of string>]
[’\’Message’:=’ <expression ( IN ) of string> ]
| [‘\’MsgArray’:=’<array {*} ( IN ) of string>]
[’\’Wrap]
[’\’Icon’:=’ <expression ( IN ) of icondata>] ’,’]
[InitValue’:=’ ] <expression ( IN ) of num> ’,’
[Increment’:=’ ] <expression ( IN ) of num>
[’\’MinValue’:=’<expression ( IN ) of num>]
[’\’MaxValue’:=’<expression( IN ) of num>]
[’\’MaxTime’:=’ <expression ( IN ) of num>]
[’\’DIBreak’:=’ <variable ( VAR ) of signaldi>]
[’\’DOBreak’:=’ <variable ( VAR ) of signaldo>]
[’\’BreakFlag’:=’ <var or pers ( INOUT ) of errnum>] ’)’
A function with return value of the data type num .
Continued
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.150. ValidIO - Valid I/O signal to access
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2.150. ValidIO - Valid I/O signal to access
Usage
ValidIO is used to check if the specified I/O signal can be accessed without any error at
present.
Basic examples
Basic examples of the function ValidIO are illustrated below.
Example 1
IF ValidIO(mydosignal) SetDO mydosignal, 1;
Set the digital output signal mydosignal to 1 if it’s I/O unit is up and running.
Return value
Data type: bool
Returns TRUE is valid signal and the I/O unit for the signal is up and running, else FALSE .
Arguments
ValidIO (Signal)
Signal
Data type: signalxx
The signal name. Must be of data type signaldo, signaldi, signalgo, signalgi,
signalao or signalai .
Program execution
Execution behaviour:
•
Check if valid I/O signal
•
Check if the I/O unit for the signal is up and running.
No error messages are generated.
Syntax
ValidIO ’(’
[Signal ’:=’] <variable ( VAR ) of anytype>
’)’
A function with a return value of the data type bool .
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Related information
For information about
See
Icon display data
icondata - Icon display data on page 1121
User Interaction Message Box type basic
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box type advanced UIMessageBox - User Message Box type
advanced on page 1057
User Interaction Number Entry
UINumEntry - User Number Entry on page
1064
User Interaction Alpha Entry
UIAlphaEntry - User Alpha Entry on page
1032
User Interaction List View
UIListView - User List View on page 1050
System connected to FlexPendant etc.
UIClientExist - Exist User Client on page
1037
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
Continued
2 Functions
2.150. ValidIO - Valid I/O signal to access
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2.150. ValidIO - Valid I/O signal to access
Usage
ValidIO is used to check if the specified I/O signal can be accessed without any error at
present.
Basic examples
Basic examples of the function ValidIO are illustrated below.
Example 1
IF ValidIO(mydosignal) SetDO mydosignal, 1;
Set the digital output signal mydosignal to 1 if it’s I/O unit is up and running.
Return value
Data type: bool
Returns TRUE is valid signal and the I/O unit for the signal is up and running, else FALSE .
Arguments
ValidIO (Signal)
Signal
Data type: signalxx
The signal name. Must be of data type signaldo, signaldi, signalgo, signalgi,
signalao or signalai .
Program execution
Execution behaviour:
•
Check if valid I/O signal
•
Check if the I/O unit for the signal is up and running.
No error messages are generated.
Syntax
ValidIO ’(’
[Signal ’:=’] <variable ( VAR ) of anytype>
’)’
A function with a return value of the data type bool .
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Related information
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 -
I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Define I/O signal with alias name
AliasIO - Define I/O signal with alias name on
page 21
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2.150. ValidIO - Valid I/O signal to access
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2.150. ValidIO - Valid I/O signal to access
Usage
ValidIO is used to check if the specified I/O signal can be accessed without any error at
present.
Basic examples
Basic examples of the function ValidIO are illustrated below.
Example 1
IF ValidIO(mydosignal) SetDO mydosignal, 1;
Set the digital output signal mydosignal to 1 if it’s I/O unit is up and running.
Return value
Data type: bool
Returns TRUE is valid signal and the I/O unit for the signal is up and running, else FALSE .
Arguments
ValidIO (Signal)
Signal
Data type: signalxx
The signal name. Must be of data type signaldo, signaldi, signalgo, signalgi,
signalao or signalai .
Program execution
Execution behaviour:
•
Check if valid I/O signal
•
Check if the I/O unit for the signal is up and running.
No error messages are generated.
Syntax
ValidIO ’(’
[Signal ’:=’] <variable ( VAR ) of anytype>
’)’
A function with a return value of the data type bool .
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Related information
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 -
I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Define I/O signal with alias name
AliasIO - Define I/O signal with alias name on
page 21
Continued
2 Functions
2.151. ValToStr - Converts a value to a string
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2.151. ValToStr - Converts a value to a string
Usage
ValToStr ( Value To String ) is used to convert a value of any data type to a string.
Basic examples
Basic examples of the function ValToStr are illustrated below.
Example 1
VAR string str;
VAR pos p := [100,200,300];
str := ValToStr(p);
The variable str is given the value "[100,200,300]" .
Example 2
str := ValToStr(TRUE);
The variable str is given the value " TRUE ".
Example 3
str := ValToStr(1.234567890123456789);
The variable str is given the value "1.23456789012346" .
Example 4
VAR num numtype:=1.234567890123456789;
str := ValToStr(numtype);
The variable str is given the value "1.23457" .
Example 5
VAR dnum dnumtype:=1.234567890123456789;
str := ValToStr(dnumtype);
The variable str is given the value "1.23456789012346" .
Return value
Data type: string
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. Literal value interpreted as a dnum (see example 3) and dnum variabels (see
example 5) though have 15 significant digits.
A runtime error is generated if the resulting string is too long.
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Related information
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 -
I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
Define I/O signal with alias name
AliasIO - Define I/O signal with alias name on
page 21
Continued
2 Functions
2.151. ValToStr - Converts a value to a string
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2.151. ValToStr - Converts a value to a string
Usage
ValToStr ( Value To String ) is used to convert a value of any data type to a string.
Basic examples
Basic examples of the function ValToStr are illustrated below.
Example 1
VAR string str;
VAR pos p := [100,200,300];
str := ValToStr(p);
The variable str is given the value "[100,200,300]" .
Example 2
str := ValToStr(TRUE);
The variable str is given the value " TRUE ".
Example 3
str := ValToStr(1.234567890123456789);
The variable str is given the value "1.23456789012346" .
Example 4
VAR num numtype:=1.234567890123456789;
str := ValToStr(numtype);
The variable str is given the value "1.23457" .
Example 5
VAR dnum dnumtype:=1.234567890123456789;
str := ValToStr(dnumtype);
The variable str is given the value "1.23456789012346" .
Return value
Data type: string
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. Literal value interpreted as a dnum (see example 3) and dnum variabels (see
example 5) though have 15 significant digits.
A runtime error is generated if the resulting string is too long.
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2.151. ValToStr - Converts a value to a string
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Arguments
ValToStr ( Val )
Val
Value
Data type: anytype
A value of any data type. All types of value data with structure atomic, record, record
component, array, or array element can be used.
Syntax
ValToStr’(’
[ Val ’:=’ ] <expression ( IN ) of anytype>
’)’
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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2.151. ValToStr - Converts a value to a string
Usage
ValToStr ( Value To String ) is used to convert a value of any data type to a string.
Basic examples
Basic examples of the function ValToStr are illustrated below.
Example 1
VAR string str;
VAR pos p := [100,200,300];
str := ValToStr(p);
The variable str is given the value "[100,200,300]" .
Example 2
str := ValToStr(TRUE);
The variable str is given the value " TRUE ".
Example 3
str := ValToStr(1.234567890123456789);
The variable str is given the value "1.23456789012346" .
Example 4
VAR num numtype:=1.234567890123456789;
str := ValToStr(numtype);
The variable str is given the value "1.23457" .
Example 5
VAR dnum dnumtype:=1.234567890123456789;
str := ValToStr(dnumtype);
The variable str is given the value "1.23456789012346" .
Return value
Data type: string
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. Literal value interpreted as a dnum (see example 3) and dnum variabels (see
example 5) though have 15 significant digits.
A runtime error is generated if the resulting string is too long.
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Arguments
ValToStr ( Val )
Val
Value
Data type: anytype
A value of any data type. All types of value data with structure atomic, record, record
component, array, or array element can be used.
Syntax
ValToStr’(’
[ Val ’:=’ ] <expression ( IN ) of anytype>
’)’
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
2 Functions
2.152. VectMagn - Magnitude of a pos vector
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2.152. VectMagn - Magnitude of a pos vector
Usage
VectMagn ( Vector Magnitude ) is used to calculate the magnitude of a pos vector.
Basic examples
Basic examples of the function VectMagn are illustrated below.
Example 1
xx0500002446
A vector A can be written as the sum of its components in the three orthogonal directions:
.
The magnitude of A is:
.
The vector is described by the data type pos and the magnitude by the data type num :
VAR num magnitude;
VAR pos vector;
...
vector := [1,1,1];
magnitude := VectMagn(vector);
Return value
Data type: num
The magnitude of the vector (data type pos ).
Arguments
VectMagn (Vector)
Vector
Data type: pos
The vector described by the data type pos .
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Arguments
ValToStr ( Val )
Val
Value
Data type: anytype
A value of any data type. All types of value data with structure atomic, record, record
component, array, or array element can be used.
Syntax
ValToStr’(’
[ Val ’:=’ ] <expression ( IN ) of anytype>
’)’
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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2.152. VectMagn - Magnitude of a pos vector
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2.152. VectMagn - Magnitude of a pos vector
Usage
VectMagn ( Vector Magnitude ) is used to calculate the magnitude of a pos vector.
Basic examples
Basic examples of the function VectMagn are illustrated below.
Example 1
xx0500002446
A vector A can be written as the sum of its components in the three orthogonal directions:
.
The magnitude of A is:
.
The vector is described by the data type pos and the magnitude by the data type num :
VAR num magnitude;
VAR pos vector;
...
vector := [1,1,1];
magnitude := VectMagn(vector);
Return value
Data type: num
The magnitude of the vector (data type pos ).
Arguments
VectMagn (Vector)
Vector
Data type: pos
The vector described by the data type pos .
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Syntax
VectMagn’(’
[Vector ’:=’] <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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2.152. VectMagn - Magnitude of a pos vector
Usage
VectMagn ( Vector Magnitude ) is used to calculate the magnitude of a pos vector.
Basic examples
Basic examples of the function VectMagn are illustrated below.
Example 1
xx0500002446
A vector A can be written as the sum of its components in the three orthogonal directions:
.
The magnitude of A is:
.
The vector is described by the data type pos and the magnitude by the data type num :
VAR num magnitude;
VAR pos vector;
...
vector := [1,1,1];
magnitude := VectMagn(vector);
Return value
Data type: num
The magnitude of the vector (data type pos ).
Arguments
VectMagn (Vector)
Vector
Data type: pos
The vector described by the data type pos .
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2 Functions
2.152. VectMagn - Magnitude of a pos vector
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Syntax
VectMagn’(’
[Vector ’:=’] <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
2.152. VectMagn - Magnitude of a pos vector
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2.152. VectMagn - Magnitude of a pos vector
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Syntax
VectMagn’(’
[Vector ’:=’] <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
2.152. VectMagn - Magnitude of a pos vector
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3 Data types
3.1. aiotrigg - Analog I/O trigger condition
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3 Data types
3.1. aiotrigg - Analog I/O trigger condition
Usage
aiotrigg ( Analog I/O Trigger ) is used to define the condition to generate an interrupt for an
analog input or output signal.
Description
Data of the type aiotrigg defines the way a low and a high threshold will be used to
determine whether the logical value of an analog signal satisfies a condition to generate an
interrupt.
Basic examples
Basic examples of the data type aiotrigg are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog input signal
ai1 is between 0.5 and 1.5 . A call is then made to the iroutine1 trap routine.
Predefined data
The following symbolic constants of the data type aiotrigg are predefined and can be used
when specifying a condition for the instructions ISignalAI and ISignalAO .
Characteristics
aiotrigg is an alias data type for num and consequently inherits its characteristics.
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
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3 Data types
3.1. aiotrigg - Analog I/O trigger condition
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3 Data types
3.1. aiotrigg - Analog I/O trigger condition
Usage
aiotrigg ( Analog I/O Trigger ) is used to define the condition to generate an interrupt for an
analog input or output signal.
Description
Data of the type aiotrigg defines the way a low and a high threshold will be used to
determine whether the logical value of an analog signal satisfies a condition to generate an
interrupt.
Basic examples
Basic examples of the data type aiotrigg are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog input signal
ai1 is between 0.5 and 1.5 . A call is then made to the iroutine1 trap routine.
Predefined data
The following symbolic constants of the data type aiotrigg are predefined and can be used
when specifying a condition for the instructions ISignalAI and ISignalAO .
Characteristics
aiotrigg is an alias data type for num and consequently inherits its characteristics.
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continues on next page
3 Data types
3.1. aiotrigg - Analog I/O trigger condition
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Related information
For information about
See
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal on
page 171
Interrupt from analog output signal
ISignalAO - Interrupts from analog output signal
on page 182
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
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3.1. aiotrigg - Analog I/O trigger condition
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3 Data types
3.1. aiotrigg - Analog I/O trigger condition
Usage
aiotrigg ( Analog I/O Trigger ) is used to define the condition to generate an interrupt for an
analog input or output signal.
Description
Data of the type aiotrigg defines the way a low and a high threshold will be used to
determine whether the logical value of an analog signal satisfies a condition to generate an
interrupt.
Basic examples
Basic examples of the data type aiotrigg are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog input signal
ai1 is between 0.5 and 1.5 . A call is then made to the iroutine1 trap routine.
Predefined data
The following symbolic constants of the data type aiotrigg are predefined and can be used
when specifying a condition for the instructions ISignalAI and ISignalAO .
Characteristics
aiotrigg is an alias data type for num and consequently inherits its characteristics.
Value
Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
Continues on next page
3 Data types
3.1. aiotrigg - Analog I/O trigger condition
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Related information
For information about
See
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal on
page 171
Interrupt from analog output signal
ISignalAO - Interrupts from analog output signal
on page 182
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.2. bool - Logical values
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3.2. bool - Logical values
Usage
bool is used for logical values (true/false).
Description
The value of data of the type bool can be either TRUE or FALSE .
Basic examples
Basic examples of the data type bool are illustrated below.
Example 1
flag1 := TRUE;
flag is assigned the value TRUE.
Example 2
VAR bool highvalue;
VAR num reg1;
...
highvalue := reg1 > 100;
highvalue is assigned the value TRUE if reg1 is greater than 100 ; otherwise, FALSE is
assigned.
Example 3
IF highvalue Set do1;
The do1 signal is set if highvalue is TRUE .
Example 4
highvalue := reg1 > 100;
mediumvalue := reg1 > 20 AND NOT highvalue;
mediumvalue is assigned the value TRUE if reg1 is between 20 and 100 .
Related information
For information about
See
Logical expressions
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Operations using logical values
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
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3.1. aiotrigg - Analog I/O trigger condition
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Related information
For information about
See
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal on
page 171
Interrupt from analog output signal
ISignalAO - Interrupts from analog output signal
on page 182
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.2. bool - Logical values
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3.2. bool - Logical values
Usage
bool is used for logical values (true/false).
Description
The value of data of the type bool can be either TRUE or FALSE .
Basic examples
Basic examples of the data type bool are illustrated below.
Example 1
flag1 := TRUE;
flag is assigned the value TRUE.
Example 2
VAR bool highvalue;
VAR num reg1;
...
highvalue := reg1 > 100;
highvalue is assigned the value TRUE if reg1 is greater than 100 ; otherwise, FALSE is
assigned.
Example 3
IF highvalue Set do1;
The do1 signal is set if highvalue is TRUE .
Example 4
highvalue := reg1 > 100;
mediumvalue := reg1 > 20 AND NOT highvalue;
mediumvalue is assigned the value TRUE if reg1 is between 20 and 100 .
Related information
For information about
See
Logical expressions
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Operations using logical values
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
3 Data types
3.3. btnres - Push button result data
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3.3. btnres - Push button result data
Usage
btnres ( button result ) is used for representing the user selection of the push button display
on the User Device such as the FlexPendant.
Description
A btnres constant is intended to be used when checking the result value from the instruction
UIMsgBox and the return value from the functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type btnres are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button on the
user interface. The user selection will be stored in the variable answer .
Predefined data
The following constants of the data type btnres are predefined in the system
It is possible to work with user defined push buttons that answer with the functions
UIMessageBox and UIListView .
Characteristics
btnres is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button answer
0
resUnkwn
Unknown result
1
resOK
OK
2
resAbort
Abort
3
resRetry
Retry
4
resIgnore
Ignore
5
resCancel
Cancel
6
resYes
Yes
7
resNo
No
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3.2. bool - Logical values
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3.2. bool - Logical values
Usage
bool is used for logical values (true/false).
Description
The value of data of the type bool can be either TRUE or FALSE .
Basic examples
Basic examples of the data type bool are illustrated below.
Example 1
flag1 := TRUE;
flag is assigned the value TRUE.
Example 2
VAR bool highvalue;
VAR num reg1;
...
highvalue := reg1 > 100;
highvalue is assigned the value TRUE if reg1 is greater than 100 ; otherwise, FALSE is
assigned.
Example 3
IF highvalue Set do1;
The do1 signal is set if highvalue is TRUE .
Example 4
highvalue := reg1 > 100;
mediumvalue := reg1 > 20 AND NOT highvalue;
mediumvalue is assigned the value TRUE if reg1 is between 20 and 100 .
Related information
For information about
See
Logical expressions
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
Operations using logical values
Technical reference manual - RAPID overview ,
section Basic characteristics - Expressions
3 Data types
3.3. btnres - Push button result data
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3.3. btnres - Push button result data
Usage
btnres ( button result ) is used for representing the user selection of the push button display
on the User Device such as the FlexPendant.
Description
A btnres constant is intended to be used when checking the result value from the instruction
UIMsgBox and the return value from the functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type btnres are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button on the
user interface. The user selection will be stored in the variable answer .
Predefined data
The following constants of the data type btnres are predefined in the system
It is possible to work with user defined push buttons that answer with the functions
UIMessageBox and UIListView .
Characteristics
btnres is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button answer
0
resUnkwn
Unknown result
1
resOK
OK
2
resAbort
Abort
3
resRetry
Retry
4
resIgnore
Ignore
5
resCancel
Cancel
6
resYes
Yes
7
resNo
No
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3 Data types
3.3. btnres - Push button result data
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Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
UIMessageBox - User Message Box type advanced
on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button data
buttondata - Push button data on page 1089
Continued
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3 Data types
3.3. btnres - Push button result data
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3.3. btnres - Push button result data
Usage
btnres ( button result ) is used for representing the user selection of the push button display
on the User Device such as the FlexPendant.
Description
A btnres constant is intended to be used when checking the result value from the instruction
UIMsgBox and the return value from the functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type btnres are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button on the
user interface. The user selection will be stored in the variable answer .
Predefined data
The following constants of the data type btnres are predefined in the system
It is possible to work with user defined push buttons that answer with the functions
UIMessageBox and UIListView .
Characteristics
btnres is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button answer
0
resUnkwn
Unknown result
1
resOK
OK
2
resAbort
Abort
3
resRetry
Retry
4
resIgnore
Ignore
5
resCancel
Cancel
6
resYes
Yes
7
resNo
No
Continues on next page
3 Data types
3.3. btnres - Push button result data
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Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
UIMessageBox - User Message Box type advanced
on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button data
buttondata - Push button data on page 1089
Continued
3 Data types
3.4. busstate - State of I/O bus
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3.4. busstate - State of I/O bus
Usage
busstate is used to mirror which state an I/O bus is currently in.
Description
A busstate constant is intended to be used when checking the return value from the
instruction IOBusState .
Basic examples
Basic example of the data type busstate is illustrated below.
Example 1
VAR busstate bstate;
IOBusState "IBS", bstate \Phys;
TEST bstate
CASE IOBUS_PHYS_STATE_RUNNING:
! Possible to access some signal on the IBS bus
DEFAULT:
! Actions for not up and running IBS bus
ENDTEST
Predefined data
The predefined symbolic constants of the data type busstate can be viewed in instruction
IOBusState .
Characteristics
busstate is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O bus
IOBusState - Get current state of I/O bus on page 156
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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3 Data types
3.3. btnres - Push button result data
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Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type basic on
page 644
User Interaction Message Box
UIMessageBox - User Message Box type advanced
on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button data
buttondata - Push button data on page 1089
Continued
3 Data types
3.4. busstate - State of I/O bus
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3.4. busstate - State of I/O bus
Usage
busstate is used to mirror which state an I/O bus is currently in.
Description
A busstate constant is intended to be used when checking the return value from the
instruction IOBusState .
Basic examples
Basic example of the data type busstate is illustrated below.
Example 1
VAR busstate bstate;
IOBusState "IBS", bstate \Phys;
TEST bstate
CASE IOBUS_PHYS_STATE_RUNNING:
! Possible to access some signal on the IBS bus
DEFAULT:
! Actions for not up and running IBS bus
ENDTEST
Predefined data
The predefined symbolic constants of the data type busstate can be viewed in instruction
IOBusState .
Characteristics
busstate is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O bus
IOBusState - Get current state of I/O bus on page 156
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
3 Data types
3.5. buttondata - Push button data
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3.5. buttondata - Push button data
Usage
buttondata is used for representing a standard push button combination for display on the
User Device such as the FlexPendant.
Description
A buttondata constant is used for representing response push buttons in instruction
UIMsgBox and functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type buttondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSE
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button.
Predefined data
The following constants of the data type buttondata are predefined in the system.
It is possible to display user defined push buttons with the functions UIMessageBox and
UIListView .
Characteristics
buttondata is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button displayed
- 1
btnNone
No button
0
btnOK
OK
1
btnAbrtRtryIgn
Abort, Retry and Ignore
2
btnOKCancel
OK and Cancel
3
btnRetryCancel
Retry and Cancel
4
btnYesNo
Yes and No
5
btnYesNoCancel
Yes, No and Cancel
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3 Data types
3.4. busstate - State of I/O bus
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3.4. busstate - State of I/O bus
Usage
busstate is used to mirror which state an I/O bus is currently in.
Description
A busstate constant is intended to be used when checking the return value from the
instruction IOBusState .
Basic examples
Basic example of the data type busstate is illustrated below.
Example 1
VAR busstate bstate;
IOBusState "IBS", bstate \Phys;
TEST bstate
CASE IOBUS_PHYS_STATE_RUNNING:
! Possible to access some signal on the IBS bus
DEFAULT:
! Actions for not up and running IBS bus
ENDTEST
Predefined data
The predefined symbolic constants of the data type busstate can be viewed in instruction
IOBusState .
Characteristics
busstate is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O bus
IOBusState - Get current state of I/O bus on page 156
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
3 Data types
3.5. buttondata - Push button data
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3.5. buttondata - Push button data
Usage
buttondata is used for representing a standard push button combination for display on the
User Device such as the FlexPendant.
Description
A buttondata constant is used for representing response push buttons in instruction
UIMsgBox and functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type buttondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSE
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button.
Predefined data
The following constants of the data type buttondata are predefined in the system.
It is possible to display user defined push buttons with the functions UIMessageBox and
UIListView .
Characteristics
buttondata is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button displayed
- 1
btnNone
No button
0
btnOK
OK
1
btnAbrtRtryIgn
Abort, Retry and Ignore
2
btnOKCancel
OK and Cancel
3
btnRetryCancel
Retry and Cancel
4
btnYesNo
Yes and No
5
btnYesNoCancel
Yes, No and Cancel
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3 Data types
3.5. buttondata - Push button data
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Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button result
btnres - Push button result data on page 1086
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
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3.5. buttondata - Push button data
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3.5. buttondata - Push button data
Usage
buttondata is used for representing a standard push button combination for display on the
User Device such as the FlexPendant.
Description
A buttondata constant is used for representing response push buttons in instruction
UIMsgBox and functions UIMessageBox and UIListView .
Basic examples
Basic examples of the data type buttondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Result:= answer;
IF answer= resYes THEN
...
ELSE
...
ENDIF
The standard button enumeration btnYesNo will give one Yes and one No push button.
Predefined data
The following constants of the data type buttondata are predefined in the system.
It is possible to display user defined push buttons with the functions UIMessageBox and
UIListView .
Characteristics
buttondata is an alias data type for num and consequently inherits its characteristics.
Value
Constants
Button displayed
- 1
btnNone
No button
0
btnOK
OK
1
btnAbrtRtryIgn
Abort, Retry and Ignore
2
btnOKCancel
OK and Cancel
3
btnRetryCancel
Retry and Cancel
4
btnYesNo
Yes and No
5
btnYesNoCancel
Yes, No and Cancel
Continues on next page
3 Data types
3.5. buttondata - Push button data
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Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button result
btnres - Push button result data on page 1086
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
3 Data types
3.6. byte - Integer values 0 - 255
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3.6. byte - Integer values 0 - 255
Usage
byte is used for integer values (0 - 255) according to the range of a byte.
This data type is used in conjunction with instructions and functions that handle the bit
manipulations and convert features.
Description
Data of the type byte represents an integer byte value.
Basic examples
Basic examples of the data type byte are illustrated below.
Example 1
VAR byte data1 := 130;
Definition of a variable data1 with a decimal value 130.
Example 2
CONST num parity_bit := 8;
VAR byte data1 := 130;
BitClear data1, parity_bit;
Bit number 8 ( parity_bit ) in the variable data1 will be set to 0, e.g. the content of the
variable data1 will be changed from 130 to 2 (integer representation).
Error handling
If an argument of the type byte has a value that is not in the range between 0 and 255, an
error is returned on program execution.
Characteristics
byte is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Bit functions
Technical reference manual - RAPID overview ,
section RAPID summary - Bit functions
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3 Data types
3.5. buttondata - Push button data
RobotWare - OS
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
User Interaction Message Box
UIMsgBox - User Message Dialog Box type
basic on page 644
User Interaction Message Box
UIMessageBox - User Message Box type
advanced on page 1057
User Interaction List View
UIListView - User List View on page 1050
Alias data type button result
btnres - Push button result data on page 1086
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
3 Data types
3.6. byte - Integer values 0 - 255
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3.6. byte - Integer values 0 - 255
Usage
byte is used for integer values (0 - 255) according to the range of a byte.
This data type is used in conjunction with instructions and functions that handle the bit
manipulations and convert features.
Description
Data of the type byte represents an integer byte value.
Basic examples
Basic examples of the data type byte are illustrated below.
Example 1
VAR byte data1 := 130;
Definition of a variable data1 with a decimal value 130.
Example 2
CONST num parity_bit := 8;
VAR byte data1 := 130;
BitClear data1, parity_bit;
Bit number 8 ( parity_bit ) in the variable data1 will be set to 0, e.g. the content of the
variable data1 will be changed from 130 to 2 (integer representation).
Error handling
If an argument of the type byte has a value that is not in the range between 0 and 255, an
error is returned on program execution.
Characteristics
byte is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Bit functions
Technical reference manual - RAPID overview ,
section RAPID summary - Bit functions
3 Data types
3.7. clock - Time measurement
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3.7. clock - Time measurement
Usage
Clock is used for time measurement. A clock functions like a stopwatch used for timing.
Description
Data of the type clock stores a time measurement in seconds and has a resolution of
0.01 seconds.
Basic examples
Basic examples of the data type clock are illustrated below.
Example 1
VAR clock myclock;
ClkReset myclock;
The clock, myclock, is declared and reset. Before using ClkReset , ClkStart , ClkStop ,
and ClkRead , you must declare a variable of data type clock in your program.
Limitations
The maximum time that can be stored in a clock variable is approximately 49 days (4,294,967
seconds). The instructions ClkStart , ClkStop , and ClkRead report clock overflows in the
very unlikely event that one occurs.
A clock must be declared as a VAR variable type, not as a persistent variable type.
Characteristics
clock is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Summary of Time and Date Instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Non-value data type characteristics
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
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3.6. byte - Integer values 0 - 255
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3.6. byte - Integer values 0 - 255
Usage
byte is used for integer values (0 - 255) according to the range of a byte.
This data type is used in conjunction with instructions and functions that handle the bit
manipulations and convert features.
Description
Data of the type byte represents an integer byte value.
Basic examples
Basic examples of the data type byte are illustrated below.
Example 1
VAR byte data1 := 130;
Definition of a variable data1 with a decimal value 130.
Example 2
CONST num parity_bit := 8;
VAR byte data1 := 130;
BitClear data1, parity_bit;
Bit number 8 ( parity_bit ) in the variable data1 will be set to 0, e.g. the content of the
variable data1 will be changed from 130 to 2 (integer representation).
Error handling
If an argument of the type byte has a value that is not in the range between 0 and 255, an
error is returned on program execution.
Characteristics
byte is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Bit functions
Technical reference manual - RAPID overview ,
section RAPID summary - Bit functions
3 Data types
3.7. clock - Time measurement
RobotWare - OS
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© Copyright 2004-2010 ABB. All rights reserved.
3.7. clock - Time measurement
Usage
Clock is used for time measurement. A clock functions like a stopwatch used for timing.
Description
Data of the type clock stores a time measurement in seconds and has a resolution of
0.01 seconds.
Basic examples
Basic examples of the data type clock are illustrated below.
Example 1
VAR clock myclock;
ClkReset myclock;
The clock, myclock, is declared and reset. Before using ClkReset , ClkStart , ClkStop ,
and ClkRead , you must declare a variable of data type clock in your program.
Limitations
The maximum time that can be stored in a clock variable is approximately 49 days (4,294,967
seconds). The instructions ClkStart , ClkStop , and ClkRead report clock overflows in the
very unlikely event that one occurs.
A clock must be declared as a VAR variable type, not as a persistent variable type.
Characteristics
clock is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Summary of Time and Date Instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Non-value data type characteristics
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.8. confdata - Robot configuration data
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3.8. confdata - Robot configuration data
Usage
confdata is used to define the axis configurations of the robot.
Description
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is in the
same position and with the same orientation with several different positions or configurations
of the robots axes.
Some robot types use iterative numerical methods to determine the robot axes positions. In
these cases the configuration parameters may be used to define good starting values for the
joints to be used by the iterative procedure.
To unambiguously denote one of these possible configurations, the robot configuration is
specified using four axis values. For a rotating axis, the value defines the current quadrant of
the robot axis. The quadrants are numbered 0, 1, 2, etc. (they can also be negative). The
quadrant number is connected to the current joint angle of the axis. For each axis, quadrant 0
is the first quarter revolution, 0 to 90°, in a positive direction from the zero position; quadrant
1 is the next revolution, 90 to 180°, etc. Quadrant -1 is the revolution 0° to (-90°), etc. (see
figure below).
The figure shows the configuration quadrants for axis 6.
xx0500002398
For a linear axis, the value defines a meter interval for the robot axis. For each axis, value 0
means a position between 0 and 1 meters and 1 means a position between 1 and 2 meters. For
negative values, -1 means a position between -1 and 0 meters, etc. (see figure below).
The figure shows configuration values for a linear axis.
xx0500002399
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3 Data types
3.7. clock - Time measurement
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3.7. clock - Time measurement
Usage
Clock is used for time measurement. A clock functions like a stopwatch used for timing.
Description
Data of the type clock stores a time measurement in seconds and has a resolution of
0.01 seconds.
Basic examples
Basic examples of the data type clock are illustrated below.
Example 1
VAR clock myclock;
ClkReset myclock;
The clock, myclock, is declared and reset. Before using ClkReset , ClkStart , ClkStop ,
and ClkRead , you must declare a variable of data type clock in your program.
Limitations
The maximum time that can be stored in a clock variable is approximately 49 days (4,294,967
seconds). The instructions ClkStart , ClkStop , and ClkRead report clock overflows in the
very unlikely event that one occurs.
A clock must be declared as a VAR variable type, not as a persistent variable type.
Characteristics
clock is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Summary of Time and Date Instructions
Technical reference manual - RAPID overview ,
section RAPID summary - System & time
Non-value data type characteristics
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.8. confdata - Robot configuration data
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© Copyright 2004-2010 ABB. All rights reserved.
3.8. confdata - Robot configuration data
Usage
confdata is used to define the axis configurations of the robot.
Description
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is in the
same position and with the same orientation with several different positions or configurations
of the robots axes.
Some robot types use iterative numerical methods to determine the robot axes positions. In
these cases the configuration parameters may be used to define good starting values for the
joints to be used by the iterative procedure.
To unambiguously denote one of these possible configurations, the robot configuration is
specified using four axis values. For a rotating axis, the value defines the current quadrant of
the robot axis. The quadrants are numbered 0, 1, 2, etc. (they can also be negative). The
quadrant number is connected to the current joint angle of the axis. For each axis, quadrant 0
is the first quarter revolution, 0 to 90°, in a positive direction from the zero position; quadrant
1 is the next revolution, 90 to 180°, etc. Quadrant -1 is the revolution 0° to (-90°), etc. (see
figure below).
The figure shows the configuration quadrants for axis 6.
xx0500002398
For a linear axis, the value defines a meter interval for the robot axis. For each axis, value 0
means a position between 0 and 1 meters and 1 means a position between 1 and 2 meters. For
negative values, -1 means a position between -1 and 0 meters, etc. (see figure below).
The figure shows configuration values for a linear axis.
xx0500002399
Continues on next page
3 Data types
3.8. confdata - Robot configuration data
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Robot configuration data for IRB 140, 6600, 6650, 7600
There are three singularities within the robot’s working range (See RAPID reference manual
- RAPID summary , section Motion and I/O principles - Singularities ).
•
cf1 is the quadrant number for axis 1.
•
cf4 is the quadrant number for axis 4.
•
cf6 is the quadrant number for axis 6.
cfx is used to select one of eight possible robot configurations numbered from 0 through 7.
The table below describes each one of them in terms of how the robot is positioned relative
to the three singularities.
The pictures below give an example of how the same tool position and orientation is attained
by using the eight different configurations.
The following figure shows an example of robot configuration 0 and 1. Note the different
signs of the axis 5 angle.
xx0500002400
cfx
Wrist center relative to
axis 1
Wrist center relative to
lower arm
Axis 5 angle
0
In front of
In front of
Positive
1
In front of
In front of
Negative
2
In front of
Behind
Positive
3
In front of
Behind
Negative
4
Behind
In front of
Positive
5
Behind
In front of
Negative
6
Behind
Behind
Positive
7
Behind
Behind
Negative
Continued
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3.8. confdata - Robot configuration data
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3.8. confdata - Robot configuration data
Usage
confdata is used to define the axis configurations of the robot.
Description
All positions of the robot are defined and stored using rectangular coordinates. When
calculating the corresponding axis positions, there will often be two or more possible
solutions. This means that the robot is able to achieve the same position, i.e. the tool is in the
same position and with the same orientation with several different positions or configurations
of the robots axes.
Some robot types use iterative numerical methods to determine the robot axes positions. In
these cases the configuration parameters may be used to define good starting values for the
joints to be used by the iterative procedure.
To unambiguously denote one of these possible configurations, the robot configuration is
specified using four axis values. For a rotating axis, the value defines the current quadrant of
the robot axis. The quadrants are numbered 0, 1, 2, etc. (they can also be negative). The
quadrant number is connected to the current joint angle of the axis. For each axis, quadrant 0
is the first quarter revolution, 0 to 90°, in a positive direction from the zero position; quadrant
1 is the next revolution, 90 to 180°, etc. Quadrant -1 is the revolution 0° to (-90°), etc. (see
figure below).
The figure shows the configuration quadrants for axis 6.
xx0500002398
For a linear axis, the value defines a meter interval for the robot axis. For each axis, value 0
means a position between 0 and 1 meters and 1 means a position between 1 and 2 meters. For
negative values, -1 means a position between -1 and 0 meters, etc. (see figure below).
The figure shows configuration values for a linear axis.
xx0500002399
Continues on next page
3 Data types
3.8. confdata - Robot configuration data
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Robot configuration data for IRB 140, 6600, 6650, 7600
There are three singularities within the robot’s working range (See RAPID reference manual
- RAPID summary , section Motion and I/O principles - Singularities ).
•
cf1 is the quadrant number for axis 1.
•
cf4 is the quadrant number for axis 4.
•
cf6 is the quadrant number for axis 6.
cfx is used to select one of eight possible robot configurations numbered from 0 through 7.
The table below describes each one of them in terms of how the robot is positioned relative
to the three singularities.
The pictures below give an example of how the same tool position and orientation is attained
by using the eight different configurations.
The following figure shows an example of robot configuration 0 and 1. Note the different
signs of the axis 5 angle.
xx0500002400
cfx
Wrist center relative to
axis 1
Wrist center relative to
lower arm
Axis 5 angle
0
In front of
In front of
Positive
1
In front of
In front of
Negative
2
In front of
Behind
Positive
3
In front of
Behind
Negative
4
Behind
In front of
Positive
5
Behind
In front of
Negative
6
Behind
Behind
Positive
7
Behind
Behind
Negative
Continued
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3.8. confdata - Robot configuration data
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The following figure shows an example of robot configuration 2 and 3. Note the different
signs of the axis 5 angle.
xx0500002401
The following figure shows an example of robot configuration 4 and 5. Note the different
signs of the axis 5 angle.
xx0500002402
The following figure shows an example of robot configuration 6 and 7. Note the different
signs of the axis 5 angle.
xx0500002403
Robot configuration data for IRB 340
Only the configuration parameter cf4 is used.
Robot configuration data for IRB 260, 660
Only the configuration parameter cf6 is used.
Continued
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3.8. confdata - Robot configuration data
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Robot configuration data for IRB 140, 6600, 6650, 7600
There are three singularities within the robot’s working range (See RAPID reference manual
- RAPID summary , section Motion and I/O principles - Singularities ).
•
cf1 is the quadrant number for axis 1.
•
cf4 is the quadrant number for axis 4.
•
cf6 is the quadrant number for axis 6.
cfx is used to select one of eight possible robot configurations numbered from 0 through 7.
The table below describes each one of them in terms of how the robot is positioned relative
to the three singularities.
The pictures below give an example of how the same tool position and orientation is attained
by using the eight different configurations.
The following figure shows an example of robot configuration 0 and 1. Note the different
signs of the axis 5 angle.
xx0500002400
cfx
Wrist center relative to
axis 1
Wrist center relative to
lower arm
Axis 5 angle
0
In front of
In front of
Positive
1
In front of
In front of
Negative
2
In front of
Behind
Positive
3
In front of
Behind
Negative
4
Behind
In front of
Positive
5
Behind
In front of
Negative
6
Behind
Behind
Positive
7
Behind
Behind
Negative
Continued
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3.8. confdata - Robot configuration data
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The following figure shows an example of robot configuration 2 and 3. Note the different
signs of the axis 5 angle.
xx0500002401
The following figure shows an example of robot configuration 4 and 5. Note the different
signs of the axis 5 angle.
xx0500002402
The following figure shows an example of robot configuration 6 and 7. Note the different
signs of the axis 5 angle.
xx0500002403
Robot configuration data for IRB 340
Only the configuration parameter cf4 is used.
Robot configuration data for IRB 260, 660
Only the configuration parameter cf6 is used.
Continued
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3.8. confdata - Robot configuration data
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Robot configuration data for IRB 1400, 2400, 3400, 4400, 6400
Only the three configuration parameters cf1 , cf4 , and cf6 are used.
Robot configuration data for IRB 5400
All four configuration parameters are used. cf1 , cf4 , cf6 for joints 1, 4, and 6 respectively
and cfx for joint 5.
Robot configuration data for IRB 5404, 5406
The robots have two rotation axes (arms 1 and 2) and one linear axis (arm 3).
•
cf1 is used for the rotating axis 1
•
cfx is used for the rotating axis 2
•
cf4 and cf6 are not used
Robot configuration data for IRB 5413, 5414, 5423
The robots have two linear axes (arms 1 and 2) and one or two rotating axes (arms 4 and 5).
(Arm 3 locked).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Robot configuration data for IRB 840
The robot has three linear axes (arms 1, 2 and 3) and one rotating axis (arm 4).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Because of the robot’s mainly linear structure, the correct setting of the configuration
parameters c1 , cx is of less importance.
Components
cf1
Data type: num
Rotating axis:
The current quadrant of axis 1, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 1, expressed as a positive or negative integer.
Continued
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3.8. confdata - Robot configuration data
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The following figure shows an example of robot configuration 2 and 3. Note the different
signs of the axis 5 angle.
xx0500002401
The following figure shows an example of robot configuration 4 and 5. Note the different
signs of the axis 5 angle.
xx0500002402
The following figure shows an example of robot configuration 6 and 7. Note the different
signs of the axis 5 angle.
xx0500002403
Robot configuration data for IRB 340
Only the configuration parameter cf4 is used.
Robot configuration data for IRB 260, 660
Only the configuration parameter cf6 is used.
Continued
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3 Data types
3.8. confdata - Robot configuration data
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Robot configuration data for IRB 1400, 2400, 3400, 4400, 6400
Only the three configuration parameters cf1 , cf4 , and cf6 are used.
Robot configuration data for IRB 5400
All four configuration parameters are used. cf1 , cf4 , cf6 for joints 1, 4, and 6 respectively
and cfx for joint 5.
Robot configuration data for IRB 5404, 5406
The robots have two rotation axes (arms 1 and 2) and one linear axis (arm 3).
•
cf1 is used for the rotating axis 1
•
cfx is used for the rotating axis 2
•
cf4 and cf6 are not used
Robot configuration data for IRB 5413, 5414, 5423
The robots have two linear axes (arms 1 and 2) and one or two rotating axes (arms 4 and 5).
(Arm 3 locked).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Robot configuration data for IRB 840
The robot has three linear axes (arms 1, 2 and 3) and one rotating axis (arm 4).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Because of the robot’s mainly linear structure, the correct setting of the configuration
parameters c1 , cx is of less importance.
Components
cf1
Data type: num
Rotating axis:
The current quadrant of axis 1, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 1, expressed as a positive or negative integer.
Continued
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3.8. confdata - Robot configuration data
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cf4
Data type: num
Rotating axis:
The current quadrant of axis 4, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 4, expressed as a positive or negative integer.
cf6
Data type: num
Rotating axis:
The current quadrant of axis 6, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 6, expressed as a positive or negative integer.
cfx
Data type: num
Rotating axis:
For the IRB 140, the current robot configuration, expressed as an integer in the range from 0
to 7.
For the IRB 5400, the current quadrant of axis 5, expressed as a positive or negative integer.
For other robots, using the current quadrant of axis 2, expressed as a positive or negative
integer.
Linear axis:
The current meter interval of axis 2, expressed as a positive or negative integer.
Basic examples
Basic examples of the data type confdata are illustrated below.
Example 1
VAR confdata conf15 := [1, -1, 0, 0]
A robot configuration conf15 for robot type IRB 5400 is defined as follows:
•
The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180º.
•
The axis configuration of the robot axis 4 is quadrant -1 , i.e. 0-(-90º).
•
The axis configuration of the robot axis 6 is quadrant 0 , i.e. 0 - 90º.
•
The axis configuration of the robot axis 5 is quadrant 0 , i.e. 0 - 90º.
Structure
< dataobject of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
Continued
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Robot configuration data for IRB 1400, 2400, 3400, 4400, 6400
Only the three configuration parameters cf1 , cf4 , and cf6 are used.
Robot configuration data for IRB 5400
All four configuration parameters are used. cf1 , cf4 , cf6 for joints 1, 4, and 6 respectively
and cfx for joint 5.
Robot configuration data for IRB 5404, 5406
The robots have two rotation axes (arms 1 and 2) and one linear axis (arm 3).
•
cf1 is used for the rotating axis 1
•
cfx is used for the rotating axis 2
•
cf4 and cf6 are not used
Robot configuration data for IRB 5413, 5414, 5423
The robots have two linear axes (arms 1 and 2) and one or two rotating axes (arms 4 and 5).
(Arm 3 locked).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Robot configuration data for IRB 840
The robot has three linear axes (arms 1, 2 and 3) and one rotating axis (arm 4).
•
cf1 is used for the linear axis 1
•
cfx is used for the linear axis 2
•
cf4 is used for the rotating axis 4
•
cf6 is not used
Because of the robot’s mainly linear structure, the correct setting of the configuration
parameters c1 , cx is of less importance.
Components
cf1
Data type: num
Rotating axis:
The current quadrant of axis 1, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 1, expressed as a positive or negative integer.
Continued
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3.8. confdata - Robot configuration data
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cf4
Data type: num
Rotating axis:
The current quadrant of axis 4, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 4, expressed as a positive or negative integer.
cf6
Data type: num
Rotating axis:
The current quadrant of axis 6, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 6, expressed as a positive or negative integer.
cfx
Data type: num
Rotating axis:
For the IRB 140, the current robot configuration, expressed as an integer in the range from 0
to 7.
For the IRB 5400, the current quadrant of axis 5, expressed as a positive or negative integer.
For other robots, using the current quadrant of axis 2, expressed as a positive or negative
integer.
Linear axis:
The current meter interval of axis 2, expressed as a positive or negative integer.
Basic examples
Basic examples of the data type confdata are illustrated below.
Example 1
VAR confdata conf15 := [1, -1, 0, 0]
A robot configuration conf15 for robot type IRB 5400 is defined as follows:
•
The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180º.
•
The axis configuration of the robot axis 4 is quadrant -1 , i.e. 0-(-90º).
•
The axis configuration of the robot axis 6 is quadrant 0 , i.e. 0 - 90º.
•
The axis configuration of the robot axis 5 is quadrant 0 , i.e. 0 - 90º.
Structure
< dataobject of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
Continued
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3 Data types
3.8. confdata - Robot configuration data
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Related information
For information about
See
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Handling configuration data
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Robot configura-
tion
Position data
robtarget - Position data on page 1176
Continued
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cf4
Data type: num
Rotating axis:
The current quadrant of axis 4, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 4, expressed as a positive or negative integer.
cf6
Data type: num
Rotating axis:
The current quadrant of axis 6, expressed as a positive or negative integer.
Linear axis:
The current meter interval of axis 6, expressed as a positive or negative integer.
cfx
Data type: num
Rotating axis:
For the IRB 140, the current robot configuration, expressed as an integer in the range from 0
to 7.
For the IRB 5400, the current quadrant of axis 5, expressed as a positive or negative integer.
For other robots, using the current quadrant of axis 2, expressed as a positive or negative
integer.
Linear axis:
The current meter interval of axis 2, expressed as a positive or negative integer.
Basic examples
Basic examples of the data type confdata are illustrated below.
Example 1
VAR confdata conf15 := [1, -1, 0, 0]
A robot configuration conf15 for robot type IRB 5400 is defined as follows:
•
The axis configuration of the robot axis 1 is quadrant 1, i.e. 90-180º.
•
The axis configuration of the robot axis 4 is quadrant -1 , i.e. 0-(-90º).
•
The axis configuration of the robot axis 6 is quadrant 0 , i.e. 0 - 90º.
•
The axis configuration of the robot axis 5 is quadrant 0 , i.e. 0 - 90º.
Structure
< dataobject of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
Continued
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3 Data types
3.8. confdata - Robot configuration data
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Related information
For information about
See
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Handling configuration data
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Robot configura-
tion
Position data
robtarget - Position data on page 1176
Continued
3 Data types
3.9. corrdescr - Correction generator descriptor
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3.9. corrdescr - Correction generator descriptor
Usage
corrdescr ( Correction generator descriptor ) is used by correction generators. A correction
generator adds geometric offsets in the path coordinate system.
Description
Data of the type corrdescr contains a reference to a correction generator.
Connection to a correction generator is done by the instruction CorrCon and the descriptor
(the reference to the correction generator) can be used to deliver geometric offsets in the path
coordinate system with the instruction CorrWrite .
Offsets provided earlier can be removed by disconnecting a correction generator with the
instruction CorrDiscon . All connected correction generators can be removed with the
instruction CorrClear .
The function CorrRead returns the sum of all the delivered offsets so far (includes all
connected correction generators).
Basic examples
Basic examples of the data type corrdescr are illustrated below.
Example 1
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;
A correction generator is connected with the instruction CorrCon and referenced by the
descriptor id . Offsets are then delivered to the correction generator (with reference id ) using
the instruction CorrWrite .
Characteristics
corrdescr is a non-value data type.
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3.8. confdata - Robot configuration data
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Related information
For information about
See
Coordinate systems
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Coordinate
systems
Handling configuration data
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Robot configura-
tion
Position data
robtarget - Position data on page 1176
Continued
3 Data types
3.9. corrdescr - Correction generator descriptor
Path Offset
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3.9. corrdescr - Correction generator descriptor
Usage
corrdescr ( Correction generator descriptor ) is used by correction generators. A correction
generator adds geometric offsets in the path coordinate system.
Description
Data of the type corrdescr contains a reference to a correction generator.
Connection to a correction generator is done by the instruction CorrCon and the descriptor
(the reference to the correction generator) can be used to deliver geometric offsets in the path
coordinate system with the instruction CorrWrite .
Offsets provided earlier can be removed by disconnecting a correction generator with the
instruction CorrDiscon . All connected correction generators can be removed with the
instruction CorrClear .
The function CorrRead returns the sum of all the delivered offsets so far (includes all
connected correction generators).
Basic examples
Basic examples of the data type corrdescr are illustrated below.
Example 1
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;
A correction generator is connected with the instruction CorrCon and referenced by the
descriptor id . Offsets are then delivered to the correction generator (with reference id ) using
the instruction CorrWrite .
Characteristics
corrdescr is a non-value data type.
Continues on next page
3 Data types
3.9. corrdescr - Correction generator descriptor
Path Offset
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Related information
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a correction generator
CorrWrite - Writes to a correction generator on
page 77
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Removes all correction generators
CorrClear - Removes all correction generators
on page 70
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
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3.9. corrdescr - Correction generator descriptor
Path Offset
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3.9. corrdescr - Correction generator descriptor
Usage
corrdescr ( Correction generator descriptor ) is used by correction generators. A correction
generator adds geometric offsets in the path coordinate system.
Description
Data of the type corrdescr contains a reference to a correction generator.
Connection to a correction generator is done by the instruction CorrCon and the descriptor
(the reference to the correction generator) can be used to deliver geometric offsets in the path
coordinate system with the instruction CorrWrite .
Offsets provided earlier can be removed by disconnecting a correction generator with the
instruction CorrDiscon . All connected correction generators can be removed with the
instruction CorrClear .
The function CorrRead returns the sum of all the delivered offsets so far (includes all
connected correction generators).
Basic examples
Basic examples of the data type corrdescr are illustrated below.
Example 1
VAR corrdescr id;
VAR pos offset;
...
CorrCon id;
offset := [1, 2 ,3];
CorrWrite id, offset;
A correction generator is connected with the instruction CorrCon and referenced by the
descriptor id . Offsets are then delivered to the correction generator (with reference id ) using
the instruction CorrWrite .
Characteristics
corrdescr is a non-value data type.
Continues on next page
3 Data types
3.9. corrdescr - Correction generator descriptor
Path Offset
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Related information
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a correction generator
CorrWrite - Writes to a correction generator on
page 77
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Removes all correction generators
CorrClear - Removes all correction generators
on page 70
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.10. datapos - Enclosing block for a data object
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3.10. datapos - Enclosing block for a data object
Usage
datapos is the enclosing block to a data object (internal system data) retrieved with the
function GetNextSym .
Description
Data of the type datapos contains information of where a certain object is defined in the
system. It is used for instructions GetDataVal and SetDataVal .
Basic examples
Basic examples of the data type datapos 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 .
Characteristics
datapos is a non-value data type.
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 next matching symbol
GetNextSym - Get next matching symbol on
page 855
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 object
SetAllDataVal - Set a value to all data objects in
a defined set on page 429
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3.9. corrdescr - Correction generator descriptor
Path Offset
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Related information
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a correction generator
CorrWrite - Writes to a correction generator on
page 77
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Removes all correction generators
CorrClear - Removes all correction generators
on page 70
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.10. datapos - Enclosing block for a data object
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3.10. datapos - Enclosing block for a data object
Usage
datapos is the enclosing block to a data object (internal system data) retrieved with the
function GetNextSym .
Description
Data of the type datapos contains information of where a certain object is defined in the
system. It is used for instructions GetDataVal and SetDataVal .
Basic examples
Basic examples of the data type datapos 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 .
Characteristics
datapos is a non-value data type.
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 next matching symbol
GetNextSym - Get next matching symbol on
page 855
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 object
SetAllDataVal - Set a value to all data objects in
a defined set on page 429
3 Data types
3.11. dionum - Digital values (0 - 1)
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3.11. dionum - Digital values (0 - 1)
Usage
dionum (digital input output numeric) is used for digital values (0 or 1).
This data type is used in conjunction with instructions and functions that handle digital input
or output signals.
Description
Data of the type dionum represents a digital value 0 or 1.
Basic examples
Basic examples of the data type dionum are illustrated below.
Example 1
CONST dionum close := 1;
SetDO grip1, close;
Definition of a constant close with a value equal to 1 . The signal grip1 is then set to
close , i.e. 1 .
Predefined data
The constants high , low , and edge are predefined in the system module base.sys :
CONST dionum low:=0;
CONST dionum high:=1;
CONST dionum edge:=2;
The constants low and high are designed for IO instructions.
Edge can be used together with the interrupt instructions ISignalDI and ISignalDO .
Characteristics
dionum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Summary input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Configuration of I/O
Technical reference manual - System parameters
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics- Data types
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3.10. datapos - Enclosing block for a data object
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3.10. datapos - Enclosing block for a data object
Usage
datapos is the enclosing block to a data object (internal system data) retrieved with the
function GetNextSym .
Description
Data of the type datapos contains information of where a certain object is defined in the
system. It is used for instructions GetDataVal and SetDataVal .
Basic examples
Basic examples of the data type datapos 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 .
Characteristics
datapos is a non-value data type.
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 next matching symbol
GetNextSym - Get next matching symbol on
page 855
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 object
SetAllDataVal - Set a value to all data objects in
a defined set on page 429
3 Data types
3.11. dionum - Digital values (0 - 1)
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3.11. dionum - Digital values (0 - 1)
Usage
dionum (digital input output numeric) is used for digital values (0 or 1).
This data type is used in conjunction with instructions and functions that handle digital input
or output signals.
Description
Data of the type dionum represents a digital value 0 or 1.
Basic examples
Basic examples of the data type dionum are illustrated below.
Example 1
CONST dionum close := 1;
SetDO grip1, close;
Definition of a constant close with a value equal to 1 . The signal grip1 is then set to
close , i.e. 1 .
Predefined data
The constants high , low , and edge are predefined in the system module base.sys :
CONST dionum low:=0;
CONST dionum high:=1;
CONST dionum edge:=2;
The constants low and high are designed for IO instructions.
Edge can be used together with the interrupt instructions ISignalDI and ISignalDO .
Characteristics
dionum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Summary input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Configuration of I/O
Technical reference manual - System parameters
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics- Data types
3 Data types
3.12. dir - File directory structure
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3.12. dir - File directory structure
Usage
dir ( directory ) is used to traverse directory structures.
Description
Data of the type dir contains a reference to a directory on disk or network. It can be linked
to the physical directory by means of the instruction OpenDir and then used for reading.
Basic examples
Basic examples of the data type dir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Characteristics
dir is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Open a directory
OpenDir - Open a directory on page 285
Make a directory
MakeDir - Create a new directory on page 218
Read a directory
ReadDir - Read next entry in a directory on page 944
Close a directory
CloseDir - Close a directory on page 56
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
Check file type
IsFile - Check the type of a file on page 878
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3 Data types
3.11. dionum - Digital values (0 - 1)
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3.11. dionum - Digital values (0 - 1)
Usage
dionum (digital input output numeric) is used for digital values (0 or 1).
This data type is used in conjunction with instructions and functions that handle digital input
or output signals.
Description
Data of the type dionum represents a digital value 0 or 1.
Basic examples
Basic examples of the data type dionum are illustrated below.
Example 1
CONST dionum close := 1;
SetDO grip1, close;
Definition of a constant close with a value equal to 1 . The signal grip1 is then set to
close , i.e. 1 .
Predefined data
The constants high , low , and edge are predefined in the system module base.sys :
CONST dionum low:=0;
CONST dionum high:=1;
CONST dionum edge:=2;
The constants low and high are designed for IO instructions.
Edge can be used together with the interrupt instructions ISignalDI and ISignalDO .
Characteristics
dionum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Summary input/output instructions
Technical reference manual - RAPID overview ,
section RAPID Summary - Input and output signals
Configuration of I/O
Technical reference manual - System parameters
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics- Data types
3 Data types
3.12. dir - File directory structure
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3.12. dir - File directory structure
Usage
dir ( directory ) is used to traverse directory structures.
Description
Data of the type dir contains a reference to a directory on disk or network. It can be linked
to the physical directory by means of the instruction OpenDir and then used for reading.
Basic examples
Basic examples of the data type dir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Characteristics
dir is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Open a directory
OpenDir - Open a directory on page 285
Make a directory
MakeDir - Create a new directory on page 218
Read a directory
ReadDir - Read next entry in a directory on page 944
Close a directory
CloseDir - Close a directory on page 56
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
Check file type
IsFile - Check the type of a file on page 878
3 Data types
3.13. dnum - Double numeric values
RobotWare - OS
3HAC 16581-1 Revision: J
1104
© Copyright 2004-2010 ABB. All rights reserved.
3.13. dnum - Double numeric values
Usage
dnum is used for numeric values, for example counters. It can handle larger integer values
than data type num but its characteristics and function is the same as for num .
Description
The value of the dnum data type can be:
•
An integer, for example -5
•
A decimal number, for example 3.45
It can also be written exponentially, for example 2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025).
Integers between -4503599627370496 and +4503599627370496 are always stored as exact
integers.
Basic examples
Basic examples of the data type dnum are illustrated below.
Example 1
VAR dnum reg1;
...
reg1:=1000000;
reg1 is assigned the value 1000000 .
Example 2
VAR dnum hex;
Var dnum bin;
VAR dnum oct;
! Hexadecimal representation of decimal value 4294967295
hex := 0xFFFFFFFF;
! Binary representation of decimal value 255
bin := 0b11111111;
! Octal representation of decimal value 255
oct := 0o377;
Example 3
VAR dnum a:=0;
VAR dnum b:=0;
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1).
Limitations
Literal values between -4503599627370496 to 4503599627370496 assigned to a dnum
variable are stored as exact integers.
If a literal value that has been interpreted as a num is assigned/used as a dnum , it is
automatically converted to a dnum .
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3 Data types
3.12. dir - File directory structure
RobotWare - OS
1103
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.12. dir - File directory structure
Usage
dir ( directory ) is used to traverse directory structures.
Description
Data of the type dir contains a reference to a directory on disk or network. It can be linked
to the physical directory by means of the instruction OpenDir and then used for reading.
Basic examples
Basic examples of the data type dir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Characteristics
dir is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Open a directory
OpenDir - Open a directory on page 285
Make a directory
MakeDir - Create a new directory on page 218
Read a directory
ReadDir - Read next entry in a directory on page 944
Close a directory
CloseDir - Close a directory on page 56
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
Check file type
IsFile - Check the type of a file on page 878
3 Data types
3.13. dnum - Double numeric values
RobotWare - OS
3HAC 16581-1 Revision: J
1104
© Copyright 2004-2010 ABB. All rights reserved.
3.13. dnum - Double numeric values
Usage
dnum is used for numeric values, for example counters. It can handle larger integer values
than data type num but its characteristics and function is the same as for num .
Description
The value of the dnum data type can be:
•
An integer, for example -5
•
A decimal number, for example 3.45
It can also be written exponentially, for example 2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025).
Integers between -4503599627370496 and +4503599627370496 are always stored as exact
integers.
Basic examples
Basic examples of the data type dnum are illustrated below.
Example 1
VAR dnum reg1;
...
reg1:=1000000;
reg1 is assigned the value 1000000 .
Example 2
VAR dnum hex;
Var dnum bin;
VAR dnum oct;
! Hexadecimal representation of decimal value 4294967295
hex := 0xFFFFFFFF;
! Binary representation of decimal value 255
bin := 0b11111111;
! Octal representation of decimal value 255
oct := 0o377;
Example 3
VAR dnum a:=0;
VAR dnum b:=0;
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1).
Limitations
Literal values between -4503599627370496 to 4503599627370496 assigned to a dnum
variable are stored as exact integers.
If a literal value that has been interpreted as a num is assigned/used as a dnum , it is
automatically converted to a dnum .
Continues on next page
3 Data types
3.13. dnum - Double numeric values
RobotWare - OS
1105
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Numeric values using data type num
num - Numeric values on page 1146
Numeric expressions
Technical reference manual - RAPID
overview, section Basic RAPID programming
Operations using numeric values
Technical reference manual - RAPID
overview, section Basic RAPID programming
Continued
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