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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
3 Data types
3.14. errdomain - Error domain
RobotWare - OS
3HAC 16581-1 Revision: J
1106
© Copyright 2004-2010 ABB. All rights reserved.
3.14. errdomain - Error domain
Usage
errdomain ( error domain ) is used to specify an error domain.
Description
Data of the type errdomain represents the domain where the error, warning, or state changed
is logged.
Basic examples
Basic examples of the data type errdomain are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error domain.
Characteristics
errdomain is an alias data type for num and consequently inherits its characteristics.
Name
Error Domain
Value
COMMON_ERR
All error and state changed domains
0
OP_STATE
Operational state change
1
SYSTEM_ERR
System errors
2
HARDWARE_ERR
Hardware errors
3
PROGRAM_ERR
Program errors
4
MOTION_ERR
Motion errors
5
OPERATOR_ERR
Operator errors - Obsolete, not used anymore
6
IO_COM_ERR
I/O and Communication errors
7
USER_DEF_ERR
User defined errors (raised by RAPID)
8
OPTION_PROD_ERR
Optional product errors - Obsolete, not used any
more
9
PROCESS_ERR
Process errors
11
CFG_ERR
Configuration error
12
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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
3 Data types
3.14. errdomain - Error domain
RobotWare - OS
3HAC 16581-1 Revision: J
1106
© Copyright 2004-2010 ABB. All rights reserved.
3.14. errdomain - Error domain
Usage
errdomain ( error domain ) is used to specify an error domain.
Description
Data of the type errdomain represents the domain where the error, warning, or state changed
is logged.
Basic examples
Basic examples of the data type errdomain are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error domain.
Characteristics
errdomain is an alias data type for num and consequently inherits its characteristics.
Name
Error Domain
Value
COMMON_ERR
All error and state changed domains
0
OP_STATE
Operational state change
1
SYSTEM_ERR
System errors
2
HARDWARE_ERR
Hardware errors
3
PROGRAM_ERR
Program errors
4
MOTION_ERR
Motion errors
5
OPERATOR_ERR
Operator errors - Obsolete, not used anymore
6
IO_COM_ERR
I/O and Communication errors
7
USER_DEF_ERR
User defined errors (raised by RAPID)
8
OPTION_PROD_ERR
Optional product errors - Obsolete, not used any
more
9
PROCESS_ERR
Process errors
11
CFG_ERR
Configuration error
12
Continues on next page
3 Data types
3.14. errdomain - Error domain
RobotWare - OS
1107
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview , section
Basic characteristics - Data types
Continued
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3 Data types
3.14. errdomain - Error domain
RobotWare - OS
3HAC 16581-1 Revision: J
1106
© Copyright 2004-2010 ABB. All rights reserved.
3.14. errdomain - Error domain
Usage
errdomain ( error domain ) is used to specify an error domain.
Description
Data of the type errdomain represents the domain where the error, warning, or state changed
is logged.
Basic examples
Basic examples of the data type errdomain are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error domain.
Characteristics
errdomain is an alias data type for num and consequently inherits its characteristics.
Name
Error Domain
Value
COMMON_ERR
All error and state changed domains
0
OP_STATE
Operational state change
1
SYSTEM_ERR
System errors
2
HARDWARE_ERR
Hardware errors
3
PROGRAM_ERR
Program errors
4
MOTION_ERR
Motion errors
5
OPERATOR_ERR
Operator errors - Obsolete, not used anymore
6
IO_COM_ERR
I/O and Communication errors
7
USER_DEF_ERR
User defined errors (raised by RAPID)
8
OPTION_PROD_ERR
Optional product errors - Obsolete, not used any
more
9
PROCESS_ERR
Process errors
11
CFG_ERR
Configuration error
12
Continues on next page
3 Data types
3.14. errdomain - Error domain
RobotWare - OS
1107
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview , section
Basic characteristics - Data types
Continued
3 Data types
3.15. errnum - Error number
RobotWare - OS
3HAC 16581-1 Revision: J
1108
© Copyright 2004-2010 ABB. All rights reserved.
3.15. errnum - Error number
Usage
errnum is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.
Description
If the robot detects an error during program execution, this can be dealt with in the error
handler of the routine. Examples of such errors are values that are too high and division by
zero. The system variable ERRNO , of type errnum , is thus assigned different values
depending on the nature of an error. The error handler may be able to correct an error by
reading this variable and then program execution can continue in the correct way.
An error can also be created from within the program using the RAISE instruction. This
particular type of error can be detected in the error handler by specifying an error number
(within the range 1-90 or booked with instruction BookErrNo ) as an argument to RAISE .
Basic examples
Basic examples of the data type errnum are illustrated below.
Example 1
reg1 := reg2 / reg3;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg3 := 1;
RETRY;
ENDIF
If reg3 = 0 , the robot detects an error when division is taking place. This error, however,
can be detected and corrected by assigning reg3 the value 1 . Following this, the division can
be performed again and program execution can continue.
Example 2
CONST errnum machine_error := 1;
...
IF di1=0 RAISE machine_error;
...
ERROR
IF ERRNO=machine_error RAISE;
An error occurs in a machine (detected by means of the input signal di1 ). A jump is made to
the error handler in the routine which, in turn, calls the error handler of the calling routine
where the error may possibly be corrected. The constant, machine_error , is used to let the
error handler know exactly what type of error has occurred.
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3 Data types
3.14. errdomain - Error domain
RobotWare - OS
1107
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview , section
Basic characteristics - Data types
Continued
3 Data types
3.15. errnum - Error number
RobotWare - OS
3HAC 16581-1 Revision: J
1108
© Copyright 2004-2010 ABB. All rights reserved.
3.15. errnum - Error number
Usage
errnum is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.
Description
If the robot detects an error during program execution, this can be dealt with in the error
handler of the routine. Examples of such errors are values that are too high and division by
zero. The system variable ERRNO , of type errnum , is thus assigned different values
depending on the nature of an error. The error handler may be able to correct an error by
reading this variable and then program execution can continue in the correct way.
An error can also be created from within the program using the RAISE instruction. This
particular type of error can be detected in the error handler by specifying an error number
(within the range 1-90 or booked with instruction BookErrNo ) as an argument to RAISE .
Basic examples
Basic examples of the data type errnum are illustrated below.
Example 1
reg1 := reg2 / reg3;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg3 := 1;
RETRY;
ENDIF
If reg3 = 0 , the robot detects an error when division is taking place. This error, however,
can be detected and corrected by assigning reg3 the value 1 . Following this, the division can
be performed again and program execution can continue.
Example 2
CONST errnum machine_error := 1;
...
IF di1=0 RAISE machine_error;
...
ERROR
IF ERRNO=machine_error RAISE;
An error occurs in a machine (detected by means of the input signal di1 ). A jump is made to
the error handler in the routine which, in turn, calls the error handler of the calling routine
where the error may possibly be corrected. The constant, machine_error , is used to let the
error handler know exactly what type of error has occurred.
Continues on next page
3 Data types
3.15. errnum - Error number
RobotWare - OS
1109
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
The system variable ERRNO can be used to read the latest error that occurred. A number of
predefined constants can be used to determine the type of error that has occurred.
Name
Cause of error
ERR_ACC_TOO_LOW
Too low acceleration/deceleration specified in
instruction PathAccLim or WorldAccLim
ERR_ALIASIO_DEF
The FromSignal is not defined in the IO configuration
or the ToSignal is not declared in the RAPID program
or is defined in the IO configuration. Instruction
AliasIO
ERR_ALIASIO_TYPE
The signal types for the arguments FromSignal and
ToSignal is not the same (signalx). Instruction
AliasIO.
ERR_ALRDYCNT
The interrupt variable is already connected to a TRAP
routine
ERR_ALRDY_MOVING
The robot is already moving when executing a
StartMove or StartMoveRetry instruction
ERR_AO_LIM
Analog signal value outside limit
ERR_ARGDUPCND
More than one present conditional argument for the
same parameter
ERR_ARGNAME
Argument is an expression, not present, or of type
switch when executing ArgName
ERR_ARGNOTPER
Argument is not a persistent reference
ERR_ARGNOTVAR
Argument is not a variable reference
ERR_ARGVALERR
Argument value error
ERR_AXIS_ACT
Axis is not active
ERR_AXIS_IND
Axis is not independent
ERR_AXIS_MOVING
Axis is moving
ERR_AXIS_PAR
Parameter axis in instruction is wrong
ERR_BUSSTATE
An IOEnable is done, and the bus is in error state or
enter error state before the unit is activated
ERR_BWDLIMIT
Limit StepBwdPath
ERR_CALC_NEG
StrDig necative calculation error
ERR_CALC_OVERFLOW
StrDig calculation overflow
ERR_CALC_DIVZERO
StrDig division by zero
ERR_CALLPROC
Procedure call error (not procedure) at runtime (late
binding)
ERR_CFG_INTERNAL
Not allowed to read internal parameter - ReadCfgData
ERR_CFG_ILLTYPE
Type mismatch - ReadCfgData , WriteCfgData
ERR_CFG_LIMIT
Data limit - WriteCfgData
ERR_CFG_NOTFND
Not found - ReadCfgData , WriteCfgData
ERR_CFG_OUTOFBOUNDS
If ListNo is -1 at input or bigger then number of available
instances - ReadCfgData , WriteCfgData
ERR_CNTNOTVAR
CONNECT target is not a variable reference
ERR_CNV_NOT_ACT
The conveyor is not activated
ERR_CNV_CONNECT
The WaitWobj instruction is already active
Continued
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3 Data types
3.15. errnum - Error number
RobotWare - OS
3HAC 16581-1 Revision: J
1108
© Copyright 2004-2010 ABB. All rights reserved.
3.15. errnum - Error number
Usage
errnum is used to describe all recoverable (non fatal) errors that occur during program
execution, such as division by zero.
Description
If the robot detects an error during program execution, this can be dealt with in the error
handler of the routine. Examples of such errors are values that are too high and division by
zero. The system variable ERRNO , of type errnum , is thus assigned different values
depending on the nature of an error. The error handler may be able to correct an error by
reading this variable and then program execution can continue in the correct way.
An error can also be created from within the program using the RAISE instruction. This
particular type of error can be detected in the error handler by specifying an error number
(within the range 1-90 or booked with instruction BookErrNo ) as an argument to RAISE .
Basic examples
Basic examples of the data type errnum are illustrated below.
Example 1
reg1 := reg2 / reg3;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg3 := 1;
RETRY;
ENDIF
If reg3 = 0 , the robot detects an error when division is taking place. This error, however,
can be detected and corrected by assigning reg3 the value 1 . Following this, the division can
be performed again and program execution can continue.
Example 2
CONST errnum machine_error := 1;
...
IF di1=0 RAISE machine_error;
...
ERROR
IF ERRNO=machine_error RAISE;
An error occurs in a machine (detected by means of the input signal di1 ). A jump is made to
the error handler in the routine which, in turn, calls the error handler of the calling routine
where the error may possibly be corrected. The constant, machine_error , is used to let the
error handler know exactly what type of error has occurred.
Continues on next page
3 Data types
3.15. errnum - Error number
RobotWare - OS
1109
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
The system variable ERRNO can be used to read the latest error that occurred. A number of
predefined constants can be used to determine the type of error that has occurred.
Name
Cause of error
ERR_ACC_TOO_LOW
Too low acceleration/deceleration specified in
instruction PathAccLim or WorldAccLim
ERR_ALIASIO_DEF
The FromSignal is not defined in the IO configuration
or the ToSignal is not declared in the RAPID program
or is defined in the IO configuration. Instruction
AliasIO
ERR_ALIASIO_TYPE
The signal types for the arguments FromSignal and
ToSignal is not the same (signalx). Instruction
AliasIO.
ERR_ALRDYCNT
The interrupt variable is already connected to a TRAP
routine
ERR_ALRDY_MOVING
The robot is already moving when executing a
StartMove or StartMoveRetry instruction
ERR_AO_LIM
Analog signal value outside limit
ERR_ARGDUPCND
More than one present conditional argument for the
same parameter
ERR_ARGNAME
Argument is an expression, not present, or of type
switch when executing ArgName
ERR_ARGNOTPER
Argument is not a persistent reference
ERR_ARGNOTVAR
Argument is not a variable reference
ERR_ARGVALERR
Argument value error
ERR_AXIS_ACT
Axis is not active
ERR_AXIS_IND
Axis is not independent
ERR_AXIS_MOVING
Axis is moving
ERR_AXIS_PAR
Parameter axis in instruction is wrong
ERR_BUSSTATE
An IOEnable is done, and the bus is in error state or
enter error state before the unit is activated
ERR_BWDLIMIT
Limit StepBwdPath
ERR_CALC_NEG
StrDig necative calculation error
ERR_CALC_OVERFLOW
StrDig calculation overflow
ERR_CALC_DIVZERO
StrDig division by zero
ERR_CALLPROC
Procedure call error (not procedure) at runtime (late
binding)
ERR_CFG_INTERNAL
Not allowed to read internal parameter - ReadCfgData
ERR_CFG_ILLTYPE
Type mismatch - ReadCfgData , WriteCfgData
ERR_CFG_LIMIT
Data limit - WriteCfgData
ERR_CFG_NOTFND
Not found - ReadCfgData , WriteCfgData
ERR_CFG_OUTOFBOUNDS
If ListNo is -1 at input or bigger then number of available
instances - ReadCfgData , WriteCfgData
ERR_CNTNOTVAR
CONNECT target is not a variable reference
ERR_CNV_NOT_ACT
The conveyor is not activated
ERR_CNV_CONNECT
The WaitWobj instruction is already active
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
RobotWare - OS
3HAC 16581-1 Revision: J
1110
© Copyright 2004-2010 ABB. All rights reserved.
ERR_CNV_DROPPED
The object that the instruction WaitWobj was waiting
for has been dropped.
ERR_COMM_EXT
Communication error with the external system.
ERR_COMM_INIT_FAILED
Communication interface could not be initialized.
ERR_DATA_RECV
The data received from remote system is incorrect.
ERR_DEV_MAXTIME
Timeout when executing a ReadBin , ReadNum , or a
ReadStr instruction
ERR_DIPLAG_LIM
Too big DipLag in the instruction TriggSpeed
connected to current TriggL/TriggC/TriggJ
ERR_DIVZERO
Division by zero
ERR_EXECPHR
An attempt was made to execute an instruction using a
place holder
ERR_FILEACC
A file is accessed incorrectly
ERR_FILEEXIST
A file already exists
ERR_FILEOPEN
A file cannot be opened
ERR_FILNOTFND
File not found
ERR_FNCNORET
No return value
ERR_FRAME
Unable to calculate new frame
ERR_GO_LIM
Digital group signal value outside limit
ERR_ILLDIM
Incorrect array dimension
ERR_ILLQUAT
Attempt to use illegal orientation (quaternion) valve
ERR_ILLRAISE
Error number in RAISE out of range
ERR_INDCNV_ORDER
An instruction requires execution of IndCnvInit
before it is executed.
ERR_INOISSAFE
If trying to deactivate a safe interrupt temporarily with
ISleep .
ERR_INOMAX
No more interrupt numbers available
ERR_INT_NOTVAL
Not valid integer, decimal value
ERR_INT_MAXVAL
Not valid integer, too large or small value
ERR_INVDIM
Dimensions are not equal
ERR_IODISABLE
Timeout when executing IODisable
ERR_IOENABLE
Timeout when executing IOEnable
ERR_IOERROR
I/O Error from instruction Save
ERR_LINKREF
Reference error in the program task
ERR_LOADED
The program module is already loaded
ERR_LOADID_FATAL
Only internal use in LoadId
ERR_LOADID_RETRY
Only internal use in LoadId
ERR_LOADNO_INUSE
The load session is in use in StartLoad
ERR_LOADNO_NOUSE
The load session is not in use in CancelLoad
ERR_MAXINTVAL
The integer value is too large
ERR_MODULE
Incorrect module name in instruction Save and
EraseModule
ERR_MOD_NOTLOADED
Module not loaded or installed from ModTime
ERR_NAME_INVALID
If the unit name does not exist or if the unit is not
allowed to be disabled
Name
Cause of error
Continued
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3 Data types
3.15. errnum - Error number
RobotWare - OS
1109
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
The system variable ERRNO can be used to read the latest error that occurred. A number of
predefined constants can be used to determine the type of error that has occurred.
Name
Cause of error
ERR_ACC_TOO_LOW
Too low acceleration/deceleration specified in
instruction PathAccLim or WorldAccLim
ERR_ALIASIO_DEF
The FromSignal is not defined in the IO configuration
or the ToSignal is not declared in the RAPID program
or is defined in the IO configuration. Instruction
AliasIO
ERR_ALIASIO_TYPE
The signal types for the arguments FromSignal and
ToSignal is not the same (signalx). Instruction
AliasIO.
ERR_ALRDYCNT
The interrupt variable is already connected to a TRAP
routine
ERR_ALRDY_MOVING
The robot is already moving when executing a
StartMove or StartMoveRetry instruction
ERR_AO_LIM
Analog signal value outside limit
ERR_ARGDUPCND
More than one present conditional argument for the
same parameter
ERR_ARGNAME
Argument is an expression, not present, or of type
switch when executing ArgName
ERR_ARGNOTPER
Argument is not a persistent reference
ERR_ARGNOTVAR
Argument is not a variable reference
ERR_ARGVALERR
Argument value error
ERR_AXIS_ACT
Axis is not active
ERR_AXIS_IND
Axis is not independent
ERR_AXIS_MOVING
Axis is moving
ERR_AXIS_PAR
Parameter axis in instruction is wrong
ERR_BUSSTATE
An IOEnable is done, and the bus is in error state or
enter error state before the unit is activated
ERR_BWDLIMIT
Limit StepBwdPath
ERR_CALC_NEG
StrDig necative calculation error
ERR_CALC_OVERFLOW
StrDig calculation overflow
ERR_CALC_DIVZERO
StrDig division by zero
ERR_CALLPROC
Procedure call error (not procedure) at runtime (late
binding)
ERR_CFG_INTERNAL
Not allowed to read internal parameter - ReadCfgData
ERR_CFG_ILLTYPE
Type mismatch - ReadCfgData , WriteCfgData
ERR_CFG_LIMIT
Data limit - WriteCfgData
ERR_CFG_NOTFND
Not found - ReadCfgData , WriteCfgData
ERR_CFG_OUTOFBOUNDS
If ListNo is -1 at input or bigger then number of available
instances - ReadCfgData , WriteCfgData
ERR_CNTNOTVAR
CONNECT target is not a variable reference
ERR_CNV_NOT_ACT
The conveyor is not activated
ERR_CNV_CONNECT
The WaitWobj instruction is already active
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
RobotWare - OS
3HAC 16581-1 Revision: J
1110
© Copyright 2004-2010 ABB. All rights reserved.
ERR_CNV_DROPPED
The object that the instruction WaitWobj was waiting
for has been dropped.
ERR_COMM_EXT
Communication error with the external system.
ERR_COMM_INIT_FAILED
Communication interface could not be initialized.
ERR_DATA_RECV
The data received from remote system is incorrect.
ERR_DEV_MAXTIME
Timeout when executing a ReadBin , ReadNum , or a
ReadStr instruction
ERR_DIPLAG_LIM
Too big DipLag in the instruction TriggSpeed
connected to current TriggL/TriggC/TriggJ
ERR_DIVZERO
Division by zero
ERR_EXECPHR
An attempt was made to execute an instruction using a
place holder
ERR_FILEACC
A file is accessed incorrectly
ERR_FILEEXIST
A file already exists
ERR_FILEOPEN
A file cannot be opened
ERR_FILNOTFND
File not found
ERR_FNCNORET
No return value
ERR_FRAME
Unable to calculate new frame
ERR_GO_LIM
Digital group signal value outside limit
ERR_ILLDIM
Incorrect array dimension
ERR_ILLQUAT
Attempt to use illegal orientation (quaternion) valve
ERR_ILLRAISE
Error number in RAISE out of range
ERR_INDCNV_ORDER
An instruction requires execution of IndCnvInit
before it is executed.
ERR_INOISSAFE
If trying to deactivate a safe interrupt temporarily with
ISleep .
ERR_INOMAX
No more interrupt numbers available
ERR_INT_NOTVAL
Not valid integer, decimal value
ERR_INT_MAXVAL
Not valid integer, too large or small value
ERR_INVDIM
Dimensions are not equal
ERR_IODISABLE
Timeout when executing IODisable
ERR_IOENABLE
Timeout when executing IOEnable
ERR_IOERROR
I/O Error from instruction Save
ERR_LINKREF
Reference error in the program task
ERR_LOADED
The program module is already loaded
ERR_LOADID_FATAL
Only internal use in LoadId
ERR_LOADID_RETRY
Only internal use in LoadId
ERR_LOADNO_INUSE
The load session is in use in StartLoad
ERR_LOADNO_NOUSE
The load session is not in use in CancelLoad
ERR_MAXINTVAL
The integer value is too large
ERR_MODULE
Incorrect module name in instruction Save and
EraseModule
ERR_MOD_NOTLOADED
Module not loaded or installed from ModTime
ERR_NAME_INVALID
If the unit name does not exist or if the unit is not
allowed to be disabled
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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ERR_NORUNUNIT
If there is no contact with the unit
ERR_NOTARR
Data is not an array
ERR_NOTEQDIM
The array dimension used when calling the routine
does not coincide with its parameters
ERR_NOTINTVAL
Not an integer value
ERR_NOTPRES
A parameter is used, despite the fact that the corre-
sponding argument was not used at the routine call
ERR_NOTSAVED
Module has been changed since it was loaded into the
system
ERR_NOT_MOVETASK
Specify task is a non-motion task
ERR_NUM_LIMIT
Value is not an integer and/or not in the range of -
8388607 to +8388608
ERR_OUTOFBND
The array index is outside the permitted limits
ERR_OVERFLOW
Clock overflow
ERR_PATH
Missing destination path in instruction Save
ERR_PATHDIST
Too long regain distance for StartMove or
StartMoveRetry instruction
ERR_PATH_STOP
Stop of the movement because of some process error
ERR_PID_MOVESTOP
Only internal use in LoadId
ERR_PID_RAISE_PP
Error from ParIdRobValid or ParIdPosValid
ERR_PRGMEMFULL
Program memory full
ERR_PROCSIGNAL_OFF
Process signal is off
ERR_PROGSTOP
The robot is in program stop state when executing a
StartMove or StartMoveRetry instruction
ERR_RANYBIN_CHK
Check sum error detected at data transfer with
instruction ReadAnyBin
ERR_RANYBIN_EOF
End of file is detected before all bytes are read in
instruction ReadAnyBin
ERR_RCVDATA
An attempt was made to read non-numeric data with
ReadNum
ERR_REFUNKDAT
Reference to entire unknown data object
ERR_REFUNKFUN
Reference to unknown function
ERR_REFUNKPRC
Reference to unknown procedure at linking time or at
run time (late binding)
ERR_REFUNKTRP
Reference to unknown trap
ERR_RMQ_DIM
Wrong dimensions, the dimensions of the given data
are not equal to the dimensions of the data in the
message.
ERR_RMQ_FULL
Destination message queue is full.
ERR_RMQ_INVALID
Destination slot lost or invalid
ERR_RMQ_INVMSG
Invalid message, likely sent from other client then a
RAPID task.
ERR_RMQ_MSGSIZE
Size of message is too big. Decrease message size.
ERR_RMQ_NAME
The given slot name is not valid or not found.
ERR_RMQ_NOMSG
No message in queue, likely the results of power fail.
Name
Cause of error
Continued
Continues on next page
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ERR_CNV_DROPPED
The object that the instruction WaitWobj was waiting
for has been dropped.
ERR_COMM_EXT
Communication error with the external system.
ERR_COMM_INIT_FAILED
Communication interface could not be initialized.
ERR_DATA_RECV
The data received from remote system is incorrect.
ERR_DEV_MAXTIME
Timeout when executing a ReadBin , ReadNum , or a
ReadStr instruction
ERR_DIPLAG_LIM
Too big DipLag in the instruction TriggSpeed
connected to current TriggL/TriggC/TriggJ
ERR_DIVZERO
Division by zero
ERR_EXECPHR
An attempt was made to execute an instruction using a
place holder
ERR_FILEACC
A file is accessed incorrectly
ERR_FILEEXIST
A file already exists
ERR_FILEOPEN
A file cannot be opened
ERR_FILNOTFND
File not found
ERR_FNCNORET
No return value
ERR_FRAME
Unable to calculate new frame
ERR_GO_LIM
Digital group signal value outside limit
ERR_ILLDIM
Incorrect array dimension
ERR_ILLQUAT
Attempt to use illegal orientation (quaternion) valve
ERR_ILLRAISE
Error number in RAISE out of range
ERR_INDCNV_ORDER
An instruction requires execution of IndCnvInit
before it is executed.
ERR_INOISSAFE
If trying to deactivate a safe interrupt temporarily with
ISleep .
ERR_INOMAX
No more interrupt numbers available
ERR_INT_NOTVAL
Not valid integer, decimal value
ERR_INT_MAXVAL
Not valid integer, too large or small value
ERR_INVDIM
Dimensions are not equal
ERR_IODISABLE
Timeout when executing IODisable
ERR_IOENABLE
Timeout when executing IOEnable
ERR_IOERROR
I/O Error from instruction Save
ERR_LINKREF
Reference error in the program task
ERR_LOADED
The program module is already loaded
ERR_LOADID_FATAL
Only internal use in LoadId
ERR_LOADID_RETRY
Only internal use in LoadId
ERR_LOADNO_INUSE
The load session is in use in StartLoad
ERR_LOADNO_NOUSE
The load session is not in use in CancelLoad
ERR_MAXINTVAL
The integer value is too large
ERR_MODULE
Incorrect module name in instruction Save and
EraseModule
ERR_MOD_NOTLOADED
Module not loaded or installed from ModTime
ERR_NAME_INVALID
If the unit name does not exist or if the unit is not
allowed to be disabled
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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ERR_NORUNUNIT
If there is no contact with the unit
ERR_NOTARR
Data is not an array
ERR_NOTEQDIM
The array dimension used when calling the routine
does not coincide with its parameters
ERR_NOTINTVAL
Not an integer value
ERR_NOTPRES
A parameter is used, despite the fact that the corre-
sponding argument was not used at the routine call
ERR_NOTSAVED
Module has been changed since it was loaded into the
system
ERR_NOT_MOVETASK
Specify task is a non-motion task
ERR_NUM_LIMIT
Value is not an integer and/or not in the range of -
8388607 to +8388608
ERR_OUTOFBND
The array index is outside the permitted limits
ERR_OVERFLOW
Clock overflow
ERR_PATH
Missing destination path in instruction Save
ERR_PATHDIST
Too long regain distance for StartMove or
StartMoveRetry instruction
ERR_PATH_STOP
Stop of the movement because of some process error
ERR_PID_MOVESTOP
Only internal use in LoadId
ERR_PID_RAISE_PP
Error from ParIdRobValid or ParIdPosValid
ERR_PRGMEMFULL
Program memory full
ERR_PROCSIGNAL_OFF
Process signal is off
ERR_PROGSTOP
The robot is in program stop state when executing a
StartMove or StartMoveRetry instruction
ERR_RANYBIN_CHK
Check sum error detected at data transfer with
instruction ReadAnyBin
ERR_RANYBIN_EOF
End of file is detected before all bytes are read in
instruction ReadAnyBin
ERR_RCVDATA
An attempt was made to read non-numeric data with
ReadNum
ERR_REFUNKDAT
Reference to entire unknown data object
ERR_REFUNKFUN
Reference to unknown function
ERR_REFUNKPRC
Reference to unknown procedure at linking time or at
run time (late binding)
ERR_REFUNKTRP
Reference to unknown trap
ERR_RMQ_DIM
Wrong dimensions, the dimensions of the given data
are not equal to the dimensions of the data in the
message.
ERR_RMQ_FULL
Destination message queue is full.
ERR_RMQ_INVALID
Destination slot lost or invalid
ERR_RMQ_INVMSG
Invalid message, likely sent from other client then a
RAPID task.
ERR_RMQ_MSGSIZE
Size of message is too big. Decrease message size.
ERR_RMQ_NAME
The given slot name is not valid or not found.
ERR_RMQ_NOMSG
No message in queue, likely the results of power fail.
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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ERR_RMQ_TIMEOUT
Timeout occurred while waiting for answer in
RMQSendWait .
ERR_RMQ_VALUE
The value syntax does not match the data type.
ERR_ROBLIMIT
Axis outside working area or limits exceeded for at least
one coupled joint
ERR_SC_WRITE
Error when sending to external computer
ERR_SIGSUPSEARCH
The signal has already a positive value at the beginning
of the search process
ERR_STARTMOVE
The robot is in hold state when executing a StartMove
or StartMoveRetry instruction
ERR_ADDR_INUSE
The address and port is already in use and can not be
used again. Use a different port number or address in
SocketBind .
ERR_SOCK_CLOSED
The socket is closed, or is not created
ERR_SOCK_TIMEOUT
The connection was not established within the time-out
time
ERR_SPEED_REFRESH_LIM
Override out of limit in SpeedRefresh
ERR_STRTOOLNG
The string is too long
ERR_SYM_ACCESS
Symbol read/write access error
ERR_SYNCMOVEOFF
Timeout from SyncMoveOff
ERR_SYNCMOVEON
Timeout from SyncMoveOn
ERR_SYNTAX
Syntax error in the loaded module
ERR_TASKNAME
Task name not found in the system
ERR_TP_DIBREAK
A read instruction from FlexPendant was interrupted by
a digital input
ERR_TP_DOBREAK
A read instruction from FlexPendant was interrupted by
a digital output
ERR_TP_MAXTIME
Timeout when executing a read instruction from
FlexPendant
ERR_TP_NO_CLIENT
No client to interact with when using a read instruction
from FlexPendant
ERR_TRUSTLEVEL
Not allowed to disable I/O unit
ERR_TXTNOEXIST
Wrong table or index in function TextGet
ERR_UI_INITVALUE
Initial value error in function UINumEntry
ERR_UI_MAXMIN
Min value is greater then max value in function
UINumEntry
ERR_UI_NOTINT
Value is not an integer when specified that an integer
should be used when using UINumEntry
ERR_UISHOW_FATAL
Other error then ERR_UISHOW_FATAL in instruction
UIShow
ERR_UISHOW_FULL
No space left on FlexPendant for another application
when using instruction UIShow
ERR_UNIT_PAR
Parameter Mech_unit in TestSignDefine is wrong
ERR_UNKINO
Unknown interrupt number
ERR_UNKPROC
Incorrect reference to the load session in instruction
WaitLoad
ERR_UNLOAD
Unload error in instruction UnLoad or WaitLoad
Name
Cause of error
Continued
Continues on next page
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3.15. errnum - Error number
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ERR_NORUNUNIT
If there is no contact with the unit
ERR_NOTARR
Data is not an array
ERR_NOTEQDIM
The array dimension used when calling the routine
does not coincide with its parameters
ERR_NOTINTVAL
Not an integer value
ERR_NOTPRES
A parameter is used, despite the fact that the corre-
sponding argument was not used at the routine call
ERR_NOTSAVED
Module has been changed since it was loaded into the
system
ERR_NOT_MOVETASK
Specify task is a non-motion task
ERR_NUM_LIMIT
Value is not an integer and/or not in the range of -
8388607 to +8388608
ERR_OUTOFBND
The array index is outside the permitted limits
ERR_OVERFLOW
Clock overflow
ERR_PATH
Missing destination path in instruction Save
ERR_PATHDIST
Too long regain distance for StartMove or
StartMoveRetry instruction
ERR_PATH_STOP
Stop of the movement because of some process error
ERR_PID_MOVESTOP
Only internal use in LoadId
ERR_PID_RAISE_PP
Error from ParIdRobValid or ParIdPosValid
ERR_PRGMEMFULL
Program memory full
ERR_PROCSIGNAL_OFF
Process signal is off
ERR_PROGSTOP
The robot is in program stop state when executing a
StartMove or StartMoveRetry instruction
ERR_RANYBIN_CHK
Check sum error detected at data transfer with
instruction ReadAnyBin
ERR_RANYBIN_EOF
End of file is detected before all bytes are read in
instruction ReadAnyBin
ERR_RCVDATA
An attempt was made to read non-numeric data with
ReadNum
ERR_REFUNKDAT
Reference to entire unknown data object
ERR_REFUNKFUN
Reference to unknown function
ERR_REFUNKPRC
Reference to unknown procedure at linking time or at
run time (late binding)
ERR_REFUNKTRP
Reference to unknown trap
ERR_RMQ_DIM
Wrong dimensions, the dimensions of the given data
are not equal to the dimensions of the data in the
message.
ERR_RMQ_FULL
Destination message queue is full.
ERR_RMQ_INVALID
Destination slot lost or invalid
ERR_RMQ_INVMSG
Invalid message, likely sent from other client then a
RAPID task.
ERR_RMQ_MSGSIZE
Size of message is too big. Decrease message size.
ERR_RMQ_NAME
The given slot name is not valid or not found.
ERR_RMQ_NOMSG
No message in queue, likely the results of power fail.
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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ERR_RMQ_TIMEOUT
Timeout occurred while waiting for answer in
RMQSendWait .
ERR_RMQ_VALUE
The value syntax does not match the data type.
ERR_ROBLIMIT
Axis outside working area or limits exceeded for at least
one coupled joint
ERR_SC_WRITE
Error when sending to external computer
ERR_SIGSUPSEARCH
The signal has already a positive value at the beginning
of the search process
ERR_STARTMOVE
The robot is in hold state when executing a StartMove
or StartMoveRetry instruction
ERR_ADDR_INUSE
The address and port is already in use and can not be
used again. Use a different port number or address in
SocketBind .
ERR_SOCK_CLOSED
The socket is closed, or is not created
ERR_SOCK_TIMEOUT
The connection was not established within the time-out
time
ERR_SPEED_REFRESH_LIM
Override out of limit in SpeedRefresh
ERR_STRTOOLNG
The string is too long
ERR_SYM_ACCESS
Symbol read/write access error
ERR_SYNCMOVEOFF
Timeout from SyncMoveOff
ERR_SYNCMOVEON
Timeout from SyncMoveOn
ERR_SYNTAX
Syntax error in the loaded module
ERR_TASKNAME
Task name not found in the system
ERR_TP_DIBREAK
A read instruction from FlexPendant was interrupted by
a digital input
ERR_TP_DOBREAK
A read instruction from FlexPendant was interrupted by
a digital output
ERR_TP_MAXTIME
Timeout when executing a read instruction from
FlexPendant
ERR_TP_NO_CLIENT
No client to interact with when using a read instruction
from FlexPendant
ERR_TRUSTLEVEL
Not allowed to disable I/O unit
ERR_TXTNOEXIST
Wrong table or index in function TextGet
ERR_UI_INITVALUE
Initial value error in function UINumEntry
ERR_UI_MAXMIN
Min value is greater then max value in function
UINumEntry
ERR_UI_NOTINT
Value is not an integer when specified that an integer
should be used when using UINumEntry
ERR_UISHOW_FATAL
Other error then ERR_UISHOW_FATAL in instruction
UIShow
ERR_UISHOW_FULL
No space left on FlexPendant for another application
when using instruction UIShow
ERR_UNIT_PAR
Parameter Mech_unit in TestSignDefine is wrong
ERR_UNKINO
Unknown interrupt number
ERR_UNKPROC
Incorrect reference to the load session in instruction
WaitLoad
ERR_UNLOAD
Unload error in instruction UnLoad or WaitLoad
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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Characteristics
errnum is an alias data type for num and consequently inherits its characteristics.
Related information
ERR_WAITSYNCTASK
Time-out from WaitSyncTask
ERR_WAIT_MAXTIME
Time-out when executing a WaitDI or WaitUntil
instruction
ERR_WHLSEARCH
No search stop
ERR_WOBJ_MOVING
The mechanical unit with work object is moving
CalcJointT
Name
Cause of error
For information about
See
Error recovery
Technical reference manual - RAPID overview
Data types in general, alias data types
Technical reference manual - RAPID overview
Continued
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3.15. errnum - Error number
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ERR_RMQ_TIMEOUT
Timeout occurred while waiting for answer in
RMQSendWait .
ERR_RMQ_VALUE
The value syntax does not match the data type.
ERR_ROBLIMIT
Axis outside working area or limits exceeded for at least
one coupled joint
ERR_SC_WRITE
Error when sending to external computer
ERR_SIGSUPSEARCH
The signal has already a positive value at the beginning
of the search process
ERR_STARTMOVE
The robot is in hold state when executing a StartMove
or StartMoveRetry instruction
ERR_ADDR_INUSE
The address and port is already in use and can not be
used again. Use a different port number or address in
SocketBind .
ERR_SOCK_CLOSED
The socket is closed, or is not created
ERR_SOCK_TIMEOUT
The connection was not established within the time-out
time
ERR_SPEED_REFRESH_LIM
Override out of limit in SpeedRefresh
ERR_STRTOOLNG
The string is too long
ERR_SYM_ACCESS
Symbol read/write access error
ERR_SYNCMOVEOFF
Timeout from SyncMoveOff
ERR_SYNCMOVEON
Timeout from SyncMoveOn
ERR_SYNTAX
Syntax error in the loaded module
ERR_TASKNAME
Task name not found in the system
ERR_TP_DIBREAK
A read instruction from FlexPendant was interrupted by
a digital input
ERR_TP_DOBREAK
A read instruction from FlexPendant was interrupted by
a digital output
ERR_TP_MAXTIME
Timeout when executing a read instruction from
FlexPendant
ERR_TP_NO_CLIENT
No client to interact with when using a read instruction
from FlexPendant
ERR_TRUSTLEVEL
Not allowed to disable I/O unit
ERR_TXTNOEXIST
Wrong table or index in function TextGet
ERR_UI_INITVALUE
Initial value error in function UINumEntry
ERR_UI_MAXMIN
Min value is greater then max value in function
UINumEntry
ERR_UI_NOTINT
Value is not an integer when specified that an integer
should be used when using UINumEntry
ERR_UISHOW_FATAL
Other error then ERR_UISHOW_FATAL in instruction
UIShow
ERR_UISHOW_FULL
No space left on FlexPendant for another application
when using instruction UIShow
ERR_UNIT_PAR
Parameter Mech_unit in TestSignDefine is wrong
ERR_UNKINO
Unknown interrupt number
ERR_UNKPROC
Incorrect reference to the load session in instruction
WaitLoad
ERR_UNLOAD
Unload error in instruction UnLoad or WaitLoad
Name
Cause of error
Continued
Continues on next page
3 Data types
3.15. errnum - Error number
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Characteristics
errnum is an alias data type for num and consequently inherits its characteristics.
Related information
ERR_WAITSYNCTASK
Time-out from WaitSyncTask
ERR_WAIT_MAXTIME
Time-out when executing a WaitDI or WaitUntil
instruction
ERR_WHLSEARCH
No search stop
ERR_WOBJ_MOVING
The mechanical unit with work object is moving
CalcJointT
Name
Cause of error
For information about
See
Error recovery
Technical reference manual - RAPID overview
Data types in general, alias data types
Technical reference manual - RAPID overview
Continued
3 Data types
3.16. errstr - Error string
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3.16. errstr - Error string
Usage
errstr is used to write text in error messages.
Basic examples
Basic examples of the data type errstr are illustrated below.
Example 1
VAR errstr arg:= "This is an example";
ErrLog 5100, \W, ERRSTR_TASK, ERRSTR_CONTEXT, arg, ERRSTR_EMPTY,
ERRSTR_UNUSED;
Predefined data
Characteristics
errstr is an alias data type for string and consequently inherits its characteristics.
Related information
Name
Description
ERRSTR_EMPTY
Argument is empty
ERRSTR_UNUSED
Argument is not used
ERRSTR_TASK
Name of current task
ERRSTR_CONTEXT
Context
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data Types
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3 Data types
3.15. errnum - Error number
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Characteristics
errnum is an alias data type for num and consequently inherits its characteristics.
Related information
ERR_WAITSYNCTASK
Time-out from WaitSyncTask
ERR_WAIT_MAXTIME
Time-out when executing a WaitDI or WaitUntil
instruction
ERR_WHLSEARCH
No search stop
ERR_WOBJ_MOVING
The mechanical unit with work object is moving
CalcJointT
Name
Cause of error
For information about
See
Error recovery
Technical reference manual - RAPID overview
Data types in general, alias data types
Technical reference manual - RAPID overview
Continued
3 Data types
3.16. errstr - Error string
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3.16. errstr - Error string
Usage
errstr is used to write text in error messages.
Basic examples
Basic examples of the data type errstr are illustrated below.
Example 1
VAR errstr arg:= "This is an example";
ErrLog 5100, \W, ERRSTR_TASK, ERRSTR_CONTEXT, arg, ERRSTR_EMPTY,
ERRSTR_UNUSED;
Predefined data
Characteristics
errstr is an alias data type for string and consequently inherits its characteristics.
Related information
Name
Description
ERRSTR_EMPTY
Argument is empty
ERRSTR_UNUSED
Argument is not used
ERRSTR_TASK
Name of current task
ERRSTR_CONTEXT
Context
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data Types
3 Data types
3.17. errtype - Error type
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3.17. errtype - Error type
Usage
errtype ( error type ) is used to specify an error type.
Description
Data of the type errtype represents the type (state change, warning, error) of an error
message.
Basic examples
Basic examples of the data type errtype are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error type.
Characteristics
errtype is an alias data type for num and consequently inherits its characteristics.
Related information
Name
Error Type
Value
TYPE_ALL
Any type of error (state change, warning, error)
0
TYPE_STATE
State change (operational message)
1
TYPE_WARN
Warning (such as RAPID recoverable error)
2
TYPE_ERR
Error
3
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
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3 Data types
3.16. errstr - Error string
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3.16. errstr - Error string
Usage
errstr is used to write text in error messages.
Basic examples
Basic examples of the data type errstr are illustrated below.
Example 1
VAR errstr arg:= "This is an example";
ErrLog 5100, \W, ERRSTR_TASK, ERRSTR_CONTEXT, arg, ERRSTR_EMPTY,
ERRSTR_UNUSED;
Predefined data
Characteristics
errstr is an alias data type for string and consequently inherits its characteristics.
Related information
Name
Description
ERRSTR_EMPTY
Argument is empty
ERRSTR_UNUSED
Argument is not used
ERRSTR_TASK
Name of current task
ERRSTR_CONTEXT
Context
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data Types
3 Data types
3.17. errtype - Error type
RobotWare - OS
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3.17. errtype - Error type
Usage
errtype ( error type ) is used to specify an error type.
Description
Data of the type errtype represents the type (state change, warning, error) of an error
message.
Basic examples
Basic examples of the data type errtype are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error type.
Characteristics
errtype is an alias data type for num and consequently inherits its characteristics.
Related information
Name
Error Type
Value
TYPE_ALL
Any type of error (state change, warning, error)
0
TYPE_STATE
State change (operational message)
1
TYPE_WARN
Warning (such as RAPID recoverable error)
2
TYPE_ERR
Error
3
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.18. event_type - Event routine type
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3.18. event_type - Event routine type
Usage
event_type is used to represent the actual event routine type with a symbolic constant.
Description
With the function EventType , it is possible to check if the actual RAPID code is executed
because of some specific system event or not.
Basic examples
Basic example of the data type event_type is illustrated below.
Example 1
VAR event_type my_type;
...
my_type := EventType( );
The event routine type that is executed will be stored in the variable my_type .
Predefined data
Following constants of type event_type are predefined:
Characteristics
event_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of event executed
EVENT_NONE
0
No event is executed
EVENT_POWERON
1
POWER_ON event
EVENT_START
2
START event
EVENT_STOP
3
STOP event
EVENT_QSTOP
4
QSTOP event
EVENT_RESTART
5
RESTART event
EVENT_RESET
6
RESET event
EVENT_STEP
7
STEP event
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Get event type
EventType - Get current event type inside any
event routine on page 837
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
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3.17. errtype - Error type
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3.17. errtype - Error type
Usage
errtype ( error type ) is used to specify an error type.
Description
Data of the type errtype represents the type (state change, warning, error) of an error
message.
Basic examples
Basic examples of the data type errtype are illustrated below.
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
ENDTRAP
When an error is trapped to the trap routine trap_err , the error domain, the error number,
and the error type are saved into appropriate variables.
Predefined data
The following predefined constants can be used to specify an error type.
Characteristics
errtype is an alias data type for num and consequently inherits its characteristics.
Related information
Name
Error Type
Value
TYPE_ALL
Any type of error (state change, warning, error)
0
TYPE_STATE
State change (operational message)
1
TYPE_WARN
Warning (such as RAPID recoverable error)
2
TYPE_ERR
Error
3
For information about
See
Ordering an interrupt on errors
IError - Orders an interrupt on errors on page 126
Error numbers
Operating manual - Trouble shooting
Alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.18. event_type - Event routine type
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3.18. event_type - Event routine type
Usage
event_type is used to represent the actual event routine type with a symbolic constant.
Description
With the function EventType , it is possible to check if the actual RAPID code is executed
because of some specific system event or not.
Basic examples
Basic example of the data type event_type is illustrated below.
Example 1
VAR event_type my_type;
...
my_type := EventType( );
The event routine type that is executed will be stored in the variable my_type .
Predefined data
Following constants of type event_type are predefined:
Characteristics
event_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of event executed
EVENT_NONE
0
No event is executed
EVENT_POWERON
1
POWER_ON event
EVENT_START
2
START event
EVENT_STOP
3
STOP event
EVENT_QSTOP
4
QSTOP event
EVENT_RESTART
5
RESTART event
EVENT_RESET
6
RESET event
EVENT_STEP
7
STEP event
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Get event type
EventType - Get current event type inside any
event routine on page 837
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.19. exec_level - Execution level
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3.19. exec_level - Execution level
Usage
exec_level is used to specify program execution level.
Description
With the function ExecLevel , it is possible to get the actual execution level for the RAPID
code that currently is executed.
Predefined data
The following constants of type exec_level are predefined:
1) With LEVEL_SERVICE means event routine, service routine (including Call Routine) and
interrupt routine from system input signal.
Characteristics
exec_level is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Execution level
LEVEL_NORMAL
0
Execute on base level
LEVEL_TRAP
1
Execute in TRAP routine
LEVEL_SERVICE
2
Execute in service routine 1)
For information about
See
Get current execution level
ExecLevel - Get execution level on page 840
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3 Data types
3.18. event_type - Event routine type
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3.18. event_type - Event routine type
Usage
event_type is used to represent the actual event routine type with a symbolic constant.
Description
With the function EventType , it is possible to check if the actual RAPID code is executed
because of some specific system event or not.
Basic examples
Basic example of the data type event_type is illustrated below.
Example 1
VAR event_type my_type;
...
my_type := EventType( );
The event routine type that is executed will be stored in the variable my_type .
Predefined data
Following constants of type event_type are predefined:
Characteristics
event_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of event executed
EVENT_NONE
0
No event is executed
EVENT_POWERON
1
POWER_ON event
EVENT_START
2
START event
EVENT_STOP
3
STOP event
EVENT_QSTOP
4
QSTOP event
EVENT_RESTART
5
RESTART event
EVENT_RESET
6
RESET event
EVENT_STEP
7
STEP event
For information about
See
Event routines in general
Technical reference manual - System
parameters , section Controller - Event Routine
Get event type
EventType - Get current event type inside any
event routine on page 837
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.19. exec_level - Execution level
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3.19. exec_level - Execution level
Usage
exec_level is used to specify program execution level.
Description
With the function ExecLevel , it is possible to get the actual execution level for the RAPID
code that currently is executed.
Predefined data
The following constants of type exec_level are predefined:
1) With LEVEL_SERVICE means event routine, service routine (including Call Routine) and
interrupt routine from system input signal.
Characteristics
exec_level is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Execution level
LEVEL_NORMAL
0
Execute on base level
LEVEL_TRAP
1
Execute in TRAP routine
LEVEL_SERVICE
2
Execute in service routine 1)
For information about
See
Get current execution level
ExecLevel - Get execution level on page 840
3 Data types
3.20. extjoint - Position of external joints
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3.20. extjoint - Position of external joints
Usage
extjoint is used to define the axis positions of external axes, positioners or workpiece
manipulators.
Description
The robot can control up to six external axes in addition to its six internal axes, i.e. a total of
twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each such logical axes
can be connected to a physical axis and, in this case, the connection is defined in the system
parameters.
Data of the type extjoint is used to hold position values for each of the logical axes a - f.
For each logical axis connected to a physical axis, the position is defined as follows:
•
For rotating axes– the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes – the position is defined as the distance in mm from the calibration
position.
If a logical axis is not connected to a physical one then the value 9E9 is used as a position
value, indicating that the axis is not connected. At the time of execution, the position data of
each axis is checked and it is checked whether or not the corresponding axis is connected. If
the stored position value does not comply with the actual axis connection, the following
applies:
•
If the position is not defined in the position data (value is 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated, it will
result in an error.
•
If the position is defined in the position data, although the axis is not connected, then
the value will be ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If an external axis offset is used (instruction EOffsOn or EOffsSet ) then the positions are
specified in the ExtOffs coordinate system.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
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3.19. exec_level - Execution level
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3.19. exec_level - Execution level
Usage
exec_level is used to specify program execution level.
Description
With the function ExecLevel , it is possible to get the actual execution level for the RAPID
code that currently is executed.
Predefined data
The following constants of type exec_level are predefined:
1) With LEVEL_SERVICE means event routine, service routine (including Call Routine) and
interrupt routine from system input signal.
Characteristics
exec_level is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Execution level
LEVEL_NORMAL
0
Execute on base level
LEVEL_TRAP
1
Execute in TRAP routine
LEVEL_SERVICE
2
Execute in service routine 1)
For information about
See
Get current execution level
ExecLevel - Get execution level on page 840
3 Data types
3.20. extjoint - Position of external joints
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3.20. extjoint - Position of external joints
Usage
extjoint is used to define the axis positions of external axes, positioners or workpiece
manipulators.
Description
The robot can control up to six external axes in addition to its six internal axes, i.e. a total of
twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each such logical axes
can be connected to a physical axis and, in this case, the connection is defined in the system
parameters.
Data of the type extjoint is used to hold position values for each of the logical axes a - f.
For each logical axis connected to a physical axis, the position is defined as follows:
•
For rotating axes– the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes – the position is defined as the distance in mm from the calibration
position.
If a logical axis is not connected to a physical one then the value 9E9 is used as a position
value, indicating that the axis is not connected. At the time of execution, the position data of
each axis is checked and it is checked whether or not the corresponding axis is connected. If
the stored position value does not comply with the actual axis connection, the following
applies:
•
If the position is not defined in the position data (value is 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated, it will
result in an error.
•
If the position is defined in the position data, although the axis is not connected, then
the value will be ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If an external axis offset is used (instruction EOffsOn or EOffsSet ) then the positions are
specified in the ExtOffs coordinate system.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Continues on next page
3 Data types
3.20. extjoint - Position of external joints
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Components
eax_a
external axis a
Data type: num
The position of the external logical axis“ a” expressed in degrees or mm (depending on the
type of axis).
...
eax_f
external axis f
Data type: num
The position of the external logical axis“ f” expressed in degrees or mm (depending on the
type of axis).
Basic examples
Basic examples of the data type extjoint are illustrated below.
Example 1
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;
The position of an external positioner, axpos10, is defined as follows:
•
The position of the external logical axis “a” is set to 11 , expressed in degrees or mm
(depending on the type of axis).
•
The position of the external logical axis“ b” is set to 12.3 , expressed in degrees or mm
(depending on the type of axis).
•
Axes c to f are undefined.
Structure
< dataobject of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Position data
robtarget - Position data on page 1176
jointtarget - Joint position data on page 1129
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
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3.20. extjoint - Position of external joints
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3.20. extjoint - Position of external joints
Usage
extjoint is used to define the axis positions of external axes, positioners or workpiece
manipulators.
Description
The robot can control up to six external axes in addition to its six internal axes, i.e. a total of
twelve axes. The six external axes are logically denoted: a, b, c, d, e, f. Each such logical axes
can be connected to a physical axis and, in this case, the connection is defined in the system
parameters.
Data of the type extjoint is used to hold position values for each of the logical axes a - f.
For each logical axis connected to a physical axis, the position is defined as follows:
•
For rotating axes– the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes – the position is defined as the distance in mm from the calibration
position.
If a logical axis is not connected to a physical one then the value 9E9 is used as a position
value, indicating that the axis is not connected. At the time of execution, the position data of
each axis is checked and it is checked whether or not the corresponding axis is connected. If
the stored position value does not comply with the actual axis connection, the following
applies:
•
If the position is not defined in the position data (value is 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated, it will
result in an error.
•
If the position is defined in the position data, although the axis is not connected, then
the value will be ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If an external axis offset is used (instruction EOffsOn or EOffsSet ) then the positions are
specified in the ExtOffs coordinate system.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Continues on next page
3 Data types
3.20. extjoint - Position of external joints
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Components
eax_a
external axis a
Data type: num
The position of the external logical axis“ a” expressed in degrees or mm (depending on the
type of axis).
...
eax_f
external axis f
Data type: num
The position of the external logical axis“ f” expressed in degrees or mm (depending on the
type of axis).
Basic examples
Basic examples of the data type extjoint are illustrated below.
Example 1
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;
The position of an external positioner, axpos10, is defined as follows:
•
The position of the external logical axis “a” is set to 11 , expressed in degrees or mm
(depending on the type of axis).
•
The position of the external logical axis“ b” is set to 12.3 , expressed in degrees or mm
(depending on the type of axis).
•
Axes c to f are undefined.
Structure
< dataobject of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Position data
robtarget - Position data on page 1176
jointtarget - Joint position data on page 1129
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
Continued
3 Data types
3.21. handler_type - Type of execution handler
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3.21. handler_type - Type of execution handler
Usage
handler_type is used to specify type of execution handler in RAPID program routine.
Description
With the function ExecHandler , it is possible to check if the actual RAPID code is executed
in some execution handler in RAPID program routine.
Basic examples
Basic example of the data type handler_type is illustrated below.
Example 1
VAR handler_type my_type;
...
my_type := ExecHandler( );
The type of execution handler that the code is executed in, will be stored in the variable
my_type .
Predefined data
Following constants of type handler_type are predefined:
Characteristics
handler_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of execution handler
HANDLER_NONE
0
Not executed in any handler
HANDLER_BWD
1
Executed in BACKWARD handler
HANDLER_ERR
2
Executed in ERROR handler
HANDLER_UNDO
3
Executed in UNDO handler
For information about
See
Get type of execution handler
ExecHandler - Get type of execution handler
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3 Data types
3.20. extjoint - Position of external joints
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Components
eax_a
external axis a
Data type: num
The position of the external logical axis“ a” expressed in degrees or mm (depending on the
type of axis).
...
eax_f
external axis f
Data type: num
The position of the external logical axis“ f” expressed in degrees or mm (depending on the
type of axis).
Basic examples
Basic examples of the data type extjoint are illustrated below.
Example 1
VAR extjoint axpos10 := [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ;
The position of an external positioner, axpos10, is defined as follows:
•
The position of the external logical axis “a” is set to 11 , expressed in degrees or mm
(depending on the type of axis).
•
The position of the external logical axis“ b” is set to 12.3 , expressed in degrees or mm
(depending on the type of axis).
•
Axes c to f are undefined.
Structure
< dataobject of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Position data
robtarget - Position data on page 1176
jointtarget - Joint position data on page 1129
ExtOffs coordinate system
EOffsOn - Activates an offset for external axes on
page 88
Continued
3 Data types
3.21. handler_type - Type of execution handler
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3.21. handler_type - Type of execution handler
Usage
handler_type is used to specify type of execution handler in RAPID program routine.
Description
With the function ExecHandler , it is possible to check if the actual RAPID code is executed
in some execution handler in RAPID program routine.
Basic examples
Basic example of the data type handler_type is illustrated below.
Example 1
VAR handler_type my_type;
...
my_type := ExecHandler( );
The type of execution handler that the code is executed in, will be stored in the variable
my_type .
Predefined data
Following constants of type handler_type are predefined:
Characteristics
handler_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of execution handler
HANDLER_NONE
0
Not executed in any handler
HANDLER_BWD
1
Executed in BACKWARD handler
HANDLER_ERR
2
Executed in ERROR handler
HANDLER_UNDO
3
Executed in UNDO handler
For information about
See
Get type of execution handler
ExecHandler - Get type of execution handler
on page 839
3 Data types
3.22. icondata - Icon display data
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3.22. icondata - Icon display data
Usage
icondata is used for representing standard icons on the User Device such as the
FlexPendant.
Description
An icondata enumeration constant may be passed to the Icon argument in the instruction
UIMsgBox and functions UIMessageBox , UINumEntry , UINumTune , UIAlphaEntry , and
UIListView .
Basic examples
Basic examples of the data type icondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Icon:=iconInfo \Result:=
answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration constant iconInfo will give an information icon at the
head of the message box on the user interface.
Predefined data
The following constants of the data type icondata are predefined in the system:
Characteristics
icondata is an alias data type for num and consequently inherits its characteristics.
Value
Constant
Icon
0
iconNone
No icon
1
iconInfo
Information icon
2
iconWarning
Warning icon
3
iconError
Error icon
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3.21. handler_type - Type of execution handler
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3.21. handler_type - Type of execution handler
Usage
handler_type is used to specify type of execution handler in RAPID program routine.
Description
With the function ExecHandler , it is possible to check if the actual RAPID code is executed
in some execution handler in RAPID program routine.
Basic examples
Basic example of the data type handler_type is illustrated below.
Example 1
VAR handler_type my_type;
...
my_type := ExecHandler( );
The type of execution handler that the code is executed in, will be stored in the variable
my_type .
Predefined data
Following constants of type handler_type are predefined:
Characteristics
handler_type is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
Type of execution handler
HANDLER_NONE
0
Not executed in any handler
HANDLER_BWD
1
Executed in BACKWARD handler
HANDLER_ERR
2
Executed in ERROR handler
HANDLER_UNDO
3
Executed in UNDO handler
For information about
See
Get type of execution handler
ExecHandler - Get type of execution handler
on page 839
3 Data types
3.22. icondata - Icon display data
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© Copyright 2004-2010 ABB. All rights reserved.
3.22. icondata - Icon display data
Usage
icondata is used for representing standard icons on the User Device such as the
FlexPendant.
Description
An icondata enumeration constant may be passed to the Icon argument in the instruction
UIMsgBox and functions UIMessageBox , UINumEntry , UINumTune , UIAlphaEntry , and
UIListView .
Basic examples
Basic examples of the data type icondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Icon:=iconInfo \Result:=
answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration constant iconInfo will give an information icon at the
head of the message box on the user interface.
Predefined data
The following constants of the data type icondata are predefined in the system:
Characteristics
icondata is an alias data type for num and consequently inherits its characteristics.
Value
Constant
Icon
0
iconNone
No icon
1
iconInfo
Information icon
2
iconWarning
Warning icon
3
iconError
Error icon
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3 Data types
3.22. icondata - Icon display 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 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
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
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3.22. icondata - Icon display data
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3.22. icondata - Icon display data
Usage
icondata is used for representing standard icons on the User Device such as the
FlexPendant.
Description
An icondata enumeration constant may be passed to the Icon argument in the instruction
UIMsgBox and functions UIMessageBox , UINumEntry , UINumTune , UIAlphaEntry , and
UIListView .
Basic examples
Basic examples of the data type icondata are illustrated below.
Example 1
VAR btnres answer;
UIMsgBox "More ?" \Buttons:=btnYesNo \Icon:=iconInfo \Result:=
answer;
IF answer= resYes THEN
...
ELSEIF answer =ResNo THEN
...
ENDIF
The standard button enumeration constant iconInfo will give an information icon at the
head of the message box on the user interface.
Predefined data
The following constants of the data type icondata are predefined in the system:
Characteristics
icondata is an alias data type for num and consequently inherits its characteristics.
Value
Constant
Icon
0
iconNone
No icon
1
iconInfo
Information icon
2
iconWarning
Warning icon
3
iconError
Error icon
Continues on next page
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3.22. icondata - Icon display 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 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
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
3 Data types
3.23. identno - Identity for move instructions
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3.23. identno - Identity for move instructions
Usage
identno ( Identity Number ) is used to control synchronizing of two or more coordinated
synchronized movements with each other.
The data type identno can only be used in a MultiMove system with option Coordinated
Robots and only in program tasks defined as Motion Task.
Description
Move instructions in a MultiMove system must be programmed with parameter \ID of data
type identno , if coordinated synchronized movement, and \ID is not allowed in any other
cases.
The specified \ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
In coordinated synchronized mode, there must be the same amount of executed move
instructions in all program tasks. The optional parameter \ID of data type identno will be
used to check that associated move instructions are run in parallel before the start of the
movements. The \ID number must be the same in the move instructions that are run in
parallel.
The user does not have to declare any variable of type identno , but can use a number
directly in the instructions (see Basic examples ).
Basic examples
Basic examples of the data type identno are illustrated below.
Example 1
PERS tasks task_list{2} := [["T_ROB1"],["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
PROC proc1()
...
SyncMoveOn sync1, task_list;
MoveL *\ID:=10,v100,z50,mytool;
MoveL *\ID:=20,v100,fine,mytool;
SyncMoveOff sync2;
...
ENDPROC
Characteristics
identno is an alias data type for num and thus inherits its properties.
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3.22. icondata - Icon display 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 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
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Continued
3 Data types
3.23. identno - Identity for move instructions
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3.23. identno - Identity for move instructions
Usage
identno ( Identity Number ) is used to control synchronizing of two or more coordinated
synchronized movements with each other.
The data type identno can only be used in a MultiMove system with option Coordinated
Robots and only in program tasks defined as Motion Task.
Description
Move instructions in a MultiMove system must be programmed with parameter \ID of data
type identno , if coordinated synchronized movement, and \ID is not allowed in any other
cases.
The specified \ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
In coordinated synchronized mode, there must be the same amount of executed move
instructions in all program tasks. The optional parameter \ID of data type identno will be
used to check that associated move instructions are run in parallel before the start of the
movements. The \ID number must be the same in the move instructions that are run in
parallel.
The user does not have to declare any variable of type identno , but can use a number
directly in the instructions (see Basic examples ).
Basic examples
Basic examples of the data type identno are illustrated below.
Example 1
PERS tasks task_list{2} := [["T_ROB1"],["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
PROC proc1()
...
SyncMoveOn sync1, task_list;
MoveL *\ID:=10,v100,z50,mytool;
MoveL *\ID:=20,v100,fine,mytool;
SyncMoveOff sync2;
...
ENDPROC
Characteristics
identno is an alias data type for num and thus inherits its properties.
Continues on next page
3 Data types
3.23. identno - Identity for move instructions
MultiMove - Coordinated Robots
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Related information
For information about
See
Alias data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Continued
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3.23. identno - Identity for move instructions
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3.23. identno - Identity for move instructions
Usage
identno ( Identity Number ) is used to control synchronizing of two or more coordinated
synchronized movements with each other.
The data type identno can only be used in a MultiMove system with option Coordinated
Robots and only in program tasks defined as Motion Task.
Description
Move instructions in a MultiMove system must be programmed with parameter \ID of data
type identno , if coordinated synchronized movement, and \ID is not allowed in any other
cases.
The specified \ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
In coordinated synchronized mode, there must be the same amount of executed move
instructions in all program tasks. The optional parameter \ID of data type identno will be
used to check that associated move instructions are run in parallel before the start of the
movements. The \ID number must be the same in the move instructions that are run in
parallel.
The user does not have to declare any variable of type identno , but can use a number
directly in the instructions (see Basic examples ).
Basic examples
Basic examples of the data type identno are illustrated below.
Example 1
PERS tasks task_list{2} := [["T_ROB1"],["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
PROC proc1()
...
SyncMoveOn sync1, task_list;
MoveL *\ID:=10,v100,z50,mytool;
MoveL *\ID:=20,v100,fine,mytool;
SyncMoveOff sync2;
...
ENDPROC
Characteristics
identno is an alias data type for num and thus inherits its properties.
Continues on next page
3 Data types
3.23. identno - Identity for move instructions
MultiMove - Coordinated Robots
3HAC 16581-1 Revision: J
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Related information
For information about
See
Alias data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Continued
3 Data types
3.24. intnum - Interrupt identity
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3.24. intnum - Interrupt identity
Usage
intnum ( interrupt numeric ) is used to identify an interrupt.
Description
When a variable of type intnum is connected to a trap routine, it is given a specific value
identifying the interrupt. This variable is then used in all dealings with the interrupt, such as
when ordering or disabling an interrupt.
More than one interrupt identity can be connected to the same trap routine. The system
variable INTNO can thus be used in a trap routine to determine the type of interrupt that
occurs.
Basic examples
Basic examples of the data type intnum are illustrated below.
Example 1
VAR intnum feeder_error;
...
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;
An interrupt is generated when the input di1 is set to 1. When this happens, a call is made to
the correct_feeder trap routine.
Example 2
VAR intnum feeder1_error;
VAR intnum feeder2_error;
...
PROC init_interrupt();
...
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
...
ENDPROC
...
TRAP correct_feeder
IF INTNO=feeder1_error THEN
...
ELSE
...
ENDIF
...
ENDTRAP
An interrupt is generated when either of the inputs di1 or di2 is set to 1 . A call is then made
to the correct_feeder trap routine. The system variable INTNO is used in the trap routine
to find out which type of interrupt has occurred.
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3.23. identno - Identity for move instructions
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Related information
For information about
See
Alias data types
Technical reference manual - RAPID
overview , section Basic Characteristics - Data
types
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Continued
3 Data types
3.24. intnum - Interrupt identity
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3.24. intnum - Interrupt identity
Usage
intnum ( interrupt numeric ) is used to identify an interrupt.
Description
When a variable of type intnum is connected to a trap routine, it is given a specific value
identifying the interrupt. This variable is then used in all dealings with the interrupt, such as
when ordering or disabling an interrupt.
More than one interrupt identity can be connected to the same trap routine. The system
variable INTNO can thus be used in a trap routine to determine the type of interrupt that
occurs.
Basic examples
Basic examples of the data type intnum are illustrated below.
Example 1
VAR intnum feeder_error;
...
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;
An interrupt is generated when the input di1 is set to 1. When this happens, a call is made to
the correct_feeder trap routine.
Example 2
VAR intnum feeder1_error;
VAR intnum feeder2_error;
...
PROC init_interrupt();
...
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
...
ENDPROC
...
TRAP correct_feeder
IF INTNO=feeder1_error THEN
...
ELSE
...
ENDIF
...
ENDTRAP
An interrupt is generated when either of the inputs di1 or di2 is set to 1 . A call is then made
to the correct_feeder trap routine. The system variable INTNO is used in the trap routine
to find out which type of interrupt has occurred.
Continues on next page
3 Data types
3.24. intnum - Interrupt identity
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Limitations
The maximum number of active variables of type intnum at any one time (between CONNECT
and IDelete ) is limited to 70.The maximum number of interrupts, in the queue for execution
of TRAP routine at any one time, is limited to 30.
Characteristics
Intnum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Connecting interrupts
CONNECT - Connects an interrupt to a trap
routine on page 63
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3.24. intnum - Interrupt identity
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3.24. intnum - Interrupt identity
Usage
intnum ( interrupt numeric ) is used to identify an interrupt.
Description
When a variable of type intnum is connected to a trap routine, it is given a specific value
identifying the interrupt. This variable is then used in all dealings with the interrupt, such as
when ordering or disabling an interrupt.
More than one interrupt identity can be connected to the same trap routine. The system
variable INTNO can thus be used in a trap routine to determine the type of interrupt that
occurs.
Basic examples
Basic examples of the data type intnum are illustrated below.
Example 1
VAR intnum feeder_error;
...
CONNECT feeder_error WITH correct_feeder;
ISignalDI di1, 1, feeder_error;
An interrupt is generated when the input di1 is set to 1. When this happens, a call is made to
the correct_feeder trap routine.
Example 2
VAR intnum feeder1_error;
VAR intnum feeder2_error;
...
PROC init_interrupt();
...
CONNECT feeder1_error WITH correct_feeder;
ISignalDI di1, 1, feeder1_error;
CONNECT feeder2_error WITH correct_feeder;
ISignalDI di2, 1, feeder2_error;
...
ENDPROC
...
TRAP correct_feeder
IF INTNO=feeder1_error THEN
...
ELSE
...
ENDIF
...
ENDTRAP
An interrupt is generated when either of the inputs di1 or di2 is set to 1 . A call is then made
to the correct_feeder trap routine. The system variable INTNO is used in the trap routine
to find out which type of interrupt has occurred.
Continues on next page
3 Data types
3.24. intnum - Interrupt identity
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Limitations
The maximum number of active variables of type intnum at any one time (between CONNECT
and IDelete ) is limited to 70.The maximum number of interrupts, in the queue for execution
of TRAP routine at any one time, is limited to 30.
Characteristics
Intnum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Connecting interrupts
CONNECT - Connects an interrupt to a trap
routine on page 63
Continued
3 Data types
3.25. iodev - Serial channels and files
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3.25. iodev - Serial channels and files
Usage
iodev (I/O device) is used for serial channels, such as printers and files.
Description
Data of the type iodev contains a reference to a file or serial channel. It can be linked to the
physical unit by means of the instruction Open and then used for reading and writing.
Basic examples
Basic examples of the data type iodev are illustrated below.
Example 1
VAR iodev file;
...
Open "HOME:/LOGDIR/INFILE.DOC", file\Read;
input := ReadNum(file);
The file INFILE.DOC is opened for reading. When reading from the file, file is used as a
reference instead of the file name.
Characteristics
iodev is a non-value data type.
Related information
For information about
See
Communication via serial channels
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Configuration of serial channels
Technical reference manual - System parameters
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
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3.24. intnum - Interrupt identity
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Limitations
The maximum number of active variables of type intnum at any one time (between CONNECT
and IDelete ) is limited to 70.The maximum number of interrupts, in the queue for execution
of TRAP routine at any one time, is limited to 30.
Characteristics
Intnum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview ,
section RAPID Summary - Interrupts
Alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Connecting interrupts
CONNECT - Connects an interrupt to a trap
routine on page 63
Continued
3 Data types
3.25. iodev - Serial channels and files
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3.25. iodev - Serial channels and files
Usage
iodev (I/O device) is used for serial channels, such as printers and files.
Description
Data of the type iodev contains a reference to a file or serial channel. It can be linked to the
physical unit by means of the instruction Open and then used for reading and writing.
Basic examples
Basic examples of the data type iodev are illustrated below.
Example 1
VAR iodev file;
...
Open "HOME:/LOGDIR/INFILE.DOC", file\Read;
input := ReadNum(file);
The file INFILE.DOC is opened for reading. When reading from the file, file is used as a
reference instead of the file name.
Characteristics
iodev is a non-value data type.
Related information
For information about
See
Communication via serial channels
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Configuration of serial channels
Technical reference manual - System parameters
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.26. iounit_state - State of I/O unit
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3.26. iounit_state - State of I/O unit
Usage
iounit_state is used to mirror which state an I/O unit is currently in.
Description
An iounit_state constant is intended to be used when checking the return value from the
function IOUnitState .
Basic examples
Basic examples of the data type iounit_state are illustrated below.
Example 1
IF (IOUnitState ("UNIT1" \Phys) = IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done if the I/O unit UNIT1 is up and running.
Predefined data
The predefined symbolic constants of the data type iounit_state can be found in function
IOUnitState .
Characteristics
iounit_state is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O unit
IOUnitState - Get current state of I/O unit on page 875
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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3.25. iodev - Serial channels and files
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3.25. iodev - Serial channels and files
Usage
iodev (I/O device) is used for serial channels, such as printers and files.
Description
Data of the type iodev contains a reference to a file or serial channel. It can be linked to the
physical unit by means of the instruction Open and then used for reading and writing.
Basic examples
Basic examples of the data type iodev are illustrated below.
Example 1
VAR iodev file;
...
Open "HOME:/LOGDIR/INFILE.DOC", file\Read;
input := ReadNum(file);
The file INFILE.DOC is opened for reading. When reading from the file, file is used as a
reference instead of the file name.
Characteristics
iodev is a non-value data type.
Related information
For information about
See
Communication via serial channels
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Configuration of serial channels
Technical reference manual - System parameters
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.26. iounit_state - State of I/O unit
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3.26. iounit_state - State of I/O unit
Usage
iounit_state is used to mirror which state an I/O unit is currently in.
Description
An iounit_state constant is intended to be used when checking the return value from the
function IOUnitState .
Basic examples
Basic examples of the data type iounit_state are illustrated below.
Example 1
IF (IOUnitState ("UNIT1" \Phys) = IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done if the I/O unit UNIT1 is up and running.
Predefined data
The predefined symbolic constants of the data type iounit_state can be found in function
IOUnitState .
Characteristics
iounit_state is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O unit
IOUnitState - Get current state of I/O unit on page 875
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
3.27. jointtarget - Joint position data
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3.27. jointtarget - Joint position data
Usage
jointtarget is used to define the position that the robot and the external axes will move to
with the instruction MoveAbsJ .
Description
jointtarget defines each individual axis position, for both the robot and the external axes.
Components
robax
robot axes
Data type: robjoint
Axis positions of the robot axes in degrees.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected on program execution, the following
applies:
•
If the position is not defined in the position data (value 9E9) the value will be ignored,
if the axis is connected and not activated. But if the axis is activated it will result in
error.
•
If the position is defined in the position data, although the axis is not connected, the
value is ignored.
No movement is performed but no error is generated for an axis with valid position data, if
the axis isn’t activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and its external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
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3.26. iounit_state - State of I/O unit
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3.26. iounit_state - State of I/O unit
Usage
iounit_state is used to mirror which state an I/O unit is currently in.
Description
An iounit_state constant is intended to be used when checking the return value from the
function IOUnitState .
Basic examples
Basic examples of the data type iounit_state are illustrated below.
Example 1
IF (IOUnitState ("UNIT1" \Phys) = IOUNIT_PHYS_STATE_RUNNING) THEN
! Possible to access some signal on the I/O unit
ELSE
! Read/Write some signal on the I/O unit result in error
ENDIF
Test is done if the I/O unit UNIT1 is up and running.
Predefined data
The predefined symbolic constants of the data type iounit_state can be found in function
IOUnitState .
Characteristics
iounit_state is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Get current state of I/O unit
IOUnitState - Get current state of I/O unit on page 875
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
3.27. jointtarget - Joint position data
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3.27. jointtarget - Joint position data
Usage
jointtarget is used to define the position that the robot and the external axes will move to
with the instruction MoveAbsJ .
Description
jointtarget defines each individual axis position, for both the robot and the external axes.
Components
robax
robot axes
Data type: robjoint
Axis positions of the robot axes in degrees.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected on program execution, the following
applies:
•
If the position is not defined in the position data (value 9E9) the value will be ignored,
if the axis is connected and not activated. But if the axis is activated it will result in
error.
•
If the position is defined in the position data, although the axis is not connected, the
value is ignored.
No movement is performed but no error is generated for an axis with valid position data, if
the axis isn’t activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and its external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Continues on next page
3 Data types
3.27. jointtarget - Joint position data
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Basic examples
Basic examples of the data type jointtarget are illustrated below.
Example 1
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9,
9E9, 9E9, 9E9, 9E9] ];
The normal calibration position for IRB2400 is defined in calib_pos by the data type
jointtarget . The normal calibration position 0 (degrees or mm) is also defined for the
external logical axis a. The external axes b to f are undefined.
Structure
< dataobject of jointtarget >
< robax of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Continued
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3 Data types
3.27. jointtarget - Joint position data
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3.27. jointtarget - Joint position data
Usage
jointtarget is used to define the position that the robot and the external axes will move to
with the instruction MoveAbsJ .
Description
jointtarget defines each individual axis position, for both the robot and the external axes.
Components
robax
robot axes
Data type: robjoint
Axis positions of the robot axes in degrees.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected on program execution, the following
applies:
•
If the position is not defined in the position data (value 9E9) the value will be ignored,
if the axis is connected and not activated. But if the axis is activated it will result in
error.
•
If the position is defined in the position data, although the axis is not connected, the
value is ignored.
No movement is performed but no error is generated for an axis with valid position data, if
the axis isn’t activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and its external axes then the position data for the external axis in
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Continues on next page
3 Data types
3.27. jointtarget - Joint position data
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Basic examples
Basic examples of the data type jointtarget are illustrated below.
Example 1
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9,
9E9, 9E9, 9E9, 9E9] ];
The normal calibration position for IRB2400 is defined in calib_pos by the data type
jointtarget . The normal calibration position 0 (degrees or mm) is also defined for the
external logical axis a. The external axes b to f are undefined.
Structure
< dataobject of jointtarget >
< robax of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Continued
3 Data types
3.28. listitem - List item data structure
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3.28. listitem - List item data structure
Usage
listitem is used to define menu lines that include text with optional small icons on the User
Device such as the FlexPendant.
Description
Data of the type listitem allows the user to define menu lines for the function
UIListView .
Basic example
Basic examples of the data type listitem are illustrated below.
Example 1
CONST listitem list {3}:=[[stEmpty, "Item1"], [stEmpty, "Item2"],
[stEmpty, "Item3"]];
A menu list with Item1....Item3 to use in function UIListView.
Components
The data type has the following components:
image
Data type: string
The path including file name for the icon image to display (not implemented in this software
release).
Use empty string "" or stEmpty if no icon to display.
text
Data type: string
The text for the menu line to display.
Structure
<dataobject of listitem>
<image of string>
<text of string>
Related information
For information about
See
User Interaction ListView
UIListView - User List View on page 1050
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3.27. jointtarget - Joint position data
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Basic examples
Basic examples of the data type jointtarget are illustrated below.
Example 1
CONST jointtarget calib_pos := [ [ 0, 0, 0, 0, 0, 0], [ 0, 9E9,
9E9, 9E9, 9E9, 9E9] ];
The normal calibration position for IRB2400 is defined in calib_pos by the data type
jointtarget . The normal calibration position 0 (degrees or mm) is also defined for the
external logical axis a. The external axes b to f are undefined.
Structure
< dataobject of jointtarget >
< robax of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Continued
3 Data types
3.28. listitem - List item data structure
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3.28. listitem - List item data structure
Usage
listitem is used to define menu lines that include text with optional small icons on the User
Device such as the FlexPendant.
Description
Data of the type listitem allows the user to define menu lines for the function
UIListView .
Basic example
Basic examples of the data type listitem are illustrated below.
Example 1
CONST listitem list {3}:=[[stEmpty, "Item1"], [stEmpty, "Item2"],
[stEmpty, "Item3"]];
A menu list with Item1....Item3 to use in function UIListView.
Components
The data type has the following components:
image
Data type: string
The path including file name for the icon image to display (not implemented in this software
release).
Use empty string "" or stEmpty if no icon to display.
text
Data type: string
The text for the menu line to display.
Structure
<dataobject of listitem>
<image of string>
<text of string>
Related information
For information about
See
User Interaction ListView
UIListView - User List View on page 1050
3 Data types
3.29. loaddata - Load data
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3.29. loaddata - Load data
Usage
loaddata is used to describe loads attached to the mechanical interface of the robot (the
robot’s mounting flange).
Load data usually defines the payload (grip load is defined by the instruction GripLoad ) of
the robot, i.e. the load held in the robot gripper. The tool load is specified in the tool data
( tooldata ) which includes load data.
Description
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
WARNING!
It is important to always define the actual tool load and when used, the payload of the robot
too. Incorrect definitions of load data can result in overloading of the robot mechanical
structure.
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
If the value in the specified load data is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
The payload is connected/disconnected using the instruction GripLoad .
Components
mass
Data type: num
The weight of the load in kg.
cog
center of gravity
Data type: pos
The center of gravity of the tool load for definition of the tool load coordinate system. If a
stationary tool is used then it means the center of gravity for the tool holding the work object.
The center of gravity of the payload for definition of the payload coordinate system. The
object coordinate system when a stationary tool is used.
aom
axes of moment
Data type: orient
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3 Data types
3.28. listitem - List item data structure
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3.28. listitem - List item data structure
Usage
listitem is used to define menu lines that include text with optional small icons on the User
Device such as the FlexPendant.
Description
Data of the type listitem allows the user to define menu lines for the function
UIListView .
Basic example
Basic examples of the data type listitem are illustrated below.
Example 1
CONST listitem list {3}:=[[stEmpty, "Item1"], [stEmpty, "Item2"],
[stEmpty, "Item3"]];
A menu list with Item1....Item3 to use in function UIListView.
Components
The data type has the following components:
image
Data type: string
The path including file name for the icon image to display (not implemented in this software
release).
Use empty string "" or stEmpty if no icon to display.
text
Data type: string
The text for the menu line to display.
Structure
<dataobject of listitem>
<image of string>
<text of string>
Related information
For information about
See
User Interaction ListView
UIListView - User List View on page 1050
3 Data types
3.29. loaddata - Load data
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3.29. loaddata - Load data
Usage
loaddata is used to describe loads attached to the mechanical interface of the robot (the
robot’s mounting flange).
Load data usually defines the payload (grip load is defined by the instruction GripLoad ) of
the robot, i.e. the load held in the robot gripper. The tool load is specified in the tool data
( tooldata ) which includes load data.
Description
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
WARNING!
It is important to always define the actual tool load and when used, the payload of the robot
too. Incorrect definitions of load data can result in overloading of the robot mechanical
structure.
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
If the value in the specified load data is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
The payload is connected/disconnected using the instruction GripLoad .
Components
mass
Data type: num
The weight of the load in kg.
cog
center of gravity
Data type: pos
The center of gravity of the tool load for definition of the tool load coordinate system. If a
stationary tool is used then it means the center of gravity for the tool holding the work object.
The center of gravity of the payload for definition of the payload coordinate system. The
object coordinate system when a stationary tool is used.
aom
axes of moment
Data type: orient
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3 Data types
3.29. loaddata - Load data
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Tool load
The orientation of the tool load coordinate system defined by the principal inertial axes of the
tool load. Expressed in the wrist coordinate system as a quaternion ( q1, q2, q3, q4 ). If a
stationary tool is used then it means the principal inertial axes for the tool holding the work
object.
Payload
The figure shows restriction on the reorientation of tool load and payload coordinate system.
xx0500002370
The orientation of the payload coordinate system defined by the principal inertial axes of the
payload. Expressed in the tool coordinate system as a quaternion (q1, q2, q3, q4). The object
coordinate system if a stationary tool is used.
The figure shows the center of gravity and inertial axes of the payload.
xx0500002371
Continued
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3 Data types
3.29. loaddata - Load data
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3.29. loaddata - Load data
Usage
loaddata is used to describe loads attached to the mechanical interface of the robot (the
robot’s mounting flange).
Load data usually defines the payload (grip load is defined by the instruction GripLoad ) of
the robot, i.e. the load held in the robot gripper. The tool load is specified in the tool data
( tooldata ) which includes load data.
Description
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
WARNING!
It is important to always define the actual tool load and when used, the payload of the robot
too. Incorrect definitions of load data can result in overloading of the robot mechanical
structure.
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
If the value in the specified load data is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
The payload is connected/disconnected using the instruction GripLoad .
Components
mass
Data type: num
The weight of the load in kg.
cog
center of gravity
Data type: pos
The center of gravity of the tool load for definition of the tool load coordinate system. If a
stationary tool is used then it means the center of gravity for the tool holding the work object.
The center of gravity of the payload for definition of the payload coordinate system. The
object coordinate system when a stationary tool is used.
aom
axes of moment
Data type: orient
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3.29. loaddata - Load data
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Tool load
The orientation of the tool load coordinate system defined by the principal inertial axes of the
tool load. Expressed in the wrist coordinate system as a quaternion ( q1, q2, q3, q4 ). If a
stationary tool is used then it means the principal inertial axes for the tool holding the work
object.
Payload
The figure shows restriction on the reorientation of tool load and payload coordinate system.
xx0500002370
The orientation of the payload coordinate system defined by the principal inertial axes of the
payload. Expressed in the tool coordinate system as a quaternion (q1, q2, q3, q4). The object
coordinate system if a stationary tool is used.
The figure shows the center of gravity and inertial axes of the payload.
xx0500002371
Continued
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3 Data types
3.29. loaddata - Load data
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ix
inertia x
Data type: num
The moment of inertia of the load around the x-axis of the tool load or payload coordinate
system in kgm 2 .
Correct definition of the inertial moments will allow optimal utilization of the path planner
and axes control. This may be of special importance when handling large sheets of metal, etc.
All inertial moments of inertia ix , iy , and iz equal to 0 kgm 2 imply a point mass.
Normally, the inertial moments must only be defined when the distance from the mounting
flange to the center of gravity is less than the dimension of the load (see figure below).
The figure shows that the moment of inertia must normally be defined when the distance is
less than the load dimension.
xx0500002372
iy
inertia y
Data type: num
The inertial moment of the load around the y-axis, expressed in kgm 2 .
For more information, see ix .
iz
inertia z
Data type: num
The inertial moment of the load around the z-axis, expressed in kgm 2 .
For more information, see ix .
Basic examples
Basic examples of the data type loaddata are illustrated below.
Example 1
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in the first figure in section Payload on page 1133 is described using the
following values:
•
Weight 5 kg.
•
The center of gravity is x = 50 , y = 0 and z = 50 mm in the tool coordinate system.
•
The payload is a point mass.
Continued
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3.29. loaddata - Load data
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Tool load
The orientation of the tool load coordinate system defined by the principal inertial axes of the
tool load. Expressed in the wrist coordinate system as a quaternion ( q1, q2, q3, q4 ). If a
stationary tool is used then it means the principal inertial axes for the tool holding the work
object.
Payload
The figure shows restriction on the reorientation of tool load and payload coordinate system.
xx0500002370
The orientation of the payload coordinate system defined by the principal inertial axes of the
payload. Expressed in the tool coordinate system as a quaternion (q1, q2, q3, q4). The object
coordinate system if a stationary tool is used.
The figure shows the center of gravity and inertial axes of the payload.
xx0500002371
Continued
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3.29. loaddata - Load data
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ix
inertia x
Data type: num
The moment of inertia of the load around the x-axis of the tool load or payload coordinate
system in kgm 2 .
Correct definition of the inertial moments will allow optimal utilization of the path planner
and axes control. This may be of special importance when handling large sheets of metal, etc.
All inertial moments of inertia ix , iy , and iz equal to 0 kgm 2 imply a point mass.
Normally, the inertial moments must only be defined when the distance from the mounting
flange to the center of gravity is less than the dimension of the load (see figure below).
The figure shows that the moment of inertia must normally be defined when the distance is
less than the load dimension.
xx0500002372
iy
inertia y
Data type: num
The inertial moment of the load around the y-axis, expressed in kgm 2 .
For more information, see ix .
iz
inertia z
Data type: num
The inertial moment of the load around the z-axis, expressed in kgm 2 .
For more information, see ix .
Basic examples
Basic examples of the data type loaddata are illustrated below.
Example 1
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in the first figure in section Payload on page 1133 is described using the
following values:
•
Weight 5 kg.
•
The center of gravity is x = 50 , y = 0 and z = 50 mm in the tool coordinate system.
•
The payload is a point mass.
Continued
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3.29. loaddata - Load data
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Example 2
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, piece1 , specified at the same time as the robot grips the load
piece1 .
Example 3
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a payload.
Limitations
The payload should only be defined as a persistent variable ( PERS ) and not within a routine.
Current values are then saved when saving the program and are retrieved on loading.
Arguments of the type loaddata in the GripLoad instruction should only be an entire
persistent (not array element or record component).
Predefined data
The load load0 defines a payload, with the mass equal to 0 kg, i.e. no load at all. This load
is used as the argument in the instruction GripLoad to disconnect a payload.
The load load0 can always be accessed from the program, but cannot be changed (it is stored
in the system module BASE ).
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0
,0 ];
Structure
< dataobject of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >
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3.29. loaddata - Load data
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ix
inertia x
Data type: num
The moment of inertia of the load around the x-axis of the tool load or payload coordinate
system in kgm 2 .
Correct definition of the inertial moments will allow optimal utilization of the path planner
and axes control. This may be of special importance when handling large sheets of metal, etc.
All inertial moments of inertia ix , iy , and iz equal to 0 kgm 2 imply a point mass.
Normally, the inertial moments must only be defined when the distance from the mounting
flange to the center of gravity is less than the dimension of the load (see figure below).
The figure shows that the moment of inertia must normally be defined when the distance is
less than the load dimension.
xx0500002372
iy
inertia y
Data type: num
The inertial moment of the load around the y-axis, expressed in kgm 2 .
For more information, see ix .
iz
inertia z
Data type: num
The inertial moment of the load around the z-axis, expressed in kgm 2 .
For more information, see ix .
Basic examples
Basic examples of the data type loaddata are illustrated below.
Example 1
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in the first figure in section Payload on page 1133 is described using the
following values:
•
Weight 5 kg.
•
The center of gravity is x = 50 , y = 0 and z = 50 mm in the tool coordinate system.
•
The payload is a point mass.
Continued
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3.29. loaddata - Load data
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Example 2
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, piece1 , specified at the same time as the robot grips the load
piece1 .
Example 3
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a payload.
Limitations
The payload should only be defined as a persistent variable ( PERS ) and not within a routine.
Current values are then saved when saving the program and are retrieved on loading.
Arguments of the type loaddata in the GripLoad instruction should only be an entire
persistent (not array element or record component).
Predefined data
The load load0 defines a payload, with the mass equal to 0 kg, i.e. no load at all. This load
is used as the argument in the instruction GripLoad to disconnect a payload.
The load load0 can always be accessed from the program, but cannot be changed (it is stored
in the system module BASE ).
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0
,0 ];
Structure
< dataobject of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >
Continued
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3.29. loaddata - Load 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
Definition of tool loads
tooldata - Tool data on page 1207
Activation of payload
GripLoad - Defines the payload for the robot on page
119
Continued
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Example 2
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, piece1 , specified at the same time as the robot grips the load
piece1 .
Example 3
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a payload.
Limitations
The payload should only be defined as a persistent variable ( PERS ) and not within a routine.
Current values are then saved when saving the program and are retrieved on loading.
Arguments of the type loaddata in the GripLoad instruction should only be an entire
persistent (not array element or record component).
Predefined data
The load load0 defines a payload, with the mass equal to 0 kg, i.e. no load at all. This load
is used as the argument in the instruction GripLoad to disconnect a payload.
The load load0 can always be accessed from the program, but cannot be changed (it is stored
in the system module BASE ).
PERS loaddata load0 := [ 0.001, [0, 0, 0.001], [1, 0, 0, 0],0, 0
,0 ];
Structure
< dataobject of loaddata >
< mass of num >
< cog of pos >
< x of num >
< y of num >
< z of num >
< aom of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< ix of num >
< iy of num >
< iz of num >
Continued
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3 Data types
3.29. loaddata - Load 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
Definition of tool loads
tooldata - Tool data on page 1207
Activation of payload
GripLoad - Defines the payload for the robot on page
119
Continued
3 Data types
3.30. loadidnum - Type of load identification
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3.30. loadidnum - Type of load identification
Usage
loadidnum is used to represent an integer with a symbolic constant.
Description
A loadidnum constant is intended to be used for load identification of tool or payload as
arguments in instruction LoadId . See example below.
Basic examples
Basic examples of the data type loadidnum are illustrated below.
Example 1
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, gun1;
Load identification of tool gun1 with identification of mass with movements of robot axis 3
with use of predefined constant MASS_WITH_AX3 of data type loadidnum .
Predefined data
The following symbolic constants of the data type loadidnum are predefined and can be used
as arguments in instruction LoadId .
Characteristics
loadidnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively.
2
MASS_WITH_AX3
Unknown mass in tool or payload. Identification of mass
will be done with movements of axis 3
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example LoadId - Load identification of tool or payload on
page 212
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3.29. loaddata - Load 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
Definition of tool loads
tooldata - Tool data on page 1207
Activation of payload
GripLoad - Defines the payload for the robot on page
119
Continued
3 Data types
3.30. loadidnum - Type of load identification
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3.30. loadidnum - Type of load identification
Usage
loadidnum is used to represent an integer with a symbolic constant.
Description
A loadidnum constant is intended to be used for load identification of tool or payload as
arguments in instruction LoadId . See example below.
Basic examples
Basic examples of the data type loadidnum are illustrated below.
Example 1
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, gun1;
Load identification of tool gun1 with identification of mass with movements of robot axis 3
with use of predefined constant MASS_WITH_AX3 of data type loadidnum .
Predefined data
The following symbolic constants of the data type loadidnum are predefined and can be used
as arguments in instruction LoadId .
Characteristics
loadidnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively.
2
MASS_WITH_AX3
Unknown mass in tool or payload. Identification of mass
will be done with movements of axis 3
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example LoadId - Load identification of tool or payload on
page 212
3 Data types
3.31. loadsession - Program load session
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3.31. loadsession - Program load session
Usage
loadsession is used to define different load sessions of RAPID program modules.
Description
Data of the type loadsession is used in the instructions StartLoad and WaitLoad to
identify the load session. loadsession only contains a reference to the load session.
Characteristics
loadsession is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Loading program modules during execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
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3.30. loadidnum - Type of load identification
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3.30. loadidnum - Type of load identification
Usage
loadidnum is used to represent an integer with a symbolic constant.
Description
A loadidnum constant is intended to be used for load identification of tool or payload as
arguments in instruction LoadId . See example below.
Basic examples
Basic examples of the data type loadidnum are illustrated below.
Example 1
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, gun1;
Load identification of tool gun1 with identification of mass with movements of robot axis 3
with use of predefined constant MASS_WITH_AX3 of data type loadidnum .
Predefined data
The following symbolic constants of the data type loadidnum are predefined and can be used
as arguments in instruction LoadId .
Characteristics
loadidnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively.
2
MASS_WITH_AX3
Unknown mass in tool or payload. Identification of mass
will be done with movements of axis 3
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example LoadId - Load identification of tool or payload on
page 212
3 Data types
3.31. loadsession - Program load session
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3.31. loadsession - Program load session
Usage
loadsession is used to define different load sessions of RAPID program modules.
Description
Data of the type loadsession is used in the instructions StartLoad and WaitLoad to
identify the load session. loadsession only contains a reference to the load session.
Characteristics
loadsession is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Loading program modules during execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
3 Data types
3.32. mecunit - Mechanical unit
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3.32. mecunit - Mechanical unit
Usage
mecunit is used to define the different mechanical units which can be controlled and
accessed from the program.
The names of the mechanical units are defined in the system parameters and, consequently,
must not be defined in the program.
Description
Data of the type mecunit only contains a reference to the mechanical unit.
Limitations
Data of the type mecunit must not be defined in the program. However, if it is then an error
message will be displayed as soon as an instruction or function that refers to this mecunit is
executed. The data type can, on the other hand, be used as a parameter when declaring a
routine.
Predefined data
All the mechanical units defined in the system parameters are predefined in every program
task. But only the mechanical units that are controlled by the actual program task (defined in
system parameters Controller/Task/Use Mechanical Unit Group ) can be used to do any
control operations.
Besides that, the predefined variable ROB_ID of data type mecunit is available in every
program task. If an actual program task controls a robot then the alias variable ROB_ID
contains a reference to one of robot ROB_1 to ROB_6, which can be used to do control
operation on the robot. The variable ROB_ID is invalid if the actual program task does not
control any robot.
Basic examples
Basic examples of the data type mecunit are illustrated below.
Example 1
IF TaskRunRob() THEN
IndReset ROB_ID, 6;
ENDIF
If actual program task controls a robot, reset axis 6 for the robot.
Characteristics
mecunit is a non-value data type. This means that data of this type does not permit value-
oriented operations.
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3.31. loadsession - Program load session
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3.31. loadsession - Program load session
Usage
loadsession is used to define different load sessions of RAPID program modules.
Description
Data of the type loadsession is used in the instructions StartLoad and WaitLoad to
identify the load session. loadsession only contains a reference to the load session.
Characteristics
loadsession is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Loading program modules during execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
3 Data types
3.32. mecunit - Mechanical unit
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3.32. mecunit - Mechanical unit
Usage
mecunit is used to define the different mechanical units which can be controlled and
accessed from the program.
The names of the mechanical units are defined in the system parameters and, consequently,
must not be defined in the program.
Description
Data of the type mecunit only contains a reference to the mechanical unit.
Limitations
Data of the type mecunit must not be defined in the program. However, if it is then an error
message will be displayed as soon as an instruction or function that refers to this mecunit is
executed. The data type can, on the other hand, be used as a parameter when declaring a
routine.
Predefined data
All the mechanical units defined in the system parameters are predefined in every program
task. But only the mechanical units that are controlled by the actual program task (defined in
system parameters Controller/Task/Use Mechanical Unit Group ) can be used to do any
control operations.
Besides that, the predefined variable ROB_ID of data type mecunit is available in every
program task. If an actual program task controls a robot then the alias variable ROB_ID
contains a reference to one of robot ROB_1 to ROB_6, which can be used to do control
operation on the robot. The variable ROB_ID is invalid if the actual program task does not
control any robot.
Basic examples
Basic examples of the data type mecunit are illustrated below.
Example 1
IF TaskRunRob() THEN
IndReset ROB_ID, 6;
ENDIF
If actual program task controls a robot, reset axis 6 for the robot.
Characteristics
mecunit is a non-value data type. This means that data of this type does not permit value-
oriented operations.
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3 Data types
3.32. mecunit - Mechanical unit
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Related information
For information about
See
Check if task run some robot
TaskRunRob - Check if task controls some robot on
page 1014
Check if task run some mechanical
unit
TaskRunMec - Check if task controls any mechanical
unit on page 1013
Get the name of mechanical units in
the system
GetNextMechUnit - Get name and data for
mechanical units on page 852
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
Characteristics of non-value data
types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
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3.32. mecunit - Mechanical unit
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3.32. mecunit - Mechanical unit
Usage
mecunit is used to define the different mechanical units which can be controlled and
accessed from the program.
The names of the mechanical units are defined in the system parameters and, consequently,
must not be defined in the program.
Description
Data of the type mecunit only contains a reference to the mechanical unit.
Limitations
Data of the type mecunit must not be defined in the program. However, if it is then an error
message will be displayed as soon as an instruction or function that refers to this mecunit is
executed. The data type can, on the other hand, be used as a parameter when declaring a
routine.
Predefined data
All the mechanical units defined in the system parameters are predefined in every program
task. But only the mechanical units that are controlled by the actual program task (defined in
system parameters Controller/Task/Use Mechanical Unit Group ) can be used to do any
control operations.
Besides that, the predefined variable ROB_ID of data type mecunit is available in every
program task. If an actual program task controls a robot then the alias variable ROB_ID
contains a reference to one of robot ROB_1 to ROB_6, which can be used to do control
operation on the robot. The variable ROB_ID is invalid if the actual program task does not
control any robot.
Basic examples
Basic examples of the data type mecunit are illustrated below.
Example 1
IF TaskRunRob() THEN
IndReset ROB_ID, 6;
ENDIF
If actual program task controls a robot, reset axis 6 for the robot.
Characteristics
mecunit is a non-value data type. This means that data of this type does not permit value-
oriented operations.
Continues on next page
3 Data types
3.32. mecunit - Mechanical unit
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Related information
For information about
See
Check if task run some robot
TaskRunRob - Check if task controls some robot on
page 1014
Check if task run some mechanical
unit
TaskRunMec - Check if task controls any mechanical
unit on page 1013
Get the name of mechanical units in
the system
GetNextMechUnit - Get name and data for
mechanical units on page 852
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
Characteristics of non-value data
types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.33. motsetdata - Motion settings data
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3.33. motsetdata - Motion settings data
Usage
motsetdata is used to define a number of motion settings that affect all positioning
instructions in the program:
•
Max. velocity and velocity override
•
Acceleration data
•
Behavior around singular points
•
Management of different robot configurations
•
Override of path resolution
•
Motion supervision
•
Limitation of acceleration/deceleration
•
Tool reorientation during circle path
This data type does not normally have to be used since these settings can only be set using
the instructions VelSet , AccSet , SingArea , ConfJ, ConfL , PathResol , MotionSup ,
PathAccLim , CirPathMode , and WorldAccLim .
The current values of these motion settings can be accessed using the system variable
C_MOTSET .
Description
The current motion settings (stored in the system variable C_MOTSET ) affect all movements.
Components
vel.oride
Data type: veldata/num
Velocity as a percentage of programmed velocity.
vel.max
Data type: veldata/num
Maximum velocity in mm/s.
acc.acc
Data type: accdata/num
Acceleration and deceleration as a percentage of the normal values.
acc.ramp
Data type: accdata/num
The rate by which acceleration and deceleration increases as a percentage of the normal
values.
sing.wrist
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent wrist
singularity.
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3.32. mecunit - Mechanical unit
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Related information
For information about
See
Check if task run some robot
TaskRunRob - Check if task controls some robot on
page 1014
Check if task run some mechanical
unit
TaskRunMec - Check if task controls any mechanical
unit on page 1013
Get the name of mechanical units in
the system
GetNextMechUnit - Get name and data for
mechanical units on page 852
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
Characteristics of non-value data
types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.33. motsetdata - Motion settings data
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3.33. motsetdata - Motion settings data
Usage
motsetdata is used to define a number of motion settings that affect all positioning
instructions in the program:
•
Max. velocity and velocity override
•
Acceleration data
•
Behavior around singular points
•
Management of different robot configurations
•
Override of path resolution
•
Motion supervision
•
Limitation of acceleration/deceleration
•
Tool reorientation during circle path
This data type does not normally have to be used since these settings can only be set using
the instructions VelSet , AccSet , SingArea , ConfJ, ConfL , PathResol , MotionSup ,
PathAccLim , CirPathMode , and WorldAccLim .
The current values of these motion settings can be accessed using the system variable
C_MOTSET .
Description
The current motion settings (stored in the system variable C_MOTSET ) affect all movements.
Components
vel.oride
Data type: veldata/num
Velocity as a percentage of programmed velocity.
vel.max
Data type: veldata/num
Maximum velocity in mm/s.
acc.acc
Data type: accdata/num
Acceleration and deceleration as a percentage of the normal values.
acc.ramp
Data type: accdata/num
The rate by which acceleration and deceleration increases as a percentage of the normal
values.
sing.wrist
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent wrist
singularity.
Continues on next page
3 Data types
3.33. motsetdata - Motion settings data
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sing.arm
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent arm singularity
(not implemented).
sing.base
Data type: singdata/bool
The orientation of the tool is not allowed to deviate.
conf.jsup
Data type: confsupdata/bool
Supervision of joint configuration is active during joint movement.
conf.lsup
Data type: confsupdata/bool
Supervision of joint configuration is active during linear and circular movement.
conf.ax1
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 1 (not used in this version).
conf.ax4
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 4 (not used in this version).
conf.ax6
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 6 (not used in this version).
pathresol
Data type: num
Current override in percentage of the configured path resolution.
motionsup
Data type: bool
Mirror RAPID status ( TRUE = On and FALSE = Off) of motion supervision function.
tunevalue
Data type: num
Current RAPID override as a percentage of the configured tunevalue for the motion
supervision function.
acclim
Data type: bool
Limitation of tool acceleration along the path. ( TRUE = limitation and FALSE = no limitation).
accmax
Data type: num
TCP acceleration limitation in m/s 2 . If acclim is FALSE , the value is always set to -1.
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3.33. motsetdata - Motion settings data
Usage
motsetdata is used to define a number of motion settings that affect all positioning
instructions in the program:
•
Max. velocity and velocity override
•
Acceleration data
•
Behavior around singular points
•
Management of different robot configurations
•
Override of path resolution
•
Motion supervision
•
Limitation of acceleration/deceleration
•
Tool reorientation during circle path
This data type does not normally have to be used since these settings can only be set using
the instructions VelSet , AccSet , SingArea , ConfJ, ConfL , PathResol , MotionSup ,
PathAccLim , CirPathMode , and WorldAccLim .
The current values of these motion settings can be accessed using the system variable
C_MOTSET .
Description
The current motion settings (stored in the system variable C_MOTSET ) affect all movements.
Components
vel.oride
Data type: veldata/num
Velocity as a percentage of programmed velocity.
vel.max
Data type: veldata/num
Maximum velocity in mm/s.
acc.acc
Data type: accdata/num
Acceleration and deceleration as a percentage of the normal values.
acc.ramp
Data type: accdata/num
The rate by which acceleration and deceleration increases as a percentage of the normal
values.
sing.wrist
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent wrist
singularity.
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sing.arm
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent arm singularity
(not implemented).
sing.base
Data type: singdata/bool
The orientation of the tool is not allowed to deviate.
conf.jsup
Data type: confsupdata/bool
Supervision of joint configuration is active during joint movement.
conf.lsup
Data type: confsupdata/bool
Supervision of joint configuration is active during linear and circular movement.
conf.ax1
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 1 (not used in this version).
conf.ax4
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 4 (not used in this version).
conf.ax6
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 6 (not used in this version).
pathresol
Data type: num
Current override in percentage of the configured path resolution.
motionsup
Data type: bool
Mirror RAPID status ( TRUE = On and FALSE = Off) of motion supervision function.
tunevalue
Data type: num
Current RAPID override as a percentage of the configured tunevalue for the motion
supervision function.
acclim
Data type: bool
Limitation of tool acceleration along the path. ( TRUE = limitation and FALSE = no limitation).
accmax
Data type: num
TCP acceleration limitation in m/s 2 . If acclim is FALSE , the value is always set to -1.
Continued
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decellim
Data type: bool
Limitation of tool deceleration along the path. ( TRUE = limitation and FALSE = no limitation).
decelmax
Data type: num
TCP deceleration limitation in m/s 2 . If decellim is FALSE , the value is always set to -1.
cirpathreori
Data type: num
Tool reorientation during circle path:
0 = Standard method with interpolation in path frame
1 = Modified method with interpolation in object frame
2 = Modified method with programmed tool orientation in CirPoint
worldacclim
Data type: bool
Limitation of acceleration in world coordinate system. ( TRUE = limitation and FALSE = no
limitation).
worldaccmax
Data type: num
Limitation of acceleration in world coordinate system in m/s 2 . If worldacclim is FALSE,
the value is always set to -1.
Limitations
One and only one of the components sing.wrist , sing.arm or sing.base may have a
value equal to TRUE.
Basic examples
Basic examples of the data type motsetdata are illustrated below.
Example 1
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF
Different parts of the program are executed depending on the current velocity override.
Continued
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sing.arm
Data type: singdata/bool
The orientation of the tool is allowed to deviate somewhat in order to prevent arm singularity
(not implemented).
sing.base
Data type: singdata/bool
The orientation of the tool is not allowed to deviate.
conf.jsup
Data type: confsupdata/bool
Supervision of joint configuration is active during joint movement.
conf.lsup
Data type: confsupdata/bool
Supervision of joint configuration is active during linear and circular movement.
conf.ax1
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 1 (not used in this version).
conf.ax4
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 4 (not used in this version).
conf.ax6
Data type: confsupdata/num
Maximum permitted deviation in degrees for axis 6 (not used in this version).
pathresol
Data type: num
Current override in percentage of the configured path resolution.
motionsup
Data type: bool
Mirror RAPID status ( TRUE = On and FALSE = Off) of motion supervision function.
tunevalue
Data type: num
Current RAPID override as a percentage of the configured tunevalue for the motion
supervision function.
acclim
Data type: bool
Limitation of tool acceleration along the path. ( TRUE = limitation and FALSE = no limitation).
accmax
Data type: num
TCP acceleration limitation in m/s 2 . If acclim is FALSE , the value is always set to -1.
Continued
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decellim
Data type: bool
Limitation of tool deceleration along the path. ( TRUE = limitation and FALSE = no limitation).
decelmax
Data type: num
TCP deceleration limitation in m/s 2 . If decellim is FALSE , the value is always set to -1.
cirpathreori
Data type: num
Tool reorientation during circle path:
0 = Standard method with interpolation in path frame
1 = Modified method with interpolation in object frame
2 = Modified method with programmed tool orientation in CirPoint
worldacclim
Data type: bool
Limitation of acceleration in world coordinate system. ( TRUE = limitation and FALSE = no
limitation).
worldaccmax
Data type: num
Limitation of acceleration in world coordinate system in m/s 2 . If worldacclim is FALSE,
the value is always set to -1.
Limitations
One and only one of the components sing.wrist , sing.arm or sing.base may have a
value equal to TRUE.
Basic examples
Basic examples of the data type motsetdata are illustrated below.
Example 1
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF
Different parts of the program are executed depending on the current velocity override.
Continued
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3.33. motsetdata - Motion settings data
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Predefined data
C_MOTSET describes the current motion settings of the robot and can always be accessed from
the program. On the other hand, C_MOTSET can only be changed using a number of
instructions, not by assignment.
The following default values for motion parameters are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR motsetdata C_MOTSET := [
[ 100, 500 ],
-> veldata
[ 100, 100 ],
-> accdata
[ FALSE, FALSE, TRUE ],
-> singdata
[ TRUE, TRUE, 30, 45, 90 ]
-> confsupdata
100,
-> path resolution
TRUE,
-> motionsup
100,
-> tunevalue
FALSE,
-> acclim
-1,
-> accmax
FALSE,
-> decellim
-1,
-> decelmax
0,
-> cirpathreori
FALSE,
-> worldacclim
-1],
-> worldaccmax
Structure
<dataobject of motsetdata>
<vel of veldata>
->Affected by instruction VelSet
<oride of num>
<max of num>
<acc of accdata>
->Affected by instruction AccSet
<acc of num>
<ramp of num>
<sing of singdata>
->Affected by instruction SingArea
<wrist of bool>
<arm of bool>
<base of bool>
<conf of confsupdata> ->Affected by instructions ConfJ and ConfL
<jsup of bool>
<lsup of bool>
<ax1 of num>
<ax4 of num>
<ax6 of num>
<pathresol of num>
->Affected by instruction PathResol
<motionsup of bool>
->Affected by instruction MotionSup
<tunevalue of num>
->Affected by instruction MotionSup
<acclim of bool>
->Affected by instruction PathAccLim
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decellim
Data type: bool
Limitation of tool deceleration along the path. ( TRUE = limitation and FALSE = no limitation).
decelmax
Data type: num
TCP deceleration limitation in m/s 2 . If decellim is FALSE , the value is always set to -1.
cirpathreori
Data type: num
Tool reorientation during circle path:
0 = Standard method with interpolation in path frame
1 = Modified method with interpolation in object frame
2 = Modified method with programmed tool orientation in CirPoint
worldacclim
Data type: bool
Limitation of acceleration in world coordinate system. ( TRUE = limitation and FALSE = no
limitation).
worldaccmax
Data type: num
Limitation of acceleration in world coordinate system in m/s 2 . If worldacclim is FALSE,
the value is always set to -1.
Limitations
One and only one of the components sing.wrist , sing.arm or sing.base may have a
value equal to TRUE.
Basic examples
Basic examples of the data type motsetdata are illustrated below.
Example 1
IF C_MOTSET.vel.oride > 50 THEN
...
ELSE
...
ENDIF
Different parts of the program are executed depending on the current velocity override.
Continued
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3.33. motsetdata - Motion settings data
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Predefined data
C_MOTSET describes the current motion settings of the robot and can always be accessed from
the program. On the other hand, C_MOTSET can only be changed using a number of
instructions, not by assignment.
The following default values for motion parameters are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR motsetdata C_MOTSET := [
[ 100, 500 ],
-> veldata
[ 100, 100 ],
-> accdata
[ FALSE, FALSE, TRUE ],
-> singdata
[ TRUE, TRUE, 30, 45, 90 ]
-> confsupdata
100,
-> path resolution
TRUE,
-> motionsup
100,
-> tunevalue
FALSE,
-> acclim
-1,
-> accmax
FALSE,
-> decellim
-1,
-> decelmax
0,
-> cirpathreori
FALSE,
-> worldacclim
-1],
-> worldaccmax
Structure
<dataobject of motsetdata>
<vel of veldata>
->Affected by instruction VelSet
<oride of num>
<max of num>
<acc of accdata>
->Affected by instruction AccSet
<acc of num>
<ramp of num>
<sing of singdata>
->Affected by instruction SingArea
<wrist of bool>
<arm of bool>
<base of bool>
<conf of confsupdata> ->Affected by instructions ConfJ and ConfL
<jsup of bool>
<lsup of bool>
<ax1 of num>
<ax4 of num>
<ax6 of num>
<pathresol of num>
->Affected by instruction PathResol
<motionsup of bool>
->Affected by instruction MotionSup
<tunevalue of num>
->Affected by instruction MotionSup
<acclim of bool>
->Affected by instruction PathAccLim
Continued
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<accmax of num>
->Affected by instruction PathAccLim
<decellim of bool>
->Affected by instruction PathAccLim
<decelmax of num>
->Affected by instruction PathAccLim
<cirpathreori of num> ->Affected by instruction CirPathMode
<worldacclim of bool> ->Affected by instruction WorldAccLim
<worldaccmax of num>
->Affected by instruction WorldAccLim
Related information
For information about
See
Instructions for setting motion parameters
Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
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Predefined data
C_MOTSET describes the current motion settings of the robot and can always be accessed from
the program. On the other hand, C_MOTSET can only be changed using a number of
instructions, not by assignment.
The following default values for motion parameters are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR motsetdata C_MOTSET := [
[ 100, 500 ],
-> veldata
[ 100, 100 ],
-> accdata
[ FALSE, FALSE, TRUE ],
-> singdata
[ TRUE, TRUE, 30, 45, 90 ]
-> confsupdata
100,
-> path resolution
TRUE,
-> motionsup
100,
-> tunevalue
FALSE,
-> acclim
-1,
-> accmax
FALSE,
-> decellim
-1,
-> decelmax
0,
-> cirpathreori
FALSE,
-> worldacclim
-1],
-> worldaccmax
Structure
<dataobject of motsetdata>
<vel of veldata>
->Affected by instruction VelSet
<oride of num>
<max of num>
<acc of accdata>
->Affected by instruction AccSet
<acc of num>
<ramp of num>
<sing of singdata>
->Affected by instruction SingArea
<wrist of bool>
<arm of bool>
<base of bool>
<conf of confsupdata> ->Affected by instructions ConfJ and ConfL
<jsup of bool>
<lsup of bool>
<ax1 of num>
<ax4 of num>
<ax6 of num>
<pathresol of num>
->Affected by instruction PathResol
<motionsup of bool>
->Affected by instruction MotionSup
<tunevalue of num>
->Affected by instruction MotionSup
<acclim of bool>
->Affected by instruction PathAccLim
Continued
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3.33. motsetdata - Motion settings data
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<accmax of num>
->Affected by instruction PathAccLim
<decellim of bool>
->Affected by instruction PathAccLim
<decelmax of num>
->Affected by instruction PathAccLim
<cirpathreori of num> ->Affected by instruction CirPathMode
<worldacclim of bool> ->Affected by instruction WorldAccLim
<worldaccmax of num>
->Affected by instruction WorldAccLim
Related information
For information about
See
Instructions for setting motion parameters
Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
Continued
3 Data types
3.34. num - Numeric values
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3.34. num - Numeric values
Usage
Num is used for numeric values; e.g. counters.
Description
The value of the num data type may be
•
an integer; e.g. -5,
•
a decimal number; e.g. 3.45.
It may also be written exponentially; e.g.2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025).
Integers between -8388607 and +8388608 are always stored as exact integers.
Decimal numbers are only approximate numbers and therefore should not be used in is equal
to or is not equal to comparisons. In the case of divisions and operations using decimal
numbers, the result will also be a decimal number; i.e. not an exact integer. For example:
a := 10;
b := 5;
IF a/b=2 THEN
...
As the result of a/b is not an integer, this condition is not necessarily satisfied.
Basic examples
Basic examples of the data type num are illustrated below.
Example 1
VAR num reg1;
...
reg1 := 3;
reg1 is assigned the value 3 .
Example 2
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1).
Predefined data
There is some predefined data in the system. For example the constant pi ( π ) is defined in the
system module BASE_SHARED .
CONST num pi := 3.1415926;
Limitations
Literal values between -8388607 to 8388608 assigned to a num variable are stored as exact
integers.
If a literal that has been interpreted as a dnum is assigned/used as a num , it is automatically
converted to a num .
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<accmax of num>
->Affected by instruction PathAccLim
<decellim of bool>
->Affected by instruction PathAccLim
<decelmax of num>
->Affected by instruction PathAccLim
<cirpathreori of num> ->Affected by instruction CirPathMode
<worldacclim of bool> ->Affected by instruction WorldAccLim
<worldaccmax of num>
->Affected by instruction WorldAccLim
Related information
For information about
See
Instructions for setting motion parameters
Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
Continued
3 Data types
3.34. num - Numeric values
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3.34. num - Numeric values
Usage
Num is used for numeric values; e.g. counters.
Description
The value of the num data type may be
•
an integer; e.g. -5,
•
a decimal number; e.g. 3.45.
It may also be written exponentially; e.g.2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025).
Integers between -8388607 and +8388608 are always stored as exact integers.
Decimal numbers are only approximate numbers and therefore should not be used in is equal
to or is not equal to comparisons. In the case of divisions and operations using decimal
numbers, the result will also be a decimal number; i.e. not an exact integer. For example:
a := 10;
b := 5;
IF a/b=2 THEN
...
As the result of a/b is not an integer, this condition is not necessarily satisfied.
Basic examples
Basic examples of the data type num are illustrated below.
Example 1
VAR num reg1;
...
reg1 := 3;
reg1 is assigned the value 3 .
Example 2
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1).
Predefined data
There is some predefined data in the system. For example the constant pi ( π ) is defined in the
system module BASE_SHARED .
CONST num pi := 3.1415926;
Limitations
Literal values between -8388607 to 8388608 assigned to a num variable are stored as exact
integers.
If a literal that has been interpreted as a dnum is assigned/used as a num , it is automatically
converted to a num .
Continues on next page
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3.34. num - Numeric values
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Related information
For information about
See
Numeric values using datatype dnum
dnum - Double numeric values on page 1104
Numeric expressions
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Operations using numeric values
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Continued
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3.34. num - Numeric values
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3.34. num - Numeric values
Usage
Num is used for numeric values; e.g. counters.
Description
The value of the num data type may be
•
an integer; e.g. -5,
•
a decimal number; e.g. 3.45.
It may also be written exponentially; e.g.2E3 (= 2*10^3 = 2000), 2.5E-2 (= 0.025).
Integers between -8388607 and +8388608 are always stored as exact integers.
Decimal numbers are only approximate numbers and therefore should not be used in is equal
to or is not equal to comparisons. In the case of divisions and operations using decimal
numbers, the result will also be a decimal number; i.e. not an exact integer. For example:
a := 10;
b := 5;
IF a/b=2 THEN
...
As the result of a/b is not an integer, this condition is not necessarily satisfied.
Basic examples
Basic examples of the data type num are illustrated below.
Example 1
VAR num reg1;
...
reg1 := 3;
reg1 is assigned the value 3 .
Example 2
a := 10 DIV 3;
b := 10 MOD 3;
Integer division where a is assigned an integer (=3) and b is assigned the remainder (=1).
Predefined data
There is some predefined data in the system. For example the constant pi ( π ) is defined in the
system module BASE_SHARED .
CONST num pi := 3.1415926;
Limitations
Literal values between -8388607 to 8388608 assigned to a num variable are stored as exact
integers.
If a literal that has been interpreted as a dnum is assigned/used as a num , it is automatically
converted to a num .
Continues on next page
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3.34. num - Numeric values
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Related information
For information about
See
Numeric values using datatype dnum
dnum - Double numeric values on page 1104
Numeric expressions
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Operations using numeric values
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Continued
3 Data types
3.35. opcalc - Arithmetic Operator
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3.35. opcalc - Arithmetic Operator
Usage
opcalc is used to represent an arithmetic operator in arguments to RAPID functions or
instructions.
Description
An opcalc constant is intended to be used to define the type of arithmetic operation.
Examples
Basic example of the usage of datatype opcalc is illustrated below.
Example 1
res := StrDigCalc(str1, OpAdd, str2);
res is assigned the result of the addition operation on the values represented by the strings
str1 and str2 . OpAdd is of datatype opcalc.
Predefined data
The following symbolic constants of the data type opcalc are predefined and can be used to
define the type of arithmetic operation used, for instance, in function StrDigCalc .
Characteristics
opcalc is an alias data type for num and consequently inherits its characteristics.
Related information
Constant
Value
Comment
OpAdd
1
Addition (+)
OpSub
2
Substraction (-)
OpMult
3
Multiplication (*)
OpDiv
4
Division (/)
OpMod
5
Modulus(%l)
For information about
See
Data types in general, alias data types
Technical reference manual - RA]PID
overview , section Basic characteristics -
Datatypes
Arithmetic operations on digital strings.
StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
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Related information
For information about
See
Numeric values using datatype dnum
dnum - Double numeric values on page 1104
Numeric expressions
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Operations using numeric values
Technical reference manual - RAPID
overview , section Basic RAPID programming
- Expressions
Continued
3 Data types
3.35. opcalc - Arithmetic Operator
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3.35. opcalc - Arithmetic Operator
Usage
opcalc is used to represent an arithmetic operator in arguments to RAPID functions or
instructions.
Description
An opcalc constant is intended to be used to define the type of arithmetic operation.
Examples
Basic example of the usage of datatype opcalc is illustrated below.
Example 1
res := StrDigCalc(str1, OpAdd, str2);
res is assigned the result of the addition operation on the values represented by the strings
str1 and str2 . OpAdd is of datatype opcalc.
Predefined data
The following symbolic constants of the data type opcalc are predefined and can be used to
define the type of arithmetic operation used, for instance, in function StrDigCalc .
Characteristics
opcalc is an alias data type for num and consequently inherits its characteristics.
Related information
Constant
Value
Comment
OpAdd
1
Addition (+)
OpSub
2
Substraction (-)
OpMult
3
Multiplication (*)
OpDiv
4
Division (/)
OpMod
5
Modulus(%l)
For information about
See
Data types in general, alias data types
Technical reference manual - RA]PID
overview , section Basic characteristics -
Datatypes
Arithmetic operations on digital strings.
StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
3 Data types
3.36. opnum - Comparison operator
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3.36. opnum - Comparison operator
Usage
opnum is used to represent an operator for comparisons in arguments to RAPID functions or
instructions.
Description
An opnum constant is intended to be used to define the type of comparison when checking
values in generic instructions.
Basic examples
Basic examples of the data type opnum are illustrated below.
Example 1
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
Predefined data
The following symbolic constants of the data type opnum are predefined and can be used to
define the type of comparison used, for instance, in instruction TriggCheckIO .
Characteristics
opnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
LT
Less than
2
LTEQ
Less than or equal to
3
EQ
Equal to
4
NOTEQ
Not equal to
5
GTEQ
Greater than or equal to
6
GT
Greater than
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
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3.35. opcalc - Arithmetic Operator
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3.35. opcalc - Arithmetic Operator
Usage
opcalc is used to represent an arithmetic operator in arguments to RAPID functions or
instructions.
Description
An opcalc constant is intended to be used to define the type of arithmetic operation.
Examples
Basic example of the usage of datatype opcalc is illustrated below.
Example 1
res := StrDigCalc(str1, OpAdd, str2);
res is assigned the result of the addition operation on the values represented by the strings
str1 and str2 . OpAdd is of datatype opcalc.
Predefined data
The following symbolic constants of the data type opcalc are predefined and can be used to
define the type of arithmetic operation used, for instance, in function StrDigCalc .
Characteristics
opcalc is an alias data type for num and consequently inherits its characteristics.
Related information
Constant
Value
Comment
OpAdd
1
Addition (+)
OpSub
2
Substraction (-)
OpMult
3
Multiplication (*)
OpDiv
4
Division (/)
OpMod
5
Modulus(%l)
For information about
See
Data types in general, alias data types
Technical reference manual - RA]PID
overview , section Basic characteristics -
Datatypes
Arithmetic operations on digital strings.
StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
3 Data types
3.36. opnum - Comparison operator
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3.36. opnum - Comparison operator
Usage
opnum is used to represent an operator for comparisons in arguments to RAPID functions or
instructions.
Description
An opnum constant is intended to be used to define the type of comparison when checking
values in generic instructions.
Basic examples
Basic examples of the data type opnum are illustrated below.
Example 1
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
Predefined data
The following symbolic constants of the data type opnum are predefined and can be used to
define the type of comparison used, for instance, in instruction TriggCheckIO .
Characteristics
opnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
LT
Less than
2
LTEQ
Less than or equal to
3
EQ
Equal to
4
NOTEQ
Not equal to
5
GTEQ
Greater than or equal to
6
GT
Greater than
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
3 Data types
3.37. orient - Orientation
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3.37. orient - Orientation
Usage
orient is used for orientations (such as the orientation of a tool) and rotations (such as the
rotation of a coordinate system).
Description
The orientation is described in the form of a quaternion which consists of four elements: q1 ,
q2 , q3 , and q4 . For more information on how to calculate these, see below.
Components
The data type orient has the following components:
q1
Data type: num
Quaternion 1.
q2
Data type: num
Quaternion 2.
q3
Data type: num
Quaternion 3.
q4
Data type: num
Quaternion 4.
Basic examples
Basic examples of the data type orient are illustrated below.
Example 1
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];
The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to no
rotation.
Limitations
The orientation must be normalized; i.e. the sum of the squares must equal 1:
.
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3.36. opnum - Comparison operator
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3.36. opnum - Comparison operator
Usage
opnum is used to represent an operator for comparisons in arguments to RAPID functions or
instructions.
Description
An opnum constant is intended to be used to define the type of comparison when checking
values in generic instructions.
Basic examples
Basic examples of the data type opnum are illustrated below.
Example 1
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
Predefined data
The following symbolic constants of the data type opnum are predefined and can be used to
define the type of comparison used, for instance, in instruction TriggCheckIO .
Characteristics
opnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
1
LT
Less than
2
LTEQ
Less than or equal to
3
EQ
Equal to
4
NOTEQ
Not equal to
5
GTEQ
Greater than or equal to
6
GT
Greater than
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
3 Data types
3.37. orient - Orientation
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3.37. orient - Orientation
Usage
orient is used for orientations (such as the orientation of a tool) and rotations (such as the
rotation of a coordinate system).
Description
The orientation is described in the form of a quaternion which consists of four elements: q1 ,
q2 , q3 , and q4 . For more information on how to calculate these, see below.
Components
The data type orient has the following components:
q1
Data type: num
Quaternion 1.
q2
Data type: num
Quaternion 2.
q3
Data type: num
Quaternion 3.
q4
Data type: num
Quaternion 4.
Basic examples
Basic examples of the data type orient are illustrated below.
Example 1
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];
The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to no
rotation.
Limitations
The orientation must be normalized; i.e. the sum of the squares must equal 1:
.
Continues on next page
3 Data types
3.37. orient - Orientation
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What is a Quaternion?
The orientation of a coordinate system (such as that of a tool) can be described by a rotational
matrix that describes the direction of the axes of the coordinate system in relation to a
reference system (see figure below).
xx0500002376
The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the
reference coordinate system as follows:
x = (x1, x2, x3)
y = (y1, y2, y3)
z = (z1, z2, z3)
This means that the x-component of the x-vector in the reference coordinate system will be
x1, the y-component will be x2, etc.
These three vectors can be put together in a matrix (a rotational matrix) where each of the
vectors form one of the columns:
.
A quaternion is just a more concise way to describe this rotational matrix; the quaternions are
calculated based on the elements of the rotational matrix:
.
.
sign q2 = sign ( y 3- z 2)
.
sign q3 = sign ( z 1- x 3)
.
sign q4 = sign ( x 2- y 1)
Continued
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3.37. orient - Orientation
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3.37. orient - Orientation
Usage
orient is used for orientations (such as the orientation of a tool) and rotations (such as the
rotation of a coordinate system).
Description
The orientation is described in the form of a quaternion which consists of four elements: q1 ,
q2 , q3 , and q4 . For more information on how to calculate these, see below.
Components
The data type orient has the following components:
q1
Data type: num
Quaternion 1.
q2
Data type: num
Quaternion 2.
q3
Data type: num
Quaternion 3.
q4
Data type: num
Quaternion 4.
Basic examples
Basic examples of the data type orient are illustrated below.
Example 1
VAR orient orient1;
.
orient1 := [1, 0, 0, 0];
The orient1 orientation is assigned the value q1=1, q2-q4=0; this corresponds to no
rotation.
Limitations
The orientation must be normalized; i.e. the sum of the squares must equal 1:
.
Continues on next page
3 Data types
3.37. orient - Orientation
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What is a Quaternion?
The orientation of a coordinate system (such as that of a tool) can be described by a rotational
matrix that describes the direction of the axes of the coordinate system in relation to a
reference system (see figure below).
xx0500002376
The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the
reference coordinate system as follows:
x = (x1, x2, x3)
y = (y1, y2, y3)
z = (z1, z2, z3)
This means that the x-component of the x-vector in the reference coordinate system will be
x1, the y-component will be x2, etc.
These three vectors can be put together in a matrix (a rotational matrix) where each of the
vectors form one of the columns:
.
A quaternion is just a more concise way to describe this rotational matrix; the quaternions are
calculated based on the elements of the rotational matrix:
.
.
sign q2 = sign ( y 3- z 2)
.
sign q3 = sign ( z 1- x 3)
.
sign q4 = sign ( x 2- y 1)
Continued
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3 Data types
3.37. orient - Orientation
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Example 1
A tool is orientated so that its Z’-axis points straight ahead (in the same direction as the X-
axis of the base coordinate system). The Y’-axis of the tool corresponds to the Y-axis of the
base coordinate system (see figure below). How is the orientation of the tool defined in the
position data ( robtarget )?
The orientation of the tool in a programmed position is normally related to the coordinate
system of the work object used. In this example, no work object is used and the base
coordinate system is equal to the world coordinate system. Thus, the orientation is related to
the base coordinate system.
xx0500002377
The axes will then be related as follows:
x’ = -z = (0, 0, -1)
y’ = y = (0, 1, 0)
z’ = x = (1, 0, 0)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
.
.
.
sign q3 = sign (1+1) = +
.
Continued
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3 Data types
3.37. orient - Orientation
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What is a Quaternion?
The orientation of a coordinate system (such as that of a tool) can be described by a rotational
matrix that describes the direction of the axes of the coordinate system in relation to a
reference system (see figure below).
xx0500002376
The rotated coordinate systems axes (x, y, z) are vectors which can be expressed in the
reference coordinate system as follows:
x = (x1, x2, x3)
y = (y1, y2, y3)
z = (z1, z2, z3)
This means that the x-component of the x-vector in the reference coordinate system will be
x1, the y-component will be x2, etc.
These three vectors can be put together in a matrix (a rotational matrix) where each of the
vectors form one of the columns:
.
A quaternion is just a more concise way to describe this rotational matrix; the quaternions are
calculated based on the elements of the rotational matrix:
.
.
sign q2 = sign ( y 3- z 2)
.
sign q3 = sign ( z 1- x 3)
.
sign q4 = sign ( x 2- y 1)
Continued
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3 Data types
3.37. orient - Orientation
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Example 1
A tool is orientated so that its Z’-axis points straight ahead (in the same direction as the X-
axis of the base coordinate system). The Y’-axis of the tool corresponds to the Y-axis of the
base coordinate system (see figure below). How is the orientation of the tool defined in the
position data ( robtarget )?
The orientation of the tool in a programmed position is normally related to the coordinate
system of the work object used. In this example, no work object is used and the base
coordinate system is equal to the world coordinate system. Thus, the orientation is related to
the base coordinate system.
xx0500002377
The axes will then be related as follows:
x’ = -z = (0, 0, -1)
y’ = y = (0, 1, 0)
z’ = x = (1, 0, 0)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
.
.
.
sign q3 = sign (1+1) = +
.
Continued
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3 Data types
3.37. orient - Orientation
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Example 2
The direction of the tool is rotated 30° about the X’- and Z’-axes in relation to the wrist
coordinate system (see figure below). How is the orientation of the tool defined in the tool
data?
xx0500002378
The axes will then be related as follows:
x’ = (cos30°, 0, -sin30°)
x’ = (0, 1, 0)
x’ = (sin30°, 0, cos30°)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
Structure
< dataobject of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
Related information
.
.
.
sign q3 = sign (sin30°+sin30°) = +
.
For information about
See
Operations on orientations
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
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3.37. orient - Orientation
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Example 1
A tool is orientated so that its Z’-axis points straight ahead (in the same direction as the X-
axis of the base coordinate system). The Y’-axis of the tool corresponds to the Y-axis of the
base coordinate system (see figure below). How is the orientation of the tool defined in the
position data ( robtarget )?
The orientation of the tool in a programmed position is normally related to the coordinate
system of the work object used. In this example, no work object is used and the base
coordinate system is equal to the world coordinate system. Thus, the orientation is related to
the base coordinate system.
xx0500002377
The axes will then be related as follows:
x’ = -z = (0, 0, -1)
y’ = y = (0, 1, 0)
z’ = x = (1, 0, 0)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
.
.
.
sign q3 = sign (1+1) = +
.
Continued
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3 Data types
3.37. orient - Orientation
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Example 2
The direction of the tool is rotated 30° about the X’- and Z’-axes in relation to the wrist
coordinate system (see figure below). How is the orientation of the tool defined in the tool
data?
xx0500002378
The axes will then be related as follows:
x’ = (cos30°, 0, -sin30°)
x’ = (0, 1, 0)
x’ = (sin30°, 0, cos30°)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
Structure
< dataobject of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
Related information
.
.
.
sign q3 = sign (sin30°+sin30°) = +
.
For information about
See
Operations on orientations
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
Continued
3 Data types
3.38. paridnum - Type of parameter identification
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3.38. paridnum - Type of parameter identification
Usage
paridnum is used to represent an integer with a symbolic constant.
Description
A paridnum constant is intended to be used for parameter identification such as load
identification of tool or payload or external manipulator load. See example below.
Basic examples
Basic examples of the data type paridnum are illustrated below.
Example 1
TEST ParIdRobValid (TOOL_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of tool in actual robot type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of tool with
! IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of tool in actual robot
type
...
ENDTEST
Use of predefined constant TOOL_LOAD_ID of data type paridnum .
Predefined data
The following symbolic constants of the data type paridnum are predefined and can be used
as arguments in the following instructions, ParIdRobValid , ParIdPosValid, LoadId ,
and ManLoadIdProc .
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
3
IRBP_K
Identify External Manipulator IRBP K load
4
IRBP_L
Identify External Manipulator IRBP L load
4
IRBP_C
Identify External Manipulator IRBP C load
4
IRBP_C_INDEX
Identify External Manipulator IRBP C_INDEX load
4
IRBP_T
Identify External Manipulator IRBP T load
5
IRBP_R
Identify External Manipulator IRBP R load
6
IRBP_A
Identify External Manipulator IRBP A load
6
IRBP_B
Identify External Manipulator IRBP B load
6
IRBP_D
Identify External Manipulator IRBP D load
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3.37. orient - Orientation
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Example 2
The direction of the tool is rotated 30° about the X’- and Z’-axes in relation to the wrist
coordinate system (see figure below). How is the orientation of the tool defined in the tool
data?
xx0500002378
The axes will then be related as follows:
x’ = (cos30°, 0, -sin30°)
x’ = (0, 1, 0)
x’ = (sin30°, 0, cos30°)
Which corresponds to the following rotational matrix:
.
The rotational matrix provides a corresponding quaternion:
Structure
< dataobject of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
Related information
.
.
.
sign q3 = sign (sin30°+sin30°) = +
.
For information about
See
Operations on orientations
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
Continued
3 Data types
3.38. paridnum - Type of parameter identification
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3.38. paridnum - Type of parameter identification
Usage
paridnum is used to represent an integer with a symbolic constant.
Description
A paridnum constant is intended to be used for parameter identification such as load
identification of tool or payload or external manipulator load. See example below.
Basic examples
Basic examples of the data type paridnum are illustrated below.
Example 1
TEST ParIdRobValid (TOOL_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of tool in actual robot type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of tool with
! IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of tool in actual robot
type
...
ENDTEST
Use of predefined constant TOOL_LOAD_ID of data type paridnum .
Predefined data
The following symbolic constants of the data type paridnum are predefined and can be used
as arguments in the following instructions, ParIdRobValid , ParIdPosValid, LoadId ,
and ManLoadIdProc .
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
3
IRBP_K
Identify External Manipulator IRBP K load
4
IRBP_L
Identify External Manipulator IRBP L load
4
IRBP_C
Identify External Manipulator IRBP C load
4
IRBP_C_INDEX
Identify External Manipulator IRBP C_INDEX load
4
IRBP_T
Identify External Manipulator IRBP T load
5
IRBP_R
Identify External Manipulator IRBP R load
6
IRBP_A
Identify External Manipulator IRBP A load
6
IRBP_B
Identify External Manipulator IRBP B load
6
IRBP_D
Identify External Manipulator IRBP D load
Continues on next page
3 Data types
3.38. paridnum - Type of parameter identification
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NOTE!
Only TOOL_LOAD_ID and PAY_LOAD_ID can be used in user defined RAPID Programs for
load identification of the tool respectively the pay load for the robot.
Characteristics
paridnum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example
LoadId - Load identification of tool or payload
on page 212
Load identification of external manipulators
ManLoadIdProc - Load identification of IRBP
manipulators on page 219
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3.38. paridnum - Type of parameter identification
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3.38. paridnum - Type of parameter identification
Usage
paridnum is used to represent an integer with a symbolic constant.
Description
A paridnum constant is intended to be used for parameter identification such as load
identification of tool or payload or external manipulator load. See example below.
Basic examples
Basic examples of the data type paridnum are illustrated below.
Example 1
TEST ParIdRobValid (TOOL_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of tool in actual robot type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of tool with
! IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of tool in actual robot
type
...
ENDTEST
Use of predefined constant TOOL_LOAD_ID of data type paridnum .
Predefined data
The following symbolic constants of the data type paridnum are predefined and can be used
as arguments in the following instructions, ParIdRobValid , ParIdPosValid, LoadId ,
and ManLoadIdProc .
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
3
IRBP_K
Identify External Manipulator IRBP K load
4
IRBP_L
Identify External Manipulator IRBP L load
4
IRBP_C
Identify External Manipulator IRBP C load
4
IRBP_C_INDEX
Identify External Manipulator IRBP C_INDEX load
4
IRBP_T
Identify External Manipulator IRBP T load
5
IRBP_R
Identify External Manipulator IRBP R load
6
IRBP_A
Identify External Manipulator IRBP A load
6
IRBP_B
Identify External Manipulator IRBP B load
6
IRBP_D
Identify External Manipulator IRBP D load
Continues on next page
3 Data types
3.38. paridnum - Type of parameter identification
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NOTE!
Only TOOL_LOAD_ID and PAY_LOAD_ID can be used in user defined RAPID Programs for
load identification of the tool respectively the pay load for the robot.
Characteristics
paridnum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example
LoadId - Load identification of tool or payload
on page 212
Load identification of external manipulators
ManLoadIdProc - Load identification of IRBP
manipulators on page 219
Continued
3 Data types
3.39. paridvalidnum - Result of ParIdRobValid
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3.39. paridvalidnum - Result of ParIdRobValid
Usage
paridvalidnum is used to represent an integer with a symbolic constant.
Description
A paridvalidnum constant is intended to be used for parameter identification, such as load
identification of tool or payload, when checking the return value from function
ParIdRobValid . See example below.
Basic examples
Basic examples of the data type paridvalidnum are illustrated below.
TEST ParIdRobValid (PAY_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of payload in actual robot
! type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of payload
! with IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of payload
! in actual robot type
...
ENDTEST
Use of predefined constants ROB_LOAD_VAL , ROB_LM1_LOAD_VAL and
ROB_NOT_LOAD_VAL of data type paridvalidnum .
Predefined data
The following symbolic constants of the data type paridvalidnum are predefined and can
be used for checking the return value from function ParIdRobValid .
Characteristics
paridvalidnum is an alias data type for num and inherits its characteristics.
Value
Symbolic constant
Comment
10
ROB_LOAD_VAL
Valid robot type for the current parameter identifi-
cation
11
ROB_NOT_LOAD_VAL
Not valid robot type for the current parameter
identification
12
ROB_LM1_LOAD_VAL
Valid robot type IRB 6400FHD for the current
parameter identification if actual load < 200kg
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3.38. paridnum - Type of parameter identification
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NOTE!
Only TOOL_LOAD_ID and PAY_LOAD_ID can be used in user defined RAPID Programs for
load identification of the tool respectively the pay load for the robot.
Characteristics
paridnum is an alias data type for num and consequently inherits its characteristics.
Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant ,
section Programming and testing - Service
routines - LoadIdentify, load identification and
service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter
identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for
parameter identification on page 913
Load identification with complete example
LoadId - Load identification of tool or payload
on page 212
Load identification of external manipulators
ManLoadIdProc - Load identification of IRBP
manipulators on page 219
Continued
3 Data types
3.39. paridvalidnum - Result of ParIdRobValid
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3.39. paridvalidnum - Result of ParIdRobValid
Usage
paridvalidnum is used to represent an integer with a symbolic constant.
Description
A paridvalidnum constant is intended to be used for parameter identification, such as load
identification of tool or payload, when checking the return value from function
ParIdRobValid . See example below.
Basic examples
Basic examples of the data type paridvalidnum are illustrated below.
TEST ParIdRobValid (PAY_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of payload in actual robot
! type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of payload
! with IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of payload
! in actual robot type
...
ENDTEST
Use of predefined constants ROB_LOAD_VAL , ROB_LM1_LOAD_VAL and
ROB_NOT_LOAD_VAL of data type paridvalidnum .
Predefined data
The following symbolic constants of the data type paridvalidnum are predefined and can
be used for checking the return value from function ParIdRobValid .
Characteristics
paridvalidnum is an alias data type for num and inherits its characteristics.
Value
Symbolic constant
Comment
10
ROB_LOAD_VAL
Valid robot type for the current parameter identifi-
cation
11
ROB_NOT_LOAD_VAL
Not valid robot type for the current parameter
identification
12
ROB_LM1_LOAD_VAL
Valid robot type IRB 6400FHD for the current
parameter identification if actual load < 200kg
Continues on next page
3 Data types
3.39. paridvalidnum - Result of ParIdRobValid
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Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - LoadIden-
tify, load identification and service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter identifi-
cation on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter iden-
tification on page 913
Load identification with complete
example
LoadId - Load identification of tool or payload on page
212
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3.39. paridvalidnum - Result of ParIdRobValid
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3.39. paridvalidnum - Result of ParIdRobValid
Usage
paridvalidnum is used to represent an integer with a symbolic constant.
Description
A paridvalidnum constant is intended to be used for parameter identification, such as load
identification of tool or payload, when checking the return value from function
ParIdRobValid . See example below.
Basic examples
Basic examples of the data type paridvalidnum are illustrated below.
TEST ParIdRobValid (PAY_LOAD_ID)
CASE ROB_LOAD_VAL:
! Possible to do load identification of payload in actual robot
! type
...
CASE ROB_LM1_LOAD_VAL:
! Only possible to do load identification of payload
! with IRB 6400FHD if actual load < 200 kg
...
CASE ROB_NOT_LOAD_VAL:
! Not possible to do load identification of payload
! in actual robot type
...
ENDTEST
Use of predefined constants ROB_LOAD_VAL , ROB_LM1_LOAD_VAL and
ROB_NOT_LOAD_VAL of data type paridvalidnum .
Predefined data
The following symbolic constants of the data type paridvalidnum are predefined and can
be used for checking the return value from function ParIdRobValid .
Characteristics
paridvalidnum is an alias data type for num and inherits its characteristics.
Value
Symbolic constant
Comment
10
ROB_LOAD_VAL
Valid robot type for the current parameter identifi-
cation
11
ROB_NOT_LOAD_VAL
Not valid robot type for the current parameter
identification
12
ROB_LM1_LOAD_VAL
Valid robot type IRB 6400FHD for the current
parameter identification if actual load < 200kg
Continues on next page
3 Data types
3.39. paridvalidnum - Result of ParIdRobValid
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Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - LoadIden-
tify, load identification and service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter identifi-
cation on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter iden-
tification on page 913
Load identification with complete
example
LoadId - Load identification of tool or payload on page
212
Continued
3 Data types
3.40. pathrecid - Path recorder identifier
Path Recovery
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3.40. pathrecid - Path recorder identifier
Usage
pathrecid is used to identify a breakpoint for the path recorder.
Description
The path recorder is a system function for recording the robots executed path. Data of the type
pathrecid can be linked to a specific path location by means of the instruction
PathRecStart . The user can then order the recorder to perform a movement back to the path
identifier by using the instruction PathRecMoveBwd .
Basic examples
Basic examples of the data type pathrecid are illustrated below.
Example 1
VAR pathrecid start_id;
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
PathRecStart start_id;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1
MoveL p3, vmax, z50, tool1;
IF(PathRecValidBwd (\ID := start_id)) THEN
StorePath;
PathRecMoveBwd \ID:=start_id;
...
ENDIF
xx0500002090
The example above will start the path recorder and the starting point will be tagged with the
path identifier start_id . Thereafter, the robot will move forward with traditional move
instructions and then move back to the start position again using the recorded path. To be able
to run PathRecorder move instructions, the path level has to be changed with StorePath .
Characteristics
pathrecid is an non-value data type.
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3.39. paridvalidnum - Result of ParIdRobValid
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Related information
For information about
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant , section
Programming and testing - Service routines - LoadIden-
tify, load identification and service routines
Valid robot type
ParIdRobValid - Valid robot type for parameter identifi-
cation on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter iden-
tification on page 913
Load identification with complete
example
LoadId - Load identification of tool or payload on page
212
Continued
3 Data types
3.40. pathrecid - Path recorder identifier
Path Recovery
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3.40. pathrecid - Path recorder identifier
Usage
pathrecid is used to identify a breakpoint for the path recorder.
Description
The path recorder is a system function for recording the robots executed path. Data of the type
pathrecid can be linked to a specific path location by means of the instruction
PathRecStart . The user can then order the recorder to perform a movement back to the path
identifier by using the instruction PathRecMoveBwd .
Basic examples
Basic examples of the data type pathrecid are illustrated below.
Example 1
VAR pathrecid start_id;
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
PathRecStart start_id;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1
MoveL p3, vmax, z50, tool1;
IF(PathRecValidBwd (\ID := start_id)) THEN
StorePath;
PathRecMoveBwd \ID:=start_id;
...
ENDIF
xx0500002090
The example above will start the path recorder and the starting point will be tagged with the
path identifier start_id . Thereafter, the robot will move forward with traditional move
instructions and then move back to the start position again using the recorded path. To be able
to run PathRecorder move instructions, the path level has to be changed with StorePath .
Characteristics
pathrecid is an non-value data type.
Continues on next page
3 Data types
3.40. pathrecid - Path recorder identifier
Path Recovery
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Related information
For information about
See
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward
path recorded on page 924
Play the path recorder backward
PathRecMoveBwd - Move path recorder
backwards on page 298
Play the path recorder forward
PathRecMoveFwd - Move path recorder
forward on page 305
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
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3.40. pathrecid - Path recorder identifier
Path Recovery
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3.40. pathrecid - Path recorder identifier
Usage
pathrecid is used to identify a breakpoint for the path recorder.
Description
The path recorder is a system function for recording the robots executed path. Data of the type
pathrecid can be linked to a specific path location by means of the instruction
PathRecStart . The user can then order the recorder to perform a movement back to the path
identifier by using the instruction PathRecMoveBwd .
Basic examples
Basic examples of the data type pathrecid are illustrated below.
Example 1
VAR pathrecid start_id;
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
PathRecStart start_id;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1
MoveL p3, vmax, z50, tool1;
IF(PathRecValidBwd (\ID := start_id)) THEN
StorePath;
PathRecMoveBwd \ID:=start_id;
...
ENDIF
xx0500002090
The example above will start the path recorder and the starting point will be tagged with the
path identifier start_id . Thereafter, the robot will move forward with traditional move
instructions and then move back to the start position again using the recorded path. To be able
to run PathRecorder move instructions, the path level has to be changed with StorePath .
Characteristics
pathrecid is an non-value data type.
Continues on next page
3 Data types
3.40. pathrecid - Path recorder identifier
Path Recovery
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Related information
For information about
See
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward
path recorded on page 924
Play the path recorder backward
PathRecMoveBwd - Move path recorder
backwards on page 298
Play the path recorder forward
PathRecMoveFwd - Move path recorder
forward on page 305
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.41. pos - Positions (only X, Y and Z)
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3.41. pos - Positions (only X, Y and Z)
Usage
pos is used for positions (only X, Y, and Z).
The robtarget data type is used for the robot’s position including the orientation of the tool
and the configuration of the axes.
Description
Data of the type pos describes the coordinates of a position: X, Y, and Z.
Components
The data type pos has the following components:
x
Data type: num
The X-value of the position.
y
Data type: num
The Y-value of the position.
z
Data type: num
The Z-value of the position.
Basic examples
Basic examples of the data type pos are illustrated below.
Example 1
VAR pos pos1;
...
pos1 := [500, 0, 940];
The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.
Example 2
pos1.x := pos1.x + 50;
The pos1 position is shifted 50 mm in the X-direction.
Structure
< dataobject of pos >
< x of num >
< y of num >
< z of num >
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3.40. pathrecid - Path recorder identifier
Path Recovery
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Related information
For information about
See
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward
path recorded on page 924
Play the path recorder backward
PathRecMoveBwd - Move path recorder
backwards on page 298
Play the path recorder forward
PathRecMoveFwd - Move path recorder
forward on page 305
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Continued
3 Data types
3.41. pos - Positions (only X, Y and Z)
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3.41. pos - Positions (only X, Y and Z)
Usage
pos is used for positions (only X, Y, and Z).
The robtarget data type is used for the robot’s position including the orientation of the tool
and the configuration of the axes.
Description
Data of the type pos describes the coordinates of a position: X, Y, and Z.
Components
The data type pos has the following components:
x
Data type: num
The X-value of the position.
y
Data type: num
The Y-value of the position.
z
Data type: num
The Z-value of the position.
Basic examples
Basic examples of the data type pos are illustrated below.
Example 1
VAR pos pos1;
...
pos1 := [500, 0, 940];
The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.
Example 2
pos1.x := pos1.x + 50;
The pos1 position is shifted 50 mm in the X-direction.
Structure
< dataobject of pos >
< x of num >
< y of num >
< z of num >
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3 Data types
3.41. pos - Positions (only X, Y and Z)
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Related information
For information about
See
Operations on positions
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
Robot position including orientation
robtarget - Position data on page 1176
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3.41. pos - Positions (only X, Y and Z)
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3.41. pos - Positions (only X, Y and Z)
Usage
pos is used for positions (only X, Y, and Z).
The robtarget data type is used for the robot’s position including the orientation of the tool
and the configuration of the axes.
Description
Data of the type pos describes the coordinates of a position: X, Y, and Z.
Components
The data type pos has the following components:
x
Data type: num
The X-value of the position.
y
Data type: num
The Y-value of the position.
z
Data type: num
The Z-value of the position.
Basic examples
Basic examples of the data type pos are illustrated below.
Example 1
VAR pos pos1;
...
pos1 := [500, 0, 940];
The pos1 position is assigned the value: X=500 mm, Y=0 mm, Z=940 mm.
Example 2
pos1.x := pos1.x + 50;
The pos1 position is shifted 50 mm in the X-direction.
Structure
< dataobject of pos >
< x of num >
< y of num >
< z of num >
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3 Data types
3.41. pos - Positions (only X, Y and Z)
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Related information
For information about
See
Operations on positions
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
Robot position including orientation
robtarget - Position data on page 1176
Continued
3 Data types
3.42. pose - Coordinate transformations
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3.42. pose - Coordinate transformations
Usage
pose is used to change from one coordinate system to another.
Description
Data of the type pose describes how a coordinate system is displaced and rotated around
another coordinate system. The data can, for example, describe how the tool coordinate
system is located and oriented in relation to the wrist coordinate system.
Components
The data type has the following components:
tran s
translation
Data type: pos
The displacement in position (x, y, and z) of the coordinate system.
rot
rotation
Data type: orient
The rotation of the coordinate system.
Basic examples
Basic examples of the data type pose are illustrated below.
VAR pose frame1;
...
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The frame1 coordinate transformation is assigned a value that corresponds to a displacement
in position, where X= 50 mm, Y= 0 mm, Z= 40 mm; there is, however, no rotation.
Structure
< dataobject of pose >
< trans of pos >
< rot of orient >
Related information
For information about
See
What is a Quaternion?
orient - Orientation on page 1150
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3.41. pos - Positions (only X, Y and Z)
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Related information
For information about
See
Operations on positions
Technical reference manual - RAPID
overview , section Basic Characteristics -
Expressions
Robot position including orientation
robtarget - Position data on page 1176
Continued
3 Data types
3.42. pose - Coordinate transformations
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3.42. pose - Coordinate transformations
Usage
pose is used to change from one coordinate system to another.
Description
Data of the type pose describes how a coordinate system is displaced and rotated around
another coordinate system. The data can, for example, describe how the tool coordinate
system is located and oriented in relation to the wrist coordinate system.
Components
The data type has the following components:
tran s
translation
Data type: pos
The displacement in position (x, y, and z) of the coordinate system.
rot
rotation
Data type: orient
The rotation of the coordinate system.
Basic examples
Basic examples of the data type pose are illustrated below.
VAR pose frame1;
...
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The frame1 coordinate transformation is assigned a value that corresponds to a displacement
in position, where X= 50 mm, Y= 0 mm, Z= 40 mm; there is, however, no rotation.
Structure
< dataobject of pose >
< trans of pos >
< rot of orient >
Related information
For information about
See
What is a Quaternion?
orient - Orientation on page 1150
3 Data types
3.43. progdisp - Program displacement
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3.43. progdisp - Program displacement
Usage
progdisp is used to store the current program displacement of the robot and the external
axes.
This data type does not normally have to be used since the data is set using the instructions
PDispSet , PDispOn , PDispOff , EOffsSet , EOffsOn , and EOffsOff . It is only used to
temporarily store the current value for later use.
Description
The current values for program displacement can be accessed using the system variable
C_PROGDISP .
For more information, see the instructions PDispSet , PDispOn , EOffsSet , and EOffsOn .
Components
pdisp
program displacement
Data type: pose
The program displacement for the robot, expressed using a translation and an orientation. The
translation is expressed in mm.
eoffs
external offset
Data type: extjoint
The offset for each of the external axes. If the axis is linear, the value is expressed in mm; if
it is rotating, the value is expressed in degrees.
Basic examples
Basic examples of the data type progdisp are illustrated below.
Example 1
VAR progdisp progdisp1;
...
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
...
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
...
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
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3 Data types
3.42. pose - Coordinate transformations
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3.42. pose - Coordinate transformations
Usage
pose is used to change from one coordinate system to another.
Description
Data of the type pose describes how a coordinate system is displaced and rotated around
another coordinate system. The data can, for example, describe how the tool coordinate
system is located and oriented in relation to the wrist coordinate system.
Components
The data type has the following components:
tran s
translation
Data type: pos
The displacement in position (x, y, and z) of the coordinate system.
rot
rotation
Data type: orient
The rotation of the coordinate system.
Basic examples
Basic examples of the data type pose are illustrated below.
VAR pose frame1;
...
frame1.trans := [50, 0, 40];
frame1.rot := [1, 0, 0, 0];
The frame1 coordinate transformation is assigned a value that corresponds to a displacement
in position, where X= 50 mm, Y= 0 mm, Z= 40 mm; there is, however, no rotation.
Structure
< dataobject of pose >
< trans of pos >
< rot of orient >
Related information
For information about
See
What is a Quaternion?
orient - Orientation on page 1150
3 Data types
3.43. progdisp - Program displacement
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3.43. progdisp - Program displacement
Usage
progdisp is used to store the current program displacement of the robot and the external
axes.
This data type does not normally have to be used since the data is set using the instructions
PDispSet , PDispOn , PDispOff , EOffsSet , EOffsOn , and EOffsOff . It is only used to
temporarily store the current value for later use.
Description
The current values for program displacement can be accessed using the system variable
C_PROGDISP .
For more information, see the instructions PDispSet , PDispOn , EOffsSet , and EOffsOn .
Components
pdisp
program displacement
Data type: pose
The program displacement for the robot, expressed using a translation and an orientation. The
translation is expressed in mm.
eoffs
external offset
Data type: extjoint
The offset for each of the external axes. If the axis is linear, the value is expressed in mm; if
it is rotating, the value is expressed in degrees.
Basic examples
Basic examples of the data type progdisp are illustrated below.
Example 1
VAR progdisp progdisp1;
...
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
...
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
...
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
Continues on next page
3 Data types
3.43. progdisp - Program displacement
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First, a program displacement is activated from a searched position. Then, the current
program displacement values are temporary stored in the variable progdisp1 and the
program displacement is deactivated. Later on, re-activation is done using the instructions
PDispSet and EOffsSet .
Predefined data
The system variable C_PROGDISP describes the current program displacement of the robot
and external axes, and can always be accessed from the program. On the other hand, it can
only be changed using a number of instructions, not by assignment.
The following default values for program displacement are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR progdisp C_PROGDISP :=
[ [[ 0, 0, 0], [1, 0, 0, 0]],
-> posedata
[ 0, 0, 0, 0, 0, 0]];
-> extjointdata
Structure
< dataobject of progdisp >
< pdisp of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< eoffs of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Instructions for defining program displacement Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
Coordinate systems
Technical reference manual - RAPID
overview , section Motion and I/O principles -
Coordinate systems
Continued
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3 Data types
3.43. progdisp - Program displacement
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3.43. progdisp - Program displacement
Usage
progdisp is used to store the current program displacement of the robot and the external
axes.
This data type does not normally have to be used since the data is set using the instructions
PDispSet , PDispOn , PDispOff , EOffsSet , EOffsOn , and EOffsOff . It is only used to
temporarily store the current value for later use.
Description
The current values for program displacement can be accessed using the system variable
C_PROGDISP .
For more information, see the instructions PDispSet , PDispOn , EOffsSet , and EOffsOn .
Components
pdisp
program displacement
Data type: pose
The program displacement for the robot, expressed using a translation and an orientation. The
translation is expressed in mm.
eoffs
external offset
Data type: extjoint
The offset for each of the external axes. If the axis is linear, the value is expressed in mm; if
it is rotating, the value is expressed in degrees.
Basic examples
Basic examples of the data type progdisp are illustrated below.
Example 1
VAR progdisp progdisp1;
...
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
...
progdisp1:=C_PROGDISP;
PDispOff;
EOffsOff;
...
PDispSet progdisp1.pdisp;
EOffsSet progdisp1.eoffs;
Continues on next page
3 Data types
3.43. progdisp - Program displacement
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First, a program displacement is activated from a searched position. Then, the current
program displacement values are temporary stored in the variable progdisp1 and the
program displacement is deactivated. Later on, re-activation is done using the instructions
PDispSet and EOffsSet .
Predefined data
The system variable C_PROGDISP describes the current program displacement of the robot
and external axes, and can always be accessed from the program. On the other hand, it can
only be changed using a number of instructions, not by assignment.
The following default values for program displacement are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR progdisp C_PROGDISP :=
[ [[ 0, 0, 0], [1, 0, 0, 0]],
-> posedata
[ 0, 0, 0, 0, 0, 0]];
-> extjointdata
Structure
< dataobject of progdisp >
< pdisp of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< eoffs of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Instructions for defining program displacement Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
Coordinate systems
Technical reference manual - RAPID
overview , section Motion and I/O principles -
Coordinate systems
Continued
3 Data types
3.44. rawbytes - Raw data
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3.44. rawbytes - Raw data
Usage
rawbytes is used as a general data container. It can be used for communication with I/O
devices.
Description
rawbytes data can be filled with any type of data - num , byte , string - by means of support
instructions/functions. In any variable of rawbytes , the system also stores the current length
of valid bytes.
Basic examples
Basic examples of the data type rawbytes are illustrated below.
Example 1
VAR rawbytes raw_data;
VAR num integer := 8;
VAR num float := 13.4;
ClearRawBytes raw_data;
PackRawBytes integer, raw_data, 1 \IntX := INT;
PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;
In this example the variable raw_data of type rawbytes is first cleared, i.e. all bytes set to
0 (same as default at declaration). Then in the first 2 bytes the value of integer is placed
and in the next 4 bytes the value of float .
Limitations
A rawbytes variable may contain 0 to 1024 bytes.
Structure
rawbytes is a non-value data type.
At declaration of rawbytes variable, all bytes in rawbytes are set to 0 and the current
length of valid bytes in the variable is set to 0.
Related information
For information about
See
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes
data on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data
on page 290
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3 Data types
3.43. progdisp - Program displacement
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First, a program displacement is activated from a searched position. Then, the current
program displacement values are temporary stored in the variable progdisp1 and the
program displacement is deactivated. Later on, re-activation is done using the instructions
PDispSet and EOffsSet .
Predefined data
The system variable C_PROGDISP describes the current program displacement of the robot
and external axes, and can always be accessed from the program. On the other hand, it can
only be changed using a number of instructions, not by assignment.
The following default values for program displacement are set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
VAR progdisp C_PROGDISP :=
[ [[ 0, 0, 0], [1, 0, 0, 0]],
-> posedata
[ 0, 0, 0, 0, 0, 0]];
-> extjointdata
Structure
< dataobject of progdisp >
< pdisp of pose >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< eoffs of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Instructions for defining program displacement Technical reference manual - RAPID
overview , section RAPID summary - Motion
settings
Coordinate systems
Technical reference manual - RAPID
overview , section Motion and I/O principles -
Coordinate systems
Continued
3 Data types
3.44. rawbytes - Raw data
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3.44. rawbytes - Raw data
Usage
rawbytes is used as a general data container. It can be used for communication with I/O
devices.
Description
rawbytes data can be filled with any type of data - num , byte , string - by means of support
instructions/functions. In any variable of rawbytes , the system also stores the current length
of valid bytes.
Basic examples
Basic examples of the data type rawbytes are illustrated below.
Example 1
VAR rawbytes raw_data;
VAR num integer := 8;
VAR num float := 13.4;
ClearRawBytes raw_data;
PackRawBytes integer, raw_data, 1 \IntX := INT;
PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;
In this example the variable raw_data of type rawbytes is first cleared, i.e. all bytes set to
0 (same as default at declaration). Then in the first 2 bytes the value of integer is placed
and in the next 4 bytes the value of float .
Limitations
A rawbytes variable may contain 0 to 1024 bytes.
Structure
rawbytes is a non-value data type.
At declaration of rawbytes variable, all bytes in rawbytes are set to 0 and the current
length of valid bytes in the variable is set to 0.
Related information
For information about
See
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes
data on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data
on page 290
Continues on next page
3 Data types
3.44. rawbytes - Raw data
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Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
For information about
See
Continued
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3.44. rawbytes - Raw data
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3.44. rawbytes - Raw data
Usage
rawbytes is used as a general data container. It can be used for communication with I/O
devices.
Description
rawbytes data can be filled with any type of data - num , byte , string - by means of support
instructions/functions. In any variable of rawbytes , the system also stores the current length
of valid bytes.
Basic examples
Basic examples of the data type rawbytes are illustrated below.
Example 1
VAR rawbytes raw_data;
VAR num integer := 8;
VAR num float := 13.4;
ClearRawBytes raw_data;
PackRawBytes integer, raw_data, 1 \IntX := INT;
PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;
In this example the variable raw_data of type rawbytes is first cleared, i.e. all bytes set to
0 (same as default at declaration). Then in the first 2 bytes the value of integer is placed
and in the next 4 bytes the value of float .
Limitations
A rawbytes variable may contain 0 to 1024 bytes.
Structure
rawbytes is a non-value data type.
At declaration of rawbytes variable, all bytes in rawbytes are set to 0 and the current
length of valid bytes in the variable is set to 0.
Related information
For information about
See
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes
data on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes data PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data
on page 290
Continues on next page
3 Data types
3.44. rawbytes - Raw data
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Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
For information about
See
Continued
3 Data types
3.45. restartdata - Restart data for trigg signals
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3.45. restartdata - Restart data for trigg signals
Usage
restartdata mirrors the pre- and postvalues of specified I/O signals (process signals) at the
stop sequence of the robot movements. The I/O signals to supervise are specified in the
instruction TriggStopProc .
TriggStopProc and restartdata are intended to be used for restart after program stop
(STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID
(NOSTEPIN routines).
Definition
The table shows the definition of the time point for reading the pre- and postvalues for the I/
O signals.
Description
restartdata mirrors the following data after program execution is stopped:
•
valid restart data
•
robot stopped on path or not
•
prevalue of the I/O signals
•
postvalue of the I/O signals
•
number of flanks between pretime and posttime of the shadow signal for the ongoing
process
Components
restartstop
valid restartdata after stop
Data type: bool
TRUE = Mirror last STOP or QSTOP
FALSE = Invalid restart data. All I/O signals values are set to -1.
stoponpath
stop on path
Data type: bool
TRUE = The robot is stopped on the path (STOP)
FALSE = The robot is stopped but not on the path (QSTOP)
Type of stop
Read time for I/O signal
prevalue
Read time for I/O signal
postvalue
STOP on path
When all robot axes are standing
still
About 400 ms after the pretime
QSTOP off path
As soon as possible
About 400 ms after the pretime
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3.44. rawbytes - Raw data
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Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
For information about
See
Continued
3 Data types
3.45. restartdata - Restart data for trigg signals
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3.45. restartdata - Restart data for trigg signals
Usage
restartdata mirrors the pre- and postvalues of specified I/O signals (process signals) at the
stop sequence of the robot movements. The I/O signals to supervise are specified in the
instruction TriggStopProc .
TriggStopProc and restartdata are intended to be used for restart after program stop
(STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID
(NOSTEPIN routines).
Definition
The table shows the definition of the time point for reading the pre- and postvalues for the I/
O signals.
Description
restartdata mirrors the following data after program execution is stopped:
•
valid restart data
•
robot stopped on path or not
•
prevalue of the I/O signals
•
postvalue of the I/O signals
•
number of flanks between pretime and posttime of the shadow signal for the ongoing
process
Components
restartstop
valid restartdata after stop
Data type: bool
TRUE = Mirror last STOP or QSTOP
FALSE = Invalid restart data. All I/O signals values are set to -1.
stoponpath
stop on path
Data type: bool
TRUE = The robot is stopped on the path (STOP)
FALSE = The robot is stopped but not on the path (QSTOP)
Type of stop
Read time for I/O signal
prevalue
Read time for I/O signal
postvalue
STOP on path
When all robot axes are standing
still
About 400 ms after the pretime
QSTOP off path
As soon as possible
About 400 ms after the pretime
Continues on next page
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3.45. restartdata - Restart data for trigg signals
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predo1val
pre do1 value
Data type: dionum
The prevalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
postdo1val
post do1 value
Data type: dionum
The postvalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
prego1val
pre go1 value
Data type: num
The prevalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
postgo1val
post go1 value
Data type: num
The postvalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
prego2val
pre go2 value
Data type: num
The prevalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
postgo2val
post go2 value
Data type: num
The postvalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
prego3val
pre go3 value
Data type: num
The prevalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
postgo3val
post go3 value
Data type: num
The postvalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
Continued
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3.45. restartdata - Restart data for trigg signals
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3.45. restartdata - Restart data for trigg signals
Usage
restartdata mirrors the pre- and postvalues of specified I/O signals (process signals) at the
stop sequence of the robot movements. The I/O signals to supervise are specified in the
instruction TriggStopProc .
TriggStopProc and restartdata are intended to be used for restart after program stop
(STOP) or emergency stop (QSTOP) of own process instructions defined in RAPID
(NOSTEPIN routines).
Definition
The table shows the definition of the time point for reading the pre- and postvalues for the I/
O signals.
Description
restartdata mirrors the following data after program execution is stopped:
•
valid restart data
•
robot stopped on path or not
•
prevalue of the I/O signals
•
postvalue of the I/O signals
•
number of flanks between pretime and posttime of the shadow signal for the ongoing
process
Components
restartstop
valid restartdata after stop
Data type: bool
TRUE = Mirror last STOP or QSTOP
FALSE = Invalid restart data. All I/O signals values are set to -1.
stoponpath
stop on path
Data type: bool
TRUE = The robot is stopped on the path (STOP)
FALSE = The robot is stopped but not on the path (QSTOP)
Type of stop
Read time for I/O signal
prevalue
Read time for I/O signal
postvalue
STOP on path
When all robot axes are standing
still
About 400 ms after the pretime
QSTOP off path
As soon as possible
About 400 ms after the pretime
Continues on next page
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3.45. restartdata - Restart data for trigg signals
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predo1val
pre do1 value
Data type: dionum
The prevalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
postdo1val
post do1 value
Data type: dionum
The postvalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
prego1val
pre go1 value
Data type: num
The prevalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
postgo1val
post go1 value
Data type: num
The postvalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
prego2val
pre go2 value
Data type: num
The prevalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
postgo2val
post go2 value
Data type: num
The postvalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
prego3val
pre go3 value
Data type: num
The prevalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
postgo3val
post go3 value
Data type: num
The postvalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
Continued
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prego4val
pre go4 value
Data type: num
The prevalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
postgo4val
post go4 value
Data type: num
The postvalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
preshadowval
pre shadow value
Data type: dionum
The prevalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
shadowflanks
number of shadow flanks
Data type: num
The number of value transitions (flanks) of the digital signal “shadow” between the pretime
and the posttime. The signal “shadow” is specified in the argument ShadowDO in instruction
TriggStopProc.
postshadowval
post shadow value
Data type: dionum
The postvalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
Continued
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predo1val
pre do1 value
Data type: dionum
The prevalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
postdo1val
post do1 value
Data type: dionum
The postvalue of the digital signal “do1” specified in the argument DO1 in instruction
TriggStopProc .
prego1val
pre go1 value
Data type: num
The prevalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
postgo1val
post go1 value
Data type: num
The postvalue of the digital group signal“ go1” specified in the argument GO1 in instruction
TriggStopProc .
prego2val
pre go2 value
Data type: num
The prevalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
postgo2val
post go2 value
Data type: num
The postvalue of the digital group signal“ go2” specified in the argument GO2 in instruction
TriggStopProc .
prego3val
pre go3 value
Data type: num
The prevalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
postgo3val
post go3 value
Data type: num
The postvalue of the digital group signal“ go3” specified in the argument GO3 in instruction
TriggStopProc .
Continued
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prego4val
pre go4 value
Data type: num
The prevalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
postgo4val
post go4 value
Data type: num
The postvalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
preshadowval
pre shadow value
Data type: dionum
The prevalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
shadowflanks
number of shadow flanks
Data type: num
The number of value transitions (flanks) of the digital signal “shadow” between the pretime
and the posttime. The signal “shadow” is specified in the argument ShadowDO in instruction
TriggStopProc.
postshadowval
post shadow value
Data type: dionum
The postvalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
Continued
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3 Data types
3.45. restartdata - Restart data for trigg signals
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Structure
< dataobject of restartdata >
< restartstop of bool >
< stoponpath of bool >
< predo1val of dionum >
< postdo1val of dionum >
< prego1val of num >
< postgo1val of num >
< prego2val of num >
< postgo2val of num >
< prego3val of num >
< postgo3val of num >
< prego4val of num >
< postgo4val of num >
< preshadowval of dionum >
< shadowflanks of dionum >
< postshadowval of dionum >
Related information
For information about
See
Predefined process instructions
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
Setup mirror of restart data
TriggStopProc - Generate restart data for trigg
signals at stop on page 629
Move backwards on path
StepBwdPath - Move backwards one step on path
on page 499
Continued
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prego4val
pre go4 value
Data type: num
The prevalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
postgo4val
post go4 value
Data type: num
The postvalue of the digital group signal“ go4” specified in the argument GO4 in instruction
TriggStopProc .
preshadowval
pre shadow value
Data type: dionum
The prevalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
shadowflanks
number of shadow flanks
Data type: num
The number of value transitions (flanks) of the digital signal “shadow” between the pretime
and the posttime. The signal “shadow” is specified in the argument ShadowDO in instruction
TriggStopProc.
postshadowval
post shadow value
Data type: dionum
The postvalue of the digital signal “shadow” specified in the argument ShadowDO in
instruction TriggStopProc .
Continued
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3.45. restartdata - Restart data for trigg signals
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Structure
< dataobject of restartdata >
< restartstop of bool >
< stoponpath of bool >
< predo1val of dionum >
< postdo1val of dionum >
< prego1val of num >
< postgo1val of num >
< prego2val of num >
< postgo2val of num >
< prego3val of num >
< postgo3val of num >
< prego4val of num >
< postgo4val of num >
< preshadowval of dionum >
< shadowflanks of dionum >
< postshadowval of dionum >
Related information
For information about
See
Predefined process instructions
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
Setup mirror of restart data
TriggStopProc - Generate restart data for trigg
signals at stop on page 629
Move backwards on path
StepBwdPath - Move backwards one step on path
on page 499
Continued
3 Data types
3.46. rmqheader - RAPID Message Queue Message header
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3.46. rmqheader - RAPID Message Queue Message header
Usage
rmqheader ( RAPID Message Queue Header ) is used for reading the data structure of the
data in a message of type rmqmessage .
Description
The header part of a non-value data type rmqmessage converted to the value data type
rmqheader .
Components
datatype
Data type: string
The name of the data type used, e.g num , string or some other value data type.
ndim
Number of Dimensions
Data type: num
Number of array dimensions.
dim1
Size of first dimension
Data type: num
The size of the first dimension. 0 if not used.
dim2
Size of second dimension
Data type: num
The size of the second dimension. 0 if not used.
dim3
Size of third dimension
Data type: num
The size of the third dimension. 0 if not used.
Examples
Basic examples of the data type rmqheader are illustrated below.
Example 1
VAR rmqmessage message;
VAR rmqheader header;
...
RMQGetMessage message;
RMQGetMsgHeader message \Header:=header;
Copy and convert the rmqheader information from an rmqmessage message.
Continues on next page
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Structure
< dataobject of restartdata >
< restartstop of bool >
< stoponpath of bool >
< predo1val of dionum >
< postdo1val of dionum >
< prego1val of num >
< postgo1val of num >
< prego2val of num >
< postgo2val of num >
< prego3val of num >
< postgo3val of num >
< prego4val of num >
< postgo4val of num >
< preshadowval of dionum >
< shadowflanks of dionum >
< postshadowval of dionum >
Related information
For information about
See
Predefined process instructions
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
Setup mirror of restart data
TriggStopProc - Generate restart data for trigg
signals at stop on page 629
Move backwards on path
StepBwdPath - Move backwards one step on path
on page 499
Continued
3 Data types
3.46. rmqheader - RAPID Message Queue Message header
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3.46. rmqheader - RAPID Message Queue Message header
Usage
rmqheader ( RAPID Message Queue Header ) is used for reading the data structure of the
data in a message of type rmqmessage .
Description
The header part of a non-value data type rmqmessage converted to the value data type
rmqheader .
Components
datatype
Data type: string
The name of the data type used, e.g num , string or some other value data type.
ndim
Number of Dimensions
Data type: num
Number of array dimensions.
dim1
Size of first dimension
Data type: num
The size of the first dimension. 0 if not used.
dim2
Size of second dimension
Data type: num
The size of the second dimension. 0 if not used.
dim3
Size of third dimension
Data type: num
The size of the third dimension. 0 if not used.
Examples
Basic examples of the data type rmqheader are illustrated below.
Example 1
VAR rmqmessage message;
VAR rmqheader header;
...
RMQGetMessage message;
RMQGetMsgHeader message \Header:=header;
Copy and convert the rmqheader information from an rmqmessage message.
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3.46. rmqheader - RAPID Message Queue Message header
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Structure
<dataobject of rmqheader>
<datatype of string>
<ndim of num>
<dim1 of num>
<dim2 of num>
<dim3 of num>
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication and
I/O control , section RAPID Message Queue .
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header information
from an RMQ message on page 380
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
Continued
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3.46. rmqheader - RAPID Message Queue Message header
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3.46. rmqheader - RAPID Message Queue Message header
Usage
rmqheader ( RAPID Message Queue Header ) is used for reading the data structure of the
data in a message of type rmqmessage .
Description
The header part of a non-value data type rmqmessage converted to the value data type
rmqheader .
Components
datatype
Data type: string
The name of the data type used, e.g num , string or some other value data type.
ndim
Number of Dimensions
Data type: num
Number of array dimensions.
dim1
Size of first dimension
Data type: num
The size of the first dimension. 0 if not used.
dim2
Size of second dimension
Data type: num
The size of the second dimension. 0 if not used.
dim3
Size of third dimension
Data type: num
The size of the third dimension. 0 if not used.
Examples
Basic examples of the data type rmqheader are illustrated below.
Example 1
VAR rmqmessage message;
VAR rmqheader header;
...
RMQGetMessage message;
RMQGetMsgHeader message \Header:=header;
Copy and convert the rmqheader information from an rmqmessage message.
Continues on next page
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3.46. rmqheader - RAPID Message Queue Message header
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Structure
<dataobject of rmqheader>
<datatype of string>
<ndim of num>
<dim1 of num>
<dim2 of num>
<dim3 of num>
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication and
I/O control , section RAPID Message Queue .
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header information
from an RMQ message on page 380
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
Continued
3 Data types
3.47. rmqmessage - RAPID Message Queue message
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3.47. rmqmessage - RAPID Message Queue message
Usage
rmqmessage ( RAPID Message Queue Message ) is used for temporary storage of
communication data.
Description
The data type rmqmessage is the message used to store data in when communicating
between different RAPID tasks or Robot Application Builder clients with RMQ functionality.
It contains information about the type of data that was sent the dimensions of the data, the
identity of the sender and the actual data.
An rmqmessage is a big data type (about 3000 bytes big), and it is recommended that the
variable is reused to save RAPID memory.
Basic examples
Basic examples of the data type rmqmessage are illustrated below.
Example 1
VAR rmqmessage rmqmessage1;
VAR string myrecdata;
...
RMQGetMsgData rmqmessage1, myrecdata;
The variable rmqmessage1 is defined and can be used in an RMQ (RAPID Message Queue)
command. In this example, the data part within the rmqmessage1 is copied to the variable
myrecdata .
Characteristics
rmqmessage is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
RMQ Header
rmqheader - RAPID Message Queue
Message header on page 1171
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Order and enable interrupts for a specific data
type
IRMQMessage - Orders RMQ interrupts for a
data type on page 167
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
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3.46. rmqheader - RAPID Message Queue Message header
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Structure
<dataobject of rmqheader>
<datatype of string>
<ndim of num>
<dim1 of num>
<dim2 of num>
<dim3 of num>
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication and
I/O control , section RAPID Message Queue .
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header information
from an RMQ message on page 380
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
Continued
3 Data types
3.47. rmqmessage - RAPID Message Queue message
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3.47. rmqmessage - RAPID Message Queue message
Usage
rmqmessage ( RAPID Message Queue Message ) is used for temporary storage of
communication data.
Description
The data type rmqmessage is the message used to store data in when communicating
between different RAPID tasks or Robot Application Builder clients with RMQ functionality.
It contains information about the type of data that was sent the dimensions of the data, the
identity of the sender and the actual data.
An rmqmessage is a big data type (about 3000 bytes big), and it is recommended that the
variable is reused to save RAPID memory.
Basic examples
Basic examples of the data type rmqmessage are illustrated below.
Example 1
VAR rmqmessage rmqmessage1;
VAR string myrecdata;
...
RMQGetMsgData rmqmessage1, myrecdata;
The variable rmqmessage1 is defined and can be used in an RMQ (RAPID Message Queue)
command. In this example, the data part within the rmqmessage1 is copied to the variable
myrecdata .
Characteristics
rmqmessage is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
RMQ Header
rmqheader - RAPID Message Queue
Message header on page 1171
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Order and enable interrupts for a specific data
type
IRMQMessage - Orders RMQ interrupts for a
data type on page 167
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
3 Data types
3.48. rmqslot - Identity number of an RMQ client
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3.48. rmqslot - Identity number of an RMQ client
Usage
rmqslot ( RAPID Message Queue Slot ) is used when communicating with an RMQ or a
Robot Application Builder client.
Description
The rmqslot is an identity number of a RAPID Message Queue configured for a RAPID task
or the identity number of a Robot Application Builder client.
Basic examples
Basic examples of the data type rmqslot are illustrated below.
Example 1
VAR rmqslot rmqslot1;
RMQFindSlot rmqslot1, "RMQ_T_ROB1";
...
The variable rmqslot1 is defined and can be used in the instruction RMQFindSlot to get the
identity number of the RAPID Message Queue " RMQ_T_ROB1 " configured for the RAPID
task " T_ROB1 ".
Characteristics
rmqslot is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Send data to a client, and wait for an answer
from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
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3.47. rmqmessage - RAPID Message Queue message
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3.47. rmqmessage - RAPID Message Queue message
Usage
rmqmessage ( RAPID Message Queue Message ) is used for temporary storage of
communication data.
Description
The data type rmqmessage is the message used to store data in when communicating
between different RAPID tasks or Robot Application Builder clients with RMQ functionality.
It contains information about the type of data that was sent the dimensions of the data, the
identity of the sender and the actual data.
An rmqmessage is a big data type (about 3000 bytes big), and it is recommended that the
variable is reused to save RAPID memory.
Basic examples
Basic examples of the data type rmqmessage are illustrated below.
Example 1
VAR rmqmessage rmqmessage1;
VAR string myrecdata;
...
RMQGetMsgData rmqmessage1, myrecdata;
The variable rmqmessage1 is defined and can be used in an RMQ (RAPID Message Queue)
command. In this example, the data part within the rmqmessage1 is copied to the variable
myrecdata .
Characteristics
rmqmessage is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
RMQ Header
rmqheader - RAPID Message Queue
Message header on page 1171
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Order and enable interrupts for a specific data
type
IRMQMessage - Orders RMQ interrupts for a
data type on page 167
Get the first message from a RAPID Message
Queue.
RMQGetMessage - Get an RMQ message on
page 373
Send data to the queue of a RAPID task or
Robot Application Builder client, and wait for
an answer from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
3 Data types
3.48. rmqslot - Identity number of an RMQ client
FlexPendant Interface, PC Interface, or Multitasking
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3.48. rmqslot - Identity number of an RMQ client
Usage
rmqslot ( RAPID Message Queue Slot ) is used when communicating with an RMQ or a
Robot Application Builder client.
Description
The rmqslot is an identity number of a RAPID Message Queue configured for a RAPID task
or the identity number of a Robot Application Builder client.
Basic examples
Basic examples of the data type rmqslot are illustrated below.
Example 1
VAR rmqslot rmqslot1;
RMQFindSlot rmqslot1, "RMQ_T_ROB1";
...
The variable rmqslot1 is defined and can be used in the instruction RMQFindSlot to get the
identity number of the RAPID Message Queue " RMQ_T_ROB1 " configured for the RAPID
task " T_ROB1 ".
Characteristics
rmqslot is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Send data to a client, and wait for an answer
from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
3 Data types
3.49. robjoint - Joint position of robot axes
RobotWare - OS
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3.49. robjoint - Joint position of robot axes
Usage
robjoint is used to define the position in degrees of the robot axes.
Description
Data of the type robjoint is used to store axis positions in degrees of the robot axis 1 to 6.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
Components
rax_1
robot axis 1
Data type: num
The position of robot axis 1 in degrees from the calibration position.
...
rax_6
robot axis 6
Data type: num
The position of robot axis 6 in degrees from the calibration position.
Structure
< dataobject of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
Related information
For information about
See
Joint position data
jointtarget - Joint position data on page 1129
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
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3.48. rmqslot - Identity number of an RMQ client
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3.48. rmqslot - Identity number of an RMQ client
Usage
rmqslot ( RAPID Message Queue Slot ) is used when communicating with an RMQ or a
Robot Application Builder client.
Description
The rmqslot is an identity number of a RAPID Message Queue configured for a RAPID task
or the identity number of a Robot Application Builder client.
Basic examples
Basic examples of the data type rmqslot are illustrated below.
Example 1
VAR rmqslot rmqslot1;
RMQFindSlot rmqslot1, "RMQ_T_ROB1";
...
The variable rmqslot1 is defined and can be used in the instruction RMQFindSlot to get the
identity number of the RAPID Message Queue " RMQ_T_ROB1 " configured for the RAPID
task " T_ROB1 ".
Characteristics
rmqslot is a non-value data type and cannot be used in value-oriented operations.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control , section RAPID Message
Queue .
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Send data to a client, and wait for an answer
from the client.
RMQSendWait - Send an RMQ data
message and wait for a response on page
390
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
3 Data types
3.49. robjoint - Joint position of robot axes
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3.49. robjoint - Joint position of robot axes
Usage
robjoint is used to define the position in degrees of the robot axes.
Description
Data of the type robjoint is used to store axis positions in degrees of the robot axis 1 to 6.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
Components
rax_1
robot axis 1
Data type: num
The position of robot axis 1 in degrees from the calibration position.
...
rax_6
robot axis 6
Data type: num
The position of robot axis 6 in degrees from the calibration position.
Structure
< dataobject of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
Related information
For information about
See
Joint position data
jointtarget - Joint position data on page 1129
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
3 Data types
3.50. robtarget - Position data
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© Copyright 2004-2010 ABB. All rights reserved.
3.50. robtarget - Position data
Usage
robtarget ( robot target ) is used to define the position of the robot and external axes.
Description
Position data is used to define the position in the move instructions to which the robot and
external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis
configuration is also specified. This defines the axis values if these are in any way ambiguous,
for example:
•
if the robot is in a forward or backward position,
•
if axis 4 points downwards or upwards,
•
if axis 6 has a negative or positive revolution.
WARNING!
The position is defined based on the coordinate system of the work object, including any
program displacement. If the position is programmed with some other work object than the
one used in the instruction, the robot will not move in the expected way. Make sure that you
use the same work object as the one used when programming move instructions. Incorrect use
can injure someone or damage the robot or other equipment.
Components
trans
translation
Data type: pos
The position (x, y, and z) of the tool center point expressed in mm.
The position is specified in relation to the current object coordinate system, including
program displacement. If no work object is specified then this is the world coordinate system.
rot
rotation
Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3, and q4).
The orientation is specified in relation to the current object coordinate system including
program displacement. If no work object is specified then this is the world coordinate system.
robconf
robot configuration
Data type: confdata
The axis configuration of the robot ( cf1 , cf4 , cf6 , and cfx ). This is defined in the form of
the current quarter revolution of axis 1, axis 4, and axis 6. The first positive quarter revolution
0 to 90° is defined as 0. The meaning of the component cfx is dependent on robot type.
For more information, see data type confdata .
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3.49. robjoint - Joint position of robot axes
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3.49. robjoint - Joint position of robot axes
Usage
robjoint is used to define the position in degrees of the robot axes.
Description
Data of the type robjoint is used to store axis positions in degrees of the robot axis 1 to 6.
Axis position is defined as the rotation in degrees for the respective axis (arm) in a positive
or negative direction from the axis calibration position.
Components
rax_1
robot axis 1
Data type: num
The position of robot axis 1 in degrees from the calibration position.
...
rax_6
robot axis 6
Data type: num
The position of robot axis 6 in degrees from the calibration position.
Structure
< dataobject of robjoint >
< rax_1 of num >
< rax_2 of num >
< rax_3 of num >
< rax_4 of num >
< rax_5 of num >
< rax_6 of num >
Related information
For information about
See
Joint position data
jointtarget - Joint position data on page 1129
Move to joint position
MoveAbsJ - Moves the robot to an absolute joint
position on page 230
3 Data types
3.50. robtarget - Position data
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3HAC 16581-1 Revision: J
1176
© Copyright 2004-2010 ABB. All rights reserved.
3.50. robtarget - Position data
Usage
robtarget ( robot target ) is used to define the position of the robot and external axes.
Description
Position data is used to define the position in the move instructions to which the robot and
external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis
configuration is also specified. This defines the axis values if these are in any way ambiguous,
for example:
•
if the robot is in a forward or backward position,
•
if axis 4 points downwards or upwards,
•
if axis 6 has a negative or positive revolution.
WARNING!
The position is defined based on the coordinate system of the work object, including any
program displacement. If the position is programmed with some other work object than the
one used in the instruction, the robot will not move in the expected way. Make sure that you
use the same work object as the one used when programming move instructions. Incorrect use
can injure someone or damage the robot or other equipment.
Components
trans
translation
Data type: pos
The position (x, y, and z) of the tool center point expressed in mm.
The position is specified in relation to the current object coordinate system, including
program displacement. If no work object is specified then this is the world coordinate system.
rot
rotation
Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3, and q4).
The orientation is specified in relation to the current object coordinate system including
program displacement. If no work object is specified then this is the world coordinate system.
robconf
robot configuration
Data type: confdata
The axis configuration of the robot ( cf1 , cf4 , cf6 , and cfx ). This is defined in the form of
the current quarter revolution of axis 1, axis 4, and axis 6. The first positive quarter revolution
0 to 90° is defined as 0. The meaning of the component cfx is dependent on robot type.
For more information, see data type confdata .
Continues on next page
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3.50. robtarget - Position data
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extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected at program execution then the following
applies:
•
If the position is not defined in the position data (value 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated then it
will result in an error.
•
If the position is defined in the position data although the axis is not connected then
the value is ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis is
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Basic examples
Basic examples of the data type robtarget are illustrated below.
Example 1
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1,
0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
•
The position of the robot: x = 600 , y = 500 and z = 225.3 mm in the object coordinate
system.
•
The orientation of the tool in the same direction as the object coordinate system.
•
The axis configuration of the robot: axes 1 and 4 in position 90-180°, axis 6 in position
0-90°.
•
The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
Continued
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3.50. robtarget - Position data
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© Copyright 2004-2010 ABB. All rights reserved.
3.50. robtarget - Position data
Usage
robtarget ( robot target ) is used to define the position of the robot and external axes.
Description
Position data is used to define the position in the move instructions to which the robot and
external axes are to move.
As the robot is able to achieve the same position in several different ways, the axis
configuration is also specified. This defines the axis values if these are in any way ambiguous,
for example:
•
if the robot is in a forward or backward position,
•
if axis 4 points downwards or upwards,
•
if axis 6 has a negative or positive revolution.
WARNING!
The position is defined based on the coordinate system of the work object, including any
program displacement. If the position is programmed with some other work object than the
one used in the instruction, the robot will not move in the expected way. Make sure that you
use the same work object as the one used when programming move instructions. Incorrect use
can injure someone or damage the robot or other equipment.
Components
trans
translation
Data type: pos
The position (x, y, and z) of the tool center point expressed in mm.
The position is specified in relation to the current object coordinate system, including
program displacement. If no work object is specified then this is the world coordinate system.
rot
rotation
Data type: orient
The orientation of the tool, expressed in the form of a quaternion (q1, q2, q3, and q4).
The orientation is specified in relation to the current object coordinate system including
program displacement. If no work object is specified then this is the world coordinate system.
robconf
robot configuration
Data type: confdata
The axis configuration of the robot ( cf1 , cf4 , cf6 , and cfx ). This is defined in the form of
the current quarter revolution of axis 1, axis 4, and axis 6. The first positive quarter revolution
0 to 90° is defined as 0. The meaning of the component cfx is dependent on robot type.
For more information, see data type confdata .
Continues on next page
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3.50. robtarget - Position data
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extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected at program execution then the following
applies:
•
If the position is not defined in the position data (value 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated then it
will result in an error.
•
If the position is defined in the position data although the axis is not connected then
the value is ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis is
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Basic examples
Basic examples of the data type robtarget are illustrated below.
Example 1
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1,
0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
•
The position of the robot: x = 600 , y = 500 and z = 225.3 mm in the object coordinate
system.
•
The orientation of the tool in the same direction as the object coordinate system.
•
The axis configuration of the robot: axes 1 and 4 in position 90-180°, axis 6 in position
0-90°.
•
The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
Continued
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3.50. robtarget - Position data
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Example 2
VAR robtarget p20;
...
p20 := CRobT(\Tool:=tool\wobj:=wobjØ);
p20 := Offs(p20,10,0,0);
The position p20 is set to the same position as the current position of the robot by calling the
function CRobT . The position is then moved 10 mm in the x-direction.
Structure
< dataobject of robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
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 configuration
Configuration of external axes
Application manual - Additional axes and stand alone
controller
What is a quaternion?
orient - Orientation on page 1150
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3.50. robtarget - Position data
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extax
external axes
Data type: extjoint
The position of the external axes.
The position is defin ed as follows for each individual axis ( eax_a , eax_b ... eax_f ):
•
For rotating axes, the position is defined as the rotation in degrees from the calibration
position.
•
For linear axes, the position is defined as the distance in mm from the calibration
position.
External axes eax_a ... are logical axes. How the logical axis number and the physical
axis number are related to each other is defined in the system parameters.
The value 9E9 is defined for axes which are not connected. If the axes defined in the position
data differ from the axes that are actually connected at program execution then the following
applies:
•
If the position is not defined in the position data (value 9E9) then the value will be
ignored if the axis is connected and not activated. But if the axis is activated then it
will result in an error.
•
If the position is defined in the position data although the axis is not connected then
the value is ignored.
No movement is performed but no error is generated for an axis with valid position data if the
axis is not activated.
If some external axis is running in independent mode and some new movement shall be
performed by the robot and it’s external axes then the position data for the external axis is
independent mode must not be 9E9 but some arbitrary value (not used but the system).
Basic examples
Basic examples of the data type robtarget are illustrated below.
Example 1
CONST robtarget p15 := [ [600, 500, 225.3], [1, 0, 0, 0], [1, 1,
0, 0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
A position p15 is defined as follows:
•
The position of the robot: x = 600 , y = 500 and z = 225.3 mm in the object coordinate
system.
•
The orientation of the tool in the same direction as the object coordinate system.
•
The axis configuration of the robot: axes 1 and 4 in position 90-180°, axis 6 in position
0-90°.
•
The position of the external logical axes, a and b, expressed in degrees or mm
(depending on the type of axis). Axes c to f are undefined.
Continued
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3.50. robtarget - Position data
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Example 2
VAR robtarget p20;
...
p20 := CRobT(\Tool:=tool\wobj:=wobjØ);
p20 := Offs(p20,10,0,0);
The position p20 is set to the same position as the current position of the robot by calling the
function CRobT . The position is then moved 10 mm in the x-direction.
Structure
< dataobject of robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
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 configuration
Configuration of external axes
Application manual - Additional axes and stand alone
controller
What is a quaternion?
orient - Orientation on page 1150
Continued
3 Data types
3.51. shapedata - World zone shape data
World Zones
1179
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3.51. shapedata - World zone shape data
Usage
shapedata is used to describe the geometry of a world zone.
Description
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate system and defined by a
WZBoxDef instruction
•
a sphere, defined by a WZSphDef instruction
•
a cylinder, parallel to the z axis of the world coordinate system and defined by a
WZCylDef instruction
•
a joint space area for robot and/or external axes, defined by the instruction
WZHomeJointDef or WZLimJointDef
The geometry of a world zone is defined by one of the previous instructions and the action of
a world zone is defined by the instruction WZLimSup or WZDOSet .
Basic examples
Basic examples of the data type shapedata are illustrated below.
Example 1
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC
A conveyor is defined as a box and the supervision for this area is activated. A pole is
defined as a cylinder and the supervision of this zone is also activated. If the robot reaches
one of these areas, the motion is stopped.
Characteristics
shapedata is a non-value data type.
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Example 2
VAR robtarget p20;
...
p20 := CRobT(\Tool:=tool\wobj:=wobjØ);
p20 := Offs(p20,10,0,0);
The position p20 is set to the same position as the current position of the robot by calling the
function CRobT . The position is then moved 10 mm in the x-direction.
Structure
< dataobject of robtarget >
< trans of pos >
< x of num >
< y of num >
< z of num >
< rot of orient >
< q1 of num >
< q2 of num >
< q3 of num >
< q4 of num >
< robconf of confdata >
< cf1 of num >
< cf4 of num >
< cf6 of num >
< cfx of num >
< extax of extjoint >
< eax_a of num >
< eax_b of num >
< eax_c of num >
< eax_d of num >
< eax_e of num >
< eax_f of num >
Related information
For information about
See
Move instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
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 configuration
Configuration of external axes
Application manual - Additional axes and stand alone
controller
What is a quaternion?
orient - Orientation on page 1150
Continued
3 Data types
3.51. shapedata - World zone shape data
World Zones
1179
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© Copyright 2004-2010 ABB. All rights reserved.
3.51. shapedata - World zone shape data
Usage
shapedata is used to describe the geometry of a world zone.
Description
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate system and defined by a
WZBoxDef instruction
•
a sphere, defined by a WZSphDef instruction
•
a cylinder, parallel to the z axis of the world coordinate system and defined by a
WZCylDef instruction
•
a joint space area for robot and/or external axes, defined by the instruction
WZHomeJointDef or WZLimJointDef
The geometry of a world zone is defined by one of the previous instructions and the action of
a world zone is defined by the instruction WZLimSup or WZDOSet .
Basic examples
Basic examples of the data type shapedata are illustrated below.
Example 1
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC
A conveyor is defined as a box and the supervision for this area is activated. A pole is
defined as a cylinder and the supervision of this zone is also activated. If the robot reaches
one of these areas, the motion is stopped.
Characteristics
shapedata is a non-value data type.
Continues on next page
3 Data types
3.51. shapedata - World zone shape data
World Zones
3HAC 16581-1 Revision: J
1180
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section RAPID summary - Motion settings
Define box-shaped world zone
WZBoxDef - Define a box-shaped world zone on
page 732
Define sphere-shaped world zone
WZSphDef - Define a sphere-shaped world zone on
page 756
Define cylinder-shaped world zone
WZCylDef - Define a cylinder-shaped world zone on
page 734
Define a world zone for home joints
WZHomeJointDef - Define a world zone for home
joints on page 746
Define a world zone for limit joints
WZLimJointDef - Define a world zone for limitation in
joints on page 749
Activate world zone limit supervision
WZLimSup - Activate world zone limit supervision on
page 753
Activate world zone digital output set
WZDOSet - Activate world zone to set digital output
on page 738
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3.51. shapedata - World zone shape data
World Zones
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© Copyright 2004-2010 ABB. All rights reserved.
3.51. shapedata - World zone shape data
Usage
shapedata is used to describe the geometry of a world zone.
Description
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate system and defined by a
WZBoxDef instruction
•
a sphere, defined by a WZSphDef instruction
•
a cylinder, parallel to the z axis of the world coordinate system and defined by a
WZCylDef instruction
•
a joint space area for robot and/or external axes, defined by the instruction
WZHomeJointDef or WZLimJointDef
The geometry of a world zone is defined by one of the previous instructions and the action of
a world zone is defined by the instruction WZLimSup or WZDOSet .
Basic examples
Basic examples of the data type shapedata are illustrated below.
Example 1
VAR wzstationary pole;
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
WZCylDef \Inside, volume, p_center, 200, 2500;
WZLimSup \Stat, pole, volume;
ENDPROC
A conveyor is defined as a box and the supervision for this area is activated. A pole is
defined as a cylinder and the supervision of this zone is also activated. If the robot reaches
one of these areas, the motion is stopped.
Characteristics
shapedata is a non-value data type.
Continues on next page
3 Data types
3.51. shapedata - World zone shape data
World Zones
3HAC 16581-1 Revision: J
1180
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section RAPID summary - Motion settings
Define box-shaped world zone
WZBoxDef - Define a box-shaped world zone on
page 732
Define sphere-shaped world zone
WZSphDef - Define a sphere-shaped world zone on
page 756
Define cylinder-shaped world zone
WZCylDef - Define a cylinder-shaped world zone on
page 734
Define a world zone for home joints
WZHomeJointDef - Define a world zone for home
joints on page 746
Define a world zone for limit joints
WZLimJointDef - Define a world zone for limitation in
joints on page 749
Activate world zone limit supervision
WZLimSup - Activate world zone limit supervision on
page 753
Activate world zone digital output set
WZDOSet - Activate world zone to set digital output
on page 738
Continued
3 Data types
3.52. signalxx - Digital and analog signals
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3.52. signalxx - Digital and analog signals
Usage
Data types within signalxx are used for digital and analog input and output signals.
The names of the signals are defined in the system parameters and are consequently not to be
defined in the program.
Description
Variables of the type signalxo only contain a reference to the signal. The value is set using
an instruction, e.g. DOutput .
Variables of the type signalxi contain a reference to a signal as well as the possibility to
retrieve the value directly in the program, if used in value context.
The value of an input signal can be read directly in the program, e.g.:
! Digital input
IF di1 = 1 THEN ...
! Digital group input
IF gi1 = 5 THEN ...
! Analog input
IF ai1 > 5.2 THEN ...
It can also be used in assignments, e.g.:
VAR num current_value;
! Digital input
current_value := di1;
! Digital group input
current_value := gi1;
! Analog input
current_value := ai1;
Data type
Used for
signalai
analog input signals
signalao
analog output signals
signaldi
digital input signals
signaldo
digital output signals
signalgi
groups of digital input signals
signalgo
groups of digital output signals
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3.51. shapedata - World zone shape data
World Zones
3HAC 16581-1 Revision: J
1180
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section RAPID summary - Motion settings
Define box-shaped world zone
WZBoxDef - Define a box-shaped world zone on
page 732
Define sphere-shaped world zone
WZSphDef - Define a sphere-shaped world zone on
page 756
Define cylinder-shaped world zone
WZCylDef - Define a cylinder-shaped world zone on
page 734
Define a world zone for home joints
WZHomeJointDef - Define a world zone for home
joints on page 746
Define a world zone for limit joints
WZLimJointDef - Define a world zone for limitation in
joints on page 749
Activate world zone limit supervision
WZLimSup - Activate world zone limit supervision on
page 753
Activate world zone digital output set
WZDOSet - Activate world zone to set digital output
on page 738
Continued
3 Data types
3.52. signalxx - Digital and analog signals
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3.52. signalxx - Digital and analog signals
Usage
Data types within signalxx are used for digital and analog input and output signals.
The names of the signals are defined in the system parameters and are consequently not to be
defined in the program.
Description
Variables of the type signalxo only contain a reference to the signal. The value is set using
an instruction, e.g. DOutput .
Variables of the type signalxi contain a reference to a signal as well as the possibility to
retrieve the value directly in the program, if used in value context.
The value of an input signal can be read directly in the program, e.g.:
! Digital input
IF di1 = 1 THEN ...
! Digital group input
IF gi1 = 5 THEN ...
! Analog input
IF ai1 > 5.2 THEN ...
It can also be used in assignments, e.g.:
VAR num current_value;
! Digital input
current_value := di1;
! Digital group input
current_value := gi1;
! Analog input
current_value := ai1;
Data type
Used for
signalai
analog input signals
signalao
analog output signals
signaldi
digital input signals
signaldo
digital output signals
signalgi
groups of digital input signals
signalgo
groups of digital output signals
Continues on next page
3 Data types
3.52. signalxx - Digital and analog signals
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Limitations
Data of the data type signalxx must not be defined in the program. However, if this is in
fact done then an error message will be displayed as soon as an instruction or function that
refers to this signal is executed. The data type can, on the other hand, be used as a parameter
when declaring a routine.
Predefined data
The signals defined in the system parameters can always be accessed from the program by
using the predefined signal variables (installed data). However, it should be noted that if other
data with the same name is defined then these signals cannot be used.
Characteristics
Signalxo is a non-value data type. Thus, data of this type does not permit value - oriented
operations.
Signalxi is a semi-value data type.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Related information
For information about
See
Summary 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
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data types
Continued
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3 Data types
3.52. signalxx - Digital and analog signals
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© Copyright 2004-2010 ABB. All rights reserved.
3.52. signalxx - Digital and analog signals
Usage
Data types within signalxx are used for digital and analog input and output signals.
The names of the signals are defined in the system parameters and are consequently not to be
defined in the program.
Description
Variables of the type signalxo only contain a reference to the signal. The value is set using
an instruction, e.g. DOutput .
Variables of the type signalxi contain a reference to a signal as well as the possibility to
retrieve the value directly in the program, if used in value context.
The value of an input signal can be read directly in the program, e.g.:
! Digital input
IF di1 = 1 THEN ...
! Digital group input
IF gi1 = 5 THEN ...
! Analog input
IF ai1 > 5.2 THEN ...
It can also be used in assignments, e.g.:
VAR num current_value;
! Digital input
current_value := di1;
! Digital group input
current_value := gi1;
! Analog input
current_value := ai1;
Data type
Used for
signalai
analog input signals
signalao
analog output signals
signaldi
digital input signals
signaldo
digital output signals
signalgi
groups of digital input signals
signalgo
groups of digital output signals
Continues on next page
3 Data types
3.52. signalxx - Digital and analog signals
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Limitations
Data of the data type signalxx must not be defined in the program. However, if this is in
fact done then an error message will be displayed as soon as an instruction or function that
refers to this signal is executed. The data type can, on the other hand, be used as a parameter
when declaring a routine.
Predefined data
The signals defined in the system parameters can always be accessed from the program by
using the predefined signal variables (installed data). However, it should be noted that if other
data with the same name is defined then these signals cannot be used.
Characteristics
Signalxo is a non-value data type. Thus, data of this type does not permit value - oriented
operations.
Signalxi is a semi-value data type.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Related information
For information about
See
Summary 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
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data types
Continued
3 Data types
3.53. socketdev - Socket device
Socket Messaging
1183
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© Copyright 2004-2010 ABB. All rights reserved.
3.53. socketdev - Socket device
Usage
socketdev ( socket device ) is used to communicate with other computers on a network or
between RAPID task.
Description
The socket device is a handle to a communication link to another computer on a network.
Basic examples
Basic examples of the data type socketdev are illustrated below.
Example 1
VAR socketdev socket1;
The variable socket1 is defined and can be used in a socket command, e.g. SocketCreate .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Characteristics
socketdev is a non-value data type.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/O
control
Create a new socket
SocketCreate - Create a new socket on page 460
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
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3.52. signalxx - Digital and analog signals
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© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Data of the data type signalxx must not be defined in the program. However, if this is in
fact done then an error message will be displayed as soon as an instruction or function that
refers to this signal is executed. The data type can, on the other hand, be used as a parameter
when declaring a routine.
Predefined data
The signals defined in the system parameters can always be accessed from the program by
using the predefined signal variables (installed data). However, it should be noted that if other
data with the same name is defined then these signals cannot be used.
Characteristics
Signalxo is a non-value data type. Thus, data of this type does not permit value - oriented
operations.
Signalxi is a semi-value data type.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Related information
For information about
See
Summary 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
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data types
Continued
3 Data types
3.53. socketdev - Socket device
Socket Messaging
1183
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© Copyright 2004-2010 ABB. All rights reserved.
3.53. socketdev - Socket device
Usage
socketdev ( socket device ) is used to communicate with other computers on a network or
between RAPID task.
Description
The socket device is a handle to a communication link to another computer on a network.
Basic examples
Basic examples of the data type socketdev are illustrated below.
Example 1
VAR socketdev socket1;
The variable socket1 is defined and can be used in a socket command, e.g. SocketCreate .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Characteristics
socketdev is a non-value data type.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/O
control
Create a new socket
SocketCreate - Create a new socket on page 460
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.54. socketstatus - Socket communication status
Socket Messaging
3HAC 16581-1 Revision: J
1184
© Copyright 2004-2010 ABB. All rights reserved.
3.54. socketstatus - Socket communication status
Usage
socketstatus is used for representing status of the socket communication.
Description
Socket status is fetched with the function SocketGetStatus and can be used for program
flow control or debugging purposes.
Basic examples
Basic examples of the data type socketstatus are illustrated below.
Example 1
VAR socketdev socket1;
VAR socketstatus state;
...
SocketCreate socket1;
state := SocketGetStatus( socket1 );
The socket status SOCKET_CREATED will be stored in the variable state.
Predefined data
Following constants of type socketstatus are predefined:
Characteristics
socketstatus is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
The socket is ...
SOCKET_CREATED
1
Created
SOCKET_CONNECTED
2
Client connected to a remote host
SOCKET_BOUND
3
Server bounded to a local address and port
SOCKET_LISTENING
4
Server listening for incoming connections
SOCKET_CLOSED
5
Closed
For information about
See
Socket communication in general
Application manual - Robot communication
and I/O control
Get socket status
SocketGetStatus - Get current socket state on
page 973
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
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3 Data types
3.53. socketdev - Socket device
Socket Messaging
1183
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.53. socketdev - Socket device
Usage
socketdev ( socket device ) is used to communicate with other computers on a network or
between RAPID task.
Description
The socket device is a handle to a communication link to another computer on a network.
Basic examples
Basic examples of the data type socketdev are illustrated below.
Example 1
VAR socketdev socket1;
The variable socket1 is defined and can be used in a socket command, e.g. SocketCreate .
Limitations
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Characteristics
socketdev is a non-value data type.
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/O
control
Create a new socket
SocketCreate - Create a new socket on page 460
Characteristics of non-value data types Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.54. socketstatus - Socket communication status
Socket Messaging
3HAC 16581-1 Revision: J
1184
© Copyright 2004-2010 ABB. All rights reserved.
3.54. socketstatus - Socket communication status
Usage
socketstatus is used for representing status of the socket communication.
Description
Socket status is fetched with the function SocketGetStatus and can be used for program
flow control or debugging purposes.
Basic examples
Basic examples of the data type socketstatus are illustrated below.
Example 1
VAR socketdev socket1;
VAR socketstatus state;
...
SocketCreate socket1;
state := SocketGetStatus( socket1 );
The socket status SOCKET_CREATED will be stored in the variable state.
Predefined data
Following constants of type socketstatus are predefined:
Characteristics
socketstatus is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
The socket is ...
SOCKET_CREATED
1
Created
SOCKET_CONNECTED
2
Client connected to a remote host
SOCKET_BOUND
3
Server bounded to a local address and port
SOCKET_LISTENING
4
Server listening for incoming connections
SOCKET_CLOSED
5
Closed
For information about
See
Socket communication in general
Application manual - Robot communication
and I/O control
Get socket status
SocketGetStatus - Get current socket state on
page 973
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.55. speeddata - Speed data
RobotWare - OS
1185
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.55. speeddata - Speed data
Usage
speeddata is used to specify the velocity at which both the robot and the external axes
move.
Description
Speed data defines the velocity:
•
at which the tool center point moves,
•
the reorientation speed of the tool,
•
at which linear or rotating external axes move.
When several different types of movement are combined, one of the velocities often limits all
movements. The velocity of the other movements will be reduced in such a way that all
movements will finish executing at the same time.
The velocity is also restricted by the performance of the robot. This differs, depending on the
type of robot and the path of movement.
Components
v_tcp
velocity tcp
Data type: num
The velocity of the tool center point (TCP) in mm/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_ori
velocity orientation
Data type: num
The reorientation velocity of the TCP expressed in degrees/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_leax
velocity linear external axes
Data type: num
The velocity of linear external axes in mm/s.
v_reax
velocity rotational external axes
Data type: num
The velocity of rotating external axes in degrees/s.
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3 Data types
3.54. socketstatus - Socket communication status
Socket Messaging
3HAC 16581-1 Revision: J
1184
© Copyright 2004-2010 ABB. All rights reserved.
3.54. socketstatus - Socket communication status
Usage
socketstatus is used for representing status of the socket communication.
Description
Socket status is fetched with the function SocketGetStatus and can be used for program
flow control or debugging purposes.
Basic examples
Basic examples of the data type socketstatus are illustrated below.
Example 1
VAR socketdev socket1;
VAR socketstatus state;
...
SocketCreate socket1;
state := SocketGetStatus( socket1 );
The socket status SOCKET_CREATED will be stored in the variable state.
Predefined data
Following constants of type socketstatus are predefined:
Characteristics
socketstatus is an alias data type for num and consequently inherits its characteristics.
Related information
RAPID constant
Value
The socket is ...
SOCKET_CREATED
1
Created
SOCKET_CONNECTED
2
Client connected to a remote host
SOCKET_BOUND
3
Server bounded to a local address and port
SOCKET_LISTENING
4
Server listening for incoming connections
SOCKET_CLOSED
5
Closed
For information about
See
Socket communication in general
Application manual - Robot communication
and I/O control
Get socket status
SocketGetStatus - Get current socket state on
page 973
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
3 Data types
3.55. speeddata - Speed data
RobotWare - OS
1185
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.55. speeddata - Speed data
Usage
speeddata is used to specify the velocity at which both the robot and the external axes
move.
Description
Speed data defines the velocity:
•
at which the tool center point moves,
•
the reorientation speed of the tool,
•
at which linear or rotating external axes move.
When several different types of movement are combined, one of the velocities often limits all
movements. The velocity of the other movements will be reduced in such a way that all
movements will finish executing at the same time.
The velocity is also restricted by the performance of the robot. This differs, depending on the
type of robot and the path of movement.
Components
v_tcp
velocity tcp
Data type: num
The velocity of the tool center point (TCP) in mm/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_ori
velocity orientation
Data type: num
The reorientation velocity of the TCP expressed in degrees/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_leax
velocity linear external axes
Data type: num
The velocity of linear external axes in mm/s.
v_reax
velocity rotational external axes
Data type: num
The velocity of rotating external axes in degrees/s.
Continues on next page
3 Data types
3.55. speeddata - Speed data
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Basic examples
Basic examples of the data type speeddata are illustrated below.
Example 1
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];
The speed data vmedium is defined with the following velocities:
•
1000 mm/s for the TCP.
•
30 degrees/s for reorientation of the tool.
•
200 mm/s for linear external axes.
•
15 degrees/s for rotating external axes.
vmedium.v_tcp := 900;
The velocity of the TCP is changed to 900 mm/s.
Limitations
At very slow motion each movement should be short enough to give an interpolation time less
than 240 seconds.
Predefined data
A number of speed data are already defined in the system module BASE_SHARED .
Predefined speed data to be used for moving the robot and the external axes:
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
v5
5 mm/s
500°/s
5000 mm/s
1000°/s
v10
10 mm/s
500°/s
5000 mm/s
1000°/s
v20
20 mm/s
500°/s
5000 mm/s
1000°/s
v30
30 mm/s
500°/s
5000 mm/s
1000°/s
v40
40 mm/s
500°/s
5000 mm/s
1000°/s
v50
50 mm/s
500°/s
5000 mm/s
1000°/s
v60
60 mm/s
500°/s
5000 mm/s
1000°/s
v80
80 mm/s
500°/s
5000 mm/s
1000°/s
v100
100 mm/s
500°/s
5000 mm/s
1000°/s
v150
150 mm/s
500°/s
5000 mm/s
1000°/s
v200
200 mm/s
500°/s
5000 mm/s
1000°/s
v300
300 mm/s
500°/s
5000 mm/s
1000°/s
v400
400 mm/s
500°/s
5000 mm/s
1000°/s
v500
500 mm/s
500°/s
5000 mm/s
1000°/s
v600
600 mm/s
500°/s
5000 mm/s
1000°/s
v800
800 mm/s
500°/s
5000 mm/s
1000°/s
v1000
1000 mm/s
500°/s
5000 mm/s
1000°/s
v1500
1500 mm/s
500°/s
5000 mm/s
1000°/s
v2000
2000 mm/s
500°/s
5000 mm/s
1000°/s
v2500
2500 mm/s
500°/s
5000 mm/s
1000°/s
v3000
3000 mm/s
500°/s
5000 mm/s
1000°/s
v4000
4000 mm/s
500°/s
5000 mm/s
1000°/s
Continued
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3 Data types
3.55. speeddata - Speed data
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© Copyright 2004-2010 ABB. All rights reserved.
3.55. speeddata - Speed data
Usage
speeddata is used to specify the velocity at which both the robot and the external axes
move.
Description
Speed data defines the velocity:
•
at which the tool center point moves,
•
the reorientation speed of the tool,
•
at which linear or rotating external axes move.
When several different types of movement are combined, one of the velocities often limits all
movements. The velocity of the other movements will be reduced in such a way that all
movements will finish executing at the same time.
The velocity is also restricted by the performance of the robot. This differs, depending on the
type of robot and the path of movement.
Components
v_tcp
velocity tcp
Data type: num
The velocity of the tool center point (TCP) in mm/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_ori
velocity orientation
Data type: num
The reorientation velocity of the TCP expressed in degrees/s.
If a stationary tool or coordinated external axes are used, the velocity is specified relative to
the work object.
v_leax
velocity linear external axes
Data type: num
The velocity of linear external axes in mm/s.
v_reax
velocity rotational external axes
Data type: num
The velocity of rotating external axes in degrees/s.
Continues on next page
3 Data types
3.55. speeddata - Speed data
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© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the data type speeddata are illustrated below.
Example 1
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];
The speed data vmedium is defined with the following velocities:
•
1000 mm/s for the TCP.
•
30 degrees/s for reorientation of the tool.
•
200 mm/s for linear external axes.
•
15 degrees/s for rotating external axes.
vmedium.v_tcp := 900;
The velocity of the TCP is changed to 900 mm/s.
Limitations
At very slow motion each movement should be short enough to give an interpolation time less
than 240 seconds.
Predefined data
A number of speed data are already defined in the system module BASE_SHARED .
Predefined speed data to be used for moving the robot and the external axes:
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
v5
5 mm/s
500°/s
5000 mm/s
1000°/s
v10
10 mm/s
500°/s
5000 mm/s
1000°/s
v20
20 mm/s
500°/s
5000 mm/s
1000°/s
v30
30 mm/s
500°/s
5000 mm/s
1000°/s
v40
40 mm/s
500°/s
5000 mm/s
1000°/s
v50
50 mm/s
500°/s
5000 mm/s
1000°/s
v60
60 mm/s
500°/s
5000 mm/s
1000°/s
v80
80 mm/s
500°/s
5000 mm/s
1000°/s
v100
100 mm/s
500°/s
5000 mm/s
1000°/s
v150
150 mm/s
500°/s
5000 mm/s
1000°/s
v200
200 mm/s
500°/s
5000 mm/s
1000°/s
v300
300 mm/s
500°/s
5000 mm/s
1000°/s
v400
400 mm/s
500°/s
5000 mm/s
1000°/s
v500
500 mm/s
500°/s
5000 mm/s
1000°/s
v600
600 mm/s
500°/s
5000 mm/s
1000°/s
v800
800 mm/s
500°/s
5000 mm/s
1000°/s
v1000
1000 mm/s
500°/s
5000 mm/s
1000°/s
v1500
1500 mm/s
500°/s
5000 mm/s
1000°/s
v2000
2000 mm/s
500°/s
5000 mm/s
1000°/s
v2500
2500 mm/s
500°/s
5000 mm/s
1000°/s
v3000
3000 mm/s
500°/s
5000 mm/s
1000°/s
v4000
4000 mm/s
500°/s
5000 mm/s
1000°/s
Continued
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
1187
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
*) Max. TCP speed for the used robot type and normal practical TCP values. The RAPID
function MaxRobSpeed returns the same value. If using extreme big TCP values in tool frame
then create own speeddata with bigger TCP speed than returned by MaxRobSpeed .
Predefined speeddata to be used for moving rotating external axes with instruction
MoveExtJ .
Predefined speed data to be used for moving linear external axes with instruction MoveExtJ .
Structure
< dataobject of speeddata >
< v_tcp of num >
< v_ori of num >
< v_leax of num >
< v_reax of num >
v5000
5000 mm/s
500°/s
5000 mm/s
1000°/s
v6000
6000 mm/s
500°/s
5000 mm/s
1000°/s
v7000
7000 mm/s
500°/s
5000 mm/s
1000°/s
vmax
*)
500°/s
5000 mm/s
1000°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vrot1
0 mm/s
0°/s
0 mm/s
1°/s
vrot2
0 mm/s
0°/s
0 mm/s
2°/s
vrot5
0 mm/s
0°/s
0 mm/s
5°/s
vrot10
0 mm/s
0°/s
0 mm/s
10°/s
vrot20
0 mm/s
0°/s
0 mm/s
20°/s
vrot50
0 mm/s
0°/s
0 mm/s
50°/s
vrot100
0 mm/s
0°/s
0 mm/s
100°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vlin10
0 mm/s
0°/s
10 mm/s
0°/s
vlin20
0 mm/s
0°/s
20 mm/s
0°/s
vlin50
0 mm/s
0°/s
50 mm/s
0°/s
vlin100
0 mm/s
0°/s
100 mm/s
0°/s
vlin200
0 mm/s
0°/s
200 mm/s
0°/s
vlin500
0 mm/s
0°/s
500 mm/s
0°/s
lin1000
0 mm/s
0°/s
1000 mm/s
0°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
Continued
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3 Data types
3.55. speeddata - Speed data
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© Copyright 2004-2010 ABB. All rights reserved.
Basic examples
Basic examples of the data type speeddata are illustrated below.
Example 1
VAR speeddata vmedium := [ 1000, 30, 200, 15 ];
The speed data vmedium is defined with the following velocities:
•
1000 mm/s for the TCP.
•
30 degrees/s for reorientation of the tool.
•
200 mm/s for linear external axes.
•
15 degrees/s for rotating external axes.
vmedium.v_tcp := 900;
The velocity of the TCP is changed to 900 mm/s.
Limitations
At very slow motion each movement should be short enough to give an interpolation time less
than 240 seconds.
Predefined data
A number of speed data are already defined in the system module BASE_SHARED .
Predefined speed data to be used for moving the robot and the external axes:
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
v5
5 mm/s
500°/s
5000 mm/s
1000°/s
v10
10 mm/s
500°/s
5000 mm/s
1000°/s
v20
20 mm/s
500°/s
5000 mm/s
1000°/s
v30
30 mm/s
500°/s
5000 mm/s
1000°/s
v40
40 mm/s
500°/s
5000 mm/s
1000°/s
v50
50 mm/s
500°/s
5000 mm/s
1000°/s
v60
60 mm/s
500°/s
5000 mm/s
1000°/s
v80
80 mm/s
500°/s
5000 mm/s
1000°/s
v100
100 mm/s
500°/s
5000 mm/s
1000°/s
v150
150 mm/s
500°/s
5000 mm/s
1000°/s
v200
200 mm/s
500°/s
5000 mm/s
1000°/s
v300
300 mm/s
500°/s
5000 mm/s
1000°/s
v400
400 mm/s
500°/s
5000 mm/s
1000°/s
v500
500 mm/s
500°/s
5000 mm/s
1000°/s
v600
600 mm/s
500°/s
5000 mm/s
1000°/s
v800
800 mm/s
500°/s
5000 mm/s
1000°/s
v1000
1000 mm/s
500°/s
5000 mm/s
1000°/s
v1500
1500 mm/s
500°/s
5000 mm/s
1000°/s
v2000
2000 mm/s
500°/s
5000 mm/s
1000°/s
v2500
2500 mm/s
500°/s
5000 mm/s
1000°/s
v3000
3000 mm/s
500°/s
5000 mm/s
1000°/s
v4000
4000 mm/s
500°/s
5000 mm/s
1000°/s
Continued
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
1187
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
*) Max. TCP speed for the used robot type and normal practical TCP values. The RAPID
function MaxRobSpeed returns the same value. If using extreme big TCP values in tool frame
then create own speeddata with bigger TCP speed than returned by MaxRobSpeed .
Predefined speeddata to be used for moving rotating external axes with instruction
MoveExtJ .
Predefined speed data to be used for moving linear external axes with instruction MoveExtJ .
Structure
< dataobject of speeddata >
< v_tcp of num >
< v_ori of num >
< v_leax of num >
< v_reax of num >
v5000
5000 mm/s
500°/s
5000 mm/s
1000°/s
v6000
6000 mm/s
500°/s
5000 mm/s
1000°/s
v7000
7000 mm/s
500°/s
5000 mm/s
1000°/s
vmax
*)
500°/s
5000 mm/s
1000°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vrot1
0 mm/s
0°/s
0 mm/s
1°/s
vrot2
0 mm/s
0°/s
0 mm/s
2°/s
vrot5
0 mm/s
0°/s
0 mm/s
5°/s
vrot10
0 mm/s
0°/s
0 mm/s
10°/s
vrot20
0 mm/s
0°/s
0 mm/s
20°/s
vrot50
0 mm/s
0°/s
0 mm/s
50°/s
vrot100
0 mm/s
0°/s
0 mm/s
100°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vlin10
0 mm/s
0°/s
10 mm/s
0°/s
vlin20
0 mm/s
0°/s
20 mm/s
0°/s
vlin50
0 mm/s
0°/s
50 mm/s
0°/s
vlin100
0 mm/s
0°/s
100 mm/s
0°/s
vlin200
0 mm/s
0°/s
200 mm/s
0°/s
vlin500
0 mm/s
0°/s
500 mm/s
0°/s
lin1000
0 mm/s
0°/s
1000 mm/s
0°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
Continued
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
3HAC 16581-1 Revision: J
1188
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
Motion/Speed in general
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Defining maximum velocity
VelSet - Changes the programmed velocity on page 662
Max. TCP speed for this robot
MaxRobSpeed - Maximum robot speed on page 892
Continued
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
1187
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
*) Max. TCP speed for the used robot type and normal practical TCP values. The RAPID
function MaxRobSpeed returns the same value. If using extreme big TCP values in tool frame
then create own speeddata with bigger TCP speed than returned by MaxRobSpeed .
Predefined speeddata to be used for moving rotating external axes with instruction
MoveExtJ .
Predefined speed data to be used for moving linear external axes with instruction MoveExtJ .
Structure
< dataobject of speeddata >
< v_tcp of num >
< v_ori of num >
< v_leax of num >
< v_reax of num >
v5000
5000 mm/s
500°/s
5000 mm/s
1000°/s
v6000
6000 mm/s
500°/s
5000 mm/s
1000°/s
v7000
7000 mm/s
500°/s
5000 mm/s
1000°/s
vmax
*)
500°/s
5000 mm/s
1000°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vrot1
0 mm/s
0°/s
0 mm/s
1°/s
vrot2
0 mm/s
0°/s
0 mm/s
2°/s
vrot5
0 mm/s
0°/s
0 mm/s
5°/s
vrot10
0 mm/s
0°/s
0 mm/s
10°/s
vrot20
0 mm/s
0°/s
0 mm/s
20°/s
vrot50
0 mm/s
0°/s
0 mm/s
50°/s
vrot100
0 mm/s
0°/s
0 mm/s
100°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
vlin10
0 mm/s
0°/s
10 mm/s
0°/s
vlin20
0 mm/s
0°/s
20 mm/s
0°/s
vlin50
0 mm/s
0°/s
50 mm/s
0°/s
vlin100
0 mm/s
0°/s
100 mm/s
0°/s
vlin200
0 mm/s
0°/s
200 mm/s
0°/s
vlin500
0 mm/s
0°/s
500 mm/s
0°/s
lin1000
0 mm/s
0°/s
1000 mm/s
0°/s
Name
TCP speed
Orientation
Linear
ext. axis
Rotating
ext. axis
Continued
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
3HAC 16581-1 Revision: J
1188
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
Motion/Speed in general
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Defining maximum velocity
VelSet - Changes the programmed velocity on page 662
Max. TCP speed for this robot
MaxRobSpeed - Maximum robot speed on page 892
Continued
3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
1189
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.56. stoppointdata - Stop point data
Usage
stoppointdata is used to specify how a position is to be terminated, i.e. how close to the
programmed position the axes must be before moving towards the next position.
Description
A position can be terminated either in the form of a fly-by point or a stop point.
A fly-by point means that the programmed position is never reached. A zone is specified in
the instruction for the movement, defining a corner path. Instead of heading for the
programmed position, the direction of the motion is formed into the corner path before the
position is reached. See data type zonedata .
A stop point means that the robot and external axes must reach the specified position before
the robot/external axes continues with the next movement. The robot is considered to have
reached a stop point when the convergence criteria of the point are satisfied. The convergence
criteria are speed and position. It is also possible to specify timing criteria. For stop point
fine , see also data type zonedata .
Three types of stop points can be defined by the stoppointdata .
•
The in position type of stop point is defined as a percentage of the convergence
criteria (position and speed) for the predefined stop point fine . The in-position type
also uses a minimum and a maximum time. The robot waits for at least the minimum
time, and at most the maximum time, for the position and speed criteria to be satisfied.
•
The stop time type of stop point always waits in the stop point for the given time.
•
The follow time type of stop point is a special type of stop point used to coordinate
the robot movement with a conveyor.
The stoppointdata also determines how the movement shall be synchronized with the
RAPID execution. If the movement is synchronized, the RAPID execution waits for a “in
pos” event when the robot is in position. If the movement is not synchronized, the RAPID
execution gets a “prefetch” event almost a half second before the physical robot reaches the
programmed position. When the program execution gets an “in pos” or a “prefetch” event, it
continues with the next instruction. When the “prefetch” event arrives, the robot still has a
long way to move. When the“ in pos” event arrives the robot is close to the programmed
position.
For the type stop time and follow time , the next instruction starts its execution at the same
time as the stop time and follow time, respectively, start to count down. But for the type in
position , the next instruction is started when the convergence criteria is fulfilled.
If use of move instructions with argument \Conc , no synchronization at all is done, so the
actual move instruction execution will be ready at once.
Continues on next page
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3 Data types
3.55. speeddata - Speed data
RobotWare - OS
3HAC 16581-1 Revision: J
1188
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
Motion/Speed in general
Technical reference manual - RAPID overview , section
Motion and I/O principles - Positioning during program
execution
Defining maximum velocity
VelSet - Changes the programmed velocity on page 662
Max. TCP speed for this robot
MaxRobSpeed - Maximum robot speed on page 892
Continued
3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
1189
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.56. stoppointdata - Stop point data
Usage
stoppointdata is used to specify how a position is to be terminated, i.e. how close to the
programmed position the axes must be before moving towards the next position.
Description
A position can be terminated either in the form of a fly-by point or a stop point.
A fly-by point means that the programmed position is never reached. A zone is specified in
the instruction for the movement, defining a corner path. Instead of heading for the
programmed position, the direction of the motion is formed into the corner path before the
position is reached. See data type zonedata .
A stop point means that the robot and external axes must reach the specified position before
the robot/external axes continues with the next movement. The robot is considered to have
reached a stop point when the convergence criteria of the point are satisfied. The convergence
criteria are speed and position. It is also possible to specify timing criteria. For stop point
fine , see also data type zonedata .
Three types of stop points can be defined by the stoppointdata .
•
The in position type of stop point is defined as a percentage of the convergence
criteria (position and speed) for the predefined stop point fine . The in-position type
also uses a minimum and a maximum time. The robot waits for at least the minimum
time, and at most the maximum time, for the position and speed criteria to be satisfied.
•
The stop time type of stop point always waits in the stop point for the given time.
•
The follow time type of stop point is a special type of stop point used to coordinate
the robot movement with a conveyor.
The stoppointdata also determines how the movement shall be synchronized with the
RAPID execution. If the movement is synchronized, the RAPID execution waits for a “in
pos” event when the robot is in position. If the movement is not synchronized, the RAPID
execution gets a “prefetch” event almost a half second before the physical robot reaches the
programmed position. When the program execution gets an “in pos” or a “prefetch” event, it
continues with the next instruction. When the “prefetch” event arrives, the robot still has a
long way to move. When the“ in pos” event arrives the robot is close to the programmed
position.
For the type stop time and follow time , the next instruction starts its execution at the same
time as the stop time and follow time, respectively, start to count down. But for the type in
position , the next instruction is started when the convergence criteria is fulfilled.
If use of move instructions with argument \Conc , no synchronization at all is done, so the
actual move instruction execution will be ready at once.
Continues on next page
3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
3HAC 16581-1 Revision: J
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© Copyright 2004-2010 ABB. All rights reserved.
xx0500002374
In the figure above, the termination of the stop points is described. The robot’s speed does not
decrease linearly. The robot servo is always ahead of the physical robot. It is shown as the
constant lag in the figure above. The constant lag is about 0.1 seconds. The timing elements
of stoppointdata use the reference speed as trigger. When the reference speed is zero the
time measurement starts. Therefore the time in the timing elements always include the
constant lag. Consequently there is no sense in using values less than the constant lag.
Components
type
type of stop point
Data type: stoppoint
The following table defines the type of stoppoint .
1 (inpos)
The movement terminates as an in-position type of stop
point. Enables the inpos element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
2 (stoptime)
The movement terminates as a stop-time type of stop point.
Enables the stoptime element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
3 (followtime)
The movement terminates as a conveyor follow-time type of
fine point. The zone data in the instruction is used when the
robot leaves the conveyor. Enables the followtime
element in stoppointdata .
Continued
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3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
1189
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.56. stoppointdata - Stop point data
Usage
stoppointdata is used to specify how a position is to be terminated, i.e. how close to the
programmed position the axes must be before moving towards the next position.
Description
A position can be terminated either in the form of a fly-by point or a stop point.
A fly-by point means that the programmed position is never reached. A zone is specified in
the instruction for the movement, defining a corner path. Instead of heading for the
programmed position, the direction of the motion is formed into the corner path before the
position is reached. See data type zonedata .
A stop point means that the robot and external axes must reach the specified position before
the robot/external axes continues with the next movement. The robot is considered to have
reached a stop point when the convergence criteria of the point are satisfied. The convergence
criteria are speed and position. It is also possible to specify timing criteria. For stop point
fine , see also data type zonedata .
Three types of stop points can be defined by the stoppointdata .
•
The in position type of stop point is defined as a percentage of the convergence
criteria (position and speed) for the predefined stop point fine . The in-position type
also uses a minimum and a maximum time. The robot waits for at least the minimum
time, and at most the maximum time, for the position and speed criteria to be satisfied.
•
The stop time type of stop point always waits in the stop point for the given time.
•
The follow time type of stop point is a special type of stop point used to coordinate
the robot movement with a conveyor.
The stoppointdata also determines how the movement shall be synchronized with the
RAPID execution. If the movement is synchronized, the RAPID execution waits for a “in
pos” event when the robot is in position. If the movement is not synchronized, the RAPID
execution gets a “prefetch” event almost a half second before the physical robot reaches the
programmed position. When the program execution gets an “in pos” or a “prefetch” event, it
continues with the next instruction. When the “prefetch” event arrives, the robot still has a
long way to move. When the“ in pos” event arrives the robot is close to the programmed
position.
For the type stop time and follow time , the next instruction starts its execution at the same
time as the stop time and follow time, respectively, start to count down. But for the type in
position , the next instruction is started when the convergence criteria is fulfilled.
If use of move instructions with argument \Conc , no synchronization at all is done, so the
actual move instruction execution will be ready at once.
Continues on next page
3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
3HAC 16581-1 Revision: J
1190
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002374
In the figure above, the termination of the stop points is described. The robot’s speed does not
decrease linearly. The robot servo is always ahead of the physical robot. It is shown as the
constant lag in the figure above. The constant lag is about 0.1 seconds. The timing elements
of stoppointdata use the reference speed as trigger. When the reference speed is zero the
time measurement starts. Therefore the time in the timing elements always include the
constant lag. Consequently there is no sense in using values less than the constant lag.
Components
type
type of stop point
Data type: stoppoint
The following table defines the type of stoppoint .
1 (inpos)
The movement terminates as an in-position type of stop
point. Enables the inpos element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
2 (stoptime)
The movement terminates as a stop-time type of stop point.
Enables the stoptime element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
3 (followtime)
The movement terminates as a conveyor follow-time type of
fine point. The zone data in the instruction is used when the
robot leaves the conveyor. Enables the followtime
element in stoppointdata .
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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Data type stoppoint is an alias data type for num . It is used to choose the type of stop point
and which data elements to use in the stoppointdata . Predefined constants are:
progsynch
program synchronization
Data type: bool
Synchronization with RAPID program execution.
•
TRUE: The movement is synchronized with RAPID execution. The program does not
start to execute the next instruction until the stop point has been reached.
•
FALSE: The movement is not synchronized with RAPID execution. The program
starts the execution of the next instruction before the stop point has been reached.
If use of move instructions with argument \Conc , no synchronization at all is done
independent of the data in progsynch , so the actual move instruction will always be ready
at once.
inpos.position
position condition for TCP
Data type: num
The position condition (the radius) for the TCP in percent of a normal fine stop point.
inpos.speed
speed condition for TCP
Data type: num
The speed condition for the TCP in percent of a normal fine stop point.
inpos.mintime
minimum wait time
Data type: num
The minimum wait time in seconds before in position. Used to make the robot wait at least
the specified time in the point. Maximum value is 20.0 seconds.
inpos.maxtime
maximum wait time
Data type: num
The maximum wait time in seconds for convergence criteria to be satisfied. Used to assure
that the robot does not get stuck in the point if the speed and position conditions are set too
tight. Maximum value is 20.0 seconds.
Value
Symbolic constant
Comment
1
inpos
In position type number
2
stoptime
Stop time type number
3
fllwtime
Follow time type number
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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xx0500002374
In the figure above, the termination of the stop points is described. The robot’s speed does not
decrease linearly. The robot servo is always ahead of the physical robot. It is shown as the
constant lag in the figure above. The constant lag is about 0.1 seconds. The timing elements
of stoppointdata use the reference speed as trigger. When the reference speed is zero the
time measurement starts. Therefore the time in the timing elements always include the
constant lag. Consequently there is no sense in using values less than the constant lag.
Components
type
type of stop point
Data type: stoppoint
The following table defines the type of stoppoint .
1 (inpos)
The movement terminates as an in-position type of stop
point. Enables the inpos element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
2 (stoptime)
The movement terminates as a stop-time type of stop point.
Enables the stoptime element in stoppointdata . The
zone data in the instruction is not used, use fine or z0 .
3 (followtime)
The movement terminates as a conveyor follow-time type of
fine point. The zone data in the instruction is used when the
robot leaves the conveyor. Enables the followtime
element in stoppointdata .
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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Data type stoppoint is an alias data type for num . It is used to choose the type of stop point
and which data elements to use in the stoppointdata . Predefined constants are:
progsynch
program synchronization
Data type: bool
Synchronization with RAPID program execution.
•
TRUE: The movement is synchronized with RAPID execution. The program does not
start to execute the next instruction until the stop point has been reached.
•
FALSE: The movement is not synchronized with RAPID execution. The program
starts the execution of the next instruction before the stop point has been reached.
If use of move instructions with argument \Conc , no synchronization at all is done
independent of the data in progsynch , so the actual move instruction will always be ready
at once.
inpos.position
position condition for TCP
Data type: num
The position condition (the radius) for the TCP in percent of a normal fine stop point.
inpos.speed
speed condition for TCP
Data type: num
The speed condition for the TCP in percent of a normal fine stop point.
inpos.mintime
minimum wait time
Data type: num
The minimum wait time in seconds before in position. Used to make the robot wait at least
the specified time in the point. Maximum value is 20.0 seconds.
inpos.maxtime
maximum wait time
Data type: num
The maximum wait time in seconds for convergence criteria to be satisfied. Used to assure
that the robot does not get stuck in the point if the speed and position conditions are set too
tight. Maximum value is 20.0 seconds.
Value
Symbolic constant
Comment
1
inpos
In position type number
2
stoptime
Stop time type number
3
fllwtime
Follow time type number
Continued
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3.56. stoppointdata - Stop point data
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stoptime
stop time
Data type: num
The time in seconds, the TCP stands still in position before starting the next movement. Valid
range 0 - 20 s, resolution 0.001 s.
followtime
follow time
Data type: num
The time in seconds the TCP follows the conveyor. Valid range 0 - 20 s, resolution 0.001 s.
signal
Data type: string
Reserved for future use.
relation
Data type: opnum
Reserved for future use.
checkvalue
Data type: num
Reserved for future use.
Basic examples
Basic examples of the data type stoppointdata are illustrated below.
Inpos
VAR stoppointdata my_inpos := [ inpos, TRUE, [ 25, 40, 0.1, 5], 0,
0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point data my_inpos is defined by means of the following characteristics:
•
The type of stop point is in-position type, inpos .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point distance criteria is 25% of the distance defined for the stop point
fine , 25 .
•
The stop point speed criteria is 40% of the speed defined for the stop point fine , 40 .
•
The minimum time to wait before convergence is 0,1 s, 0.1 .
•
The maximum time to wait on convergence is 5 s, 5 .
The robot moves towards the programmed position until one of the criteria position or speeds
are satisfied.
my_inpos.inpos.position := 40;
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point distance criteria is adjusted to 40 %.
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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Data type stoppoint is an alias data type for num . It is used to choose the type of stop point
and which data elements to use in the stoppointdata . Predefined constants are:
progsynch
program synchronization
Data type: bool
Synchronization with RAPID program execution.
•
TRUE: The movement is synchronized with RAPID execution. The program does not
start to execute the next instruction until the stop point has been reached.
•
FALSE: The movement is not synchronized with RAPID execution. The program
starts the execution of the next instruction before the stop point has been reached.
If use of move instructions with argument \Conc , no synchronization at all is done
independent of the data in progsynch , so the actual move instruction will always be ready
at once.
inpos.position
position condition for TCP
Data type: num
The position condition (the radius) for the TCP in percent of a normal fine stop point.
inpos.speed
speed condition for TCP
Data type: num
The speed condition for the TCP in percent of a normal fine stop point.
inpos.mintime
minimum wait time
Data type: num
The minimum wait time in seconds before in position. Used to make the robot wait at least
the specified time in the point. Maximum value is 20.0 seconds.
inpos.maxtime
maximum wait time
Data type: num
The maximum wait time in seconds for convergence criteria to be satisfied. Used to assure
that the robot does not get stuck in the point if the speed and position conditions are set too
tight. Maximum value is 20.0 seconds.
Value
Symbolic constant
Comment
1
inpos
In position type number
2
stoptime
Stop time type number
3
fllwtime
Follow time type number
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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© Copyright 2004-2010 ABB. All rights reserved.
stoptime
stop time
Data type: num
The time in seconds, the TCP stands still in position before starting the next movement. Valid
range 0 - 20 s, resolution 0.001 s.
followtime
follow time
Data type: num
The time in seconds the TCP follows the conveyor. Valid range 0 - 20 s, resolution 0.001 s.
signal
Data type: string
Reserved for future use.
relation
Data type: opnum
Reserved for future use.
checkvalue
Data type: num
Reserved for future use.
Basic examples
Basic examples of the data type stoppointdata are illustrated below.
Inpos
VAR stoppointdata my_inpos := [ inpos, TRUE, [ 25, 40, 0.1, 5], 0,
0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point data my_inpos is defined by means of the following characteristics:
•
The type of stop point is in-position type, inpos .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point distance criteria is 25% of the distance defined for the stop point
fine , 25 .
•
The stop point speed criteria is 40% of the speed defined for the stop point fine , 40 .
•
The minimum time to wait before convergence is 0,1 s, 0.1 .
•
The maximum time to wait on convergence is 5 s, 5 .
The robot moves towards the programmed position until one of the criteria position or speeds
are satisfied.
my_inpos.inpos.position := 40;
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point distance criteria is adjusted to 40 %.
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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Stoptime
VAR stoppointdata my_stoptime := [ stoptime, FALSE, [ 0, 0, 0, 0],
1.45, 0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point data my_stoptime is defined by means of the following characteristics:
•
The type of stop point is stop-time type, stoptime .
•
The stop point will not be synchronized with the RAPID program execution, FALSE .
•
The wait time in position is 1.45 s.
The robot moves towards the programmed position until the prefetch event arrives. The next
RAPID instruction executes. If it is a move-instruction then the robot stops for 1.45 seconds
before the next movement starts.
my_stoptime.stoptime := 6.66;
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point stop time is adjusted to 6.66 seconds. If the next RAPID instruction is a move-
instruction, the robot stops for 6.66 s.
Followtime
VAR stoppointdata my_followtime := [ fllwtime, TRUE, [ 0, 0, 0,
0], 0, 0.5, "", 0, 0];
MoveL *, v1000, z10 \Inpos:=my_followtime, grip6\wobj:=conveyor1;
The stop point data my_followtime is defined by means of the following characteristics:
•
The type of stop point is follow-time type, fllwtime .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point follow time is 0.5 s, 0.5 .
The robot will follow the conveyor for 0.5 s before leaving it with the zone 10 mm, z10 .
my_followtime.followtime := 0.4;
The stop point follow time is adjusted to 0.4 s.
Predefined data
A number of stop point data are already defined in the system module BASE_SHARED .
In position stop points
( inpos100 has same convergence criteria as stop point fine )
Name
Progsynch Position Speed
Mintime
Maxtime Stop-
time
Follow-
time
inpos20
TRUE
20%
20%
0 s
2 s
-
-
inpos50
TRUE
50%
50%
0 s
2 s
-
-
inpos100
TRUE
100%
100%
0 s
2 s
-
-
Continued
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3.56. stoppointdata - Stop point data
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stoptime
stop time
Data type: num
The time in seconds, the TCP stands still in position before starting the next movement. Valid
range 0 - 20 s, resolution 0.001 s.
followtime
follow time
Data type: num
The time in seconds the TCP follows the conveyor. Valid range 0 - 20 s, resolution 0.001 s.
signal
Data type: string
Reserved for future use.
relation
Data type: opnum
Reserved for future use.
checkvalue
Data type: num
Reserved for future use.
Basic examples
Basic examples of the data type stoppointdata are illustrated below.
Inpos
VAR stoppointdata my_inpos := [ inpos, TRUE, [ 25, 40, 0.1, 5], 0,
0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point data my_inpos is defined by means of the following characteristics:
•
The type of stop point is in-position type, inpos .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point distance criteria is 25% of the distance defined for the stop point
fine , 25 .
•
The stop point speed criteria is 40% of the speed defined for the stop point fine , 40 .
•
The minimum time to wait before convergence is 0,1 s, 0.1 .
•
The maximum time to wait on convergence is 5 s, 5 .
The robot moves towards the programmed position until one of the criteria position or speeds
are satisfied.
my_inpos.inpos.position := 40;
MoveL *, v1000, fine \Inpos:=my_inpos, grip4;
The stop point distance criteria is adjusted to 40 %.
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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Stoptime
VAR stoppointdata my_stoptime := [ stoptime, FALSE, [ 0, 0, 0, 0],
1.45, 0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point data my_stoptime is defined by means of the following characteristics:
•
The type of stop point is stop-time type, stoptime .
•
The stop point will not be synchronized with the RAPID program execution, FALSE .
•
The wait time in position is 1.45 s.
The robot moves towards the programmed position until the prefetch event arrives. The next
RAPID instruction executes. If it is a move-instruction then the robot stops for 1.45 seconds
before the next movement starts.
my_stoptime.stoptime := 6.66;
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point stop time is adjusted to 6.66 seconds. If the next RAPID instruction is a move-
instruction, the robot stops for 6.66 s.
Followtime
VAR stoppointdata my_followtime := [ fllwtime, TRUE, [ 0, 0, 0,
0], 0, 0.5, "", 0, 0];
MoveL *, v1000, z10 \Inpos:=my_followtime, grip6\wobj:=conveyor1;
The stop point data my_followtime is defined by means of the following characteristics:
•
The type of stop point is follow-time type, fllwtime .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point follow time is 0.5 s, 0.5 .
The robot will follow the conveyor for 0.5 s before leaving it with the zone 10 mm, z10 .
my_followtime.followtime := 0.4;
The stop point follow time is adjusted to 0.4 s.
Predefined data
A number of stop point data are already defined in the system module BASE_SHARED .
In position stop points
( inpos100 has same convergence criteria as stop point fine )
Name
Progsynch Position Speed
Mintime
Maxtime Stop-
time
Follow-
time
inpos20
TRUE
20%
20%
0 s
2 s
-
-
inpos50
TRUE
50%
50%
0 s
2 s
-
-
inpos100
TRUE
100%
100%
0 s
2 s
-
-
Continued
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3 Data types
3.56. stoppointdata - Stop point data
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1194
© Copyright 2004-2010 ABB. All rights reserved.
Stop time stop points
Follow time stop points
Structure
< data object of stoppointdata >
< type of stoppoint >
< progsynch of bool >
< inpos of inposdata >
< position of num >
< speed of num >
< mintime of num >
< maxtime of num >
< stoptime of num >
< followtime of num >
< signal of string >
< relation of opnum >
< checkvalue of num >
Related information
Name
Progsynch Position
Speed
Mintime Maxtime Stop-
time
Follow-
time
stoptime0_5 FALSE
-
-
-
-
0.5 s
-
stoptime1_0 FALSE
-
-
-
-
1.0 s
-
stoptime1_5 FALSE
-
-
-
-
1.5 s
-
Name
Progsynch Position
Speed Mintime Maxtime Stop-
time
Follow-
time
fllwtime0_5 TRUE
-
-
-
-
-
0.5 s
fllwtime1_0 TRUE
-
-
-
-
-
1.0 s
fllwtime1_5 TRUE
-
-
-
-
-
1.5 s
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Movements/Paths in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Stop or fly-by points
zonedata - Zone data on page 1232
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3.56. stoppointdata - Stop point data
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1193
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© Copyright 2004-2010 ABB. All rights reserved.
Stoptime
VAR stoppointdata my_stoptime := [ stoptime, FALSE, [ 0, 0, 0, 0],
1.45, 0, "", 0, 0];
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point data my_stoptime is defined by means of the following characteristics:
•
The type of stop point is stop-time type, stoptime .
•
The stop point will not be synchronized with the RAPID program execution, FALSE .
•
The wait time in position is 1.45 s.
The robot moves towards the programmed position until the prefetch event arrives. The next
RAPID instruction executes. If it is a move-instruction then the robot stops for 1.45 seconds
before the next movement starts.
my_stoptime.stoptime := 6.66;
MoveL *, v1000, fine \Inpos:=my_stoptime, grip4;
The stop point stop time is adjusted to 6.66 seconds. If the next RAPID instruction is a move-
instruction, the robot stops for 6.66 s.
Followtime
VAR stoppointdata my_followtime := [ fllwtime, TRUE, [ 0, 0, 0,
0], 0, 0.5, "", 0, 0];
MoveL *, v1000, z10 \Inpos:=my_followtime, grip6\wobj:=conveyor1;
The stop point data my_followtime is defined by means of the following characteristics:
•
The type of stop point is follow-time type, fllwtime .
•
The stop point will be synchronized with the RAPID program execution, TRUE .
•
The stop point follow time is 0.5 s, 0.5 .
The robot will follow the conveyor for 0.5 s before leaving it with the zone 10 mm, z10 .
my_followtime.followtime := 0.4;
The stop point follow time is adjusted to 0.4 s.
Predefined data
A number of stop point data are already defined in the system module BASE_SHARED .
In position stop points
( inpos100 has same convergence criteria as stop point fine )
Name
Progsynch Position Speed
Mintime
Maxtime Stop-
time
Follow-
time
inpos20
TRUE
20%
20%
0 s
2 s
-
-
inpos50
TRUE
50%
50%
0 s
2 s
-
-
inpos100
TRUE
100%
100%
0 s
2 s
-
-
Continued
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3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
3HAC 16581-1 Revision: J
1194
© Copyright 2004-2010 ABB. All rights reserved.
Stop time stop points
Follow time stop points
Structure
< data object of stoppointdata >
< type of stoppoint >
< progsynch of bool >
< inpos of inposdata >
< position of num >
< speed of num >
< mintime of num >
< maxtime of num >
< stoptime of num >
< followtime of num >
< signal of string >
< relation of opnum >
< checkvalue of num >
Related information
Name
Progsynch Position
Speed
Mintime Maxtime Stop-
time
Follow-
time
stoptime0_5 FALSE
-
-
-
-
0.5 s
-
stoptime1_0 FALSE
-
-
-
-
1.0 s
-
stoptime1_5 FALSE
-
-
-
-
1.5 s
-
Name
Progsynch Position
Speed Mintime Maxtime Stop-
time
Follow-
time
fllwtime0_5 TRUE
-
-
-
-
-
0.5 s
fllwtime1_0 TRUE
-
-
-
-
-
1.0 s
fllwtime1_5 TRUE
-
-
-
-
-
1.5 s
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Movements/Paths in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Stop or fly-by points
zonedata - Zone data on page 1232
Continued
3 Data types
3.57. string - Strings
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© Copyright 2004-2010 ABB. All rights reserved.
3.57. string - Strings
Usage
string is used for character strings.
Description
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks (""), e.g. "This is a character string".
If the quotation marks are to be included in the string, they must be written twice, e.g. "This
string contains a ""character".
If the back slashes are to be included in the string, it must be written twice, e.g. "This string
contains a \\ character".
Basic examples
Basic examples of the data type string are illustrated below.
Example 1
VAR string text;
...
text := "start welding pipe 1";
TPWrite text;
The text start welding pipe 1 is written on the FlexPendant.
Limitations
A string may have 0 to 80 characters; inclusive of extra quotation marks or back slashes.
A string may contain any of the characters specified by ISO 8859-1 (Latin-1) as well as
control characters (non-ISO 8859-1 (Latin-1) characters with a numeric code between 0-255).
Predefined data
A number of predefined string constants are available in the system and can be used together
with string functions. See for example StrMemb .
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)
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3 Data types
3.56. stoppointdata - Stop point data
RobotWare - OS
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1194
© Copyright 2004-2010 ABB. All rights reserved.
Stop time stop points
Follow time stop points
Structure
< data object of stoppointdata >
< type of stoppoint >
< progsynch of bool >
< inpos of inposdata >
< position of num >
< speed of num >
< mintime of num >
< maxtime of num >
< stoptime of num >
< followtime of num >
< signal of string >
< relation of opnum >
< checkvalue of num >
Related information
Name
Progsynch Position
Speed
Mintime Maxtime Stop-
time
Follow-
time
stoptime0_5 FALSE
-
-
-
-
0.5 s
-
stoptime1_0 FALSE
-
-
-
-
1.0 s
-
stoptime1_5 FALSE
-
-
-
-
1.5 s
-
Name
Progsynch Position
Speed Mintime Maxtime Stop-
time
Follow-
time
fllwtime0_5 TRUE
-
-
-
-
-
0.5 s
fllwtime1_0 TRUE
-
-
-
-
-
1.0 s
fllwtime1_5 TRUE
-
-
-
-
-
1.5 s
For information about
See
Positioning instructions
Technical reference manual - RAPID overview ,
section RAPID summary - Motion
Movements/Paths in general
Technical reference manual - RAPID overview ,
section Motion and I/O principles - Positioning
during program execution
Stop or fly-by points
zonedata - Zone data on page 1232
Continued
3 Data types
3.57. string - Strings
RobotWare - OS
1195
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.57. string - Strings
Usage
string is used for character strings.
Description
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks (""), e.g. "This is a character string".
If the quotation marks are to be included in the string, they must be written twice, e.g. "This
string contains a ""character".
If the back slashes are to be included in the string, it must be written twice, e.g. "This string
contains a \\ character".
Basic examples
Basic examples of the data type string are illustrated below.
Example 1
VAR string text;
...
text := "start welding pipe 1";
TPWrite text;
The text start welding pipe 1 is written on the FlexPendant.
Limitations
A string may have 0 to 80 characters; inclusive of extra quotation marks or back slashes.
A string may contain any of the characters specified by ISO 8859-1 (Latin-1) as well as
control characters (non-ISO 8859-1 (Latin-1) characters with a numeric code between 0-255).
Predefined data
A number of predefined string constants are available in the system and can be used together
with string functions. See for example StrMemb .
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)
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3 Data types
3.57. string - Strings
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1) Icelandic letter eth.
2) Letter Y with acute accent.
3) Icelandic letter thorn.
The following constants are already defined in the system module BASE_SHARED :
CONST string diskhome := "HOME:";
! For old programs from S4C system
CONST string ram1disk := "HOME:";
CONST string disktemp := "TEMP:";
CONST string flp1 := "flp1:";
CONST string stSpace := " ";
CONST string stEmpty := "";
stEmpty can be useful for memory saving if a lot of empty strings are used, for example:
TPReadFK reg1, "warm start required", stEmpty, stEmpty, stEmpty,
stEmpty, "OK";
Related information
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> ::=
Name
Character set
For information about
See
Operations using strings
Technical reference manual - RAPID overview , section
Basic characteristics - Expressions
String values
Technical reference manual - RAPID overview , section
Basic characteristics - Basic elements
Instruction using character set
StrMemb - Checks if a character belongs to a set on
page 1001
Continued
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3.57. string - Strings
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3.57. string - Strings
Usage
string is used for character strings.
Description
A character string consists of a number of characters (a maximum of 80) enclosed by
quotation marks (""), e.g. "This is a character string".
If the quotation marks are to be included in the string, they must be written twice, e.g. "This
string contains a ""character".
If the back slashes are to be included in the string, it must be written twice, e.g. "This string
contains a \\ character".
Basic examples
Basic examples of the data type string are illustrated below.
Example 1
VAR string text;
...
text := "start welding pipe 1";
TPWrite text;
The text start welding pipe 1 is written on the FlexPendant.
Limitations
A string may have 0 to 80 characters; inclusive of extra quotation marks or back slashes.
A string may contain any of the characters specified by ISO 8859-1 (Latin-1) as well as
control characters (non-ISO 8859-1 (Latin-1) characters with a numeric code between 0-255).
Predefined data
A number of predefined string constants are available in the system and can be used together
with string functions. See for example StrMemb .
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)
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3 Data types
3.57. string - Strings
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1) Icelandic letter eth.
2) Letter Y with acute accent.
3) Icelandic letter thorn.
The following constants are already defined in the system module BASE_SHARED :
CONST string diskhome := "HOME:";
! For old programs from S4C system
CONST string ram1disk := "HOME:";
CONST string disktemp := "TEMP:";
CONST string flp1 := "flp1:";
CONST string stSpace := " ";
CONST string stEmpty := "";
stEmpty can be useful for memory saving if a lot of empty strings are used, for example:
TPReadFK reg1, "warm start required", stEmpty, stEmpty, stEmpty,
stEmpty, "OK";
Related information
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> ::=
Name
Character set
For information about
See
Operations using strings
Technical reference manual - RAPID overview , section
Basic characteristics - Expressions
String values
Technical reference manual - RAPID overview , section
Basic characteristics - Basic elements
Instruction using character set
StrMemb - Checks if a character belongs to a set on
page 1001
Continued
3 Data types
3.58. stringdig - String with only digits
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3.58. stringdig - String with only digits
Usage
stringdig is used to represent big positive integers in a string with only digits.
This data type is introduced because the data type num cannot handle positive integers above
8 388 608 with exact representation.
Description
A stringdig can only consist of a number of digits 0 ... 9 enclosed by quotation marks (""),
e.g. "0123456789".
The data type stringdig can handle positive integers up to 4 294 967 295.
Basic examples
Basic examples of the data type stringdig are illustrated below.
Example 1
VAR stringdig digits1;
VAR stringdig digits2;
VAR bool flag1;
...
digits1 ="09000000";
digits2 = "9000001";
flag1 := StrDigCmp (digits1, LT, digits2);
The data flag1 will be set to TRUE because 09000000 is less than 9000001 .
Characteristics
stringdig is an alias data type of string and consequently inherits most of its
characteristics.
Related information
For information about
See
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
Strings
string - Strings on page 1195
Numeric values
num - Numeric values on page 1146
Comparison operator
opnum - Comparison operator on page 1149
StrDigCmp - Compare two strings with only
digits on page 991
Compare strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
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3.57. string - Strings
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1) Icelandic letter eth.
2) Letter Y with acute accent.
3) Icelandic letter thorn.
The following constants are already defined in the system module BASE_SHARED :
CONST string diskhome := "HOME:";
! For old programs from S4C system
CONST string ram1disk := "HOME:";
CONST string disktemp := "TEMP:";
CONST string flp1 := "flp1:";
CONST string stSpace := " ";
CONST string stEmpty := "";
stEmpty can be useful for memory saving if a lot of empty strings are used, for example:
TPReadFK reg1, "warm start required", stEmpty, stEmpty, stEmpty,
stEmpty, "OK";
Related information
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> ::=
Name
Character set
For information about
See
Operations using strings
Technical reference manual - RAPID overview , section
Basic characteristics - Expressions
String values
Technical reference manual - RAPID overview , section
Basic characteristics - Basic elements
Instruction using character set
StrMemb - Checks if a character belongs to a set on
page 1001
Continued
3 Data types
3.58. stringdig - String with only digits
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3.58. stringdig - String with only digits
Usage
stringdig is used to represent big positive integers in a string with only digits.
This data type is introduced because the data type num cannot handle positive integers above
8 388 608 with exact representation.
Description
A stringdig can only consist of a number of digits 0 ... 9 enclosed by quotation marks (""),
e.g. "0123456789".
The data type stringdig can handle positive integers up to 4 294 967 295.
Basic examples
Basic examples of the data type stringdig are illustrated below.
Example 1
VAR stringdig digits1;
VAR stringdig digits2;
VAR bool flag1;
...
digits1 ="09000000";
digits2 = "9000001";
flag1 := StrDigCmp (digits1, LT, digits2);
The data flag1 will be set to TRUE because 09000000 is less than 9000001 .
Characteristics
stringdig is an alias data type of string and consequently inherits most of its
characteristics.
Related information
For information about
See
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
Strings
string - Strings on page 1195
Numeric values
num - Numeric values on page 1146
Comparison operator
opnum - Comparison operator on page 1149
StrDigCmp - Compare two strings with only
digits on page 991
Compare strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
3 Data types
3.59. switch - Optional parameters
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3.59. switch - Optional parameters
Usage
switch is used for optional parameters.
Description
The special type, switch may (only) be assigned to optional parameters and provides a
means to use switch arguments, i.e. arguments that are only specified by names (not values).
A value can not be transmitted to a switch parameter. The only way to use a switch parameter
is to check for its presence using the predefined function Present .
Basic examples
Basic examples of the data type switch are illustrated below.
Example 1
PROC my_routine(\switch on | \switch off)
....
IF Present (off) THEN
....
ENDIF
ENDPROC
Depending on what arguments the caller of my_routine uses, the program flow can be
controlled.
Characteristics
switch is a non-value data type and can not be used in value-orientated operations.
Related information
For information about
See
Parameters
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines .
How to check if an optional parameter is
present
Present - Tests if an optional parameter is
used on page 937
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3.58. stringdig - String with only digits
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3.58. stringdig - String with only digits
Usage
stringdig is used to represent big positive integers in a string with only digits.
This data type is introduced because the data type num cannot handle positive integers above
8 388 608 with exact representation.
Description
A stringdig can only consist of a number of digits 0 ... 9 enclosed by quotation marks (""),
e.g. "0123456789".
The data type stringdig can handle positive integers up to 4 294 967 295.
Basic examples
Basic examples of the data type stringdig are illustrated below.
Example 1
VAR stringdig digits1;
VAR stringdig digits2;
VAR bool flag1;
...
digits1 ="09000000";
digits2 = "9000001";
flag1 := StrDigCmp (digits1, LT, digits2);
The data flag1 will be set to TRUE because 09000000 is less than 9000001 .
Characteristics
stringdig is an alias data type of string and consequently inherits most of its
characteristics.
Related information
For information about
See
String values
Technical reference manual - RAPID
overview , section Basic characteristics - Basic
elements
Strings
string - Strings on page 1195
Numeric values
num - Numeric values on page 1146
Comparison operator
opnum - Comparison operator on page 1149
StrDigCmp - Compare two strings with only
digits on page 991
Compare strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
3 Data types
3.59. switch - Optional parameters
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3.59. switch - Optional parameters
Usage
switch is used for optional parameters.
Description
The special type, switch may (only) be assigned to optional parameters and provides a
means to use switch arguments, i.e. arguments that are only specified by names (not values).
A value can not be transmitted to a switch parameter. The only way to use a switch parameter
is to check for its presence using the predefined function Present .
Basic examples
Basic examples of the data type switch are illustrated below.
Example 1
PROC my_routine(\switch on | \switch off)
....
IF Present (off) THEN
....
ENDIF
ENDPROC
Depending on what arguments the caller of my_routine uses, the program flow can be
controlled.
Characteristics
switch is a non-value data type and can not be used in value-orientated operations.
Related information
For information about
See
Parameters
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines .
How to check if an optional parameter is
present
Present - Tests if an optional parameter is
used on page 937
3 Data types
3.60. symnum - Symbolic number
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3.60. symnum - Symbolic number
Usage
symnum ( Symbolic Number ) is used to represent an integer with a symbolic constant.
Description
A symnum constant is intended to be used when checking the return value from the functions
OpMode and RunMode . See example below.
Basic examples
Basic examples of the data type symnum are illustrated below.
Example 1
IF RunMode() = RUN_CONT_CYCLE THEN
..
ELSE
..
ENDIF
Predefined data
The following symbolic constants of the data type symnum are predefined and can be used
when checking return values from the functions OpMode and RunMode .
Characteristics
Symnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
RUN_UNDEF
Undefined running mode
1
RUN_CONT_CYCLE
Continuous or cycle running mode
2
RUN_INSTR_FWD
Instruction forward running mode
3
RUN_INSTR_BWD
Instruction backward running mode
4
RUN_SIM
Simulated running mode
5
RUN_STEP_MOVE
Move instructions in forward running mode and
logical instructions in continuous running mode
Value
Symbolic constant
Comment
0
OP_UNDEF
Undefined operating mode
1
OP_AUTO
Automatic operating mode
2
OP_MAN_PROG
Manual operating mode max. 250 mm/s
3
OP_MAN_TEST
Manual operating mode full speed, 100%
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
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3.59. switch - Optional parameters
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3.59. switch - Optional parameters
Usage
switch is used for optional parameters.
Description
The special type, switch may (only) be assigned to optional parameters and provides a
means to use switch arguments, i.e. arguments that are only specified by names (not values).
A value can not be transmitted to a switch parameter. The only way to use a switch parameter
is to check for its presence using the predefined function Present .
Basic examples
Basic examples of the data type switch are illustrated below.
Example 1
PROC my_routine(\switch on | \switch off)
....
IF Present (off) THEN
....
ENDIF
ENDPROC
Depending on what arguments the caller of my_routine uses, the program flow can be
controlled.
Characteristics
switch is a non-value data type and can not be used in value-orientated operations.
Related information
For information about
See
Parameters
Technical reference manual - RAPID
overview , section Basic characteristics -
Routines .
How to check if an optional parameter is
present
Present - Tests if an optional parameter is
used on page 937
3 Data types
3.60. symnum - Symbolic number
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3.60. symnum - Symbolic number
Usage
symnum ( Symbolic Number ) is used to represent an integer with a symbolic constant.
Description
A symnum constant is intended to be used when checking the return value from the functions
OpMode and RunMode . See example below.
Basic examples
Basic examples of the data type symnum are illustrated below.
Example 1
IF RunMode() = RUN_CONT_CYCLE THEN
..
ELSE
..
ENDIF
Predefined data
The following symbolic constants of the data type symnum are predefined and can be used
when checking return values from the functions OpMode and RunMode .
Characteristics
Symnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
RUN_UNDEF
Undefined running mode
1
RUN_CONT_CYCLE
Continuous or cycle running mode
2
RUN_INSTR_FWD
Instruction forward running mode
3
RUN_INSTR_BWD
Instruction backward running mode
4
RUN_SIM
Simulated running mode
5
RUN_STEP_MOVE
Move instructions in forward running mode and
logical instructions in continuous running mode
Value
Symbolic constant
Comment
0
OP_UNDEF
Undefined operating mode
1
OP_AUTO
Automatic operating mode
2
OP_MAN_PROG
Manual operating mode max. 250 mm/s
3
OP_MAN_TEST
Manual operating mode full speed, 100%
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.61. syncident - Identity for synchronization point
Multitasking
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3.61. syncident - Identity for synchronization point
Usage
syncident ( synchronization identity ) is used to specify the name of a synchronization point.
The name of the synchronization point will be the name (identity) of the declared data of type
syncident .
Description
syncident is used to identify a point in the program where the actual program task will wait
for cooperate program tasks to reach the same synchronization point.
The data name (identity) of the type syncident must be the same in all cooperative program
tasks.
Data type syncident is used in the instructions WaitSyncTask , SyncMoveOn , and
SyncMoveOff .
Basic examples
Basic examples of the data type syncident are illustrated below.
Example 1
Program example in program task ROB1
PERS tasks task_list{3} := [ ["STN1"], ["ROB1"], ["ROB2"] ];
VAR syncident sync1;
WaitSyncTask sync1, task_list;
At execution of instruction WaitSyncTask in the program task ROB1 , the execution in that
program task will wait until the other program tasks STN1 and ROB2 have reached their
corresponding WaitSyncTask with the same synchronization (meeting) point sync1 .
Structure
syncident is a non-value data type.
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Wait for synchronization point with other
tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
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3.60. symnum - Symbolic number
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3.60. symnum - Symbolic number
Usage
symnum ( Symbolic Number ) is used to represent an integer with a symbolic constant.
Description
A symnum constant is intended to be used when checking the return value from the functions
OpMode and RunMode . See example below.
Basic examples
Basic examples of the data type symnum are illustrated below.
Example 1
IF RunMode() = RUN_CONT_CYCLE THEN
..
ELSE
..
ENDIF
Predefined data
The following symbolic constants of the data type symnum are predefined and can be used
when checking return values from the functions OpMode and RunMode .
Characteristics
Symnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
RUN_UNDEF
Undefined running mode
1
RUN_CONT_CYCLE
Continuous or cycle running mode
2
RUN_INSTR_FWD
Instruction forward running mode
3
RUN_INSTR_BWD
Instruction backward running mode
4
RUN_SIM
Simulated running mode
5
RUN_STEP_MOVE
Move instructions in forward running mode and
logical instructions in continuous running mode
Value
Symbolic constant
Comment
0
OP_UNDEF
Undefined operating mode
1
OP_AUTO
Automatic operating mode
2
OP_MAN_PROG
Manual operating mode max. 250 mm/s
3
OP_MAN_TEST
Manual operating mode full speed, 100%
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.61. syncident - Identity for synchronization point
Multitasking
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3.61. syncident - Identity for synchronization point
Usage
syncident ( synchronization identity ) is used to specify the name of a synchronization point.
The name of the synchronization point will be the name (identity) of the declared data of type
syncident .
Description
syncident is used to identify a point in the program where the actual program task will wait
for cooperate program tasks to reach the same synchronization point.
The data name (identity) of the type syncident must be the same in all cooperative program
tasks.
Data type syncident is used in the instructions WaitSyncTask , SyncMoveOn , and
SyncMoveOff .
Basic examples
Basic examples of the data type syncident are illustrated below.
Example 1
Program example in program task ROB1
PERS tasks task_list{3} := [ ["STN1"], ["ROB1"], ["ROB2"] ];
VAR syncident sync1;
WaitSyncTask sync1, task_list;
At execution of instruction WaitSyncTask in the program task ROB1 , the execution in that
program task will wait until the other program tasks STN1 and ROB2 have reached their
corresponding WaitSyncTask with the same synchronization (meeting) point sync1 .
Structure
syncident is a non-value data type.
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Wait for synchronization point with other
tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
3 Data types
3.62. System data - Current RAPID system data settings
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3.62. System data - Current RAPID system data settings
Usage
System data mirrors the current settings of RAPID system data such as current model
motion settings, current error recovery number ERRNO , current interrupt number INTNO , etc.
These data can be accessed and read by the program. It can be used to read the current status,
e.g. the current program displacement.
C_MOTSET
The variable C_MOTSET of data type motsetdata mirrors the current motion settings:
C_PROGDISP
The variable C_PROGDISP of data type progdisp mirrors the current program displacement
and external axes offset:
Description
Data type
Changed by
See also
Current motion
settings, i.e.:
motsetdata
Instructions
motsetdata - Motion settings data
on page 1141
Velocity override and
max velocity
VelSet
VelSet - Changes the programmed
velocity on page 662
Acceleration override
AccSet
AccSet - Reduces the acceleration
on page 15
Movements around
singular points
SingArea
SingArea - Defines interpolation
around singular points on page 447
Linear configuration
control
Joint configuration
control
ConfL
ConfJ
ConfL - Monitors the configuration
during linear movement on page 61
ConfJ - Controls the configuration
during joint movement on page 59
Path resolution
PathResol
PathResol - Override path
resolution on page 314
Tuning motion
supervision
MotionSup
MotionSup - Deactivates/Activates
motion supervision on page 227
Reduction of TCP
acceleration/decelera-
tion along the
movement path
PathAccLim
PathAccLim - Reduce TCP acceler-
ation along the path on page 295
Modification of the tool
orientation during
circle interpolation
CirPathMode
CirPathMode - Tool reorientation
during circle path on page 38
Reduction of payload
acceleration in world
coordinate system
WorldAccLim
WorldAccLim - Control acceleration
in world coordinate system on page
707
Description
Data type
Changed by
See also
Current program dis-
placement for robot
axes
progdisp
Instructions:
progdisp - Program displacement
on page 1163
PDispSet
PDispSet - Activates program dis-
placement using known frame on
page 321
PDispOn
PDispOn - Activates program dis-
placement on page 317
Continues on next page
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3 Data types
3.61. syncident - Identity for synchronization point
Multitasking
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1200
© Copyright 2004-2010 ABB. All rights reserved.
3.61. syncident - Identity for synchronization point
Usage
syncident ( synchronization identity ) is used to specify the name of a synchronization point.
The name of the synchronization point will be the name (identity) of the declared data of type
syncident .
Description
syncident is used to identify a point in the program where the actual program task will wait
for cooperate program tasks to reach the same synchronization point.
The data name (identity) of the type syncident must be the same in all cooperative program
tasks.
Data type syncident is used in the instructions WaitSyncTask , SyncMoveOn , and
SyncMoveOff .
Basic examples
Basic examples of the data type syncident are illustrated below.
Example 1
Program example in program task ROB1
PERS tasks task_list{3} := [ ["STN1"], ["ROB1"], ["ROB2"] ];
VAR syncident sync1;
WaitSyncTask sync1, task_list;
At execution of instruction WaitSyncTask in the program task ROB1 , the execution in that
program task will wait until the other program tasks STN1 and ROB2 have reached their
corresponding WaitSyncTask with the same synchronization (meeting) point sync1 .
Structure
syncident is a non-value data type.
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Wait for synchronization point with other
tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchro-
nized movements on page 534
End coordinated synchronized movements
SyncMoveOff - End coordinated synchro-
nized movements on page 528
3 Data types
3.62. System data - Current RAPID system data settings
RobotWare - OS
1201
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.62. System data - Current RAPID system data settings
Usage
System data mirrors the current settings of RAPID system data such as current model
motion settings, current error recovery number ERRNO , current interrupt number INTNO , etc.
These data can be accessed and read by the program. It can be used to read the current status,
e.g. the current program displacement.
C_MOTSET
The variable C_MOTSET of data type motsetdata mirrors the current motion settings:
C_PROGDISP
The variable C_PROGDISP of data type progdisp mirrors the current program displacement
and external axes offset:
Description
Data type
Changed by
See also
Current motion
settings, i.e.:
motsetdata
Instructions
motsetdata - Motion settings data
on page 1141
Velocity override and
max velocity
VelSet
VelSet - Changes the programmed
velocity on page 662
Acceleration override
AccSet
AccSet - Reduces the acceleration
on page 15
Movements around
singular points
SingArea
SingArea - Defines interpolation
around singular points on page 447
Linear configuration
control
Joint configuration
control
ConfL
ConfJ
ConfL - Monitors the configuration
during linear movement on page 61
ConfJ - Controls the configuration
during joint movement on page 59
Path resolution
PathResol
PathResol - Override path
resolution on page 314
Tuning motion
supervision
MotionSup
MotionSup - Deactivates/Activates
motion supervision on page 227
Reduction of TCP
acceleration/decelera-
tion along the
movement path
PathAccLim
PathAccLim - Reduce TCP acceler-
ation along the path on page 295
Modification of the tool
orientation during
circle interpolation
CirPathMode
CirPathMode - Tool reorientation
during circle path on page 38
Reduction of payload
acceleration in world
coordinate system
WorldAccLim
WorldAccLim - Control acceleration
in world coordinate system on page
707
Description
Data type
Changed by
See also
Current program dis-
placement for robot
axes
progdisp
Instructions:
progdisp - Program displacement
on page 1163
PDispSet
PDispSet - Activates program dis-
placement using known frame on
page 321
PDispOn
PDispOn - Activates program dis-
placement on page 317
Continues on next page
3 Data types
3.62. System data - Current RAPID system data settings
RobotWare - OS
3HAC 16581-1 Revision: J
1202
© Copyright 2004-2010 ABB. All rights reserved.
ERRNO
The variable ERRNO of data type errnum mirrors the current error recovery number:
INTNO
The variable INTNO of data type intnum mirrors the current interrupt number:
ROB_ID
The variable ROB_ID of data type mecunit contains a reference to the TCP-robot (if any) in
the actual program task.
PDispOff
PDispOff - Deactivates program
displacement on page 316
Current external axes
offset
EOffsSet
EOffsSet - Activates an offset for
external axes using known values
on page 90
EOffsOn
EOffsOn - Activates an offset for
external axes on page 88
EOffsOff
EOffsOff - Deactivates an offset for
external axes on page 87
Description
Data type
Changed by
See also
Description
Data type
Changed by
See also
The latest error that
occurred
errnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Error recovery
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
The latest interrupt
that occurred
intnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Interrupts
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
Reference to the robot
(if any) in the actual
program task. Always
check before use with
TaskRunRob ()
mecunit
The system
mecunit - Mechanical unit on page
1139
Continued
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3 Data types
3.62. System data - Current RAPID system data settings
RobotWare - OS
1201
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.62. System data - Current RAPID system data settings
Usage
System data mirrors the current settings of RAPID system data such as current model
motion settings, current error recovery number ERRNO , current interrupt number INTNO , etc.
These data can be accessed and read by the program. It can be used to read the current status,
e.g. the current program displacement.
C_MOTSET
The variable C_MOTSET of data type motsetdata mirrors the current motion settings:
C_PROGDISP
The variable C_PROGDISP of data type progdisp mirrors the current program displacement
and external axes offset:
Description
Data type
Changed by
See also
Current motion
settings, i.e.:
motsetdata
Instructions
motsetdata - Motion settings data
on page 1141
Velocity override and
max velocity
VelSet
VelSet - Changes the programmed
velocity on page 662
Acceleration override
AccSet
AccSet - Reduces the acceleration
on page 15
Movements around
singular points
SingArea
SingArea - Defines interpolation
around singular points on page 447
Linear configuration
control
Joint configuration
control
ConfL
ConfJ
ConfL - Monitors the configuration
during linear movement on page 61
ConfJ - Controls the configuration
during joint movement on page 59
Path resolution
PathResol
PathResol - Override path
resolution on page 314
Tuning motion
supervision
MotionSup
MotionSup - Deactivates/Activates
motion supervision on page 227
Reduction of TCP
acceleration/decelera-
tion along the
movement path
PathAccLim
PathAccLim - Reduce TCP acceler-
ation along the path on page 295
Modification of the tool
orientation during
circle interpolation
CirPathMode
CirPathMode - Tool reorientation
during circle path on page 38
Reduction of payload
acceleration in world
coordinate system
WorldAccLim
WorldAccLim - Control acceleration
in world coordinate system on page
707
Description
Data type
Changed by
See also
Current program dis-
placement for robot
axes
progdisp
Instructions:
progdisp - Program displacement
on page 1163
PDispSet
PDispSet - Activates program dis-
placement using known frame on
page 321
PDispOn
PDispOn - Activates program dis-
placement on page 317
Continues on next page
3 Data types
3.62. System data - Current RAPID system data settings
RobotWare - OS
3HAC 16581-1 Revision: J
1202
© Copyright 2004-2010 ABB. All rights reserved.
ERRNO
The variable ERRNO of data type errnum mirrors the current error recovery number:
INTNO
The variable INTNO of data type intnum mirrors the current interrupt number:
ROB_ID
The variable ROB_ID of data type mecunit contains a reference to the TCP-robot (if any) in
the actual program task.
PDispOff
PDispOff - Deactivates program
displacement on page 316
Current external axes
offset
EOffsSet
EOffsSet - Activates an offset for
external axes using known values
on page 90
EOffsOn
EOffsOn - Activates an offset for
external axes on page 88
EOffsOff
EOffsOff - Deactivates an offset for
external axes on page 87
Description
Data type
Changed by
See also
Description
Data type
Changed by
See also
The latest error that
occurred
errnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Error recovery
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
The latest interrupt
that occurred
intnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Interrupts
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
Reference to the robot
(if any) in the actual
program task. Always
check before use with
TaskRunRob ()
mecunit
The system
mecunit - Mechanical unit on page
1139
Continued
3 Data types
3.63. taskid - Task identification
Multitasking
1203
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.63. taskid - Task identification
Usage
taskid is used to identify available program tasks in the system.
The names of the program tasks are defined in the system parameters and, consequently, must
not be defined in the program.
Description
Data of the type taskid only contains a reference to the program task.
Limitations
Data of the type taskid must not be defined in the program. The data type can, on the other
hand, be used as a parameter when declaring a routine.
Predefined data
The program tasks defined in the system parameters can always be accessed from the
program (installed data).
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id , T_ROB2 - T_ROB2Id etc.
Characteristics
taskid is a non-value data type. This means that data of this type does not permit value-
oriented operations.
Related information
For information about
See
Saving program modules
Save - Save a program module on page 396
Configuration of program tasks
Technical reference manual - System
parameters
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
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3 Data types
3.62. System data - Current RAPID system data settings
RobotWare - OS
3HAC 16581-1 Revision: J
1202
© Copyright 2004-2010 ABB. All rights reserved.
ERRNO
The variable ERRNO of data type errnum mirrors the current error recovery number:
INTNO
The variable INTNO of data type intnum mirrors the current interrupt number:
ROB_ID
The variable ROB_ID of data type mecunit contains a reference to the TCP-robot (if any) in
the actual program task.
PDispOff
PDispOff - Deactivates program
displacement on page 316
Current external axes
offset
EOffsSet
EOffsSet - Activates an offset for
external axes using known values
on page 90
EOffsOn
EOffsOn - Activates an offset for
external axes on page 88
EOffsOff
EOffsOff - Deactivates an offset for
external axes on page 87
Description
Data type
Changed by
See also
Description
Data type
Changed by
See also
The latest error that
occurred
errnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Error recovery
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
The latest interrupt
that occurred
intnum
The system
Technical reference manual -
RAPID overview , section RAPID
summary - Interrupts
intnum - Interrupt identity on page
1125
Description
Data type
Changed by
See also
Reference to the robot
(if any) in the actual
program task. Always
check before use with
TaskRunRob ()
mecunit
The system
mecunit - Mechanical unit on page
1139
Continued
3 Data types
3.63. taskid - Task identification
Multitasking
1203
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.63. taskid - Task identification
Usage
taskid is used to identify available program tasks in the system.
The names of the program tasks are defined in the system parameters and, consequently, must
not be defined in the program.
Description
Data of the type taskid only contains a reference to the program task.
Limitations
Data of the type taskid must not be defined in the program. The data type can, on the other
hand, be used as a parameter when declaring a routine.
Predefined data
The program tasks defined in the system parameters can always be accessed from the
program (installed data).
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id , T_ROB2 - T_ROB2Id etc.
Characteristics
taskid is a non-value data type. This means that data of this type does not permit value-
oriented operations.
Related information
For information about
See
Saving program modules
Save - Save a program module on page 396
Configuration of program tasks
Technical reference manual - System
parameters
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
3 Data types
3.64. tasks - RAPID program tasks
Multitasking
3HAC 16581-1 Revision: J
1204
© Copyright 2004-2010 ABB. All rights reserved.
3.64. tasks - RAPID program tasks
Usage
tasks is used to specify several RAPID program tasks.
Description
To specify several RAPID program tasks, the name of each task can be given as a string. An
array of data type tasks can then hold all the task names.
This task list can then be used in the instructions WaitSyncTask and SyncMoveOn .
NOTE!
The instructions above demand that the data is defined as system global PERS variables
available in all the cooperated tasks.
Components
The data type has the following components.
taskname
Data type: string
The name of a RAPID program task specified in a string.
Basic examples
Basic examples of the data type tasks are illustrated below.
Example 1
Program example in program task T_ROB1
PERS tasks task_list{3} := [ ["T_STN1"], ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
WaitSyncTask sync1, task_list;
At execution of instruction WaitSyncTask in the program task T_ROB1 , the execution in that
program task will wait until all the other program tasks T_STN1 and T_ROB2 have reached
their corresponding WaitSyncTask with the same synchronization (meeting) point sync1 .
Structure
<dataobject of tasks>
<taskname of string>
Continues on next page
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| 1,206
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3 Data types
3.63. taskid - Task identification
Multitasking
1203
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.63. taskid - Task identification
Usage
taskid is used to identify available program tasks in the system.
The names of the program tasks are defined in the system parameters and, consequently, must
not be defined in the program.
Description
Data of the type taskid only contains a reference to the program task.
Limitations
Data of the type taskid must not be defined in the program. The data type can, on the other
hand, be used as a parameter when declaring a routine.
Predefined data
The program tasks defined in the system parameters can always be accessed from the
program (installed data).
For all program tasks in the system, predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id , T_ROB2 - T_ROB2Id etc.
Characteristics
taskid is a non-value data type. This means that data of this type does not permit value-
oriented operations.
Related information
For information about
See
Saving program modules
Save - Save a program module on page 396
Configuration of program tasks
Technical reference manual - System
parameters
Characteristics of non-value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
3 Data types
3.64. tasks - RAPID program tasks
Multitasking
3HAC 16581-1 Revision: J
1204
© Copyright 2004-2010 ABB. All rights reserved.
3.64. tasks - RAPID program tasks
Usage
tasks is used to specify several RAPID program tasks.
Description
To specify several RAPID program tasks, the name of each task can be given as a string. An
array of data type tasks can then hold all the task names.
This task list can then be used in the instructions WaitSyncTask and SyncMoveOn .
NOTE!
The instructions above demand that the data is defined as system global PERS variables
available in all the cooperated tasks.
Components
The data type has the following components.
taskname
Data type: string
The name of a RAPID program task specified in a string.
Basic examples
Basic examples of the data type tasks are illustrated below.
Example 1
Program example in program task T_ROB1
PERS tasks task_list{3} := [ ["T_STN1"], ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
WaitSyncTask sync1, task_list;
At execution of instruction WaitSyncTask in the program task T_ROB1 , the execution in that
program task will wait until all the other program tasks T_STN1 and T_ROB2 have reached
their corresponding WaitSyncTask with the same synchronization (meeting) point sync1 .
Structure
<dataobject of tasks>
<taskname of string>
Continues on next page
3 Data types
3.64. tasks - RAPID program tasks
Multitasking
1205
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Identity for synchronization point
syncident - Identity for synchronization point on page
1200
Wait for synchronization point with
other tasks
WaitSyncTask - Wait at synchronization point for other
program tasks on page 688
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Continued
|
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