Document Name stringclasses 11
values | URL stringclasses 11
values | page_number int64 1 1.26k | full_text stringlengths 65 18.2k |
|---|---|---|---|
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,107 | 3 Data types
3.13. dnum - Double numeric values
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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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,108 | 3 Data types
3.13. dnum - Double numeric values
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Related information
For information about
See
Numeric values using data type num
num - Numeric values on page 1146
Numeric expressions
Technical reference manual - RAPID
overvie... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,109 | 3 Data types
3.14. errdomain - Error domain
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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, w... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,110 | 3 Data types
3.14. errdomain - Error domain
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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
Ali... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,111 | 3 Data types
3.15. errnum - Error number
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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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,112 | 3 Data types
3.15. errnum - Error number
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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 occu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,113 | 3 Data types
3.15. errnum - Error number
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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
Communicatio... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,114 | 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
E... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,115 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,116 | 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
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,117 | 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 ar... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,118 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,119 | 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 ,... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,120 | 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 execu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,121 | 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
T... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,122 | 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
ext... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,123 | 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 funct... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,124 | 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 const... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,125 | 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 - U... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,126 | 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
synchron... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,127 | 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
typ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,128 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,129 | 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 queu... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,130 | 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 r... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,131 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,132 | 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 .
... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,133 | 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, ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,134 | 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 FlexPenda... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,135 | 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 payloa... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,136 | 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, q... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,137 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,138 | 3 Data types
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;
WaitTi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,139 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,140 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,141 | 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 i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,142 | 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 un... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,143 | 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
TaskRun... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,144 | 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. veloc... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,145 | 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: si... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,146 | 3 Data types
3.33. motsetdata - Motion settings data
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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 limita... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,147 | 3 Data types
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 u... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,148 | 3 Data types
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
<cirpathr... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,149 | 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.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,150 | 3 Data types
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,151 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,152 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,153 | 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 orienta... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,154 | 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 s... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,155 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,156 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,157 | 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 in... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,158 | 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.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,159 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,160 | 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 rou... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,161 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,162 | 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 pag... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,163 | 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 orienta... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,164 | 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 positi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,165 | 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 s... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,166 | 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 ha... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,167 | 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
pro... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,168 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,169 | 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 - ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,170 | 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 seque... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,171 | 3 Data types
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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,172 | 3 Data types
3.45. restartdata - Restart data for trigg signals
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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
p... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,173 | 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 >
< prego... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,174 | 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 t... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,175 | 3 Data types
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 i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,176 | 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 o... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,177 | 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 a... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,178 | 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 u... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,179 | 3 Data types
3.50. robtarget - Position data
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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 posi... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,180 | 3 Data types
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 rot... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,181 | 3 Data types
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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,182 | 3 Data types
3.51. shapedata - World zone shape data
World Zones
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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 sha... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,183 | 3 Data types
3.51. shapedata - World zone shape data
World Zones
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Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section RAPID summary - Motion settings
Define box-shaped world zone
WZ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,184 | 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 def... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,185 | 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 i... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,186 | 3 Data types
3.53. socketdev - Socket device
Socket Messaging
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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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,187 | 3 Data types
3.54. socketstatus - Socket communication status
Socket Messaging
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3.54. socketstatus - Socket communication status
Usage
socketstatus is used for representing status of the socket communication.
Description
Socket status is fet... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,188 | 3 Data types
3.55. speeddata - Speed data
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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 whic... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,189 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,190 | 3 Data types
3.55. speeddata - Speed data
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*) 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 c... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,191 | 3 Data types
3.55. speeddata - Speed data
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Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview , section
RAPID Summary - Motion
Motion/Speed in general
Technical re... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,192 | 3 Data types
3.56. stoppointdata - Stop point data
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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 be... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,193 | 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 physica... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,194 | 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 ... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,195 | 3 Data types
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.
followtim... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,196 | 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_stopti... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,197 | 3 Data types
3.56. stoppointdata - Stop point data
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© 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 >... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,198 | 3 Data types
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.... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,199 | 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 := "H... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,200 | 3 Data types
3.58. stringdig - String with only digits
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© Copyright 2004-2010 ABB. All rights reserved.
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 th... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,201 | 3 Data types
3.59. switch - Optional parameters
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© Copyright 2004-2010 ABB. All rights reserved.
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 provide... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,202 | 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... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,203 | 3 Data types
3.61. syncident - Identity for synchronization point
Multitasking
3HAC 16581-1 Revision: J
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 nam... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,204 | 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 setti... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,205 | 3 Data types
3.62. System data - Current RAPID system data settings
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© 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 curre... |
ABB_Technical_Reference_Manual | https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf | 1,206 | 3 Data types
3.63. taskid - Task identification
Multitasking
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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,... |
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