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ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 1,207
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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
3 Data types
3.65. testsignal - Test signal
RobotWare - OS
3HAC 16581-1 Revision: J
1206
© Copyright 2004-2010 ABB. All rights reserved.
3.65. testsignal - Test signal
Usage
The data type testsignal is used when a test of the robot motion system is performed.
Description
A number of predefined test signals are available in the robot system. The testsignal data
type is available in order to simplify programming of instruction TestSignDefine .
Basic examples
Basic examples of the data type testsignal are illustrated below.
Example 1
TestSignDefine 2, speed, Orbit, 2, 0;
The predefined constant speed is used to read the actual speed of axis 2 on the manipulator
orbit .
Predefined data
The following test signals for external manipulator axes are predefined in the system. All data
is in SI units and measured on the motor side of the axis.
Characteristics
testsignal is an alias data type for num and consequently inherits its characteristics.
Related information
Symbolic constant
Value
Unit
speed
6
rad/s
torque_ref
9
Nm
resolver_angle
1
rad
speed_ref
4
rad/s
dig_input1
102
0 or 1
dig_input2
103
0 or 1
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page 1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
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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
3 Data types
3.65. testsignal - Test signal
RobotWare - OS
3HAC 16581-1 Revision: J
1206
© Copyright 2004-2010 ABB. All rights reserved.
3.65. testsignal - Test signal
Usage
The data type testsignal is used when a test of the robot motion system is performed.
Description
A number of predefined test signals are available in the robot system. The testsignal data
type is available in order to simplify programming of instruction TestSignDefine .
Basic examples
Basic examples of the data type testsignal are illustrated below.
Example 1
TestSignDefine 2, speed, Orbit, 2, 0;
The predefined constant speed is used to read the actual speed of axis 2 on the manipulator
orbit .
Predefined data
The following test signals for external manipulator axes are predefined in the system. All data
is in SI units and measured on the motor side of the axis.
Characteristics
testsignal is an alias data type for num and consequently inherits its characteristics.
Related information
Symbolic constant
Value
Unit
speed
6
rad/s
torque_ref
9
Nm
resolver_angle
1
rad
speed_ref
4
rad/s
dig_input1
102
0 or 1
dig_input2
103
0 or 1
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page 1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1207
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.66. tooldata - Tool data
Usage
tooldata is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.
If the tool is fixed in space (a stationary tool), the tool data defines this tool and the gripper
holding the work object.
Description
Tool data affects robot movements in the following ways:
•
The tool center point (TCP) refers to a point that will satisfy the specified path and
velocity performance. If the tool is reorientated or if coordinated external axes are
used, only this point will follow the desired path at the programmed velocity.
•
If a stationary tool is used, the programmed speed and path will relate to the work
object held by the robot.
•
Programmed positions refer to the position of the current TCP and the orientation in
relation to the tool coordinate system. This means that if, for example, a tool is
replaced because it is damaged, the old program can still be used if the tool coordinate
system is redefined.
Tool data is also used when jogging the robot to:
•
Define the TCP that is not to move when the tool is reorientated.
•
Define the tool coordinate system in order to facilitate moving in or rotating in the tool
directions.
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 tool load data is specified, it can often lead to the following consequences:
1. If the value in the specified load is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
2. If the value in the specified load is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot is holding the tool:
•
TRUE: The robot is holding the tool.
•
FALSE: The robot is not holding the tool, i.e. a stationary tool.
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3 Data types
3.65. testsignal - Test signal
RobotWare - OS
3HAC 16581-1 Revision: J
1206
© Copyright 2004-2010 ABB. All rights reserved.
3.65. testsignal - Test signal
Usage
The data type testsignal is used when a test of the robot motion system is performed.
Description
A number of predefined test signals are available in the robot system. The testsignal data
type is available in order to simplify programming of instruction TestSignDefine .
Basic examples
Basic examples of the data type testsignal are illustrated below.
Example 1
TestSignDefine 2, speed, Orbit, 2, 0;
The predefined constant speed is used to read the actual speed of axis 2 on the manipulator
orbit .
Predefined data
The following test signals for external manipulator axes are predefined in the system. All data
is in SI units and measured on the motor side of the axis.
Characteristics
testsignal is an alias data type for num and consequently inherits its characteristics.
Related information
Symbolic constant
Value
Unit
speed
6
rad/s
torque_ref
9
Nm
resolver_angle
1
rad
speed_ref
4
rad/s
dig_input1
102
0 or 1
dig_input2
103
0 or 1
For information about
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page 1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1207
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.66. tooldata - Tool data
Usage
tooldata is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.
If the tool is fixed in space (a stationary tool), the tool data defines this tool and the gripper
holding the work object.
Description
Tool data affects robot movements in the following ways:
•
The tool center point (TCP) refers to a point that will satisfy the specified path and
velocity performance. If the tool is reorientated or if coordinated external axes are
used, only this point will follow the desired path at the programmed velocity.
•
If a stationary tool is used, the programmed speed and path will relate to the work
object held by the robot.
•
Programmed positions refer to the position of the current TCP and the orientation in
relation to the tool coordinate system. This means that if, for example, a tool is
replaced because it is damaged, the old program can still be used if the tool coordinate
system is redefined.
Tool data is also used when jogging the robot to:
•
Define the TCP that is not to move when the tool is reorientated.
•
Define the tool coordinate system in order to facilitate moving in or rotating in the tool
directions.
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 tool load data is specified, it can often lead to the following consequences:
1. If the value in the specified load is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
2. If the value in the specified load is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot is holding the tool:
•
TRUE: The robot is holding the tool.
•
FALSE: The robot is not holding the tool, i.e. a stationary tool.
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
3HAC 16581-1 Revision: J
1208
© Copyright 2004-2010 ABB. All rights reserved.
tframe
tool frame
Data type: pose
The tool coordinate system, i.e.:
•
The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate system
(see figure below).
•
The orientation of the tool coordinate system, expressed in the wrist coordinate system
as a quaternion (q1, q2, q3 and q4) (see figure below).
If a stationary tool is used, the definition is defined in relation to the world coordinate system.
If the direction of the tool is not specified, the tool coordinate system and the wrist coordinate
system will coincide.
xx0500002366
tload
tool load
Data type: loaddata
The load of the tool, i.e.:
•
The weight of the tool in kg.
•
The center of gravity of the tool load (x, y and z) in mm, expressed in the wrist
coordinate system
•
The moments of inertia of the tool relative to its center of mass around the tool load
coordinate axes in kgm 2 . If all inertial components are defined as being 0 kgm 2 , the
tool is handled as a point mass.
Continued
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| 1,210
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3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1207
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.66. tooldata - Tool data
Usage
tooldata is used to describe the characteristics of a tool, e.g. a welding gun or a gripper.
If the tool is fixed in space (a stationary tool), the tool data defines this tool and the gripper
holding the work object.
Description
Tool data affects robot movements in the following ways:
•
The tool center point (TCP) refers to a point that will satisfy the specified path and
velocity performance. If the tool is reorientated or if coordinated external axes are
used, only this point will follow the desired path at the programmed velocity.
•
If a stationary tool is used, the programmed speed and path will relate to the work
object held by the robot.
•
Programmed positions refer to the position of the current TCP and the orientation in
relation to the tool coordinate system. This means that if, for example, a tool is
replaced because it is damaged, the old program can still be used if the tool coordinate
system is redefined.
Tool data is also used when jogging the robot to:
•
Define the TCP that is not to move when the tool is reorientated.
•
Define the tool coordinate system in order to facilitate moving in or rotating in the tool
directions.
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 tool load data is specified, it can often lead to the following consequences:
1. If the value in the specified load is greater than the true load:
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
2. If the value in the specified load is less than the true load:
•
Risk of overloading the mechanical structure
•
Impaired path accuracy including a risk of overshooting
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot is holding the tool:
•
TRUE: The robot is holding the tool.
•
FALSE: The robot is not holding the tool, i.e. a stationary tool.
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
3HAC 16581-1 Revision: J
1208
© Copyright 2004-2010 ABB. All rights reserved.
tframe
tool frame
Data type: pose
The tool coordinate system, i.e.:
•
The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate system
(see figure below).
•
The orientation of the tool coordinate system, expressed in the wrist coordinate system
as a quaternion (q1, q2, q3 and q4) (see figure below).
If a stationary tool is used, the definition is defined in relation to the world coordinate system.
If the direction of the tool is not specified, the tool coordinate system and the wrist coordinate
system will coincide.
xx0500002366
tload
tool load
Data type: loaddata
The load of the tool, i.e.:
•
The weight of the tool in kg.
•
The center of gravity of the tool load (x, y and z) in mm, expressed in the wrist
coordinate system
•
The moments of inertia of the tool relative to its center of mass around the tool load
coordinate axes in kgm 2 . If all inertial components are defined as being 0 kgm 2 , the
tool is handled as a point mass.
Continued
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1209
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002367
For more information (such as coordinate system for stationary tool or restrictions), see the
data type loaddata .
If a stationary tool is used, the load of the gripper holding the work object is defined in tload .
NOTE!
Only the load of the tool is to be specified. The payload handled by a gripper is connected and
disconnected by means of the instruction GripLoad .
Basic examples
Basic examples of the data type tooldata are illustrated below.
Example 1
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0,
0.383 ,0]], [5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool is described using the following values:
•
The robot is holding the tool.
•
The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm along
the X-axis of the wrist coordinate system.
•
The X and Z directions of the tool are rotated 45° in relation to the wrist coordinate
system.
•
The tool mass is 5 kg.
•
The center of gravity is located at a point 75 mm straight out from axis 6 and 23 mm
along the X-axis of the wrist coordinate system.
•
The load can be considered a point mass, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
The TCP of the tool, gripper , is adjusted to 225.2 in the z-direction.
Limitations
The tool data should be defined as a persistent variable ( PERS ) and should not be defined
within a routine. The current values are then saved when the program is saved and are
retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent
(not array element or record component).
Continued
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3 Data types
3.66. tooldata - Tool data
RobotWare - OS
3HAC 16581-1 Revision: J
1208
© Copyright 2004-2010 ABB. All rights reserved.
tframe
tool frame
Data type: pose
The tool coordinate system, i.e.:
•
The position of the TCP (x, y and z) in mm, expressed in the wrist coordinate system
(see figure below).
•
The orientation of the tool coordinate system, expressed in the wrist coordinate system
as a quaternion (q1, q2, q3 and q4) (see figure below).
If a stationary tool is used, the definition is defined in relation to the world coordinate system.
If the direction of the tool is not specified, the tool coordinate system and the wrist coordinate
system will coincide.
xx0500002366
tload
tool load
Data type: loaddata
The load of the tool, i.e.:
•
The weight of the tool in kg.
•
The center of gravity of the tool load (x, y and z) in mm, expressed in the wrist
coordinate system
•
The moments of inertia of the tool relative to its center of mass around the tool load
coordinate axes in kgm 2 . If all inertial components are defined as being 0 kgm 2 , the
tool is handled as a point mass.
Continued
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1209
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002367
For more information (such as coordinate system for stationary tool or restrictions), see the
data type loaddata .
If a stationary tool is used, the load of the gripper holding the work object is defined in tload .
NOTE!
Only the load of the tool is to be specified. The payload handled by a gripper is connected and
disconnected by means of the instruction GripLoad .
Basic examples
Basic examples of the data type tooldata are illustrated below.
Example 1
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0,
0.383 ,0]], [5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool is described using the following values:
•
The robot is holding the tool.
•
The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm along
the X-axis of the wrist coordinate system.
•
The X and Z directions of the tool are rotated 45° in relation to the wrist coordinate
system.
•
The tool mass is 5 kg.
•
The center of gravity is located at a point 75 mm straight out from axis 6 and 23 mm
along the X-axis of the wrist coordinate system.
•
The load can be considered a point mass, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
The TCP of the tool, gripper , is adjusted to 225.2 in the z-direction.
Limitations
The tool data should be defined as a persistent variable ( PERS ) and should not be defined
within a routine. The current values are then saved when the program is saved and are
retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent
(not array element or record component).
Continued
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
3HAC 16581-1 Revision: J
1210
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
The tool tool0 defines the wrist coordinate system, with the origin being the center of the
mounting flange. Tool0 can always be accessed from the program, but can never be changed
(it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
Structure
< dataobject of tooldata >
< robhold of bool >
< tframe 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 >
< tload 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 >
Related information
For information about
See
Positioning 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
Definition of payload
GripLoad - Defines the payload for the robot on page
119
Definition of load
loaddata - Load data on page 1132
Continued
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3 Data types
3.66. tooldata - Tool data
RobotWare - OS
1209
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002367
For more information (such as coordinate system for stationary tool or restrictions), see the
data type loaddata .
If a stationary tool is used, the load of the gripper holding the work object is defined in tload .
NOTE!
Only the load of the tool is to be specified. The payload handled by a gripper is connected and
disconnected by means of the instruction GripLoad .
Basic examples
Basic examples of the data type tooldata are illustrated below.
Example 1
PERS tooldata gripper := [ TRUE, [[97.4, 0, 223.1], [0.924, 0,
0.383 ,0]], [5, [23, 0, 75], [1, 0, 0, 0], 0, 0, 0]];
The tool is described using the following values:
•
The robot is holding the tool.
•
The TCP is located at a point 223.1 mm straight out from axis 6 and 97.4 mm along
the X-axis of the wrist coordinate system.
•
The X and Z directions of the tool are rotated 45° in relation to the wrist coordinate
system.
•
The tool mass is 5 kg.
•
The center of gravity is located at a point 75 mm straight out from axis 6 and 23 mm
along the X-axis of the wrist coordinate system.
•
The load can be considered a point mass, i.e. without any moment of inertia.
gripper.tframe.trans.z := 225.2;
The TCP of the tool, gripper , is adjusted to 225.2 in the z-direction.
Limitations
The tool data should be defined as a persistent variable ( PERS ) and should not be defined
within a routine. The current values are then saved when the program is saved and are
retrieved on loading.
Arguments of the type tool data in any motion instruction should only be an entire persistent
(not array element or record component).
Continued
Continues on next page
3 Data types
3.66. tooldata - Tool data
RobotWare - OS
3HAC 16581-1 Revision: J
1210
© Copyright 2004-2010 ABB. All rights reserved.
Predefined data
The tool tool0 defines the wrist coordinate system, with the origin being the center of the
mounting flange. Tool0 can always be accessed from the program, but can never be changed
(it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
Structure
< dataobject of tooldata >
< robhold of bool >
< tframe 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 >
< tload 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 >
Related information
For information about
See
Positioning 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
Definition of payload
GripLoad - Defines the payload for the robot on page
119
Definition of load
loaddata - Load data on page 1132
Continued
3 Data types
3.67. tpnum - FlexPendant window number
RobotWare - OS
1211
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3.67. tpnum - FlexPendant window number
Usage
tpnum is used to represent the FlexPendant window number with a symbolic constant.
Description
A tpnum constant is intended to be used in instruction TPShow . See example below.
Basic examples
Basic examples of the datatype tpnum are illustrated below.
Example 1
TPShow TP_LATEST;
The last used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Predefined data
The following symbolic constant of the data type tpnum is predefined and can be used in
instruction TPShow :
Characteristics
tpnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
2
TP_LATEST
Latest used FlexPendant window
Information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Switch window on the FlexPendant
TPShow - Switch window on the FlexPendant
on page 567
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3 Data types
3.66. tooldata - Tool data
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Predefined data
The tool tool0 defines the wrist coordinate system, with the origin being the center of the
mounting flange. Tool0 can always be accessed from the program, but can never be changed
(it is stored in system module BASE).
PERS tooldata tool0 := [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];
Structure
< dataobject of tooldata >
< robhold of bool >
< tframe 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 >
< tload 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 >
Related information
For information about
See
Positioning 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
Definition of payload
GripLoad - Defines the payload for the robot on page
119
Definition of load
loaddata - Load data on page 1132
Continued
3 Data types
3.67. tpnum - FlexPendant window number
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3.67. tpnum - FlexPendant window number
Usage
tpnum is used to represent the FlexPendant window number with a symbolic constant.
Description
A tpnum constant is intended to be used in instruction TPShow . See example below.
Basic examples
Basic examples of the datatype tpnum are illustrated below.
Example 1
TPShow TP_LATEST;
The last used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Predefined data
The following symbolic constant of the data type tpnum is predefined and can be used in
instruction TPShow :
Characteristics
tpnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
2
TP_LATEST
Latest used FlexPendant window
Information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Switch window on the FlexPendant
TPShow - Switch window on the FlexPendant
on page 567
3 Data types
3.68. trapdata - Interrupt data for current TRAP
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3.68. trapdata - Interrupt data for current TRAP
Usage
trapdata ( trap data ) is used to contain the interrupt data that caused the current TRAP
routine to be executed.
To be used in TRAP routines generated by instruction IError , before use of the instruction
ReadErrData .
Description
Data of the type trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed. Its content depends on the type of interrupt.
Basic examples
Basic examples of the data type trapdata 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 non-value variables of type trapdata .
Characteristics
trapdata is a non-value data type.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary - Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Non value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Orders an interrupt on errors
IError - Orders an interrupt on errors on page
126
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an
error on page 349
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3 Data types
3.67. tpnum - FlexPendant window number
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3.67. tpnum - FlexPendant window number
Usage
tpnum is used to represent the FlexPendant window number with a symbolic constant.
Description
A tpnum constant is intended to be used in instruction TPShow . See example below.
Basic examples
Basic examples of the datatype tpnum are illustrated below.
Example 1
TPShow TP_LATEST;
The last used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Predefined data
The following symbolic constant of the data type tpnum is predefined and can be used in
instruction TPShow :
Characteristics
tpnum is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
2
TP_LATEST
Latest used FlexPendant window
Information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic Characteristics - Data Types
Communicating using the FlexPendant
Technical reference manual - RAPID overview ,
section RAPID Summary - Communication
Switch window on the FlexPendant
TPShow - Switch window on the FlexPendant
on page 567
3 Data types
3.68. trapdata - Interrupt data for current TRAP
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3.68. trapdata - Interrupt data for current TRAP
Usage
trapdata ( trap data ) is used to contain the interrupt data that caused the current TRAP
routine to be executed.
To be used in TRAP routines generated by instruction IError , before use of the instruction
ReadErrData .
Description
Data of the type trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed. Its content depends on the type of interrupt.
Basic examples
Basic examples of the data type trapdata 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 non-value variables of type trapdata .
Characteristics
trapdata is a non-value data type.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary - Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Non value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Orders an interrupt on errors
IError - Orders an interrupt on errors on page
126
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an
error on page 349
3 Data types
3.69. triggdata - Positioning events, trigg
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3.69. triggdata - Positioning events, trigg
Usage
triggdata is used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
Description
To define the conditions for the respective measures at a positioning event, variables of the
type triggdata are used. The data contents of the variable are formed in the program using
one of the instructions TriggIO , TriggEquip , TriggCheckIO or TriggInt , and are used
by one of the instructions TriggL , TriggC or TriggJ .
Basic examples
Basic examples of the data type triggdata are illustrated below.
Example 1
VAR triggdata gunoff;
TriggIO gunoff, 0,5 \DOp:=gun, 0;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal gun is set to the value 0 when the TCP is at a position 0,5 mm
before the point p1 .
Characteristics
triggdata is a non-value data type.
Related information
For information about
See
Definition of triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
TriggCheckIO - Defines IO check at a fixed
position on page 577
TriggInt - Defines a position related interrupt on
page 588
Use of triggs
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
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3 Data types
3.68. trapdata - Interrupt data for current TRAP
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3.68. trapdata - Interrupt data for current TRAP
Usage
trapdata ( trap data ) is used to contain the interrupt data that caused the current TRAP
routine to be executed.
To be used in TRAP routines generated by instruction IError , before use of the instruction
ReadErrData .
Description
Data of the type trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed. Its content depends on the type of interrupt.
Basic examples
Basic examples of the data type trapdata 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 non-value variables of type trapdata .
Characteristics
trapdata is a non-value data type.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview , section RAPID summary - Interrupts
More information on interrupt management
Technical reference manual - RAPID
overview , section Basic characteristics -
Interrupts
Non value data types
Technical reference manual - RAPID
overview , section Basic characteristics - Data
types
Orders an interrupt on errors
IError - Orders an interrupt on errors on page
126
Get interrupt data for current TRAP
GetTrapData - Get interrupt data for current
TRAP on page 115
Gets information about an error
ReadErrData - Gets information about an
error on page 349
3 Data types
3.69. triggdata - Positioning events, trigg
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3.69. triggdata - Positioning events, trigg
Usage
triggdata is used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
Description
To define the conditions for the respective measures at a positioning event, variables of the
type triggdata are used. The data contents of the variable are formed in the program using
one of the instructions TriggIO , TriggEquip , TriggCheckIO or TriggInt , and are used
by one of the instructions TriggL , TriggC or TriggJ .
Basic examples
Basic examples of the data type triggdata are illustrated below.
Example 1
VAR triggdata gunoff;
TriggIO gunoff, 0,5 \DOp:=gun, 0;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal gun is set to the value 0 when the TCP is at a position 0,5 mm
before the point p1 .
Characteristics
triggdata is a non-value data type.
Related information
For information about
See
Definition of triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
TriggCheckIO - Defines IO check at a fixed
position on page 577
TriggInt - Defines a position related interrupt on
page 588
Use of triggs
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.70. triggios - Positioning events, trigg
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3.70. triggios - Positioning events, trigg
Usage
triggios is used to store data about a positioning event during a robot movement. When the
positioning event is distributed at a specific position on the path, an output signal is set to a
specified value.
Description
triggios is used to define conditions and actions for setting a digital output signal, a group
of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
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3.69. triggdata - Positioning events, trigg
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3.69. triggdata - Positioning events, trigg
Usage
triggdata is used to store data about a positioning event during a robot movement.
A positioning event can take the form of setting an output signal or running an interrupt
routine at a specific position along the movement path of the robot.
Description
To define the conditions for the respective measures at a positioning event, variables of the
type triggdata are used. The data contents of the variable are formed in the program using
one of the instructions TriggIO , TriggEquip , TriggCheckIO or TriggInt , and are used
by one of the instructions TriggL , TriggC or TriggJ .
Basic examples
Basic examples of the data type triggdata are illustrated below.
Example 1
VAR triggdata gunoff;
TriggIO gunoff, 0,5 \DOp:=gun, 0;
TriggL p1, v500, gunoff, fine, gun1;
The digital output signal gun is set to the value 0 when the TCP is at a position 0,5 mm
before the point p1 .
Characteristics
triggdata is a non-value data type.
Related information
For information about
See
Definition of triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
TriggCheckIO - Defines IO check at a fixed
position on page 577
TriggInt - Defines a position related interrupt on
page 588
Use of triggs
TriggL - Linear robot movements with events on
page 603
TriggC - Circular robot movement with events on
page 570
TriggJ - Axis-wise robot movements with events
on page 597
Characteristics of non-value data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
3 Data types
3.70. triggios - Positioning events, trigg
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3.70. triggios - Positioning events, trigg
Usage
triggios is used to store data about a positioning event during a robot movement. When the
positioning event is distributed at a specific position on the path, an output signal is set to a
specified value.
Description
triggios is used to define conditions and actions for setting a digital output signal, a group
of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
Continues on next page
3 Data types
3.70. triggios - Positioning events, trigg
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It have to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: num
Desired value of output signal (within the allowed range for the current signal).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggios is illustrated below.
Example 1
VAR triggios gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=1;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData1:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set when the TCP is 3 mm after point p1 .
Continued
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3.70. triggios - Positioning events, trigg
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3.70. triggios - Positioning events, trigg
Usage
triggios is used to store data about a positioning event during a robot movement. When the
positioning event is distributed at a specific position on the path, an output signal is set to a
specified value.
Description
triggios is used to define conditions and actions for setting a digital output signal, a group
of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
Continues on next page
3 Data types
3.70. triggios - Positioning events, trigg
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It have to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: num
Desired value of output signal (within the allowed range for the current signal).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggios is illustrated below.
Example 1
VAR triggios gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=1;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData1:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set when the TCP is 3 mm after point p1 .
Continued
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3.70. triggios - Positioning events, trigg
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Structure
<dataobject of triggios>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of num>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggiosdnum - Positioning events, trigg on
page 1217
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Continued
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It have to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: num
Desired value of output signal (within the allowed range for the current signal).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggios is illustrated below.
Example 1
VAR triggios gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=1;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData1:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set when the TCP is 3 mm after point p1 .
Continued
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3.70. triggios - Positioning events, trigg
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Structure
<dataobject of triggios>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of num>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggiosdnum - Positioning events, trigg on
page 1217
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Continued
3 Data types
3.71. triggiosdnum - Positioning events, trigg
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3.71. triggiosdnum - Positioning events, trigg
Usage
triggiosdnum is used to store data about a positioning event during a robot movement.
When the positioning event is distributed at a specific position on the path, an output signal
is set to a specified value.
Description
triggiosdnum is used to define conditions and actions for setting a digital output signal, a
group of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specifies the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
the TCP has physically passed the specified distance in relation to the movement start or end
point.
signalname
Data type: string
The name of the signal that shall be changed. It has to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: dnum
Desired value of output signal (within the allowed range for the current signal).
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Structure
<dataobject of triggios>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of num>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggiosdnum - Positioning events, trigg on
page 1217
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Continued
3 Data types
3.71. triggiosdnum - Positioning events, trigg
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3.71. triggiosdnum - Positioning events, trigg
Usage
triggiosdnum is used to store data about a positioning event during a robot movement.
When the positioning event is distributed at a specific position on the path, an output signal
is set to a specified value.
Description
triggiosdnum is used to define conditions and actions for setting a digital output signal, a
group of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specifies the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
the TCP has physically passed the specified distance in relation to the movement start or end
point.
signalname
Data type: string
The name of the signal that shall be changed. It has to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: dnum
Desired value of output signal (within the allowed range for the current signal).
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xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggiosdnum is illustrated below.
Example 1
VAR triggiosdnum gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="go_gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=123456789;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData3:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal go_gun is set when the TCP is 3 mm after point p1 .
Structure
<dataobject of triggiosdnum>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of dnum>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggios - Positioning events, trigg on page
1214
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
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3.71. triggiosdnum - Positioning events, trigg
Usage
triggiosdnum is used to store data about a positioning event during a robot movement.
When the positioning event is distributed at a specific position on the path, an output signal
is set to a specified value.
Description
triggiosdnum is used to define conditions and actions for setting a digital output signal, a
group of digital output signals or an analog output signal at a fixed position along the robot’s
movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specifies the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
the TCP has physically passed the specified distance in relation to the movement start or end
point.
signalname
Data type: string
The name of the signal that shall be changed. It has to be a digital output signal, group of
digital output signals or an analog output signal.
setvalue
Data type: dnum
Desired value of output signal (within the allowed range for the current signal).
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xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggiosdnum is illustrated below.
Example 1
VAR triggiosdnum gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="go_gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=123456789;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData3:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal go_gun is set when the TCP is 3 mm after point p1 .
Structure
<dataobject of triggiosdnum>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of dnum>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggios - Positioning events, trigg on page
1214
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Continued
3 Data types
3.72. triggstrgo - Positioning events, trigg
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3.72. triggstrgo - Positioning events, trigg
Usage
triggstrgo (trigg stringdig group output) is used to store data about a positioning event
during a robot movement. When the positioning event is distributed at a specific position on
the path, a group of digital output signals is set to a specified value.
Description
triggstrgo is used to define conditions and actions for setting a group of digital output
signals at a fixed position along the robot’s movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
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xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggiosdnum is illustrated below.
Example 1
VAR triggiosdnum gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="go_gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:=123456789;
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData3:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal go_gun is set when the TCP is 3 mm after point p1 .
Structure
<dataobject of triggiosdnum>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of dnum>
<xxx of num>
Related information
For information about
See
Positioning events, trigg
triggios - Positioning events, trigg on page
1214
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Continued
3 Data types
3.72. triggstrgo - Positioning events, trigg
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3.72. triggstrgo - Positioning events, trigg
Usage
triggstrgo (trigg stringdig group output) is used to store data about a positioning event
during a robot movement. When the positioning event is distributed at a specific position on
the path, a group of digital output signals is set to a specified value.
Description
triggstrgo is used to define conditions and actions for setting a group of digital output
signals at a fixed position along the robot’s movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It has to be a name of a group output signal.
setvalue
Data type: stringdig
Desired value of output signal (within the allowed range for the current digital group output
signal). Using stringdig data type makes it possible to use values up to 4294967295, which
is the maximum value a group of digital signals can have (32 signals in a group signal is max
for the system).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggstrgo is illustrated below.
Example 1
VAR triggstrgo gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:="4294967295";
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData2:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set to value 4294967295 when the TCP is 3 mm after point p1 .
Continued
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3.72. triggstrgo - Positioning events, trigg
Usage
triggstrgo (trigg stringdig group output) is used to store data about a positioning event
during a robot movement. When the positioning event is distributed at a specific position on
the path, a group of digital output signals is set to a specified value.
Description
triggstrgo is used to define conditions and actions for setting a group of digital output
signals at a fixed position along the robot’s movement path.
Components
used
Data type: bool
Defines whether or not the array element should be used or not.
distance
Data type: num
Defines the position on the path where the I/O event shall occur. Specified as the distance in
mm (positive value) from the end point of the movement path if component start is set to
FALSE.
start
Data type: bool
Set to TRUE when the distance starts at the movement start point instead of the end point.
equiplag
Equipment Lag
Data type: num
Specify the lag for the external equipment in s.
For compensation of external equipment lag, use a positive argument value. Positive value
means that the I/O signal is set by the robot system at a specified time before the TCP
physically reaches the specified distance in relation to the movement start or end point.
Negative value means that the I/O signal is set by the robot system at a specified time after
that the TCP has physically passed the specified distance in relation to the movement start or
end point.
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It has to be a name of a group output signal.
setvalue
Data type: stringdig
Desired value of output signal (within the allowed range for the current digital group output
signal). Using stringdig data type makes it possible to use values up to 4294967295, which
is the maximum value a group of digital signals can have (32 signals in a group signal is max
for the system).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggstrgo is illustrated below.
Example 1
VAR triggstrgo gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:="4294967295";
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData2:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set to value 4294967295 when the TCP is 3 mm after point p1 .
Continued
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Structure
<dataobject of triggstrgo>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of stringdig>
<xxx of num>
Related information
For information about
See
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
Arithmetic operations on stringdig data types StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
Continued
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The figure shows use of component equiplag .
xx0800000173
signalname
Data type: string
The name of the signal that shall be changed. It has to be a name of a group output signal.
setvalue
Data type: stringdig
Desired value of output signal (within the allowed range for the current digital group output
signal). Using stringdig data type makes it possible to use values up to 4294967295, which
is the maximum value a group of digital signals can have (32 signals in a group signal is max
for the system).
xxx
Data type: num
Component is not used right now. Added to be able to add functionality in future releases, and
still be able to be compatible.
Examples
Example of the data type triggstrgo is illustrated below.
Example 1
VAR triggstrgo gunon{1};
gunon{1}.used:=TRUE;
gunon{1}.distance:=3;
gunon{1}.start:=TRUE;
gunon{1}.signalname:="gun";
gunon{1}.equiplag:=0;
gunon{1}.setvalue:="4294967295";
MoveJ p1, v500, z50, gun1;
TriggLIOs p2, v500, \TriggData2:=gunon, z50, gun1;
MoveL p3, v500, z50, gun1;
The signal gun is set to value 4294967295 when the TCP is 3 mm after point p1 .
Continued
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3.72. triggstrgo - Positioning events, trigg
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Structure
<dataobject of triggstrgo>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of stringdig>
<xxx of num>
Related information
For information about
See
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
Arithmetic operations on stringdig data types StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
Continued
3 Data types
3.73. tunetype - Servo tune type
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3.73. tunetype - Servo tune type
Usage
tunetype is used to represent an integer with a symbolic constant for different types of servo
tuning.
Description
A tunetype constant is intended to be used as an argument to the instruction TuneServo . See
example below.
Basic examples
Basic examples of the data type tunetype are illustrated below.
Example 1
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
Predefined data
The following symbolic constants of the data type tunetype are predefined and can be used
as arguments for the instruction TuneServo .
Characteristics
tunetype is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
TUNE_DF
Reduces overshoots
1
TUNE_KP
Affects position control gain
2
TUNE_KV
Affects speed control gain
3
TUNE_TI
Affects speed control integration time
4
TUNE_FRIC_LEV
Affects friction compensation level
5
TUNE_FRIC_RAMP
Affects friction compensation ramp
6
TUNE_DG
Reduces overshoots
7
TUNE_DH
Reduces vibrations with heavy loads
8
TUNE_DI
Reduces path errors
9
TUNE_DK
Only for ABB internal use
10
TUNE_DL
Only for ABB internal use
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Use of data type tunetype
TuneServo - Tuning servos on page 638
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Structure
<dataobject of triggstrgo>
<used of bool>
<distance of num>
<start of bool>
<equiplag of num>
<signalname of string>
<setvalue of stringdig>
<xxx of num>
Related information
For information about
See
Linear robot movements with I/O events
TriggLIOs - Linear robot movements with I/O
events on page 610
Compare two strings with only digits
StrDigCmp - Compare two strings with only
digits on page 991
Arithmetic operations on stringdig data types StrDigCalc - Arithmetic operations with
datatype stringdig on page 988
Continued
3 Data types
3.73. tunetype - Servo tune type
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3.73. tunetype - Servo tune type
Usage
tunetype is used to represent an integer with a symbolic constant for different types of servo
tuning.
Description
A tunetype constant is intended to be used as an argument to the instruction TuneServo . See
example below.
Basic examples
Basic examples of the data type tunetype are illustrated below.
Example 1
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
Predefined data
The following symbolic constants of the data type tunetype are predefined and can be used
as arguments for the instruction TuneServo .
Characteristics
tunetype is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
TUNE_DF
Reduces overshoots
1
TUNE_KP
Affects position control gain
2
TUNE_KV
Affects speed control gain
3
TUNE_TI
Affects speed control integration time
4
TUNE_FRIC_LEV
Affects friction compensation level
5
TUNE_FRIC_RAMP
Affects friction compensation ramp
6
TUNE_DG
Reduces overshoots
7
TUNE_DH
Reduces vibrations with heavy loads
8
TUNE_DI
Reduces path errors
9
TUNE_DK
Only for ABB internal use
10
TUNE_DL
Only for ABB internal use
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Use of data type tunetype
TuneServo - Tuning servos on page 638
3 Data types
3.74. uishownum - Instance ID for UIShow
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3.74. uishownum - Instance ID for UIShow
Usage
uishownum is the data type used for parameter InstanceId in instruction UIShow . It is used
to identify a view on the FlexPendant.
Description
When a persistent variable of type uishownum is used with the instruction UIShow , it is given
a specific value identifying the view launched on the FlexPendant. This persistent is then used
in all dealings with that view, such as launching the view again, modifying the view, etc.
Examples
Basic examples of the data type uishownum are illustrated below.
Example 1
CONST string Name:="TpsViewMyAppl.gtpu.dll";
CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl";
CONST string Cmd1:="Init data string passed to the view";
PERS uishownum myinstance:=0;
VAR num mystatus:=0;
...
! Launch one view of the application MyAppl
UIShow Name, Type \InitCmd:=Cmd1 \InstanceID:=myinstance
\Status:=mystatus;
The code above will launch one view of the application MyAppl with init command Cmd1.
The token used to identify the view is saved in the parameter myinstance .
Characteristics
uishownum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
UIShow
UIShow - User Interface show on page 651
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3.73. tunetype - Servo tune type
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3.73. tunetype - Servo tune type
Usage
tunetype is used to represent an integer with a symbolic constant for different types of servo
tuning.
Description
A tunetype constant is intended to be used as an argument to the instruction TuneServo . See
example below.
Basic examples
Basic examples of the data type tunetype are illustrated below.
Example 1
TuneServo MHA160R1, 1, 110 \Type:= TUNE_KP;
Predefined data
The following symbolic constants of the data type tunetype are predefined and can be used
as arguments for the instruction TuneServo .
Characteristics
tunetype is an alias data type for num and consequently inherits its characteristics.
Related information
Value
Symbolic constant
Comment
0
TUNE_DF
Reduces overshoots
1
TUNE_KP
Affects position control gain
2
TUNE_KV
Affects speed control gain
3
TUNE_TI
Affects speed control integration time
4
TUNE_FRIC_LEV
Affects friction compensation level
5
TUNE_FRIC_RAMP
Affects friction compensation ramp
6
TUNE_DG
Reduces overshoots
7
TUNE_DH
Reduces vibrations with heavy loads
8
TUNE_DI
Reduces path errors
9
TUNE_DK
Only for ABB internal use
10
TUNE_DL
Only for ABB internal use
For information about
See
Data types in general, alias data types
Technical reference manual - RAPID overview ,
section Basic characteristics - Data types
Use of data type tunetype
TuneServo - Tuning servos on page 638
3 Data types
3.74. uishownum - Instance ID for UIShow
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3.74. uishownum - Instance ID for UIShow
Usage
uishownum is the data type used for parameter InstanceId in instruction UIShow . It is used
to identify a view on the FlexPendant.
Description
When a persistent variable of type uishownum is used with the instruction UIShow , it is given
a specific value identifying the view launched on the FlexPendant. This persistent is then used
in all dealings with that view, such as launching the view again, modifying the view, etc.
Examples
Basic examples of the data type uishownum are illustrated below.
Example 1
CONST string Name:="TpsViewMyAppl.gtpu.dll";
CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl";
CONST string Cmd1:="Init data string passed to the view";
PERS uishownum myinstance:=0;
VAR num mystatus:=0;
...
! Launch one view of the application MyAppl
UIShow Name, Type \InitCmd:=Cmd1 \InstanceID:=myinstance
\Status:=mystatus;
The code above will launch one view of the application MyAppl with init command Cmd1.
The token used to identify the view is saved in the parameter myinstance .
Characteristics
uishownum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
UIShow
UIShow - User Interface show on page 651
3 Data types
3.75. wobjdata - Work object data
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3.75. wobjdata - Work object data
Usage
wobjdata is used to describe the work object that the robot welds, processes, moves within,
etc.
Description
If work objects are defined in a positioning instruction, the position will be based on the
coordinates of the work object. The advantages of this are as follows:
•
If position data is entered manually, such as in off-line programming, the values can
often be taken from a drawing.
•
Programs can be reused quickly following changes in the robot installation. If, for
example, the fixture is moved, only the user coordinate system has to be redefined.
•
Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.
If a stationary tool or coordinated external axes are used, the work object must be defined,
since the path and velocity would then be related to the work object instead of the TCP.
Work object data can also be used for jogging:
•
The robot can be jogged in the directions of the work object.
•
The current position displayed is based on the coordinate system of the work object.
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot in the actual program task is holding the work object:
•
TRUE: The robot is holding the work object, i.e. using a stationary tool.
•
FALSE: The robot is not holding the work object, i.e. the robot is holding the tool.
ufprog
user frame programmed
Data type: bool
Defines whether or not a fixed user coordinate system is used:
•
TRUE: Fixed user coordinate system.
•
FALSE: Movable user coordinate system, i.e. coordinated external axes are used. Also
to be used in a MultiMove system in semicoordinated or synchronized coordinated
mode.
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3.74. uishownum - Instance ID for UIShow
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3.74. uishownum - Instance ID for UIShow
Usage
uishownum is the data type used for parameter InstanceId in instruction UIShow . It is used
to identify a view on the FlexPendant.
Description
When a persistent variable of type uishownum is used with the instruction UIShow , it is given
a specific value identifying the view launched on the FlexPendant. This persistent is then used
in all dealings with that view, such as launching the view again, modifying the view, etc.
Examples
Basic examples of the data type uishownum are illustrated below.
Example 1
CONST string Name:="TpsViewMyAppl.gtpu.dll";
CONST string Type:="ABB.Robotics.SDK.Views.TpsViewMyAppl";
CONST string Cmd1:="Init data string passed to the view";
PERS uishownum myinstance:=0;
VAR num mystatus:=0;
...
! Launch one view of the application MyAppl
UIShow Name, Type \InitCmd:=Cmd1 \InstanceID:=myinstance
\Status:=mystatus;
The code above will launch one view of the application MyAppl with init command Cmd1.
The token used to identify the view is saved in the parameter myinstance .
Characteristics
uishownum is an alias data type for num and thus inherits its properties.
Related information
For information about
See
UIShow
UIShow - User Interface show on page 651
3 Data types
3.75. wobjdata - Work object data
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3.75. wobjdata - Work object data
Usage
wobjdata is used to describe the work object that the robot welds, processes, moves within,
etc.
Description
If work objects are defined in a positioning instruction, the position will be based on the
coordinates of the work object. The advantages of this are as follows:
•
If position data is entered manually, such as in off-line programming, the values can
often be taken from a drawing.
•
Programs can be reused quickly following changes in the robot installation. If, for
example, the fixture is moved, only the user coordinate system has to be redefined.
•
Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.
If a stationary tool or coordinated external axes are used, the work object must be defined,
since the path and velocity would then be related to the work object instead of the TCP.
Work object data can also be used for jogging:
•
The robot can be jogged in the directions of the work object.
•
The current position displayed is based on the coordinate system of the work object.
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot in the actual program task is holding the work object:
•
TRUE: The robot is holding the work object, i.e. using a stationary tool.
•
FALSE: The robot is not holding the work object, i.e. the robot is holding the tool.
ufprog
user frame programmed
Data type: bool
Defines whether or not a fixed user coordinate system is used:
•
TRUE: Fixed user coordinate system.
•
FALSE: Movable user coordinate system, i.e. coordinated external axes are used. Also
to be used in a MultiMove system in semicoordinated or synchronized coordinated
mode.
Continues on next page
3 Data types
3.75. wobjdata - Work object data
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ufmec
user frame mechanical unit
Data type: string
The mechanical unit with which the robot movements are coordinated. Only specified in the
case of movable user coordinate systems ( ufprog is FALSE ).
Specify the mechanical unit name defined in system parameters, e.g. orbit_a .
uframe
user frame
Data type: pose
The user coordinate system, i.e. the position of the current work surface or fixture (see figure
below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
If the robot is holding the tool, the user coordinate system is defined in the world coordinate
system (in the wrist coordinate system if a stationary tool is used).
For movable user frame ( ufprog is FALSE ), the user frame is continuously defined by the
system.
oframe
object frame
Data type: pose
The object coordinate system, i.e. the position of the current work object (see figure below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
The object coordinate system is defined in the user coordinate system.
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3.75. wobjdata - Work object data
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3.75. wobjdata - Work object data
Usage
wobjdata is used to describe the work object that the robot welds, processes, moves within,
etc.
Description
If work objects are defined in a positioning instruction, the position will be based on the
coordinates of the work object. The advantages of this are as follows:
•
If position data is entered manually, such as in off-line programming, the values can
often be taken from a drawing.
•
Programs can be reused quickly following changes in the robot installation. If, for
example, the fixture is moved, only the user coordinate system has to be redefined.
•
Variations in how the work object is attached can be compensated for. For this,
however, some sort of sensor will be required to position the work object.
If a stationary tool or coordinated external axes are used, the work object must be defined,
since the path and velocity would then be related to the work object instead of the TCP.
Work object data can also be used for jogging:
•
The robot can be jogged in the directions of the work object.
•
The current position displayed is based on the coordinate system of the work object.
Components
robhold
robot hold
Data type: bool
Defines whether or not the robot in the actual program task is holding the work object:
•
TRUE: The robot is holding the work object, i.e. using a stationary tool.
•
FALSE: The robot is not holding the work object, i.e. the robot is holding the tool.
ufprog
user frame programmed
Data type: bool
Defines whether or not a fixed user coordinate system is used:
•
TRUE: Fixed user coordinate system.
•
FALSE: Movable user coordinate system, i.e. coordinated external axes are used. Also
to be used in a MultiMove system in semicoordinated or synchronized coordinated
mode.
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3.75. wobjdata - Work object data
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ufmec
user frame mechanical unit
Data type: string
The mechanical unit with which the robot movements are coordinated. Only specified in the
case of movable user coordinate systems ( ufprog is FALSE ).
Specify the mechanical unit name defined in system parameters, e.g. orbit_a .
uframe
user frame
Data type: pose
The user coordinate system, i.e. the position of the current work surface or fixture (see figure
below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
If the robot is holding the tool, the user coordinate system is defined in the world coordinate
system (in the wrist coordinate system if a stationary tool is used).
For movable user frame ( ufprog is FALSE ), the user frame is continuously defined by the
system.
oframe
object frame
Data type: pose
The object coordinate system, i.e. the position of the current work object (see figure below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
The object coordinate system is defined in the user coordinate system.
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3.75. wobjdata - Work object data
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Basic examples
Basic examples of the data type wobjdata are illustrated below.
Example 1
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0,
0 ,0] ], [ [0, 200, 30], [1, 0, 0 ,0] ] ];
The work object in the figure above is described using the following values:
•
The robot is not holding the work object.
•
The fixed user coordinate system is used.
•
The user coordinate system is not rotated and the coordinates of its origin are x= 300 ,
y = 600 and z = 200 mm in the world coordinate system.
•
The object coordinate system is not rotated and the coordinates of its origin are x= 0 ,
y= 200 and z= 30 mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;
•
The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.
Limitations
The work object data should be defined as a persistent variable ( PERS ) and should not be
defined within a routine. The current values are then saved when the program is saved and
are retrieved on loading.
Arguments of the type work object data in any motion instruction should only be an entire
persistent (not array element or record component).
Predefined data
The work object data wobj0 is defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.
Wobj0 can always be accessed from the program, but can never be changed (it is stored in
system module BASE).
PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0
,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];
Structure
< dataobject of wobjdata >
< robhold of bool >
< ufprog of bool >
< ufmec of string >
< uframe 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 >
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ufmec
user frame mechanical unit
Data type: string
The mechanical unit with which the robot movements are coordinated. Only specified in the
case of movable user coordinate systems ( ufprog is FALSE ).
Specify the mechanical unit name defined in system parameters, e.g. orbit_a .
uframe
user frame
Data type: pose
The user coordinate system, i.e. the position of the current work surface or fixture (see figure
below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
If the robot is holding the tool, the user coordinate system is defined in the world coordinate
system (in the wrist coordinate system if a stationary tool is used).
For movable user frame ( ufprog is FALSE ), the user frame is continuously defined by the
system.
oframe
object frame
Data type: pose
The object coordinate system, i.e. the position of the current work object (see figure below):
•
The position of the origin of the coordinate system (x, y and z) in mm.
•
The rotation of the coordinate system, expressed as a quaternion (q1, q2, q3, q4).
The object coordinate system is defined in the user coordinate system.
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3.75. wobjdata - Work object data
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Basic examples
Basic examples of the data type wobjdata are illustrated below.
Example 1
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0,
0 ,0] ], [ [0, 200, 30], [1, 0, 0 ,0] ] ];
The work object in the figure above is described using the following values:
•
The robot is not holding the work object.
•
The fixed user coordinate system is used.
•
The user coordinate system is not rotated and the coordinates of its origin are x= 300 ,
y = 600 and z = 200 mm in the world coordinate system.
•
The object coordinate system is not rotated and the coordinates of its origin are x= 0 ,
y= 200 and z= 30 mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;
•
The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.
Limitations
The work object data should be defined as a persistent variable ( PERS ) and should not be
defined within a routine. The current values are then saved when the program is saved and
are retrieved on loading.
Arguments of the type work object data in any motion instruction should only be an entire
persistent (not array element or record component).
Predefined data
The work object data wobj0 is defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.
Wobj0 can always be accessed from the program, but can never be changed (it is stored in
system module BASE).
PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0
,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];
Structure
< dataobject of wobjdata >
< robhold of bool >
< ufprog of bool >
< ufmec of string >
< uframe 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 >
Continued
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3.75. wobjdata - Work object data
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< oframe 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 >
Related information
For information about
See
Positioning 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
Coordinated external axes
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
systems
Calibration of coordinated axes
Application manual - Additional axes and stand
alone controller
Application manual - MultiMove
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Basic examples
Basic examples of the data type wobjdata are illustrated below.
Example 1
PERS wobjdata wobj2 :=[ FALSE, TRUE, "", [ [300, 600, 200], [1, 0,
0 ,0] ], [ [0, 200, 30], [1, 0, 0 ,0] ] ];
The work object in the figure above is described using the following values:
•
The robot is not holding the work object.
•
The fixed user coordinate system is used.
•
The user coordinate system is not rotated and the coordinates of its origin are x= 300 ,
y = 600 and z = 200 mm in the world coordinate system.
•
The object coordinate system is not rotated and the coordinates of its origin are x= 0 ,
y= 200 and z= 30 mm in the user coordinate system.
wobj2.oframe.trans.z := 38.3;
•
The position of the work object wobj2 is adjusted to 38.3 mm in the z-direction.
Limitations
The work object data should be defined as a persistent variable ( PERS ) and should not be
defined within a routine. The current values are then saved when the program is saved and
are retrieved on loading.
Arguments of the type work object data in any motion instruction should only be an entire
persistent (not array element or record component).
Predefined data
The work object data wobj0 is defined in such a way that the object coordinate system
coincides with the world coordinate system. The robot does not hold the work object.
Wobj0 can always be accessed from the program, but can never be changed (it is stored in
system module BASE).
PERS wobjdata wobj0 := [ FALSE, TRUE, "", [ [0, 0, 0], [1, 0, 0
,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];
Structure
< dataobject of wobjdata >
< robhold of bool >
< ufprog of bool >
< ufmec of string >
< uframe 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 >
Continued
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3.75. wobjdata - Work object data
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< oframe 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 >
Related information
For information about
See
Positioning 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
Coordinated external axes
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
systems
Calibration of coordinated axes
Application manual - Additional axes and stand
alone controller
Application manual - MultiMove
Continued
3 Data types
3.76. wzstationary - Stationary world zone data
World Zones
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3.76. wzstationary - Stationary world zone data
Usage
wzstationary ( world zone stationary ) is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wzstationary a
numeric value. The value identifies the world zone.
A stationary world zone is always active in motor on state and is only erased by a warm start
(switch power off then on). It is not possible to deactivate, activate or erase a stationary world
zone via RAPID instructions.
Stationary world zones should be active from power on and should be defined in a POWER
ON event routine or a semistatic task
Basic examples
Basic examples of the data type wzstationary are illustrated below.
Example 1
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC
A conveyor is defined as a straight box (the volume below the belt). If the robot reaches this
volume, the movement is stopped.
Limitations
A wzstationary data can be defined as a variable ( VAR ) or as a persistent ( PERS ). It can
be global in task or local within module, but not local within a routine.
Arguments of the type wzstationary should only be entire data (not array element or record
component).
An init value for data of the type wzstationary is not used by the control system. When
there is a need to use a persistent variable in a multi-tasking system, set the init value to 0 in
both tasks, e.g. PERS wzstationary share_workarea := [0];
More examples
For a complete example see instruction WZLimSup .
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< oframe 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 >
Related information
For information about
See
Positioning 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
Coordinated external axes
Technical reference manual - RAPID overview ,
section Motion and I/O Principles - Coordinate
systems
Calibration of coordinated axes
Application manual - Additional axes and stand
alone controller
Application manual - MultiMove
Continued
3 Data types
3.76. wzstationary - Stationary world zone data
World Zones
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3.76. wzstationary - Stationary world zone data
Usage
wzstationary ( world zone stationary ) is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wzstationary a
numeric value. The value identifies the world zone.
A stationary world zone is always active in motor on state and is only erased by a warm start
(switch power off then on). It is not possible to deactivate, activate or erase a stationary world
zone via RAPID instructions.
Stationary world zones should be active from power on and should be defined in a POWER
ON event routine or a semistatic task
Basic examples
Basic examples of the data type wzstationary are illustrated below.
Example 1
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC
A conveyor is defined as a straight box (the volume below the belt). If the robot reaches this
volume, the movement is stopped.
Limitations
A wzstationary data can be defined as a variable ( VAR ) or as a persistent ( PERS ). It can
be global in task or local within module, but not local within a routine.
Arguments of the type wzstationary should only be entire data (not array element or record
component).
An init value for data of the type wzstationary is not used by the control system. When
there is a need to use a persistent variable in a multi-tasking system, set the init value to 0 in
both tasks, e.g. PERS wzstationary share_workarea := [0];
More examples
For a complete example see instruction WZLimSup .
Continues on next page
3 Data types
3.76. wzstationary - Stationary world zone data
World Zones
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Characteristics
wzstationary is an alias data type of wztemporary and inherits its characteristics.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Temporary world zone
wztemporary - Temporary world zone data on
page 1230
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
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3.76. wzstationary - Stationary world zone data
Usage
wzstationary ( world zone stationary ) is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wzstationary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wzstationary a
numeric value. The value identifies the world zone.
A stationary world zone is always active in motor on state and is only erased by a warm start
(switch power off then on). It is not possible to deactivate, activate or erase a stationary world
zone via RAPID instructions.
Stationary world zones should be active from power on and should be defined in a POWER
ON event routine or a semistatic task
Basic examples
Basic examples of the data type wzstationary are illustrated below.
Example 1
VAR wzstationary conveyor;
...
PROC ...
VAR shapedata volume;
...
WZBoxDef \Inside, volume, p_corner1, p_corner2;
WZLimSup \Stat, conveyor, volume;
ENDPROC
A conveyor is defined as a straight box (the volume below the belt). If the robot reaches this
volume, the movement is stopped.
Limitations
A wzstationary data can be defined as a variable ( VAR ) or as a persistent ( PERS ). It can
be global in task or local within module, but not local within a routine.
Arguments of the type wzstationary should only be entire data (not array element or record
component).
An init value for data of the type wzstationary is not used by the control system. When
there is a need to use a persistent variable in a multi-tasking system, set the init value to 0 in
both tasks, e.g. PERS wzstationary share_workarea := [0];
More examples
For a complete example see instruction WZLimSup .
Continues on next page
3 Data types
3.76. wzstationary - Stationary world zone data
World Zones
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Characteristics
wzstationary is an alias data type of wztemporary and inherits its characteristics.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Temporary world zone
wztemporary - Temporary world zone data on
page 1230
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
3.77. wztemporary - Temporary world zone data
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3.77. wztemporary - Temporary world zone data
Usage
wztemporary ( world zone temporary ) is used to identify a temporary world zone and can be
used anywhere in the RAPID program for any motion task.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wztemporary a
numeric value. The value identifies the world zone.
Once defined and activated, a temporary world zone can be deactivated by WZDisable ,
activated again by WZEnable , and erased by WZFree .
All temporary world zones in the motion task are automatically erased and all data objects of
type wztemporary in the motion task are set to 0:
•
when a new program is loaded in the motion task
•
when starting program execution from the beginning in the motion task
Basic examples
Basic examples of the data type wztemporary are illustrated below.
Example 1
VAR wztemporary roll;
...
PROC
VAR shapedata volume;
CONST pos t_center := [1000, 1000, 1000];
...
WZCylDef \Inside, volume, t_center, 400, 1000;
WZLimSup \Temp, roll, volume;
ENDPROC
A wztemporary variable, roll, is defined as a cylinder. If the robot reaches this volume,
the movement is stopped.
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World Zones
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Characteristics
wzstationary is an alias data type of wztemporary and inherits its characteristics.
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Temporary world zone
wztemporary - Temporary world zone data on
page 1230
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
3.77. wztemporary - Temporary world zone data
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3.77. wztemporary - Temporary world zone data
Usage
wztemporary ( world zone temporary ) is used to identify a temporary world zone and can be
used anywhere in the RAPID program for any motion task.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wztemporary a
numeric value. The value identifies the world zone.
Once defined and activated, a temporary world zone can be deactivated by WZDisable ,
activated again by WZEnable , and erased by WZFree .
All temporary world zones in the motion task are automatically erased and all data objects of
type wztemporary in the motion task are set to 0:
•
when a new program is loaded in the motion task
•
when starting program execution from the beginning in the motion task
Basic examples
Basic examples of the data type wztemporary are illustrated below.
Example 1
VAR wztemporary roll;
...
PROC
VAR shapedata volume;
CONST pos t_center := [1000, 1000, 1000];
...
WZCylDef \Inside, volume, t_center, 400, 1000;
WZLimSup \Temp, roll, volume;
ENDPROC
A wztemporary variable, roll, is defined as a cylinder. If the robot reaches this volume,
the movement is stopped.
Continues on next page
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Limitations
A wztemporary data can be defined as a variable (VAR) or as a persistent (PERS). It can be
global in a task or local within a module, but not local within a routine.
Arguments of the type wztemporary must only be entire data, not an array element or record
component.
A temporary world zone must only be defined ( WZLimSup or WZDOSet ) and free ( WZFree )
in the motion task. Definitions of temporary world zones in any background is not allowed
because it would affect the program execution in the connected motion task. The instructions
WZDisable and WZEnable can be used in the background task. When there is a need to use
a persistent variable in a multi-tasking system, set the init value to 0 in both tasks, e.g. PERS
wztemporary share_workarea := [0];
More examples
For a complete example see instruction WZDOSet .
Structure
< dataobject of wztemporary >
< wz of num >
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Stationary world zone
wzstationary - Stationary world zone data on page
1228
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
Deactivate world zone
WZDisable - Deactivate temporary world zone
supervision on page 736
Activate world zone
WZEnable - Activate temporary world zone
supervision on page 742
Erase world zone
WZFree - Erase temporary world zone supervision
on page 744
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3.77. wztemporary - Temporary world zone data
Usage
wztemporary ( world zone temporary ) is used to identify a temporary world zone and can be
used anywhere in the RAPID program for any motion task.
A world zone is supervised during robot movements both during program execution and
jogging. If the robot’s TCP reaches the world zone or if the robot/external axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set or reset.
Description
A wztemporary world zone is defined and activated by a WZLimSup or a WZDOSet
instruction.
WZLimSup or WZDOSet gives the variable or the persistent of data type wztemporary a
numeric value. The value identifies the world zone.
Once defined and activated, a temporary world zone can be deactivated by WZDisable ,
activated again by WZEnable , and erased by WZFree .
All temporary world zones in the motion task are automatically erased and all data objects of
type wztemporary in the motion task are set to 0:
•
when a new program is loaded in the motion task
•
when starting program execution from the beginning in the motion task
Basic examples
Basic examples of the data type wztemporary are illustrated below.
Example 1
VAR wztemporary roll;
...
PROC
VAR shapedata volume;
CONST pos t_center := [1000, 1000, 1000];
...
WZCylDef \Inside, volume, t_center, 400, 1000;
WZLimSup \Temp, roll, volume;
ENDPROC
A wztemporary variable, roll, is defined as a cylinder. If the robot reaches this volume,
the movement is stopped.
Continues on next page
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3.77. wztemporary - Temporary world zone data
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Limitations
A wztemporary data can be defined as a variable (VAR) or as a persistent (PERS). It can be
global in a task or local within a module, but not local within a routine.
Arguments of the type wztemporary must only be entire data, not an array element or record
component.
A temporary world zone must only be defined ( WZLimSup or WZDOSet ) and free ( WZFree )
in the motion task. Definitions of temporary world zones in any background is not allowed
because it would affect the program execution in the connected motion task. The instructions
WZDisable and WZEnable can be used in the background task. When there is a need to use
a persistent variable in a multi-tasking system, set the init value to 0 in both tasks, e.g. PERS
wztemporary share_workarea := [0];
More examples
For a complete example see instruction WZDOSet .
Structure
< dataobject of wztemporary >
< wz of num >
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Stationary world zone
wzstationary - Stationary world zone data on page
1228
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
Deactivate world zone
WZDisable - Deactivate temporary world zone
supervision on page 736
Activate world zone
WZEnable - Activate temporary world zone
supervision on page 742
Erase world zone
WZFree - Erase temporary world zone supervision
on page 744
Continued
3 Data types
3.78. zonedata - Zone data
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3.78. zonedata - Zone data
Usage
zonedata 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 stop point or a fly-by point.
A stop point means that the robot and external axes must reach the specified position (stand
still) before program execution continues with the next instruction. It is also possible to define
stop points other than the predefined fine . The stop criteria, that tells if the robot is
considered to have reached the point, can be manipulated using the stoppointdata .
A fly-by point means that the programmed position is never attained. Instead, the direction of
motion is changed before the position is reached. Two different zones (ranges) can be defined
for each position:
•
The zone for the TCP path.
•
The extended zone for reorientation of the tool and for external axes.
xx0500002357
Zones function is the same during joint movement, but the zone size may differ somewhat
from the one programmed.
The zone size cannot be larger than half the distance to the closest position (forwards or
backwards). If a larger zone is specified, the robot automatically reduces it.
The zone for the TCP path
A corner path (parabola) is generated as soon as the edge of the zone is reached (see figure
above).
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Limitations
A wztemporary data can be defined as a variable (VAR) or as a persistent (PERS). It can be
global in a task or local within a module, but not local within a routine.
Arguments of the type wztemporary must only be entire data, not an array element or record
component.
A temporary world zone must only be defined ( WZLimSup or WZDOSet ) and free ( WZFree )
in the motion task. Definitions of temporary world zones in any background is not allowed
because it would affect the program execution in the connected motion task. The instructions
WZDisable and WZEnable can be used in the background task. When there is a need to use
a persistent variable in a multi-tasking system, set the init value to 0 in both tasks, e.g. PERS
wztemporary share_workarea := [0];
More examples
For a complete example see instruction WZDOSet .
Structure
< dataobject of wztemporary >
< wz of num >
Related information
For information about
See
World Zones
Technical reference manual - RAPID overview ,
section Motion and I/O principles - World zones
World zone shape
shapedata - World zone shape data on page 1179
Stationary world zone
wzstationary - Stationary world zone data on page
1228
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
Deactivate world zone
WZDisable - Deactivate temporary world zone
supervision on page 736
Activate world zone
WZEnable - Activate temporary world zone
supervision on page 742
Erase world zone
WZFree - Erase temporary world zone supervision
on page 744
Continued
3 Data types
3.78. zonedata - Zone data
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3.78. zonedata - Zone data
Usage
zonedata 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 stop point or a fly-by point.
A stop point means that the robot and external axes must reach the specified position (stand
still) before program execution continues with the next instruction. It is also possible to define
stop points other than the predefined fine . The stop criteria, that tells if the robot is
considered to have reached the point, can be manipulated using the stoppointdata .
A fly-by point means that the programmed position is never attained. Instead, the direction of
motion is changed before the position is reached. Two different zones (ranges) can be defined
for each position:
•
The zone for the TCP path.
•
The extended zone for reorientation of the tool and for external axes.
xx0500002357
Zones function is the same during joint movement, but the zone size may differ somewhat
from the one programmed.
The zone size cannot be larger than half the distance to the closest position (forwards or
backwards). If a larger zone is specified, the robot automatically reduces it.
The zone for the TCP path
A corner path (parabola) is generated as soon as the edge of the zone is reached (see figure
above).
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3.78. zonedata - Zone data
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The zone for reorientation of the tool
Reorientation starts as soon as the TCP reaches the extended zone. The tool is reoriented in
such a way that the orientation is the same leaving the zone as it would have been in the same
position if stop points had been programmed. Reorientation will be smoother if the zone size
is increased, and there is less of a risk of having to reduce the velocity to carry out the
reorientation.
The following figure shows three programmed positions, the last with different tool
orientation.
xx0500002358
The following figure shows what program execution would look like if all positions were stop
points.
xx0500002359
The following figure shows what program execution would look like if the middle position
was a fly-by point.
xx0500002360
The zone for external axes
External axes start to move towards the next position as soon as the TCP reaches the extended
zone. In this way, a slow axis can start accelerating at an earlier stage and thus execute more
smoothly.
Continued
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3.78. zonedata - Zone data
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3.78. zonedata - Zone data
Usage
zonedata 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 stop point or a fly-by point.
A stop point means that the robot and external axes must reach the specified position (stand
still) before program execution continues with the next instruction. It is also possible to define
stop points other than the predefined fine . The stop criteria, that tells if the robot is
considered to have reached the point, can be manipulated using the stoppointdata .
A fly-by point means that the programmed position is never attained. Instead, the direction of
motion is changed before the position is reached. Two different zones (ranges) can be defined
for each position:
•
The zone for the TCP path.
•
The extended zone for reorientation of the tool and for external axes.
xx0500002357
Zones function is the same during joint movement, but the zone size may differ somewhat
from the one programmed.
The zone size cannot be larger than half the distance to the closest position (forwards or
backwards). If a larger zone is specified, the robot automatically reduces it.
The zone for the TCP path
A corner path (parabola) is generated as soon as the edge of the zone is reached (see figure
above).
Continues on next page
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3.78. zonedata - Zone data
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The zone for reorientation of the tool
Reorientation starts as soon as the TCP reaches the extended zone. The tool is reoriented in
such a way that the orientation is the same leaving the zone as it would have been in the same
position if stop points had been programmed. Reorientation will be smoother if the zone size
is increased, and there is less of a risk of having to reduce the velocity to carry out the
reorientation.
The following figure shows three programmed positions, the last with different tool
orientation.
xx0500002358
The following figure shows what program execution would look like if all positions were stop
points.
xx0500002359
The following figure shows what program execution would look like if the middle position
was a fly-by point.
xx0500002360
The zone for external axes
External axes start to move towards the next position as soon as the TCP reaches the extended
zone. In this way, a slow axis can start accelerating at an earlier stage and thus execute more
smoothly.
Continued
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3.78. zonedata - Zone data
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Reduced zone
With large reorientations of the tool or with large movements of the external axes, the
extended zone and even the TCP zone can be reduced by the robot. The zone will be defined
as the smallest relative size of the zone based upon the zone components (see Components on
page 1235 ) and the programmed motion.
The following figure shows an example of reduced zone for reorientation of the tool to 36%
of the motion due to zone_ori.
xx0500002362
The following figure shows an example of reduced zone for reorientation of the tool and TCP
path to 15% of the motion due to zone_ori.
xx0500002363
When external axes are active they affect the relative sizes of the zone according to these
formulas:
xx0500002364
Continued
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The zone for reorientation of the tool
Reorientation starts as soon as the TCP reaches the extended zone. The tool is reoriented in
such a way that the orientation is the same leaving the zone as it would have been in the same
position if stop points had been programmed. Reorientation will be smoother if the zone size
is increased, and there is less of a risk of having to reduce the velocity to carry out the
reorientation.
The following figure shows three programmed positions, the last with different tool
orientation.
xx0500002358
The following figure shows what program execution would look like if all positions were stop
points.
xx0500002359
The following figure shows what program execution would look like if the middle position
was a fly-by point.
xx0500002360
The zone for external axes
External axes start to move towards the next position as soon as the TCP reaches the extended
zone. In this way, a slow axis can start accelerating at an earlier stage and thus execute more
smoothly.
Continued
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3.78. zonedata - Zone data
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Reduced zone
With large reorientations of the tool or with large movements of the external axes, the
extended zone and even the TCP zone can be reduced by the robot. The zone will be defined
as the smallest relative size of the zone based upon the zone components (see Components on
page 1235 ) and the programmed motion.
The following figure shows an example of reduced zone for reorientation of the tool to 36%
of the motion due to zone_ori.
xx0500002362
The following figure shows an example of reduced zone for reorientation of the tool and TCP
path to 15% of the motion due to zone_ori.
xx0500002363
When external axes are active they affect the relative sizes of the zone according to these
formulas:
xx0500002364
Continued
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3.78. zonedata - Zone data
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NOTE!
If the TCP zone is reduced because of zone_ori , zone_leax or zone_reax , the path
planner enters a mode that can handle the case of no TCP movement. If there is a TCP
movement when in this mode, the speed is not compensated for the curvature of the path in a
corner zone. For instance, this will cause a 30% speed reduction in a 90 degree corner. If this
is a problem, increase the limiting zone component.
Components
finep
fine point
Data type: bool
Defines whether the movement is to terminate as a stop point ( fine point) or as a fly-by
point.
•
TRUE: The movement terminates as a stop point, and the program execution will not
continue until robot reach the stop point. The remaining components in the zone data
are not used.
•
FALSE: The movement terminates as a fly-by point, and the program execution
continues about 100 ms before the robot reaches the zone.
pzone_tcp
path zone TCP
Data type: num
The size (the radius) of the TCP zone in mm.
The extended zone will be defined as the smallest relative size of the zone based upon the
following components pzone_ori...zone_reax and the programmed motion.
pzone_ori
path zone orientation
Data type: num
The zone size (the radius) for the tool reorientation. The size is defined as the distance of the
TCP from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
pzone_eax
path zone external axes
Data type: num
The zone size (the radius) for external axes. The size is defined as the distance of the TCP
from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
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3.78. zonedata - Zone data
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Reduced zone
With large reorientations of the tool or with large movements of the external axes, the
extended zone and even the TCP zone can be reduced by the robot. The zone will be defined
as the smallest relative size of the zone based upon the zone components (see Components on
page 1235 ) and the programmed motion.
The following figure shows an example of reduced zone for reorientation of the tool to 36%
of the motion due to zone_ori.
xx0500002362
The following figure shows an example of reduced zone for reorientation of the tool and TCP
path to 15% of the motion due to zone_ori.
xx0500002363
When external axes are active they affect the relative sizes of the zone according to these
formulas:
xx0500002364
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3.78. zonedata - Zone data
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NOTE!
If the TCP zone is reduced because of zone_ori , zone_leax or zone_reax , the path
planner enters a mode that can handle the case of no TCP movement. If there is a TCP
movement when in this mode, the speed is not compensated for the curvature of the path in a
corner zone. For instance, this will cause a 30% speed reduction in a 90 degree corner. If this
is a problem, increase the limiting zone component.
Components
finep
fine point
Data type: bool
Defines whether the movement is to terminate as a stop point ( fine point) or as a fly-by
point.
•
TRUE: The movement terminates as a stop point, and the program execution will not
continue until robot reach the stop point. The remaining components in the zone data
are not used.
•
FALSE: The movement terminates as a fly-by point, and the program execution
continues about 100 ms before the robot reaches the zone.
pzone_tcp
path zone TCP
Data type: num
The size (the radius) of the TCP zone in mm.
The extended zone will be defined as the smallest relative size of the zone based upon the
following components pzone_ori...zone_reax and the programmed motion.
pzone_ori
path zone orientation
Data type: num
The zone size (the radius) for the tool reorientation. The size is defined as the distance of the
TCP from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
pzone_eax
path zone external axes
Data type: num
The zone size (the radius) for external axes. The size is defined as the distance of the TCP
from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
Continued
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3.78. zonedata - Zone data
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zone_ori
zone orientation
Data type: num
The zone size for the tool reorientation in degrees. If the robot is holding the work object, this
means an angle of rotation for the work object.
zone_leax
zone linear external axes
Data type: num
The zone size for linear external axes in mm.
zone_reax
zone rotational external axes
Data type: num
The zone size for rotating external axes in degrees.
Basic examples
Basic examples of the data type zonedata are illustrated below.
Example 1
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];
The zone data path is defined by means of the following characteristics:
•
The zone size for the TCP path is 25 mm.
•
The zone size for the tool reorientation is 40 mm (TCP movement).
•
The zone size for external axes is 40 mm (TCP movement).
If the TCP is standing still, or there is a large reorientation, or there is a large external axis
movement with respect to the zone, the following apply instead:
•
The zone size for the tool reorientation is 10 degrees.
•
The zone size for linear external axes is 35 mm.
•
The zone size for rotating external axes is 5 degrees.
path.pzone_tcp := 40;
The zone size for the TCP path is adjusted to 40 mm.
Predefined data
A number of zone data are already defined in the system module BASE_SHARED .
Stop points
Use zonedata named fine .
Fly-by points
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
z0
0.3 mm
0.3 mm
0.3 mm
0.03°
0.3 mm
0.03°
z1
1 mm
1 mm
1 mm
0.1°
1 mm
0.1°
z5
5 mm
8 mm
8 mm
0.8°
8 mm
0.8°
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3.78. zonedata - Zone data
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NOTE!
If the TCP zone is reduced because of zone_ori , zone_leax or zone_reax , the path
planner enters a mode that can handle the case of no TCP movement. If there is a TCP
movement when in this mode, the speed is not compensated for the curvature of the path in a
corner zone. For instance, this will cause a 30% speed reduction in a 90 degree corner. If this
is a problem, increase the limiting zone component.
Components
finep
fine point
Data type: bool
Defines whether the movement is to terminate as a stop point ( fine point) or as a fly-by
point.
•
TRUE: The movement terminates as a stop point, and the program execution will not
continue until robot reach the stop point. The remaining components in the zone data
are not used.
•
FALSE: The movement terminates as a fly-by point, and the program execution
continues about 100 ms before the robot reaches the zone.
pzone_tcp
path zone TCP
Data type: num
The size (the radius) of the TCP zone in mm.
The extended zone will be defined as the smallest relative size of the zone based upon the
following components pzone_ori...zone_reax and the programmed motion.
pzone_ori
path zone orientation
Data type: num
The zone size (the radius) for the tool reorientation. The size is defined as the distance of the
TCP from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
pzone_eax
path zone external axes
Data type: num
The zone size (the radius) for external axes. The size is defined as the distance of the TCP
from the programmed point in mm.
The size must be larger than the corresponding value for pzone_tcp . If a lower value is
specified, the size is automatically increased to make it the same as pzone_tcp .
Continued
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3.78. zonedata - Zone data
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zone_ori
zone orientation
Data type: num
The zone size for the tool reorientation in degrees. If the robot is holding the work object, this
means an angle of rotation for the work object.
zone_leax
zone linear external axes
Data type: num
The zone size for linear external axes in mm.
zone_reax
zone rotational external axes
Data type: num
The zone size for rotating external axes in degrees.
Basic examples
Basic examples of the data type zonedata are illustrated below.
Example 1
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];
The zone data path is defined by means of the following characteristics:
•
The zone size for the TCP path is 25 mm.
•
The zone size for the tool reorientation is 40 mm (TCP movement).
•
The zone size for external axes is 40 mm (TCP movement).
If the TCP is standing still, or there is a large reorientation, or there is a large external axis
movement with respect to the zone, the following apply instead:
•
The zone size for the tool reorientation is 10 degrees.
•
The zone size for linear external axes is 35 mm.
•
The zone size for rotating external axes is 5 degrees.
path.pzone_tcp := 40;
The zone size for the TCP path is adjusted to 40 mm.
Predefined data
A number of zone data are already defined in the system module BASE_SHARED .
Stop points
Use zonedata named fine .
Fly-by points
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
z0
0.3 mm
0.3 mm
0.3 mm
0.03°
0.3 mm
0.03°
z1
1 mm
1 mm
1 mm
0.1°
1 mm
0.1°
z5
5 mm
8 mm
8 mm
0.8°
8 mm
0.8°
Continued
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3.78. zonedata - Zone data
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Structure
< data object of zonedata >
< finep of bool >
< pzone_tcp of num >
< pzone_ori of num >
< pzone_eax of num >
< zone_ori of num >
< zone_leax of num >
< zone_reax of num >
Related information
z10
10 mm
15 mm
15 mm
1.5°
15 mm
1.5°
z15
15 mm
23 mm
23 mm
2.3°
23 mm
2.3°
z20
20 mm
30 mm
30 mm
3.0°
30 mm
3.0°
z30
30 mm
45 mm
45 mm
4.5°
45 mm
4.5°
z40
40 mm
60 mm
60 mm
6.0°
60 mm
6.0°
z50
50 mm
75 mm
75 mm
7.5°
75 mm
7.5°
z60
60 mm
90 mm
90 mm
9.0°
90 mm
9.0°
z80
80 mm
120 mm
120 mm
12°
120 mm
12°
z100
100 mm
150 mm
150 mm
15°
150 mm
15°
z150
150 mm
225 mm
225 mm
23°
225 mm
23°
z200
200 mm
300 mm
300 mm
30°
300 mm
30°
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
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
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Other Stop points
stoppointdata - Stop point data on page 1189
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zone_ori
zone orientation
Data type: num
The zone size for the tool reorientation in degrees. If the robot is holding the work object, this
means an angle of rotation for the work object.
zone_leax
zone linear external axes
Data type: num
The zone size for linear external axes in mm.
zone_reax
zone rotational external axes
Data type: num
The zone size for rotating external axes in degrees.
Basic examples
Basic examples of the data type zonedata are illustrated below.
Example 1
VAR zonedata path := [ FALSE, 25, 40, 40, 10, 35, 5 ];
The zone data path is defined by means of the following characteristics:
•
The zone size for the TCP path is 25 mm.
•
The zone size for the tool reorientation is 40 mm (TCP movement).
•
The zone size for external axes is 40 mm (TCP movement).
If the TCP is standing still, or there is a large reorientation, or there is a large external axis
movement with respect to the zone, the following apply instead:
•
The zone size for the tool reorientation is 10 degrees.
•
The zone size for linear external axes is 35 mm.
•
The zone size for rotating external axes is 5 degrees.
path.pzone_tcp := 40;
The zone size for the TCP path is adjusted to 40 mm.
Predefined data
A number of zone data are already defined in the system module BASE_SHARED .
Stop points
Use zonedata named fine .
Fly-by points
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
z0
0.3 mm
0.3 mm
0.3 mm
0.03°
0.3 mm
0.03°
z1
1 mm
1 mm
1 mm
0.1°
1 mm
0.1°
z5
5 mm
8 mm
8 mm
0.8°
8 mm
0.8°
Continued
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3.78. zonedata - Zone data
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Structure
< data object of zonedata >
< finep of bool >
< pzone_tcp of num >
< pzone_ori of num >
< pzone_eax of num >
< zone_ori of num >
< zone_leax of num >
< zone_reax of num >
Related information
z10
10 mm
15 mm
15 mm
1.5°
15 mm
1.5°
z15
15 mm
23 mm
23 mm
2.3°
23 mm
2.3°
z20
20 mm
30 mm
30 mm
3.0°
30 mm
3.0°
z30
30 mm
45 mm
45 mm
4.5°
45 mm
4.5°
z40
40 mm
60 mm
60 mm
6.0°
60 mm
6.0°
z50
50 mm
75 mm
75 mm
7.5°
75 mm
7.5°
z60
60 mm
90 mm
90 mm
9.0°
90 mm
9.0°
z80
80 mm
120 mm
120 mm
12°
120 mm
12°
z100
100 mm
150 mm
150 mm
15°
150 mm
15°
z150
150 mm
225 mm
225 mm
23°
225 mm
23°
z200
200 mm
300 mm
300 mm
30°
300 mm
30°
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
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
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Other Stop points
stoppointdata - Stop point data on page 1189
Continued
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Structure
< data object of zonedata >
< finep of bool >
< pzone_tcp of num >
< pzone_ori of num >
< pzone_eax of num >
< zone_ori of num >
< zone_leax of num >
< zone_reax of num >
Related information
z10
10 mm
15 mm
15 mm
1.5°
15 mm
1.5°
z15
15 mm
23 mm
23 mm
2.3°
23 mm
2.3°
z20
20 mm
30 mm
30 mm
3.0°
30 mm
3.0°
z30
30 mm
45 mm
45 mm
4.5°
45 mm
4.5°
z40
40 mm
60 mm
60 mm
6.0°
60 mm
6.0°
z50
50 mm
75 mm
75 mm
7.5°
75 mm
7.5°
z60
60 mm
90 mm
90 mm
9.0°
90 mm
9.0°
z80
80 mm
120 mm
120 mm
12°
120 mm
12°
z100
100 mm
150 mm
150 mm
15°
150 mm
15°
z150
150 mm
225 mm
225 mm
23°
225 mm
23°
z200
200 mm
300 mm
300 mm
30°
300 mm
30°
Path zone
Zone
Name
TCP path
Orientation Ext. axis
Orientation Linear
axis
Rotating
axis
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
Configuration of external axes
Application manual - Additional axes and stand
alone controller
Other Stop points
stoppointdata - Stop point data on page 1189
Continued
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3.78. zonedata - Zone data
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4 Programming type examples
4.1. ERROR handler with movements
Path Recovery
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4 Programming type examples
4.1. ERROR handler with movements
Usage
These type examples describe how to use move instructions in an ERROR handler after an
asynchronously raised process or movement error has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The ERROR handler can start a new temporary movement and finally restart the original
interrupted and stopped movement. For example, it can be used to go to a service position or
to clean the gun after an asynchronously raised process or movement error has occurred.
To reach this functionality, the instructions StorePath - RestoPath must be used in the
ERROR handler. To restart the movement and continue the program execution, several RAPID
instructions are available.
Type examples
Type examples of the functionality are illustrated below.
Principle
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
At execution of StartMoveRetry the robot resumes its movement, any active process is
restarted and the program retries its execution. StartMoveRetry does the same as
StartMove plus RETRY in one indivisible operation.
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4 Programming type examples
4.1. ERROR handler with movements
Path Recovery
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© Copyright 2004-2010 ABB. All rights reserved.
4 Programming type examples
4.1. ERROR handler with movements
Usage
These type examples describe how to use move instructions in an ERROR handler after an
asynchronously raised process or movement error has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The ERROR handler can start a new temporary movement and finally restart the original
interrupted and stopped movement. For example, it can be used to go to a service position or
to clean the gun after an asynchronously raised process or movement error has occurred.
To reach this functionality, the instructions StorePath - RestoPath must be used in the
ERROR handler. To restart the movement and continue the program execution, several RAPID
instructions are available.
Type examples
Type examples of the functionality are illustrated below.
Principle
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
At execution of StartMoveRetry the robot resumes its movement, any active process is
restarted and the program retries its execution. StartMoveRetry does the same as
StartMove plus RETRY in one indivisible operation.
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4.1. ERROR handler with movements
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Automatic restart of execution
CONST robtarget service_pos := [...];
VAR robtarget stop_pos;
...
ERROR
IF ERRNO = AW_WELD_ERR THEN
! Current movement on motion base path level
! is already stopped.
! New motion path level for new movements in the ERROR handler
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1);
! Do the work to fix the problem
MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1;
...
! Move back to the position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the stopped movements on motion base path level,
! restart the process and retry program execution
StartMoveRetry;
ENDIF
ENDPROC
This is a type example of how to use automatic asynchronously error recovery after some type
of process error during robot movements.
Manual restart of execution
...
ERROR
IF ERRNO = PROC_ERR_XXX THEN
! Current movement on motion base path level
! is already stopped and in stop move state.
! This error must be handle manually.
! Reset the stop move state on motion base path level.
StopMoveReset;
ENDIF
ENDPROC
This is a type example of how to use manual handling of asynchronously error recovery after
some type of process error during robot movements.
After the above ERROR handler has executed to the end, the program execution stops and the
program pointer is at the beginning of the instruction with the process error (also at beginning
of any used NOSTEPIN routine). The next program start restarts the program and movement
from the position in which the original process error ocurred.
Continued
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4.1. ERROR handler with movements
Path Recovery
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© Copyright 2004-2010 ABB. All rights reserved.
4 Programming type examples
4.1. ERROR handler with movements
Usage
These type examples describe how to use move instructions in an ERROR handler after an
asynchronously raised process or movement error has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The ERROR handler can start a new temporary movement and finally restart the original
interrupted and stopped movement. For example, it can be used to go to a service position or
to clean the gun after an asynchronously raised process or movement error has occurred.
To reach this functionality, the instructions StorePath - RestoPath must be used in the
ERROR handler. To restart the movement and continue the program execution, several RAPID
instructions are available.
Type examples
Type examples of the functionality are illustrated below.
Principle
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
At execution of StartMoveRetry the robot resumes its movement, any active process is
restarted and the program retries its execution. StartMoveRetry does the same as
StartMove plus RETRY in one indivisible operation.
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4.1. ERROR handler with movements
Path Recovery
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Automatic restart of execution
CONST robtarget service_pos := [...];
VAR robtarget stop_pos;
...
ERROR
IF ERRNO = AW_WELD_ERR THEN
! Current movement on motion base path level
! is already stopped.
! New motion path level for new movements in the ERROR handler
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1);
! Do the work to fix the problem
MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1;
...
! Move back to the position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the stopped movements on motion base path level,
! restart the process and retry program execution
StartMoveRetry;
ENDIF
ENDPROC
This is a type example of how to use automatic asynchronously error recovery after some type
of process error during robot movements.
Manual restart of execution
...
ERROR
IF ERRNO = PROC_ERR_XXX THEN
! Current movement on motion base path level
! is already stopped and in stop move state.
! This error must be handle manually.
! Reset the stop move state on motion base path level.
StopMoveReset;
ENDIF
ENDPROC
This is a type example of how to use manual handling of asynchronously error recovery after
some type of process error during robot movements.
After the above ERROR handler has executed to the end, the program execution stops and the
program pointer is at the beginning of the instruction with the process error (also at beginning
of any used NOSTEPIN routine). The next program start restarts the program and movement
from the position in which the original process error ocurred.
Continued
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Path Recovery
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Program execution
Execution behavior:
•
At start execution of the ERROR handler, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of StartMoveRetry , the program returns to its base execution level
Limitations
The following RAPID instructions must be used in the ERROR handler with move instructions
to get it working for automatically error recovery after an asynchronously raised process or
path error:
The following RAPID instruction must be used in the ERROR handler to get it working for
manually error recovery after an asynchronously raised process or path error:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove Retry
Restart the interrupted movements on the motion base path
level. Also restart the process and retry the program execution.
Same functionality as StartMove + RETRY .
Instruction
Description
StopMoveReset
Enter new motion path level
For information about
See
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement, process
and retry program execution.
StartMoveRetry - Restarts robot movement
and execution on page 489
Continued
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Automatic restart of execution
CONST robtarget service_pos := [...];
VAR robtarget stop_pos;
...
ERROR
IF ERRNO = AW_WELD_ERR THEN
! Current movement on motion base path level
! is already stopped.
! New motion path level for new movements in the ERROR handler
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1);
! Do the work to fix the problem
MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1;
...
! Move back to the position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the stopped movements on motion base path level,
! restart the process and retry program execution
StartMoveRetry;
ENDIF
ENDPROC
This is a type example of how to use automatic asynchronously error recovery after some type
of process error during robot movements.
Manual restart of execution
...
ERROR
IF ERRNO = PROC_ERR_XXX THEN
! Current movement on motion base path level
! is already stopped and in stop move state.
! This error must be handle manually.
! Reset the stop move state on motion base path level.
StopMoveReset;
ENDIF
ENDPROC
This is a type example of how to use manual handling of asynchronously error recovery after
some type of process error during robot movements.
After the above ERROR handler has executed to the end, the program execution stops and the
program pointer is at the beginning of the instruction with the process error (also at beginning
of any used NOSTEPIN routine). The next program start restarts the program and movement
from the position in which the original process error ocurred.
Continued
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Program execution
Execution behavior:
•
At start execution of the ERROR handler, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of StartMoveRetry , the program returns to its base execution level
Limitations
The following RAPID instructions must be used in the ERROR handler with move instructions
to get it working for automatically error recovery after an asynchronously raised process or
path error:
The following RAPID instruction must be used in the ERROR handler to get it working for
manually error recovery after an asynchronously raised process or path error:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove Retry
Restart the interrupted movements on the motion base path
level. Also restart the process and retry the program execution.
Same functionality as StartMove + RETRY .
Instruction
Description
StopMoveReset
Enter new motion path level
For information about
See
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement, process
and retry program execution.
StartMoveRetry - Restarts robot movement
and execution on page 489
Continued
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4.2. Service routines with or without movements
Path recovery
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4.2. Service routines with or without movements
Usage
These type examples describe how to use move instructions in a service routine. Same
principle about StopMove , StartMove and StopMoveReset are also valid for service
routines without movements (only logical instructions).
Both service routines or other routines (procedures) without parameters can be started
manually and perform movements according to these type examples.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The service routine can start a new temporary movement and, at later program start, restart
the original movement. For example, it can be used to go to a service position or manually
start cleaning the gun.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the service routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted upon a manually "stop program-restart program" sequence during execution of the
service routine.
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Path Recovery
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Program execution
Execution behavior:
•
At start execution of the ERROR handler, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of StartMoveRetry , the program returns to its base execution level
Limitations
The following RAPID instructions must be used in the ERROR handler with move instructions
to get it working for automatically error recovery after an asynchronously raised process or
path error:
The following RAPID instruction must be used in the ERROR handler to get it working for
manually error recovery after an asynchronously raised process or path error:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove Retry
Restart the interrupted movements on the motion base path
level. Also restart the process and retry the program execution.
Same functionality as StartMove + RETRY .
Instruction
Description
StopMoveReset
Enter new motion path level
For information about
See
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement, process
and retry program execution.
StartMoveRetry - Restarts robot movement
and execution on page 489
Continued
4 Programming type examples
4.2. Service routines with or without movements
Path recovery
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4.2. Service routines with or without movements
Usage
These type examples describe how to use move instructions in a service routine. Same
principle about StopMove , StartMove and StopMoveReset are also valid for service
routines without movements (only logical instructions).
Both service routines or other routines (procedures) without parameters can be started
manually and perform movements according to these type examples.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The service routine can start a new temporary movement and, at later program start, restart
the original movement. For example, it can be used to go to a service position or manually
start cleaning the gun.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the service routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted upon a manually "stop program-restart program" sequence during execution of the
service routine.
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! must not be restarted in the service routine.
StopMove;
! New motion path level for new movements in the service routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine start and end at the position on the
path where the program was stopped.
Also note that the tool and work object used are known at the time of programming.
Continued
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Path recovery
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4.2. Service routines with or without movements
Usage
These type examples describe how to use move instructions in a service routine. Same
principle about StopMove , StartMove and StopMoveReset are also valid for service
routines without movements (only logical instructions).
Both service routines or other routines (procedures) without parameters can be started
manually and perform movements according to these type examples.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The service routine can start a new temporary movement and, at later program start, restart
the original movement. For example, it can be used to go to a service position or manually
start cleaning the gun.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the service routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted upon a manually "stop program-restart program" sequence during execution of the
service routine.
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! must not be restarted in the service routine.
StopMove;
! New motion path level for new movements in the service routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine start and end at the position on the
path where the program was stopped.
Also note that the tool and work object used are known at the time of programming.
Continued
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Path recovery
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the service routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for any new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine continue to and end at the ToPoint
in the interrupted move instructions before the instruction StorePath is ready.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the service routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! must not be restarted in the service routine.
StopMove;
! New motion path level for new movements in the service routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine start and end at the position on the
path where the program was stopped.
Also note that the tool and work object used are known at the time of programming.
Continued
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Path recovery
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the service routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for any new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine continue to and end at the ToPoint
in the interrupted move instructions before the instruction StorePath is ready.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the service routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Limitations
The following RAPID instructions must be used in the service routine with move instructions
to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted
movement on the motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the service routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for any new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the service routine continue to and end at the ToPoint
in the interrupted move instructions before the instruction StorePath is ready.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the service routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Path recovery
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Limitations
The following RAPID instructions must be used in the service routine with move instructions
to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted
movement on the motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
4 Programming type examples
4.3. System I/O interrupts with or without movements
Path recovery
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4.3. System I/O interrupts with or without movements
Usage
These type examples describe how to use move instructions in a system I/O interrupt routine.
Same principle about StopMove , StartMove and StopMoveReset are also valid for
system I/O interrupts without movements (only logical instructions).
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The system I/O interrupt routine can start a new temporary movement and, at later program
start, restart the original movement. For example, it can be used to go to a service position or
to clean the gun when an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the system I/O interrupt routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted at start of the I/O interrupt routine.
Without StopMove or with StartMove instead the movement in the I/O interrupt routine
will continue at once and end at the ToPoint in the interrupted move instruction.
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Limitations
The following RAPID instructions must be used in the service routine with move instructions
to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted
movement on the motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
4 Programming type examples
4.3. System I/O interrupts with or without movements
Path recovery
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4.3. System I/O interrupts with or without movements
Usage
These type examples describe how to use move instructions in a system I/O interrupt routine.
Same principle about StopMove , StartMove and StopMoveReset are also valid for
system I/O interrupts without movements (only logical instructions).
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The system I/O interrupt routine can start a new temporary movement and, at later program
start, restart the original movement. For example, it can be used to go to a service position or
to clean the gun when an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the system I/O interrupt routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted at start of the I/O interrupt routine.
Without StopMove or with StartMove instead the movement in the I/O interrupt routine
will continue at once and end at the ToPoint in the interrupted move instruction.
Continues on next page
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4.3. System I/O interrupts with or without movements
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! isn’t restarted in the system I/O routine.
StopMove \Quick;
! New motion path level for new movements in the system
! I/O routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the interrupted movements are stopped at once and are restarted at
program start after the system I/O interrupt routine is finished.
Also note that the tool and work object used are known at the time of programming.
Continued
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4.3. System I/O interrupts with or without movements
Path recovery
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4.3. System I/O interrupts with or without movements
Usage
These type examples describe how to use move instructions in a system I/O interrupt routine.
Same principle about StopMove , StartMove and StopMoveReset are also valid for
system I/O interrupts without movements (only logical instructions).
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks in independent or semi-coordinated mode.
Description
The system I/O interrupt routine can start a new temporary movement and, at later program
start, restart the original movement. For example, it can be used to go to a service position or
to clean the gun when an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StopMoveReset
must be used in the system I/O interrupt routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
PROC xxxx()
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StopMoveReset;
ENDPROC
StopMove is required in order to make sure that the originally stopped movement is not
restarted at start of the I/O interrupt routine.
Without StopMove or with StartMove instead the movement in the I/O interrupt routine
will continue at once and end at the ToPoint in the interrupted move instruction.
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! isn’t restarted in the system I/O routine.
StopMove \Quick;
! New motion path level for new movements in the system
! I/O routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the interrupted movements are stopped at once and are restarted at
program start after the system I/O interrupt routine is finished.
Also note that the tool and work object used are known at the time of programming.
Continued
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the system
! I/O routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the system I/O routine continue at once, and end at the
ToPoint in the interrupted move instructions.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the system I/O routine, the program leaves its base execution
level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Stop on path
VAR robtarget service_pos := [...];
...
PROC proc_stop_on_path()
VAR robtarget stop_pos;
! Current stopped movements on motion base path level
! isn’t restarted in the system I/O routine.
StopMove \Quick;
! New motion path level for new movements in the system
! I/O routine.
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for the interrupted movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the interrupted movements are stopped at once and are restarted at
program start after the system I/O interrupt routine is finished.
Also note that the tool and work object used are known at the time of programming.
Continued
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the system
! I/O routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the system I/O routine continue at once, and end at the
ToPoint in the interrupted move instructions.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the system I/O routine, the program leaves its base execution
level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Limitations
The following RAPID instructions must be used in the system IO routine with move
instructions to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted movement on the
motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StartMove - Restarts robot movement on
page 486
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
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Stop in next stop point
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
PROC proc_stop_in_stop_point()
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
StartMove;
! New motion path level for new movements in the system
! I/O routine
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Reset the stop move state for new movement
! on motion base path level
StopMoveReset;
ENDPROC
In this type example the movements in the system I/O routine continue at once, and end at the
ToPoint in the interrupted move instructions.
Also note that the tool and work object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the system I/O routine, the program leaves its base execution
level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDPROC , the program returns to its base execution level
Continued
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Limitations
The following RAPID instructions must be used in the system IO routine with move
instructions to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted movement on the
motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StartMove - Restarts robot movement on
page 486
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
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4.4. TRAP routines with movements
Usage
These type examples describe how to use move instructions in a TRAP routine after an
interrupt has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The TRAP routine can start a new temporary movement and finally restart the original
movement. For example, it can be used to go to a service position or to clean the gun when
an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StartMove must
be used in the TRAP routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
TRAP xxxx
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMove;
ENDTRAP
If StopMove is used, the movement stops at once on the on-going path; otherwise, the
movement continues to the ToPoint in the actual move instruction.
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Limitations
The following RAPID instructions must be used in the system IO routine with move
instructions to get it working:
Related information
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StopMoveReset
Reset the stop move state for the interrupted movement on the
motion base path level
For information about
See
No restart of the already stopped movement
on the motion base path level
StopMove - Stops robot movement on page
515
Restart of the already stopped movement on
the motion base path level
StartMove - Restarts robot movement on
page 486
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
Reset the stop move state for the interrupted
movement on the motion base path level
StopMoveReset - Reset the system stop
move state on page 519
Continued
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4.4. TRAP routines with movements
Usage
These type examples describe how to use move instructions in a TRAP routine after an
interrupt has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The TRAP routine can start a new temporary movement and finally restart the original
movement. For example, it can be used to go to a service position or to clean the gun when
an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StartMove must
be used in the TRAP routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
TRAP xxxx
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMove;
ENDTRAP
If StopMove is used, the movement stops at once on the on-going path; otherwise, the
movement continues to the ToPoint in the actual move instruction.
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Stop in next stop point
VAR robtarget service_pos := [...];
...
TRAP trap_in_stop_point
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
! New motion path level for new movements in the TRAP
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the ToPoint in the
interrupted move instructions. Also note that the tool and work object are known at the time
of programming.
Continued
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4.4. TRAP routines with movements
Usage
These type examples describe how to use move instructions in a TRAP routine after an
interrupt has occurred.
This functionality can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
The TRAP routine can start a new temporary movement and finally restart the original
movement. For example, it can be used to go to a service position or to clean the gun when
an interrupt occurs.
To reach this functionality the instructions StorePath - RestoPath and StartMove must
be used in the TRAP routine.
Type examples
Type examples of the functionality are illustrated below.
Principle
TRAP xxxx
StopMove;
StorePath;
! Move away and back to the interrupted position
...
RestoPath;
StartMove;
ENDTRAP
If StopMove is used, the movement stops at once on the on-going path; otherwise, the
movement continues to the ToPoint in the actual move instruction.
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Stop in next stop point
VAR robtarget service_pos := [...];
...
TRAP trap_in_stop_point
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
! New motion path level for new movements in the TRAP
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the ToPoint in the
interrupted move instructions. Also note that the tool and work object are known at the time
of programming.
Continued
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Stop on path at once
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
TRAP trap_stop_at_once
VAR robtarget stop_pos;
! Current move instruction on motion base path level stops
! at once
StopMove;
! New motion path level for new movements in the TRAP
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the position on the
path where the interrupted move instruction was stopped. Also note that the tool and work
object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the TRAP routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDTRAP , the program returns to its base execution level
Limitations
Following RAPID instructions must be used in the TRAP routine with move instructions to get
it working:
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove
Restart the interrupted movements on the motion base path
level
Continued
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Stop in next stop point
VAR robtarget service_pos := [...];
...
TRAP trap_in_stop_point
VAR robtarget stop_pos;
! Current move instruction on motion base path level continue
! to it’s ToPoint and will be finished in a stop point.
! New motion path level for new movements in the TRAP
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1 \WObj:=wobj1);
! Do the work
MoveJ service_pos, v50, fine, tool1 \WObj:=wobj1;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the ToPoint in the
interrupted move instructions. Also note that the tool and work object are known at the time
of programming.
Continued
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Stop on path at once
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
TRAP trap_stop_at_once
VAR robtarget stop_pos;
! Current move instruction on motion base path level stops
! at once
StopMove;
! New motion path level for new movements in the TRAP
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the position on the
path where the interrupted move instruction was stopped. Also note that the tool and work
object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the TRAP routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDTRAP , the program returns to its base execution level
Limitations
Following RAPID instructions must be used in the TRAP routine with move instructions to get
it working:
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove
Restart the interrupted movements on the motion base path
level
Continued
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Related information
For information about
See
To stop the current movement at once
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement
StartMove - Restarts robot movement on
page 486
Continued
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Stop on path at once
TASK PERS tooldata used_tool := [...];
TASK PERS wobjdata used_wobj := [...];
...
TRAP trap_stop_at_once
VAR robtarget stop_pos;
! Current move instruction on motion base path level stops
! at once
StopMove;
! New motion path level for new movements in the TRAP
StorePath;
! Get current tool and work object data
GetSysData used_tool;
GetSysData used_wobj;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=used_tool \WObj:=used_wobj);
! Do the work
MoveJ Offs(stop_pos,0,0,20),v50,fine,used_tool\WObj:=used_wobj;
...
! Move back to interrupted position on the motion base path level
MoveJ stop_pos, v50, fine, used_tool,\WObj:=used_wobj;
! Go back to motion base path level
RestoPath;
! Restart the interupted movements on motion base path level
StartMove;
ENDTRAP
In this type example the movements in the TRAP routine start and end at the position on the
path where the interrupted move instruction was stopped. Also note that the tool and work
object used are unknown at the time of programming.
Program execution
Execution behavior:
•
At start execution of the TRAP routine, the program leaves its base execution level
•
At execution of StorePath , the motion system leaves its base execution level
•
At execution of RestoPath , the motion system returns to its base execution level
•
At execution of ENDTRAP , the program returns to its base execution level
Limitations
Following RAPID instructions must be used in the TRAP routine with move instructions to get
it working:
Instruction
Description
StorePath
Enter new motion path level
RestoPath
Return to motion base path level
StartMove
Restart the interrupted movements on the motion base path
level
Continued
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Path Recovery
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Related information
For information about
See
To stop the current movement at once
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement
StartMove - Restarts robot movement on
page 486
Continued
4 Programming type examples
4.4. TRAP routines with movements
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© Copyright 2004-2010 ABB. All rights reserved.
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ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 1,256
|
4 Programming type examples
4.4. TRAP routines with movements
Path Recovery
1253
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
To stop the current movement at once
StopMove - Stops robot movement on page
515
To enter a new motion path level
StorePath - Stores the path when an interrupt
occurs on page 521
To return to the motion base path level
RestoPath - Restores the path after an
interrupt on page 362
To restart the interrupted movement
StartMove - Restarts robot movement on
page 486
Continued
4 Programming type examples
4.4. TRAP routines with movements
Path Recovery
3HAC 16581-1 Revision: J
1254
© Copyright 2004-2010 ABB. All rights reserved.
Index
1255
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
A
Abs 759
AccSet 15
ACos 761
ActUnit 17
Add 19
aiotrigg 1083
AliasIO 21
AOutput 762
ArgName 764
ASin 767
Assignment
= 24
ATan 768
ATan2 769
B
BitAnd 770
BitCheck 772
BitClear 26
BitLSh 774
BitNeg 776
BitOr 778
BitRSh 780
BitSet 28
BitXOr 782
BookErrNo 30
bool 1085
Break 32
btnres 1086
busstate 1088
buttondata 1089
byte 1091
ByteToString 784
C
CalcJointT 786
CalcRobT 789
CalcRotAxFrameZ 791
CalcRotAxisFrame 795
CallByVar 33
CancelLoad 35
CDate 799
CheckProgRef 37
CirPathMode 38
CJointT 800
Clear 43
ClearIOBuff 44
ClearPath 45
ClearRawBytes 49
ClkRead 802
ClkReset 51
ClkStart 52
ClkStop 54
clock 1092
Close 55
CloseDir 56
comment 57
CompactIF 58
confdata 1093
ConfJ 59
ConfL 61
CONNECT 63
CopyFile 65
CopyRawBytes 67
CorrClear 70
CorrCon 71
corrdescr 1099
CorrDiscon 76
CorrRead 803
CorrWrite 77
Cos 804
CPos 805
CRobT 807
CSpeedOverride 810
CTime 812
CTool 813
CWObj 814
D
datapos 1101
DeactUnit 79
Decr 81
DecToHex 815
DefAccFrame 816
DefDFrame 819
DefFrame 822
Dim 825
dionum 1102
dir 1103
Distance 827
DitherAct 83
DitherDeact 85
dnum 1104
DnumToNum 829
DotProd 831
DOutput 833
DropWObj 86
E
EOffsOff 87
EOffsOn 88
EOffsSet 90
EraseModule 92
errdomain 1106
ErrLog 94
errnum 1108
ERROR handler 1239
ErrRaise 98
errstr 1114
errtype 1115
ErrWrite 103
EulerZYX 835
event_type 1116
EventType 837
exec_level 1117
ExecHandler 839
ExecLevel 840
EXIT 105
ExitCycle 106
Exp 841
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| 1,257
|
4 Programming type examples
4.4. TRAP routines with movements
Path Recovery
3HAC 16581-1 Revision: J
1254
© Copyright 2004-2010 ABB. All rights reserved.
Index
1255
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
A
Abs 759
AccSet 15
ACos 761
ActUnit 17
Add 19
aiotrigg 1083
AliasIO 21
AOutput 762
ArgName 764
ASin 767
Assignment
= 24
ATan 768
ATan2 769
B
BitAnd 770
BitCheck 772
BitClear 26
BitLSh 774
BitNeg 776
BitOr 778
BitRSh 780
BitSet 28
BitXOr 782
BookErrNo 30
bool 1085
Break 32
btnres 1086
busstate 1088
buttondata 1089
byte 1091
ByteToString 784
C
CalcJointT 786
CalcRobT 789
CalcRotAxFrameZ 791
CalcRotAxisFrame 795
CallByVar 33
CancelLoad 35
CDate 799
CheckProgRef 37
CirPathMode 38
CJointT 800
Clear 43
ClearIOBuff 44
ClearPath 45
ClearRawBytes 49
ClkRead 802
ClkReset 51
ClkStart 52
ClkStop 54
clock 1092
Close 55
CloseDir 56
comment 57
CompactIF 58
confdata 1093
ConfJ 59
ConfL 61
CONNECT 63
CopyFile 65
CopyRawBytes 67
CorrClear 70
CorrCon 71
corrdescr 1099
CorrDiscon 76
CorrRead 803
CorrWrite 77
Cos 804
CPos 805
CRobT 807
CSpeedOverride 810
CTime 812
CTool 813
CWObj 814
D
datapos 1101
DeactUnit 79
Decr 81
DecToHex 815
DefAccFrame 816
DefDFrame 819
DefFrame 822
Dim 825
dionum 1102
dir 1103
Distance 827
DitherAct 83
DitherDeact 85
dnum 1104
DnumToNum 829
DotProd 831
DOutput 833
DropWObj 86
E
EOffsOff 87
EOffsOn 88
EOffsSet 90
EraseModule 92
errdomain 1106
ErrLog 94
errnum 1108
ERROR handler 1239
ErrRaise 98
errstr 1114
errtype 1115
ErrWrite 103
EulerZYX 835
event_type 1116
EventType 837
exec_level 1117
ExecHandler 839
ExecLevel 840
EXIT 105
ExitCycle 106
Exp 841
Index
1256
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
extjoint 1118
F
FileSize 842
FileTime 845
FOR 108
FSSize 848
G
GetDataVal 110
GetMecUnitName 851
GetNextMechUnit 852
GetNextSym 855
GetSysData 113
GetSysInfo 857
GetTaskName 860
GetTime 862
GetTrapData 115
GInputDnum 864
GOTO 117
GOutput 866
GOutputDnum 868
GripLoad 119
H
handler_type 1120
HexToDec 870
HollowWristReset 121
I
icondata 1121
IDelete 123
identno 1123
IDisable 124
IEnable 125
IError 126
IF 129
Incr 131
IndAMove 133
IndCMove 137
IndDMove 141
IndInpos 871
IndReset 144
IndRMove 149
IndSpeed 873
intnum 1125
InvertDO 154
IOBusStart 155
IOBusState 156
iodev 1127
IODisable 159
IOEnable 162
iounit_state 1128
IOUnitState 875
IPers 165
IRMQMessage 167
IsFile 878
ISignalAI 171
ISignalAO 182
ISignalDI 186
ISignalDO 189
ISignalGI 192
ISignalGO 195
ISleep 198
IsMechUnitActive 882
IsPers 883
IsStopMoveAct 884
IsStopStateEvent 886
IsSyncMoveOn 888
IsSysId 890
IsVar 891
ITimer 200
IVarValue 202
IWatch 205
J
jointtarget 1129
L
label 207
listitem 1131
Load 208
loaddata 1132
LoadId 212
loadidnum 1137
loadsession 1138
M
MakeDir 218
ManLoadIdProc 219
MaxRobSpeed 892
MechUnitLoad 223
mecunit 1139
MirPos 893
ModExist 895
ModTime 896
MotionPlannerNo 898
MotionSup 227
motsetdata 1141
MoveAbsJ 230
MoveC 236
MoveCDO 242
MoveCSync 246
MoveExtJ 250
MoveJ 253
MoveJDO 257
MoveJSync 260
MoveL 264
MoveLDO 268
MoveLSync 271
MToolRotCalib 275
MToolTCPCalib 278
N
NonMotionMode 900
NOrient 901
num 1146
NumToDnum 903
NumToStr 904
O
Offs 906
|
ABB_Technical_Reference_Manual
|
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| 1,258
|
Index
1255
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
A
Abs 759
AccSet 15
ACos 761
ActUnit 17
Add 19
aiotrigg 1083
AliasIO 21
AOutput 762
ArgName 764
ASin 767
Assignment
= 24
ATan 768
ATan2 769
B
BitAnd 770
BitCheck 772
BitClear 26
BitLSh 774
BitNeg 776
BitOr 778
BitRSh 780
BitSet 28
BitXOr 782
BookErrNo 30
bool 1085
Break 32
btnres 1086
busstate 1088
buttondata 1089
byte 1091
ByteToString 784
C
CalcJointT 786
CalcRobT 789
CalcRotAxFrameZ 791
CalcRotAxisFrame 795
CallByVar 33
CancelLoad 35
CDate 799
CheckProgRef 37
CirPathMode 38
CJointT 800
Clear 43
ClearIOBuff 44
ClearPath 45
ClearRawBytes 49
ClkRead 802
ClkReset 51
ClkStart 52
ClkStop 54
clock 1092
Close 55
CloseDir 56
comment 57
CompactIF 58
confdata 1093
ConfJ 59
ConfL 61
CONNECT 63
CopyFile 65
CopyRawBytes 67
CorrClear 70
CorrCon 71
corrdescr 1099
CorrDiscon 76
CorrRead 803
CorrWrite 77
Cos 804
CPos 805
CRobT 807
CSpeedOverride 810
CTime 812
CTool 813
CWObj 814
D
datapos 1101
DeactUnit 79
Decr 81
DecToHex 815
DefAccFrame 816
DefDFrame 819
DefFrame 822
Dim 825
dionum 1102
dir 1103
Distance 827
DitherAct 83
DitherDeact 85
dnum 1104
DnumToNum 829
DotProd 831
DOutput 833
DropWObj 86
E
EOffsOff 87
EOffsOn 88
EOffsSet 90
EraseModule 92
errdomain 1106
ErrLog 94
errnum 1108
ERROR handler 1239
ErrRaise 98
errstr 1114
errtype 1115
ErrWrite 103
EulerZYX 835
event_type 1116
EventType 837
exec_level 1117
ExecHandler 839
ExecLevel 840
EXIT 105
ExitCycle 106
Exp 841
Index
1256
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
extjoint 1118
F
FileSize 842
FileTime 845
FOR 108
FSSize 848
G
GetDataVal 110
GetMecUnitName 851
GetNextMechUnit 852
GetNextSym 855
GetSysData 113
GetSysInfo 857
GetTaskName 860
GetTime 862
GetTrapData 115
GInputDnum 864
GOTO 117
GOutput 866
GOutputDnum 868
GripLoad 119
H
handler_type 1120
HexToDec 870
HollowWristReset 121
I
icondata 1121
IDelete 123
identno 1123
IDisable 124
IEnable 125
IError 126
IF 129
Incr 131
IndAMove 133
IndCMove 137
IndDMove 141
IndInpos 871
IndReset 144
IndRMove 149
IndSpeed 873
intnum 1125
InvertDO 154
IOBusStart 155
IOBusState 156
iodev 1127
IODisable 159
IOEnable 162
iounit_state 1128
IOUnitState 875
IPers 165
IRMQMessage 167
IsFile 878
ISignalAI 171
ISignalAO 182
ISignalDI 186
ISignalDO 189
ISignalGI 192
ISignalGO 195
ISleep 198
IsMechUnitActive 882
IsPers 883
IsStopMoveAct 884
IsStopStateEvent 886
IsSyncMoveOn 888
IsSysId 890
IsVar 891
ITimer 200
IVarValue 202
IWatch 205
J
jointtarget 1129
L
label 207
listitem 1131
Load 208
loaddata 1132
LoadId 212
loadidnum 1137
loadsession 1138
M
MakeDir 218
ManLoadIdProc 219
MaxRobSpeed 892
MechUnitLoad 223
mecunit 1139
MirPos 893
ModExist 895
ModTime 896
MotionPlannerNo 898
MotionSup 227
motsetdata 1141
MoveAbsJ 230
MoveC 236
MoveCDO 242
MoveCSync 246
MoveExtJ 250
MoveJ 253
MoveJDO 257
MoveJSync 260
MoveL 264
MoveLDO 268
MoveLSync 271
MToolRotCalib 275
MToolTCPCalib 278
N
NonMotionMode 900
NOrient 901
num 1146
NumToDnum 903
NumToStr 904
O
Offs 906
Index
1257
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
opcalc 1148
Open 281
OpenDir 285
OpMode 908
opnum 1149
orient 1150
OrientZYX 909
ORobT 911
P
PackDNHeader 287
PackRawBytes 290
paridnum 1154
ParIdPosVaild 913
ParIdRobValid 916
paridvalidnum 1156
PathAccLim 295
PathLevel 919
pathrecid 1158
PathRecMoveBwd 298
PathRecMoveFwd 305
PathRecStart 308
PathRecStop 311
PathRecValidBwd 921
PathRecValidFwd 924
PathResol 314
PDispOff 316
PDispOn 317
PDispSet 321
PFRestart 928
pos 1160
pose 1162
PoseInv 929
PoseMult 931
PoseVect 933
Pow 935
PPMovedInManMode 936
Present 937
ProcCall 323
ProcerrRecovery 325
progdisp 1163
ProgMemFree 939
PulseDO 331
R
RAISE 334
RaiseToUser 337
rawbytes 1165
RawBytesLen 940
ReadAnyBin 340
ReadBin 942
ReadBlock 343
ReadCfgData 345
ReadDir 944
ReadErrData 349
ReadMotor 947
ReadNum 949
ReadRawBytes 352
ReadStr 952
ReadStrBin 956
ReadVar 958
RelTool 961
RemainingRetries 963
RemoveDir 355
RemoveFile 356
RenameFile 357
Reset 359
ResetPPMoved 360
ResetRetryCount 361
restartdata 1167
RestoPath 362
RETRY 364
RETURN 365
Rewind 367
RMQEmptyQueue 369
RMQFindSlot 371
RMQGetMessage 373
RMQGetMsgData 377
RMQGetMsgHeader 380
RMQGetSlotName 964
rmqheader 1171
rmqmessage 1173
RMQReadWait 383
RMQSendMessage 386
RMQSendWait 390
rmqslot 1174
robjoint 1175
RobName 966
RobOS 968
robtarget 1176
Round 969
RunMode 971
S
Save 396
SCWrite 399
SearchC 402
SearchExtJ 410
SearchL 416
SenDevice 425
Sensor Interface 343
Service routines 1242 , 1246
Set 427
SetAllDataVal 429
SetAO 431
SetDataSearch 433
SetDataVal 437
SetDO 440
SetGO 442
SetSysData 445
shapedata 1179
signalxx 1181
Sin 972
SingArea 447
SkipWarn 449
SocketAccept 450
SocketBind 453
SocketClose 455
SocketConnect 457
SocketCreate 460
socketdev 1183
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 1,259
|
Index
1256
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
extjoint 1118
F
FileSize 842
FileTime 845
FOR 108
FSSize 848
G
GetDataVal 110
GetMecUnitName 851
GetNextMechUnit 852
GetNextSym 855
GetSysData 113
GetSysInfo 857
GetTaskName 860
GetTime 862
GetTrapData 115
GInputDnum 864
GOTO 117
GOutput 866
GOutputDnum 868
GripLoad 119
H
handler_type 1120
HexToDec 870
HollowWristReset 121
I
icondata 1121
IDelete 123
identno 1123
IDisable 124
IEnable 125
IError 126
IF 129
Incr 131
IndAMove 133
IndCMove 137
IndDMove 141
IndInpos 871
IndReset 144
IndRMove 149
IndSpeed 873
intnum 1125
InvertDO 154
IOBusStart 155
IOBusState 156
iodev 1127
IODisable 159
IOEnable 162
iounit_state 1128
IOUnitState 875
IPers 165
IRMQMessage 167
IsFile 878
ISignalAI 171
ISignalAO 182
ISignalDI 186
ISignalDO 189
ISignalGI 192
ISignalGO 195
ISleep 198
IsMechUnitActive 882
IsPers 883
IsStopMoveAct 884
IsStopStateEvent 886
IsSyncMoveOn 888
IsSysId 890
IsVar 891
ITimer 200
IVarValue 202
IWatch 205
J
jointtarget 1129
L
label 207
listitem 1131
Load 208
loaddata 1132
LoadId 212
loadidnum 1137
loadsession 1138
M
MakeDir 218
ManLoadIdProc 219
MaxRobSpeed 892
MechUnitLoad 223
mecunit 1139
MirPos 893
ModExist 895
ModTime 896
MotionPlannerNo 898
MotionSup 227
motsetdata 1141
MoveAbsJ 230
MoveC 236
MoveCDO 242
MoveCSync 246
MoveExtJ 250
MoveJ 253
MoveJDO 257
MoveJSync 260
MoveL 264
MoveLDO 268
MoveLSync 271
MToolRotCalib 275
MToolTCPCalib 278
N
NonMotionMode 900
NOrient 901
num 1146
NumToDnum 903
NumToStr 904
O
Offs 906
Index
1257
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
opcalc 1148
Open 281
OpenDir 285
OpMode 908
opnum 1149
orient 1150
OrientZYX 909
ORobT 911
P
PackDNHeader 287
PackRawBytes 290
paridnum 1154
ParIdPosVaild 913
ParIdRobValid 916
paridvalidnum 1156
PathAccLim 295
PathLevel 919
pathrecid 1158
PathRecMoveBwd 298
PathRecMoveFwd 305
PathRecStart 308
PathRecStop 311
PathRecValidBwd 921
PathRecValidFwd 924
PathResol 314
PDispOff 316
PDispOn 317
PDispSet 321
PFRestart 928
pos 1160
pose 1162
PoseInv 929
PoseMult 931
PoseVect 933
Pow 935
PPMovedInManMode 936
Present 937
ProcCall 323
ProcerrRecovery 325
progdisp 1163
ProgMemFree 939
PulseDO 331
R
RAISE 334
RaiseToUser 337
rawbytes 1165
RawBytesLen 940
ReadAnyBin 340
ReadBin 942
ReadBlock 343
ReadCfgData 345
ReadDir 944
ReadErrData 349
ReadMotor 947
ReadNum 949
ReadRawBytes 352
ReadStr 952
ReadStrBin 956
ReadVar 958
RelTool 961
RemainingRetries 963
RemoveDir 355
RemoveFile 356
RenameFile 357
Reset 359
ResetPPMoved 360
ResetRetryCount 361
restartdata 1167
RestoPath 362
RETRY 364
RETURN 365
Rewind 367
RMQEmptyQueue 369
RMQFindSlot 371
RMQGetMessage 373
RMQGetMsgData 377
RMQGetMsgHeader 380
RMQGetSlotName 964
rmqheader 1171
rmqmessage 1173
RMQReadWait 383
RMQSendMessage 386
RMQSendWait 390
rmqslot 1174
robjoint 1175
RobName 966
RobOS 968
robtarget 1176
Round 969
RunMode 971
S
Save 396
SCWrite 399
SearchC 402
SearchExtJ 410
SearchL 416
SenDevice 425
Sensor Interface 343
Service routines 1242 , 1246
Set 427
SetAllDataVal 429
SetAO 431
SetDataSearch 433
SetDataVal 437
SetDO 440
SetGO 442
SetSysData 445
shapedata 1179
signalxx 1181
Sin 972
SingArea 447
SkipWarn 449
SocketAccept 450
SocketBind 453
SocketClose 455
SocketConnect 457
SocketCreate 460
socketdev 1183
Index
1258
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
SocketGetStatus 973
SocketListen 462
SocketReceive 464
SocketSend 469
socketstatus 1184
SoftAct 473
SoftDeact 475
speeddata 1185
SpeedRefresh 476
SpyStart 479
SpyStop 481
Sqrt 976
StartLoad 482
StartMove 486
StartMoveRetry 489
STCalcForce 977
STCalcTorque 979
STCalib 492
STClose 496
StepBwdPath 499
STIndGun 501
STIndGunReset 503
STIsCalib 981
STIsClosed 983
STIsIndGun 985
STIsOpen 986
SToolRotCalib 504
SToolTCPCalib 507
Stop 510
STOpen 513
StopMove 515
StopMoveReset 519
stoppointdata 1189
StorePath 521
StrDigCalc 988
StrDigCmp 991
StrFind 994
string 1195
stringdig 1197
StrLen 996
StrMap 997
StrMatch 999
StrMemb 1001
StrOrder 1003
StrPart 1005
StrToByte 1007
StrToVal 1010
STTune 523
STTuneReset 527
switch 1198
symnum 1199
syncident 1200
SyncMoveOff 528
SyncMoveOn 534
SyncMoveResume 541
SyncMoveSuspend 543
SyncMoveUndo 545
system data 1201
SystemStopAction 547
T
Tan 1012
taskid 1203
TaskRunMec 1013
TaskRunRob 1014
tasks 1204
TasksInSync 1015
TEST 549
TestAndSet 1017
TestDI 1019
testsignal 1206
TestSignDefine 551
TestSignRead 1020
TestSignReset 553
TextGet 1022
TextTabFreeToUse 1024
TextTabGet 1026
TextTabInstall 554
tooldata 1207
TPErase 556
tpnum 1211
TPReadDnum 557
TPReadFK 560
TPReadNum 564
TPShow 567
TPWrite 568
TRAP routines 1250
trapdata 1212
TriggC 570
TriggCheckIO 577
triggdata 1213
TriggEquip 582
TriggInt 588
TriggIO 592
triggios 1214
triggiosdnum 1217
TriggJ 597
TriggL 603
TriggLIOs 610
TriggRampAO 616
TriggSpeed 622
TriggStopProc 629
triggstrgo 1219
Trunc 1028
TryInt 634
TRYNEXT 636
TuneReset 637
TuneServo 638
tunetype 1222
Type 1030
U
UIAlphaEntry 1032
UIClientExist 1037
UIDnumEntry 1038
UIDnumTune 1044
UIListView 1050
UIMessageBox 1057
UIMsgBox 644
UINumEntry 1064
|
ABB_Technical_Reference_Manual
|
https://library.e.abb.com/public/688894b98123f87bc1257cc50044e809/Technical%20reference%20manual_RAPID_3HAC16581-1_revJ_en.pdf
| 1,260
|
Index
1257
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
opcalc 1148
Open 281
OpenDir 285
OpMode 908
opnum 1149
orient 1150
OrientZYX 909
ORobT 911
P
PackDNHeader 287
PackRawBytes 290
paridnum 1154
ParIdPosVaild 913
ParIdRobValid 916
paridvalidnum 1156
PathAccLim 295
PathLevel 919
pathrecid 1158
PathRecMoveBwd 298
PathRecMoveFwd 305
PathRecStart 308
PathRecStop 311
PathRecValidBwd 921
PathRecValidFwd 924
PathResol 314
PDispOff 316
PDispOn 317
PDispSet 321
PFRestart 928
pos 1160
pose 1162
PoseInv 929
PoseMult 931
PoseVect 933
Pow 935
PPMovedInManMode 936
Present 937
ProcCall 323
ProcerrRecovery 325
progdisp 1163
ProgMemFree 939
PulseDO 331
R
RAISE 334
RaiseToUser 337
rawbytes 1165
RawBytesLen 940
ReadAnyBin 340
ReadBin 942
ReadBlock 343
ReadCfgData 345
ReadDir 944
ReadErrData 349
ReadMotor 947
ReadNum 949
ReadRawBytes 352
ReadStr 952
ReadStrBin 956
ReadVar 958
RelTool 961
RemainingRetries 963
RemoveDir 355
RemoveFile 356
RenameFile 357
Reset 359
ResetPPMoved 360
ResetRetryCount 361
restartdata 1167
RestoPath 362
RETRY 364
RETURN 365
Rewind 367
RMQEmptyQueue 369
RMQFindSlot 371
RMQGetMessage 373
RMQGetMsgData 377
RMQGetMsgHeader 380
RMQGetSlotName 964
rmqheader 1171
rmqmessage 1173
RMQReadWait 383
RMQSendMessage 386
RMQSendWait 390
rmqslot 1174
robjoint 1175
RobName 966
RobOS 968
robtarget 1176
Round 969
RunMode 971
S
Save 396
SCWrite 399
SearchC 402
SearchExtJ 410
SearchL 416
SenDevice 425
Sensor Interface 343
Service routines 1242 , 1246
Set 427
SetAllDataVal 429
SetAO 431
SetDataSearch 433
SetDataVal 437
SetDO 440
SetGO 442
SetSysData 445
shapedata 1179
signalxx 1181
Sin 972
SingArea 447
SkipWarn 449
SocketAccept 450
SocketBind 453
SocketClose 455
SocketConnect 457
SocketCreate 460
socketdev 1183
Index
1258
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
SocketGetStatus 973
SocketListen 462
SocketReceive 464
SocketSend 469
socketstatus 1184
SoftAct 473
SoftDeact 475
speeddata 1185
SpeedRefresh 476
SpyStart 479
SpyStop 481
Sqrt 976
StartLoad 482
StartMove 486
StartMoveRetry 489
STCalcForce 977
STCalcTorque 979
STCalib 492
STClose 496
StepBwdPath 499
STIndGun 501
STIndGunReset 503
STIsCalib 981
STIsClosed 983
STIsIndGun 985
STIsOpen 986
SToolRotCalib 504
SToolTCPCalib 507
Stop 510
STOpen 513
StopMove 515
StopMoveReset 519
stoppointdata 1189
StorePath 521
StrDigCalc 988
StrDigCmp 991
StrFind 994
string 1195
stringdig 1197
StrLen 996
StrMap 997
StrMatch 999
StrMemb 1001
StrOrder 1003
StrPart 1005
StrToByte 1007
StrToVal 1010
STTune 523
STTuneReset 527
switch 1198
symnum 1199
syncident 1200
SyncMoveOff 528
SyncMoveOn 534
SyncMoveResume 541
SyncMoveSuspend 543
SyncMoveUndo 545
system data 1201
SystemStopAction 547
T
Tan 1012
taskid 1203
TaskRunMec 1013
TaskRunRob 1014
tasks 1204
TasksInSync 1015
TEST 549
TestAndSet 1017
TestDI 1019
testsignal 1206
TestSignDefine 551
TestSignRead 1020
TestSignReset 553
TextGet 1022
TextTabFreeToUse 1024
TextTabGet 1026
TextTabInstall 554
tooldata 1207
TPErase 556
tpnum 1211
TPReadDnum 557
TPReadFK 560
TPReadNum 564
TPShow 567
TPWrite 568
TRAP routines 1250
trapdata 1212
TriggC 570
TriggCheckIO 577
triggdata 1213
TriggEquip 582
TriggInt 588
TriggIO 592
triggios 1214
triggiosdnum 1217
TriggJ 597
TriggL 603
TriggLIOs 610
TriggRampAO 616
TriggSpeed 622
TriggStopProc 629
triggstrgo 1219
Trunc 1028
TryInt 634
TRYNEXT 636
TuneReset 637
TuneServo 638
tunetype 1222
Type 1030
U
UIAlphaEntry 1032
UIClientExist 1037
UIDnumEntry 1038
UIDnumTune 1044
UIListView 1050
UIMessageBox 1057
UIMsgBox 644
UINumEntry 1064
Index
1259
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
UINumTune 1070
UIShow 651
uishownum 1223
UnLoad 655
UnpackRawBytes 658
V
ValidIO 1076
ValToStr 1078
VectMagn 1080
VelSet 662
W
WaitAI 664
WaitAO 667
WaitDI 670
WaitDO 672
WaitGI 674
WaitGO 678
WaitLoad 682
WaitRob 686
WaitSyncTask 688
WaitTestAndSet 692
WaitTime 695
WaitUntil 697
WaitWObj 701
WarmStart 704
WHILE 705
wobjdata 1224
WorldAccLim 707
Write 709
WriteAnyBin 713
WriteBin 716
WriteBlock 719
WriteCfgData 721
WriteRawBytes 725
WriteStrBin 727
WriteVar 729
WZBoxDef 732
WZCylDef 734
WZDisable 736
WZDOSet 738
WZEnable 742
WZFree 744
WZHomeJointDef 746
WZLimJointDef 749
WZLimSup 753
WZSphDef 756
wzstationary 1228
wztemporary 1230
Z
zonedata 1232
|
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|
Index
1258
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
SocketGetStatus 973
SocketListen 462
SocketReceive 464
SocketSend 469
socketstatus 1184
SoftAct 473
SoftDeact 475
speeddata 1185
SpeedRefresh 476
SpyStart 479
SpyStop 481
Sqrt 976
StartLoad 482
StartMove 486
StartMoveRetry 489
STCalcForce 977
STCalcTorque 979
STCalib 492
STClose 496
StepBwdPath 499
STIndGun 501
STIndGunReset 503
STIsCalib 981
STIsClosed 983
STIsIndGun 985
STIsOpen 986
SToolRotCalib 504
SToolTCPCalib 507
Stop 510
STOpen 513
StopMove 515
StopMoveReset 519
stoppointdata 1189
StorePath 521
StrDigCalc 988
StrDigCmp 991
StrFind 994
string 1195
stringdig 1197
StrLen 996
StrMap 997
StrMatch 999
StrMemb 1001
StrOrder 1003
StrPart 1005
StrToByte 1007
StrToVal 1010
STTune 523
STTuneReset 527
switch 1198
symnum 1199
syncident 1200
SyncMoveOff 528
SyncMoveOn 534
SyncMoveResume 541
SyncMoveSuspend 543
SyncMoveUndo 545
system data 1201
SystemStopAction 547
T
Tan 1012
taskid 1203
TaskRunMec 1013
TaskRunRob 1014
tasks 1204
TasksInSync 1015
TEST 549
TestAndSet 1017
TestDI 1019
testsignal 1206
TestSignDefine 551
TestSignRead 1020
TestSignReset 553
TextGet 1022
TextTabFreeToUse 1024
TextTabGet 1026
TextTabInstall 554
tooldata 1207
TPErase 556
tpnum 1211
TPReadDnum 557
TPReadFK 560
TPReadNum 564
TPShow 567
TPWrite 568
TRAP routines 1250
trapdata 1212
TriggC 570
TriggCheckIO 577
triggdata 1213
TriggEquip 582
TriggInt 588
TriggIO 592
triggios 1214
triggiosdnum 1217
TriggJ 597
TriggL 603
TriggLIOs 610
TriggRampAO 616
TriggSpeed 622
TriggStopProc 629
triggstrgo 1219
Trunc 1028
TryInt 634
TRYNEXT 636
TuneReset 637
TuneServo 638
tunetype 1222
Type 1030
U
UIAlphaEntry 1032
UIClientExist 1037
UIDnumEntry 1038
UIDnumTune 1044
UIListView 1050
UIMessageBox 1057
UIMsgBox 644
UINumEntry 1064
Index
1259
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
UINumTune 1070
UIShow 651
uishownum 1223
UnLoad 655
UnpackRawBytes 658
V
ValidIO 1076
ValToStr 1078
VectMagn 1080
VelSet 662
W
WaitAI 664
WaitAO 667
WaitDI 670
WaitDO 672
WaitGI 674
WaitGO 678
WaitLoad 682
WaitRob 686
WaitSyncTask 688
WaitTestAndSet 692
WaitTime 695
WaitUntil 697
WaitWObj 701
WarmStart 704
WHILE 705
wobjdata 1224
WorldAccLim 707
Write 709
WriteAnyBin 713
WriteBin 716
WriteBlock 719
WriteCfgData 721
WriteRawBytes 725
WriteStrBin 727
WriteVar 729
WZBoxDef 732
WZCylDef 734
WZDisable 736
WZDOSet 738
WZEnable 742
WZFree 744
WZHomeJointDef 746
WZLimJointDef 749
WZLimSup 753
WZSphDef 756
wzstationary 1228
wztemporary 1230
Z
zonedata 1232
Index
1260
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
|
ABB_Technical_Reference_Manual
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| 1,262
|
Index
1259
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
UINumTune 1070
UIShow 651
uishownum 1223
UnLoad 655
UnpackRawBytes 658
V
ValidIO 1076
ValToStr 1078
VectMagn 1080
VelSet 662
W
WaitAI 664
WaitAO 667
WaitDI 670
WaitDO 672
WaitGI 674
WaitGO 678
WaitLoad 682
WaitRob 686
WaitSyncTask 688
WaitTestAndSet 692
WaitTime 695
WaitUntil 697
WaitWObj 701
WarmStart 704
WHILE 705
wobjdata 1224
WorldAccLim 707
Write 709
WriteAnyBin 713
WriteBin 716
WriteBlock 719
WriteCfgData 721
WriteRawBytes 725
WriteStrBin 727
WriteVar 729
WZBoxDef 732
WZCylDef 734
WZDisable 736
WZDOSet 738
WZEnable 742
WZFree 744
WZHomeJointDef 746
WZLimJointDef 749
WZLimSup 753
WZSphDef 756
wzstationary 1228
wztemporary 1230
Z
zonedata 1232
Index
1260
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
|
ABB_Technical_Reference_Manual
|
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| 1,263
|
Index
1260
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3HAC16581-1 Rev J, en
Contact us
ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone +46 (0) 21 344 400
www.abb.com
|
ABB_Technical_Reference_Manual
|
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| 1,264
|
3HAC16581-1 Rev J, en
Contact us
ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS
SWEDEN
Telephone +46 (0) 21 344 400
www.abb.com
|
ABB_Application_Manual_Production_Manager
|
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| 1
|
ROBOTICS
Application manual
Production Manager
![Image]
Trace back information:
Workspace 21D version a2
Checked in 2021-11-30
Skribenta version 5.4.005
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ABB_Application_Manual_Production_Manager
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| 2
|
ROBOTICS
Application manual
Production Manager
![Image]
Trace back information:
Workspace 21D version a2
Checked in 2021-11-30
Skribenta version 5.4.005
Application manual
Production Manager
RobotWare 6.13
Document ID: 3HAC052855-001
Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Production_Manager
|
https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf
| 3
|
Trace back information:
Workspace 21D version a2
Checked in 2021-11-30
Skribenta version 5.4.005
Application manual
Production Manager
RobotWare 6.13
Document ID: 3HAC052855-001
Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Production_Manager
|
https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf
| 4
|
Application manual
Production Manager
RobotWare 6.13
Document ID: 3HAC052855-001
Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Production Manager
9
1.1
Introduction ......................................................................................................
10
1.2
Production Manager Execution Engine ..................................................................
12
1.3
Production Manager events .................................................................................
15
1.4
Production Manager Menudata and Partdata ..........................................................
19
2
Production Manager user interface
19
2.1
Overview .........................................................................................................
22
2.2
Setup menu .....................................................................................................
24
2.3
Service menu ...................................................................................................
24
2.3.1
About the Service menu ...........................................................................
26
2.3.2
Create a new Setup or Service menu dialog .................................................
32
2.3.3
Edit Setup or Service menu .......................................................................
34
2.3.4
Add filtering functionality to menus .............................................................
35
2.4
Production Information window ............................................................................
37
2.5
Part handler .....................................................................................................
39
2.5.1
Preview window ......................................................................................
41
2.5.2
Create a new part ....................................................................................
47
2.5.3
Edit part ................................................................................................
49
2.5.4
Test Part ................................................................................................
50
2.6
Custom application window .................................................................................
51
2.7
State icons .......................................................................................................
53
3
Configuring Production Manager
53
3.1
Production Manager Task configuration ................................................................
57
3.2
Production Manager MultiMove Support ................................................................
58
3.3
User Authorization System settings ......................................................................
61
4
Production Manager PLC support
61
4.1
How to run Production Manager from PLC .............................................................
63
4.2
How to run Production Manager from PLC via RAPID ...............................................
67
5
RAPID references
67
5.1
Instructions ......................................................................................................
67
5.1.1
ExecEngine - Start execution engine ...........................................................
68
5.1.2
PMgrGetNextPart - Get active part for station in task .....................................
70
5.1.3
PMgrSetNextPart - Set active part for station in task ......................................
71
5.1.4
PMgrRunMenu - Run menu in task .............................................................
72
5.2
Functions ........................................................................................................
72
5.2.1
PMgrAtSafe - Check if task is at safe state ...................................................
73
5.2.2
PMgrAtService - Check if task is at service state ...........................................
74
5.2.3
PMgrAtState - Check the state of a task .......................................................
75
5.2.4
PMgrAtStation - Get the current station for a task ..........................................
76
5.2.5
PMgrNextStation - Get the next station for a task ..........................................
77
5.2.6
PMgrTaskNumber - Get the task number .....................................................
78
5.2.7
PMgrTaskName - Get the task name ...........................................................
79
5.3
Public constants ...............................................................................................
81
6
Seam Displacement options
81
6.1
General ...........................................................................................................
82
6.2
Starting Seam Displacement option ......................................................................
84
6.3
Functions available in Seam Displacement ............................................................
Application manual - Production Manager
5
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Production_Manager
|
https://library.e.abb.com/public/fe355c957d7948a1952e889d78bc191d/3HAC052855%20AM%20Production%20Manager%20RW%206-en.pdf
| 5
|
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2021 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Production Manager
9
1.1
Introduction ......................................................................................................
10
1.2
Production Manager Execution Engine ..................................................................
12
1.3
Production Manager events .................................................................................
15
1.4
Production Manager Menudata and Partdata ..........................................................
19
2
Production Manager user interface
19
2.1
Overview .........................................................................................................
22
2.2
Setup menu .....................................................................................................
24
2.3
Service menu ...................................................................................................
24
2.3.1
About the Service menu ...........................................................................
26
2.3.2
Create a new Setup or Service menu dialog .................................................
32
2.3.3
Edit Setup or Service menu .......................................................................
34
2.3.4
Add filtering functionality to menus .............................................................
35
2.4
Production Information window ............................................................................
37
2.5
Part handler .....................................................................................................
39
2.5.1
Preview window ......................................................................................
41
2.5.2
Create a new part ....................................................................................
47
2.5.3
Edit part ................................................................................................
49
2.5.4
Test Part ................................................................................................
50
2.6
Custom application window .................................................................................
51
2.7
State icons .......................................................................................................
53
3
Configuring Production Manager
53
3.1
Production Manager Task configuration ................................................................
57
3.2
Production Manager MultiMove Support ................................................................
58
3.3
User Authorization System settings ......................................................................
61
4
Production Manager PLC support
61
4.1
How to run Production Manager from PLC .............................................................
63
4.2
How to run Production Manager from PLC via RAPID ...............................................
67
5
RAPID references
67
5.1
Instructions ......................................................................................................
67
5.1.1
ExecEngine - Start execution engine ...........................................................
68
5.1.2
PMgrGetNextPart - Get active part for station in task .....................................
70
5.1.3
PMgrSetNextPart - Set active part for station in task ......................................
71
5.1.4
PMgrRunMenu - Run menu in task .............................................................
72
5.2
Functions ........................................................................................................
72
5.2.1
PMgrAtSafe - Check if task is at safe state ...................................................
73
5.2.2
PMgrAtService - Check if task is at service state ...........................................
74
5.2.3
PMgrAtState - Check the state of a task .......................................................
75
5.2.4
PMgrAtStation - Get the current station for a task ..........................................
76
5.2.5
PMgrNextStation - Get the next station for a task ..........................................
77
5.2.6
PMgrTaskNumber - Get the task number .....................................................
78
5.2.7
PMgrTaskName - Get the task name ...........................................................
79
5.3
Public constants ...............................................................................................
81
6
Seam Displacement options
81
6.1
General ...........................................................................................................
82
6.2
Starting Seam Displacement option ......................................................................
84
6.3
Functions available in Seam Displacement ............................................................
Application manual - Production Manager
5
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
87
Index
6
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Production_Manager
|
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| 6
|
Table of contents
7
Overview of this manual ...................................................................................................................
9
1
Production Manager
9
1.1
Introduction ......................................................................................................
10
1.2
Production Manager Execution Engine ..................................................................
12
1.3
Production Manager events .................................................................................
15
1.4
Production Manager Menudata and Partdata ..........................................................
19
2
Production Manager user interface
19
2.1
Overview .........................................................................................................
22
2.2
Setup menu .....................................................................................................
24
2.3
Service menu ...................................................................................................
24
2.3.1
About the Service menu ...........................................................................
26
2.3.2
Create a new Setup or Service menu dialog .................................................
32
2.3.3
Edit Setup or Service menu .......................................................................
34
2.3.4
Add filtering functionality to menus .............................................................
35
2.4
Production Information window ............................................................................
37
2.5
Part handler .....................................................................................................
39
2.5.1
Preview window ......................................................................................
41
2.5.2
Create a new part ....................................................................................
47
2.5.3
Edit part ................................................................................................
49
2.5.4
Test Part ................................................................................................
50
2.6
Custom application window .................................................................................
51
2.7
State icons .......................................................................................................
53
3
Configuring Production Manager
53
3.1
Production Manager Task configuration ................................................................
57
3.2
Production Manager MultiMove Support ................................................................
58
3.3
User Authorization System settings ......................................................................
61
4
Production Manager PLC support
61
4.1
How to run Production Manager from PLC .............................................................
63
4.2
How to run Production Manager from PLC via RAPID ...............................................
67
5
RAPID references
67
5.1
Instructions ......................................................................................................
67
5.1.1
ExecEngine - Start execution engine ...........................................................
68
5.1.2
PMgrGetNextPart - Get active part for station in task .....................................
70
5.1.3
PMgrSetNextPart - Set active part for station in task ......................................
71
5.1.4
PMgrRunMenu - Run menu in task .............................................................
72
5.2
Functions ........................................................................................................
72
5.2.1
PMgrAtSafe - Check if task is at safe state ...................................................
73
5.2.2
PMgrAtService - Check if task is at service state ...........................................
74
5.2.3
PMgrAtState - Check the state of a task .......................................................
75
5.2.4
PMgrAtStation - Get the current station for a task ..........................................
76
5.2.5
PMgrNextStation - Get the next station for a task ..........................................
77
5.2.6
PMgrTaskNumber - Get the task number .....................................................
78
5.2.7
PMgrTaskName - Get the task name ...........................................................
79
5.3
Public constants ...............................................................................................
81
6
Seam Displacement options
81
6.1
General ...........................................................................................................
82
6.2
Starting Seam Displacement option ......................................................................
84
6.3
Functions available in Seam Displacement ............................................................
Application manual - Production Manager
5
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
87
Index
6
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual explains the basics of when and how to use the following Production
Manager options:
•
Production Manager Execution Engine
•
Production Manager Events
•
Production Manager User Interface
•
Production Manager Menudata and Partdata
•
Production Manager Configuration
•
Production Manager MultiMove Support
•
Production Monitoring
•
Seam Displacement
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
robot programmers
Prerequisites
The reader should be familiar with:
•
industrial robots and their terminology
•
RAPID programming
•
system parameters and how to configure them
References
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
Introduction and Safety - Arc
Welding Products
Introduction and Safety - Arc Welding Products
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050981-001
Application manual - Torch services
Continues on next page
Application manual - Production Manager
7
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© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
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ABB_Application_Manual_Production_Manager
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87
Index
6
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual explains the basics of when and how to use the following Production
Manager options:
•
Production Manager Execution Engine
•
Production Manager Events
•
Production Manager User Interface
•
Production Manager Menudata and Partdata
•
Production Manager Configuration
•
Production Manager MultiMove Support
•
Production Monitoring
•
Seam Displacement
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
robot programmers
Prerequisites
The reader should be familiar with:
•
industrial robots and their terminology
•
RAPID programming
•
system parameters and how to configure them
References
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
Introduction and Safety - Arc
Welding Products
Introduction and Safety - Arc Welding Products
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050981-001
Application manual - Torch services
Continues on next page
Application manual - Production Manager
7
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
Document ID
References
3HAC050964-001
Application manual - Production Screen
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.05.
•
Added section Using signals from EPS on page 56 .
A
Published with RobotWare 6.07.
•
Updated section Production Manager MultiMove Support on page 57 .
B
Published with RobotWare 6.13.
•
Updated screenshots from FlexPendant.
C
8
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Production_Manager
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| 8
|
Overview of this manual
About this manual
This manual explains the basics of when and how to use the following Production
Manager options:
•
Production Manager Execution Engine
•
Production Manager Events
•
Production Manager User Interface
•
Production Manager Menudata and Partdata
•
Production Manager Configuration
•
Production Manager MultiMove Support
•
Production Monitoring
•
Seam Displacement
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
robot programmers
Prerequisites
The reader should be familiar with:
•
industrial robots and their terminology
•
RAPID programming
•
system parameters and how to configure them
References
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
Introduction and Safety - Arc
Welding Products
Introduction and Safety - Arc Welding Products
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC032104-001
Operating manual - RobotStudio
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
3HAC050981-001
Application manual - Torch services
Continues on next page
Application manual - Production Manager
7
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
Document ID
References
3HAC050964-001
Application manual - Production Screen
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.05.
•
Added section Using signals from EPS on page 56 .
A
Published with RobotWare 6.07.
•
Updated section Production Manager MultiMove Support on page 57 .
B
Published with RobotWare 6.13.
•
Updated screenshots from FlexPendant.
C
8
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
Continued
1 Production Manager
1.1 Introduction
What is Production Manager?
•
Production Manager is process independent middle-layer software running
on the IRC5 controller. It is general and it can be used in non-welding
applications.
•
Production Manager works between the operating system of the robot
(RobotWare and related options) and the end user application.
•
Production Manager has a highly modular structure that allows customers
to plug in applications.
API
Production Manager provides an API for specific applications such as arc welding.
Applications running on top of Production Manager can use the production loop
together with events and built-in cell logic to facilitate the cell management.
What does Production Manager offer?
Production Manager offers:
•
Graphical user interface for running setup and service routines, managing
part handling, displaying production information, etc.
•
Custom setup and service routines
•
Event handling in the production loop
•
Station handling
•
Rules and definitions on how to develop applications on top of the API
•
Part handling
Application manual - Production Manager
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1.1 Introduction
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ABB_Application_Manual_Production_Manager
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| 9
|
Document ID
References
3HAC050964-001
Application manual - Production Screen
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Published with RobotWare 6.0.
-
Published with RobotWare 6.05.
•
Added section Using signals from EPS on page 56 .
A
Published with RobotWare 6.07.
•
Updated section Production Manager MultiMove Support on page 57 .
B
Published with RobotWare 6.13.
•
Updated screenshots from FlexPendant.
C
8
Application manual - Production Manager
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
Overview of this manual
Continued
1 Production Manager
1.1 Introduction
What is Production Manager?
•
Production Manager is process independent middle-layer software running
on the IRC5 controller. It is general and it can be used in non-welding
applications.
•
Production Manager works between the operating system of the robot
(RobotWare and related options) and the end user application.
•
Production Manager has a highly modular structure that allows customers
to plug in applications.
API
Production Manager provides an API for specific applications such as arc welding.
Applications running on top of Production Manager can use the production loop
together with events and built-in cell logic to facilitate the cell management.
What does Production Manager offer?
Production Manager offers:
•
Graphical user interface for running setup and service routines, managing
part handling, displaying production information, etc.
•
Custom setup and service routines
•
Event handling in the production loop
•
Station handling
•
Rules and definitions on how to develop applications on top of the API
•
Part handling
Application manual - Production Manager
9
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
1 Production Manager
1.1 Introduction
1.2 Production Manager Execution Engine
General
The Production Manager Execution Engine provides an interface that allows external
devices to control calls to service and setup routines and calls to user-created part
routines.
The Production Manager Execution Engine handles all MultiMove considerations
for independent and simultaneous calls (one EE per task).
The Execution Engine will have hooks for user-defined code at critical points in
the cycle, such as:
•
Before part execution
•
After part execution
•
Before procedure execution
Tip
See Production Manager events on page 12 .
ExecEngine
ExecEngine is the Production Manager Execution Engine instruction. The
instruction takes no arguments and has no-step-in behavior. The user calls this
routine from his main routine in each motion task. Typically the user-defined main
routine should have a procedure call to ExecEngine and nothing else.
The ExecEngine routine contains a simple while-loop that monitors the Execution
Engine I/O interface for orders specified by the Production Manager GUI or other
Continues on next page
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1 Production Manager
1.2 Production Manager Execution Engine
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| 10
|
1 Production Manager
1.1 Introduction
What is Production Manager?
•
Production Manager is process independent middle-layer software running
on the IRC5 controller. It is general and it can be used in non-welding
applications.
•
Production Manager works between the operating system of the robot
(RobotWare and related options) and the end user application.
•
Production Manager has a highly modular structure that allows customers
to plug in applications.
API
Production Manager provides an API for specific applications such as arc welding.
Applications running on top of Production Manager can use the production loop
together with events and built-in cell logic to facilitate the cell management.
What does Production Manager offer?
Production Manager offers:
•
Graphical user interface for running setup and service routines, managing
part handling, displaying production information, etc.
•
Custom setup and service routines
•
Event handling in the production loop
•
Station handling
•
Rules and definitions on how to develop applications on top of the API
•
Part handling
Application manual - Production Manager
9
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
1 Production Manager
1.1 Introduction
1.2 Production Manager Execution Engine
General
The Production Manager Execution Engine provides an interface that allows external
devices to control calls to service and setup routines and calls to user-created part
routines.
The Production Manager Execution Engine handles all MultiMove considerations
for independent and simultaneous calls (one EE per task).
The Execution Engine will have hooks for user-defined code at critical points in
the cycle, such as:
•
Before part execution
•
After part execution
•
Before procedure execution
Tip
See Production Manager events on page 12 .
ExecEngine
ExecEngine is the Production Manager Execution Engine instruction. The
instruction takes no arguments and has no-step-in behavior. The user calls this
routine from his main routine in each motion task. Typically the user-defined main
routine should have a procedure call to ExecEngine and nothing else.
The ExecEngine routine contains a simple while-loop that monitors the Execution
Engine I/O interface for orders specified by the Production Manager GUI or other
Continues on next page
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1 Production Manager
1.2 Production Manager Execution Engine
external device such as PLC. The engine is capable of running part routines, setup
routines, and service routines.
![Image]
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1 Production Manager
1.2 Production Manager Execution Engine
Continued
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| 11
|
1.2 Production Manager Execution Engine
General
The Production Manager Execution Engine provides an interface that allows external
devices to control calls to service and setup routines and calls to user-created part
routines.
The Production Manager Execution Engine handles all MultiMove considerations
for independent and simultaneous calls (one EE per task).
The Execution Engine will have hooks for user-defined code at critical points in
the cycle, such as:
•
Before part execution
•
After part execution
•
Before procedure execution
Tip
See Production Manager events on page 12 .
ExecEngine
ExecEngine is the Production Manager Execution Engine instruction. The
instruction takes no arguments and has no-step-in behavior. The user calls this
routine from his main routine in each motion task. Typically the user-defined main
routine should have a procedure call to ExecEngine and nothing else.
The ExecEngine routine contains a simple while-loop that monitors the Execution
Engine I/O interface for orders specified by the Production Manager GUI or other
Continues on next page
10
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1 Production Manager
1.2 Production Manager Execution Engine
external device such as PLC. The engine is capable of running part routines, setup
routines, and service routines.
![Image]
xx1400002328
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1 Production Manager
1.2 Production Manager Execution Engine
Continued
1.3 Production Manager events
General
Production Manager events provide a mechanism for the user to run custom
routines at specific points in the ExecEngine cycle.
The ExecEngine uses event hooks to modularize the application built on Production
Manager. There are two ways to hook on to these, a simple and advanced.
Simple Production Manager events
The simple way is to create two procedures named BeforePart and AfterPart
in the tasks that have Production Manager loaded. The procedure BeforePart is
called just before the part is executed. The procedure AfterPart is executed just
after the part has been executed.
Advanced Production Manager events
To use the advanced event hooks, data of the type ee_event ( execution engine
event ) needs to be declared.
<dataobject of ee_event>
<Action of ee_eventnum>
<ProcName of string>
<taskList of string>
<SortOrder of byte>
<validStation of byte>
List of ee_event
Description
ee_event
The type of event to subscribe to. See list of available events in List
of available events on page 12 .
ee_eventnum
action
The actual procedure that will be called when running this event.
string procName
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2.
Value from 0-255 defining in which order this event will be executed
with respect to other events of the same action type.
byte sortOrder
Value from 0-255 defining for which station this event is valid.
byte validStation
List of available events
Description
Value
Event
EE_START is called when ExecEngine is called.
1
EE_START
NOTE! This event does not have a valid station.
EE_CYCLE_START is called when Production Manager receives
an order to execute a part.
2
EE_CYCLE_START
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
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external device such as PLC. The engine is capable of running part routines, setup
routines, and service routines.
![Image]
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1 Production Manager
1.2 Production Manager Execution Engine
Continued
1.3 Production Manager events
General
Production Manager events provide a mechanism for the user to run custom
routines at specific points in the ExecEngine cycle.
The ExecEngine uses event hooks to modularize the application built on Production
Manager. There are two ways to hook on to these, a simple and advanced.
Simple Production Manager events
The simple way is to create two procedures named BeforePart and AfterPart
in the tasks that have Production Manager loaded. The procedure BeforePart is
called just before the part is executed. The procedure AfterPart is executed just
after the part has been executed.
Advanced Production Manager events
To use the advanced event hooks, data of the type ee_event ( execution engine
event ) needs to be declared.
<dataobject of ee_event>
<Action of ee_eventnum>
<ProcName of string>
<taskList of string>
<SortOrder of byte>
<validStation of byte>
List of ee_event
Description
ee_event
The type of event to subscribe to. See list of available events in List
of available events on page 12 .
ee_eventnum
action
The actual procedure that will be called when running this event.
string procName
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2.
Value from 0-255 defining in which order this event will be executed
with respect to other events of the same action type.
byte sortOrder
Value from 0-255 defining for which station this event is valid.
byte validStation
List of available events
Description
Value
Event
EE_START is called when ExecEngine is called.
1
EE_START
NOTE! This event does not have a valid station.
EE_CYCLE_START is called when Production Manager receives
an order to execute a part.
2
EE_CYCLE_START
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
Description
Value
Event
EE_PROC_START is called before a setup or service routine is
executed.
3
EE_PROC_START
NOTE! The validStation element works on AtStation , not
NextStation .
Called before part is executed
4
EE_PRE_PROD
Called before part is executed
5
EE_CLOSE_JIG
Called before part is executed
6
EE_INDEX
Called before part is executed
7
EE_PRE_PART
(part execution)
Called after part is executed
8
EE_POST_PART
Called after part is executed
9
EE_OPEN_JIG
Called after part is executed
10
EE_SERVICE
Called after part is executed
11
EE_POST_PROD
This event is launched if the production is aborted due to an
error.
12
EE_ABORT
NOTE! This event does not have a valid station.
EE_WAIT_ORDER is called repeatedly when Production Manager
is waiting for an order.
13
EE_WAIT_ORDER
NOTE! This event does not have a valid station.
EE_POST_PROC is called after a setup or service routine is ex-
ecuted.
14
EE_POST_PROC
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
Continued
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1.3 Production Manager events
General
Production Manager events provide a mechanism for the user to run custom
routines at specific points in the ExecEngine cycle.
The ExecEngine uses event hooks to modularize the application built on Production
Manager. There are two ways to hook on to these, a simple and advanced.
Simple Production Manager events
The simple way is to create two procedures named BeforePart and AfterPart
in the tasks that have Production Manager loaded. The procedure BeforePart is
called just before the part is executed. The procedure AfterPart is executed just
after the part has been executed.
Advanced Production Manager events
To use the advanced event hooks, data of the type ee_event ( execution engine
event ) needs to be declared.
<dataobject of ee_event>
<Action of ee_eventnum>
<ProcName of string>
<taskList of string>
<SortOrder of byte>
<validStation of byte>
List of ee_event
Description
ee_event
The type of event to subscribe to. See list of available events in List
of available events on page 12 .
ee_eventnum
action
The actual procedure that will be called when running this event.
string procName
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2.
Value from 0-255 defining in which order this event will be executed
with respect to other events of the same action type.
byte sortOrder
Value from 0-255 defining for which station this event is valid.
byte validStation
List of available events
Description
Value
Event
EE_START is called when ExecEngine is called.
1
EE_START
NOTE! This event does not have a valid station.
EE_CYCLE_START is called when Production Manager receives
an order to execute a part.
2
EE_CYCLE_START
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
Description
Value
Event
EE_PROC_START is called before a setup or service routine is
executed.
3
EE_PROC_START
NOTE! The validStation element works on AtStation , not
NextStation .
Called before part is executed
4
EE_PRE_PROD
Called before part is executed
5
EE_CLOSE_JIG
Called before part is executed
6
EE_INDEX
Called before part is executed
7
EE_PRE_PART
(part execution)
Called after part is executed
8
EE_POST_PART
Called after part is executed
9
EE_OPEN_JIG
Called after part is executed
10
EE_SERVICE
Called after part is executed
11
EE_POST_PROD
This event is launched if the production is aborted due to an
error.
12
EE_ABORT
NOTE! This event does not have a valid station.
EE_WAIT_ORDER is called repeatedly when Production Manager
is waiting for an order.
13
EE_WAIT_ORDER
NOTE! This event does not have a valid station.
EE_POST_PROC is called after a setup or service routine is ex-
ecuted.
14
EE_POST_PROC
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
Continued
Event order
![Image]
![Image]
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1 Production Manager
1.3 Production Manager events
Continued
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Description
Value
Event
EE_PROC_START is called before a setup or service routine is
executed.
3
EE_PROC_START
NOTE! The validStation element works on AtStation , not
NextStation .
Called before part is executed
4
EE_PRE_PROD
Called before part is executed
5
EE_CLOSE_JIG
Called before part is executed
6
EE_INDEX
Called before part is executed
7
EE_PRE_PART
(part execution)
Called after part is executed
8
EE_POST_PART
Called after part is executed
9
EE_OPEN_JIG
Called after part is executed
10
EE_SERVICE
Called after part is executed
11
EE_POST_PROD
This event is launched if the production is aborted due to an
error.
12
EE_ABORT
NOTE! This event does not have a valid station.
EE_WAIT_ORDER is called repeatedly when Production Manager
is waiting for an order.
13
EE_WAIT_ORDER
NOTE! This event does not have a valid station.
EE_POST_PROC is called after a setup or service routine is ex-
ecuted.
14
EE_POST_PROC
NOTE! The validStation element works on AtStation , not
NextStation .
Continues on next page
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1 Production Manager
1.3 Production Manager events
Continued
Event order
![Image]
![Image]
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1 Production Manager
1.3 Production Manager events
Continued
1.4 Production Manager Menudata and Partdata
Menudata
Description
Menudata
A short description of the menu item.
string description
The name of the icon to use next to the menu item.
string image
The actual procedure that will be called when running this setup
or service routine. The procName can also point to a procedure
in a module that resides on the controller’s file system, see Dy-
namic parts and menus on page 16 .
string procName
Value from 0-255 defining to which station this menu item will
be visible.
byte validStation
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will
be executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining at which robot position this menu item
will be visible. Three predefined positions are available:
•
GAP_SHOW_SAFE
•
GAP_SHOW_SERVICE
•
GAP_SHOW_ALWAYS
byte validPosition
True if the menu item should be shown after an error.
bool
allowAfterError
1 = Setup menu, 2 = Service menu.
num type
Value from 0-255 defining the minimum user level required to
run this menu, if using UAS. See User Authorization System
settings on page 58 for more information.
byte minUserLevel
If this is set to True all other tasks will be blocked during the
execution of this routine.
bool
blockOtherTasks
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system.
Partdata
Description
Partdata
The procedure that will be called when running this part. The
pathProcName can also point to a procedure in a module that
resides on the controller’s file system, see Dynamic parts and
menus on page 16 .
string pathProcName
A short description of the part.
string description
The task names separated by ':' for the tasks where this part will
be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining for which station this part will be valid.
byte validStation
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Event order
![Image]
![Image]
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1.3 Production Manager events
Continued
1.4 Production Manager Menudata and Partdata
Menudata
Description
Menudata
A short description of the menu item.
string description
The name of the icon to use next to the menu item.
string image
The actual procedure that will be called when running this setup
or service routine. The procName can also point to a procedure
in a module that resides on the controller’s file system, see Dy-
namic parts and menus on page 16 .
string procName
Value from 0-255 defining to which station this menu item will
be visible.
byte validStation
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will
be executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining at which robot position this menu item
will be visible. Three predefined positions are available:
•
GAP_SHOW_SAFE
•
GAP_SHOW_SERVICE
•
GAP_SHOW_ALWAYS
byte validPosition
True if the menu item should be shown after an error.
bool
allowAfterError
1 = Setup menu, 2 = Service menu.
num type
Value from 0-255 defining the minimum user level required to
run this menu, if using UAS. See User Authorization System
settings on page 58 for more information.
byte minUserLevel
If this is set to True all other tasks will be blocked during the
execution of this routine.
bool
blockOtherTasks
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system.
Partdata
Description
Partdata
The procedure that will be called when running this part. The
pathProcName can also point to a procedure in a module that
resides on the controller’s file system, see Dynamic parts and
menus on page 16 .
string pathProcName
A short description of the part.
string description
The task names separated by ':' for the tasks where this part will
be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining for which station this part will be valid.
byte validStation
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1.4 Production Manager Menudata and Partdata
Description
Partdata
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system
The name of the picture to use in the preview frame when
browsing parts in the Part handler.
string image
This represents a reference to an advanced part. See Example
1, advanced part on page 16 .
string advPart
Example 1, advanced part
The example below shows how the advanced part field in the partdata can be
used.
The advPart field works as a reference to a custom data object. The referenced
data object often represents application specific data.
This is the partdata instance with the reference to an advanced part called
pdvProgStn1 .
TASK PERS partdata pdProgStn1:= ["ProgStn1","Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "MyPart.gif","pdvProgStn1"];
The partadv is a custom data type in RAPID. In this example the application takes
advantage of process angles, load angles and load data.
RECORD partadv
extjoint procAngle;
extjoint loadAngle;
loaddata Load;
ENDRECORD
Below is the declaration of the pdvProgStn1 data instance.
TASK PERS partadv pdvProgStn1:=
[[0,0,0,0,0,0],[0,0,0,0,0,0],[0,[0,0,0],[0,0,0,0],0,0,0]];
The application running on top of Production Manager can process the partdata
and take advantage of the advanced part data, for example, to move the external
axis to a certain process and load angle before Production Manager is ordered to
produce the part.
Dynamic parts and menus
A menu or a part can be loaded dynamically by using a file path in the menu’s
procName or the part’s pathProcName field. This feature is useful for saving
memory since the module will be loaded, executeded and unloaded in runtime. All
changes in the loaded module will be saved when it is unloaded. This dynamic
feature works for both PLC orders and normal operator initiated actions.
Continues on next page
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1.4 Production Manager Menudata and Partdata
Menudata
Description
Menudata
A short description of the menu item.
string description
The name of the icon to use next to the menu item.
string image
The actual procedure that will be called when running this setup
or service routine. The procName can also point to a procedure
in a module that resides on the controller’s file system, see Dy-
namic parts and menus on page 16 .
string procName
Value from 0-255 defining to which station this menu item will
be visible.
byte validStation
The task names separated by ':' for the tasks where this routine
will be executed.
string taskList
If more than one task is entered it means that these tasks will
be executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining at which robot position this menu item
will be visible. Three predefined positions are available:
•
GAP_SHOW_SAFE
•
GAP_SHOW_SERVICE
•
GAP_SHOW_ALWAYS
byte validPosition
True if the menu item should be shown after an error.
bool
allowAfterError
1 = Setup menu, 2 = Service menu.
num type
Value from 0-255 defining the minimum user level required to
run this menu, if using UAS. See User Authorization System
settings on page 58 for more information.
byte minUserLevel
If this is set to True all other tasks will be blocked during the
execution of this routine.
bool
blockOtherTasks
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system.
Partdata
Description
Partdata
The procedure that will be called when running this part. The
pathProcName can also point to a procedure in a module that
resides on the controller’s file system, see Dynamic parts and
menus on page 16 .
string pathProcName
A short description of the part.
string description
The task names separated by ':' for the tasks where this part will
be executed.
string taskList
If more than one task is entered it means that these tasks will be
executed simultaneous.
Example: T_ROB1:T_ROB2 .
Value from 0-255 defining for which station this part will be valid.
byte validStation
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1 Production Manager
1.4 Production Manager Menudata and Partdata
Description
Partdata
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system
The name of the picture to use in the preview frame when
browsing parts in the Part handler.
string image
This represents a reference to an advanced part. See Example
1, advanced part on page 16 .
string advPart
Example 1, advanced part
The example below shows how the advanced part field in the partdata can be
used.
The advPart field works as a reference to a custom data object. The referenced
data object often represents application specific data.
This is the partdata instance with the reference to an advanced part called
pdvProgStn1 .
TASK PERS partdata pdProgStn1:= ["ProgStn1","Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "MyPart.gif","pdvProgStn1"];
The partadv is a custom data type in RAPID. In this example the application takes
advantage of process angles, load angles and load data.
RECORD partadv
extjoint procAngle;
extjoint loadAngle;
loaddata Load;
ENDRECORD
Below is the declaration of the pdvProgStn1 data instance.
TASK PERS partadv pdvProgStn1:=
[[0,0,0,0,0,0],[0,0,0,0,0,0],[0,[0,0,0],[0,0,0,0],0,0,0]];
The application running on top of Production Manager can process the partdata
and take advantage of the advanced part data, for example, to move the external
axis to a certain process and load angle before Production Manager is ordered to
produce the part.
Dynamic parts and menus
A menu or a part can be loaded dynamically by using a file path in the menu’s
procName or the part’s pathProcName field. This feature is useful for saving
memory since the module will be loaded, executeded and unloaded in runtime. All
changes in the loaded module will be saved when it is unloaded. This dynamic
feature works for both PLC orders and normal operator initiated actions.
Continues on next page
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1 Production Manager
1.4 Production Manager Menudata and Partdata
Continued
The path to the module and the procedure are delimited with a ‘@’. Below is an
example of a dynamic part:
TASK PERS partdata pdDynProgStn1 :=
["HOME:/DynPart/DynPartPrcR1S1.mod@PartStn1","Dynamic part
sta- tion 1","",1,0,"",""];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynPartPrcR1S1
PROC PartStn1()
<SMT>
ENDPROC
ENDMODULE
A dynamic menu could look like this:
CONST menudata mdDynMenu := ["Run dynamic
menu","","HOME:/DynPart/DynMenuPrc.mod@DynMenuProc", 255, "",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynMenuPrc
PROC DynMenuProc()
<SMT>
ENDPROC
ENDMODULE
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Description
Partdata
Unique identifier index for PLC interfaces.
num plcCode
Note: Used only when an external system is controlling the robot
system
The name of the picture to use in the preview frame when
browsing parts in the Part handler.
string image
This represents a reference to an advanced part. See Example
1, advanced part on page 16 .
string advPart
Example 1, advanced part
The example below shows how the advanced part field in the partdata can be
used.
The advPart field works as a reference to a custom data object. The referenced
data object often represents application specific data.
This is the partdata instance with the reference to an advanced part called
pdvProgStn1 .
TASK PERS partdata pdProgStn1:= ["ProgStn1","Program station 1",
"T_ROB1:T_ROB2:T_ROB3:T_POS1",1, "MyPart.gif","pdvProgStn1"];
The partadv is a custom data type in RAPID. In this example the application takes
advantage of process angles, load angles and load data.
RECORD partadv
extjoint procAngle;
extjoint loadAngle;
loaddata Load;
ENDRECORD
Below is the declaration of the pdvProgStn1 data instance.
TASK PERS partadv pdvProgStn1:=
[[0,0,0,0,0,0],[0,0,0,0,0,0],[0,[0,0,0],[0,0,0,0],0,0,0]];
The application running on top of Production Manager can process the partdata
and take advantage of the advanced part data, for example, to move the external
axis to a certain process and load angle before Production Manager is ordered to
produce the part.
Dynamic parts and menus
A menu or a part can be loaded dynamically by using a file path in the menu’s
procName or the part’s pathProcName field. This feature is useful for saving
memory since the module will be loaded, executeded and unloaded in runtime. All
changes in the loaded module will be saved when it is unloaded. This dynamic
feature works for both PLC orders and normal operator initiated actions.
Continues on next page
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1 Production Manager
1.4 Production Manager Menudata and Partdata
Continued
The path to the module and the procedure are delimited with a ‘@’. Below is an
example of a dynamic part:
TASK PERS partdata pdDynProgStn1 :=
["HOME:/DynPart/DynPartPrcR1S1.mod@PartStn1","Dynamic part
sta- tion 1","",1,0,"",""];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynPartPrcR1S1
PROC PartStn1()
<SMT>
ENDPROC
ENDMODULE
A dynamic menu could look like this:
CONST menudata mdDynMenu := ["Run dynamic
menu","","HOME:/DynPart/DynMenuPrc.mod@DynMenuProc", 255, "",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynMenuPrc
PROC DynMenuProc()
<SMT>
ENDPROC
ENDMODULE
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Continued
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The path to the module and the procedure are delimited with a ‘@’. Below is an
example of a dynamic part:
TASK PERS partdata pdDynProgStn1 :=
["HOME:/DynPart/DynPartPrcR1S1.mod@PartStn1","Dynamic part
sta- tion 1","",1,0,"",""];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynPartPrcR1S1
PROC PartStn1()
<SMT>
ENDPROC
ENDMODULE
A dynamic menu could look like this:
CONST menudata mdDynMenu := ["Run dynamic
menu","","HOME:/DynPart/DynMenuPrc.mod@DynMenuProc", 255, "",
GAP_SHOW_ALWAYS,TRUE,GAP_SERVICE_TYPE,0,FALSE,0];
%%%
VERSION: 1
LANGUAGE: ENGLISH
%%%
MODULE DynMenuPrc
PROC DynMenuProc()
<SMT>
ENDPROC
ENDMODULE
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1.4 Production Manager Menudata and Partdata
Continued
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2 Production Manager user interface
2.1 Overview
The Production Manager user interface requires some UAS grants to operate
properly. See User Authorization System settings on page 58 for detailed
information.
Some of the available features, like menus and parts, utilize an icon or image
attribute to increase the usability. Graphical resources can be added to the
FlexPendant by following the steps below.
Image deployment steps:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Accessing different functions
1
Go to the ABB menu and launch the Production Manager.
![Image]
xx1400002330
Continues on next page
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2.1 Overview
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2 Production Manager user interface
2.1 Overview
The Production Manager user interface requires some UAS grants to operate
properly. See User Authorization System settings on page 58 for detailed
information.
Some of the available features, like menus and parts, utilize an icon or image
attribute to increase the usability. Graphical resources can be added to the
FlexPendant by following the steps below.
Image deployment steps:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Accessing different functions
1
Go to the ABB menu and launch the Production Manager.
![Image]
xx1400002330
Continues on next page
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2 Production Manager user interface
2.1 Overview
Starting view:
![Image]
xx1400002331
In the Production Manager main menu all production related functions can be
accessed.
Production Screen
Production Manager can also be run within the Production Screen framework. The
GUI functionality is added automatically to the Production Screen desktop, as apps,
when both options are installed. The desktop can then be extended with custom
apps and widgets using the flexibility of the customizable interface in Production
Screen.
![Image]
xx1400002402
Note
Production Screen requires a separate option.
For more information, see Application manual - Production Screen .
Continues on next page
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2 Production Manager user interface
2.1 Overview
Continued
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2 Production Manager user interface
2.1 Overview
The Production Manager user interface requires some UAS grants to operate
properly. See User Authorization System settings on page 58 for detailed
information.
Some of the available features, like menus and parts, utilize an icon or image
attribute to increase the usability. Graphical resources can be added to the
FlexPendant by following the steps below.
Image deployment steps:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Accessing different functions
1
Go to the ABB menu and launch the Production Manager.
![Image]
xx1400002330
Continues on next page
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19
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2 Production Manager user interface
2.1 Overview
Starting view:
![Image]
xx1400002331
In the Production Manager main menu all production related functions can be
accessed.
Production Screen
Production Manager can also be run within the Production Screen framework. The
GUI functionality is added automatically to the Production Screen desktop, as apps,
when both options are installed. The desktop can then be extended with custom
apps and widgets using the flexibility of the customizable interface in Production
Screen.
![Image]
xx1400002402
Note
Production Screen requires a separate option.
For more information, see Application manual - Production Screen .
Continues on next page
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2 Production Manager user interface
2.1 Overview
Continued
MultiMove system
In a MultiMove system the different tasks and robot are displayed as tabs at the
top of the page.
In this example the cell is loaded with three robots and a positioner.
1
In the Production Manager main menu:
To explore the functions for the positioner, simply select the IRBP 1 tab.
![Image]
xx1400002332
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2 Production Manager user interface
2.1 Overview
Continued
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| 21
|
Starting view:
![Image]
xx1400002331
In the Production Manager main menu all production related functions can be
accessed.
Production Screen
Production Manager can also be run within the Production Screen framework. The
GUI functionality is added automatically to the Production Screen desktop, as apps,
when both options are installed. The desktop can then be extended with custom
apps and widgets using the flexibility of the customizable interface in Production
Screen.
![Image]
xx1400002402
Note
Production Screen requires a separate option.
For more information, see Application manual - Production Screen .
Continues on next page
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2 Production Manager user interface
2.1 Overview
Continued
MultiMove system
In a MultiMove system the different tasks and robot are displayed as tabs at the
top of the page.
In this example the cell is loaded with three robots and a positioner.
1
In the Production Manager main menu:
To explore the functions for the positioner, simply select the IRBP 1 tab.
![Image]
xx1400002332
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2 Production Manager user interface
2.1 Overview
Continued
2.2 Setup menu
Overview
The Setup menu contains functions for setting up the robot, positioner or cell. The
following figure shows the Setup procedures available for the positioner.
The functions available in Setup may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002333
Add
It is possible to add custom setup procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SETUP_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Setup menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a Setup procedure simply select the line and tap Run on the command
bar. See Edit Setup or Service menu on page 32 .
Continues on next page
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2 Production Manager user interface
2.2 Setup menu
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|
MultiMove system
In a MultiMove system the different tasks and robot are displayed as tabs at the
top of the page.
In this example the cell is loaded with three robots and a positioner.
1
In the Production Manager main menu:
To explore the functions for the positioner, simply select the IRBP 1 tab.
![Image]
xx1400002332
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2 Production Manager user interface
2.1 Overview
Continued
2.2 Setup menu
Overview
The Setup menu contains functions for setting up the robot, positioner or cell. The
following figure shows the Setup procedures available for the positioner.
The functions available in Setup may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002333
Add
It is possible to add custom setup procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SETUP_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Setup menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a Setup procedure simply select the line and tap Run on the command
bar. See Edit Setup or Service menu on page 32 .
Continues on next page
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2 Production Manager user interface
2.2 Setup menu
Enable/disable
The setup procedures can be disabled depending of the state of the task. A Setup
item is enabled if:
•
the execution state must be in running mode.
•
the menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Setup menus to be enabled.
If a menu is disabled the command bar item Run will change to Status . If Status
is tapped, a message box will appear explaining why the menu is disabled.
![Image]
xx1400002334
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2 Production Manager user interface
2.2 Setup menu
Continued
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| 23
|
2.2 Setup menu
Overview
The Setup menu contains functions for setting up the robot, positioner or cell. The
following figure shows the Setup procedures available for the positioner.
The functions available in Setup may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002333
Add
It is possible to add custom setup procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SETUP_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Setup menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a Setup procedure simply select the line and tap Run on the command
bar. See Edit Setup or Service menu on page 32 .
Continues on next page
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2 Production Manager user interface
2.2 Setup menu
Enable/disable
The setup procedures can be disabled depending of the state of the task. A Setup
item is enabled if:
•
the execution state must be in running mode.
•
the menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Setup menus to be enabled.
If a menu is disabled the command bar item Run will change to Status . If Status
is tapped, a message box will appear explaining why the menu is disabled.
![Image]
xx1400002334
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23
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2 Production Manager user interface
2.2 Setup menu
Continued
2.3 Service menu
2.3.1 About the Service menu
Overview
The Service menu contains functions for running service procedures for the robot,
positioner or cell. The following figure shows the service procedures available for
the positioner.
The functions available in Service may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002335
Add
It is possible to add custom service procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SERVICE_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Service menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a service procedure simply select the line and tap Go on the command
bar.
Continues on next page
24
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2 Production Manager user interface
2.3.1 About the Service menu
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Enable/disable
The setup procedures can be disabled depending of the state of the task. A Setup
item is enabled if:
•
the execution state must be in running mode.
•
the menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Setup menus to be enabled.
If a menu is disabled the command bar item Run will change to Status . If Status
is tapped, a message box will appear explaining why the menu is disabled.
![Image]
xx1400002334
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23
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2 Production Manager user interface
2.2 Setup menu
Continued
2.3 Service menu
2.3.1 About the Service menu
Overview
The Service menu contains functions for running service procedures for the robot,
positioner or cell. The following figure shows the service procedures available for
the positioner.
The functions available in Service may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002335
Add
It is possible to add custom service procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SERVICE_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Service menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a service procedure simply select the line and tap Go on the command
bar.
Continues on next page
24
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.1 About the Service menu
Enable/disable
The service procedures can be disabled depending of the state of the task. A
service item is enabled if:
•
Execution state must be in running mode.
•
The menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Service menus to be enabled.
•
If a menu is disabled the command bar item Run will change to Status . If
Status is tapped, a message box will appear explaining why the menu is
disabled.
Application manual - Production Manager
25
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2 Production Manager user interface
2.3.1 About the Service menu
Continued
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| 25
|
2.3 Service menu
2.3.1 About the Service menu
Overview
The Service menu contains functions for running service procedures for the robot,
positioner or cell. The following figure shows the service procedures available for
the positioner.
The functions available in Service may be restricted by the User Authorization
System, see User Authorization System settings on page 58 .
![Image]
xx1400002335
Add
It is possible to add custom service procedures in the list. This is done by adding
RAPID variables of type menudata to the appropriate task. All variables of type
menudata , and declared with menudata.type = GAP_SERVICE_TYPE , will
automatically be added to the list in the Setup window. See Production Manager
Menudata and Partdata on page 15 for details about the menudata type.
It is also possible to add Service menus from the user interface by tapping New...
on the command bar. See Create a new Setup or Service menu dialog on page 26 .
Edit
To edit the selected menu item, tap Edit... on the command bar. See Edit Setup or
Service menu on page 32 .
Delete
To delete the selected menu item, tap Delete on the command bar.
Launch
To launch a service procedure simply select the line and tap Go on the command
bar.
Continues on next page
24
Application manual - Production Manager
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.1 About the Service menu
Enable/disable
The service procedures can be disabled depending of the state of the task. A
service item is enabled if:
•
Execution state must be in running mode.
•
The menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Service menus to be enabled.
•
If a menu is disabled the command bar item Run will change to Status . If
Status is tapped, a message box will appear explaining why the menu is
disabled.
Application manual - Production Manager
25
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2 Production Manager user interface
2.3.1 About the Service menu
Continued
2.3.2 Create a new Setup or Service menu dialog
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
2
Tap New on the command bar.
![Image]
xx1400002336
3
The Create new menudata dialog has a number of fields to enter, see New
menudata dialog on page 27 . The user interface will help the user to create
a new menudata instance together with the actual procedure to be called
when the menu is executed.
The menudata instance will be declared as TASK PERS . The procedure will
be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002337
Continues on next page
26
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
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| 26
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Enable/disable
The service procedures can be disabled depending of the state of the task. A
service item is enabled if:
•
Execution state must be in running mode.
•
The menudata fields validStation , validPosition , allowAfterError
and minUserLevel must all be valid for an item to be enabled. The value
of these fields depends on the state of the cell and the user’s grant level.
Produciton Manager must also be in running and ready mode in order for
the Service menus to be enabled.
•
If a menu is disabled the command bar item Run will change to Status . If
Status is tapped, a message box will appear explaining why the menu is
disabled.
Application manual - Production Manager
25
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2 Production Manager user interface
2.3.1 About the Service menu
Continued
2.3.2 Create a new Setup or Service menu dialog
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
2
Tap New on the command bar.
![Image]
xx1400002336
3
The Create new menudata dialog has a number of fields to enter, see New
menudata dialog on page 27 . The user interface will help the user to create
a new menudata instance together with the actual procedure to be called
when the menu is executed.
The menudata instance will be declared as TASK PERS . The procedure will
be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002337
Continues on next page
26
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
New menudata dialog
Description
Default value
This is the procedure that will be called when menu is executed. A
default name is suggested when creating new menudata .
Procedure name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID.
Menudata instance
Select the module where the data and the procedure will be declared.
It is possible to create a new module for the menu.
Declared in module
If a task list is used, the module will be created in all tasks in the
task list if it does not already exist, and the menudata and procedure
will be placed in this module.
Note: Only normal program modules will be visible in the list.
Create a new dynamic Setup or Service menu dialog
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
Continues on next page
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
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| 27
|
2.3.2 Create a new Setup or Service menu dialog
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
2
Tap New on the command bar.
![Image]
xx1400002336
3
The Create new menudata dialog has a number of fields to enter, see New
menudata dialog on page 27 . The user interface will help the user to create
a new menudata instance together with the actual procedure to be called
when the menu is executed.
The menudata instance will be declared as TASK PERS . The procedure will
be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002337
Continues on next page
26
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
New menudata dialog
Description
Default value
This is the procedure that will be called when menu is executed. A
default name is suggested when creating new menudata .
Procedure name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID.
Menudata instance
Select the module where the data and the procedure will be declared.
It is possible to create a new module for the menu.
Declared in module
If a task list is used, the module will be created in all tasks in the
task list if it does not already exist, and the menudata and procedure
will be placed in this module.
Note: Only normal program modules will be visible in the list.
Create a new dynamic Setup or Service menu dialog
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
Continues on next page
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
2
Tap New on the command bar.
![Image]
xx1400002336
3
Select Menu name in list and tap ABC… .
![Image]
xx1400002338
Continues on next page
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
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| 28
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New menudata dialog
Description
Default value
This is the procedure that will be called when menu is executed. A
default name is suggested when creating new menudata .
Procedure name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID.
Menudata instance
Select the module where the data and the procedure will be declared.
It is possible to create a new module for the menu.
Declared in module
If a task list is used, the module will be created in all tasks in the
task list if it does not already exist, and the menudata and procedure
will be placed in this module.
Note: Only normal program modules will be visible in the list.
Create a new dynamic Setup or Service menu dialog
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to create.
Continues on next page
Application manual - Production Manager
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
2
Tap New on the command bar.
![Image]
xx1400002336
3
Select Menu name in list and tap ABC… .
![Image]
xx1400002338
Continues on next page
28
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
xx1400002339
5
Or
Select Menu name in list and tap Browse… .
![Image]
xx1400002340
Continues on next page
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
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2
Tap New on the command bar.
![Image]
xx1400002336
3
Select Menu name in list and tap ABC… .
![Image]
xx1400002338
Continues on next page
28
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
xx1400002339
5
Or
Select Menu name in list and tap Browse… .
![Image]
xx1400002340
Continues on next page
Application manual - Production Manager
29
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
6
Tap button ... to browse for module.
![Image]
xx1400002341
7
Select module.
![Image]
xx1400002342
Continues on next page
30
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
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| 30
|
4
Enter the path to the module and procedure name separated with @. If module
does not exist, it will be created.
![Image]
xx1400002339
5
Or
Select Menu name in list and tap Browse… .
![Image]
xx1400002340
Continues on next page
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29
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
6
Tap button ... to browse for module.
![Image]
xx1400002341
7
Select module.
![Image]
xx1400002342
Continues on next page
30
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
8
Select procedure and tap OK .
![Image]
xx1400002343
9
If menu is synchronized in several tasks, select task in list and repeat step
4 or step 5 to 8 .
![Image]
xx1400002344
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
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6
Tap button ... to browse for module.
![Image]
xx1400002341
7
Select module.
![Image]
xx1400002342
Continues on next page
30
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
8
Select procedure and tap OK .
![Image]
xx1400002343
9
If menu is synchronized in several tasks, select task in list and repeat step
4 or step 5 to 8 .
![Image]
xx1400002344
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31
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
2.3.3 Edit Setup or Service menu
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to edit.
2
Select the menu to edit.
![Image]
xx1400002345
3
Tap Edit .
The Edit menudata dialog has a number of fields to enter. See Edit Setup
or Service menu on page32 . The fields will be loaded with data for the current
menudata .
![Image]
xx1400002346
Continues on next page
32
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.3 Edit Setup or Service menu
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8
Select procedure and tap OK .
![Image]
xx1400002343
9
If menu is synchronized in several tasks, select task in list and repeat step
4 or step 5 to 8 .
![Image]
xx1400002344
Application manual - Production Manager
31
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2 Production Manager user interface
2.3.2 Create a new Setup or Service menu dialog
Continued
2.3.3 Edit Setup or Service menu
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to edit.
2
Select the menu to edit.
![Image]
xx1400002345
3
Tap Edit .
The Edit menudata dialog has a number of fields to enter. See Edit Setup
or Service menu on page32 . The fields will be loaded with data for the current
menudata .
![Image]
xx1400002346
Continues on next page
32
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.3.3 Edit Setup or Service menu
Edit Setup or Service menu dialog
Description
Default value
This is the procedure that will be called when menu is executed. It
is not possible to specify a new menudata name, only select from
an already existing menu. Use the dropdown list to search for pro-
cedures in another module..
Procedure name
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
Select the line and
check the boxes in
the window that ap-
pears on the right
side.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID. This field is not
possible to edit.
Menudata instance
The module where the data and the procedure will be declared.
Declared in module
Note: This field is not possible to edit.
Application manual - Production Manager
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2 Production Manager user interface
2.3.3 Edit Setup or Service menu
Continued
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| 33
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2.3.3 Edit Setup or Service menu
Procedure
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to edit.
2
Select the menu to edit.
![Image]
xx1400002345
3
Tap Edit .
The Edit menudata dialog has a number of fields to enter. See Edit Setup
or Service menu on page32 . The fields will be loaded with data for the current
menudata .
![Image]
xx1400002346
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2 Production Manager user interface
2.3.3 Edit Setup or Service menu
Edit Setup or Service menu dialog
Description
Default value
This is the procedure that will be called when menu is executed. It
is not possible to specify a new menudata name, only select from
an already existing menu. Use the dropdown list to search for pro-
cedures in another module..
Procedure name
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
Select the line and
check the boxes in
the window that ap-
pears on the right
side.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID. This field is not
possible to edit.
Menudata instance
The module where the data and the procedure will be declared.
Declared in module
Note: This field is not possible to edit.
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2 Production Manager user interface
2.3.3 Edit Setup or Service menu
Continued
2.3.4 Add filtering functionality to menus
It is possible to tag Setup and Service menus with a category and apply a filter on
these categories. This one-level filtering is achieved by introducing a special syntax
in the description field of the menudata instance.
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to add or edit.
2
Select the menu to edit or tap New… to create a new menu.
3
In the Description field, add the following syntax to add a filter:
"categoryname"#"description string".
![Image]
xx1400002347
4
Use the drop-down box to filter the menus based on the categories.
![Image]
xx1400002348
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2.3.4 Add filtering functionality to menus
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Edit Setup or Service menu dialog
Description
Default value
This is the procedure that will be called when menu is executed. It
is not possible to specify a new menudata name, only select from
an already existing menu. Use the dropdown list to search for pro-
cedures in another module..
Procedure name
A custom string that describes the Setup or Service menu. This is
the name that will be displayed in the Setup or Service window list.
Description
These are the tasks this setup or service procedure should be de-
clared in.
Run in tasks
If more than one task is simultaneously selected it means that these
tasks will be executed simultaneous.
Select the line and
check the boxes in
the window that ap-
pears on the right
side.
This field cannot be edited. It indicates if the procedure name and
menudata instance name is valid in all tasks in the task list.
Procedure valid
Select the stations this setup or service procedure will be valid on.
Valid on stations
Select the position this setup or service procedure will be valid for.
Three predefined positions are available.
Valid position
If this is set to True all other tasks will be blocked during the execu-
tion of this routine.
Block other tasks
Unique identifier index for PLC interfaces.
PLC code
Value from 0-255 defining the minimum user level required to run
this menu, if using UAS. See User Authorization System settings
on page 58 for more information.
User Level
The name of the menudata instance in RAPID. This field is not
possible to edit.
Menudata instance
The module where the data and the procedure will be declared.
Declared in module
Note: This field is not possible to edit.
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2 Production Manager user interface
2.3.3 Edit Setup or Service menu
Continued
2.3.4 Add filtering functionality to menus
It is possible to tag Setup and Service menus with a category and apply a filter on
these categories. This one-level filtering is achieved by introducing a special syntax
in the description field of the menudata instance.
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to add or edit.
2
Select the menu to edit or tap New… to create a new menu.
3
In the Description field, add the following syntax to add a filter:
"categoryname"#"description string".
![Image]
xx1400002347
4
Use the drop-down box to filter the menus based on the categories.
![Image]
xx1400002348
34
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2 Production Manager user interface
2.3.4 Add filtering functionality to menus
2.4 Production Information window
Overview
The production information window displays information during the production of
parts.
•
Current station and active part are displayed.
•
Messages sent from the active task are displayed in the lower part of the
window.
•
By tapping Move PP to Main , it is possible to move the program pointer to
main in all tasks. A log of the 50 latest messages is saved and can be viewed
at any time.
![Image]
xx1400002349
Note
It is possible to see messages sent from other tasks by checking the
corresponding taskname in the Filter menu.
Status information
The status information window displays detailed information during the production
cycle.
•
State of configured signals.
•
What event executing.
•
What procedure executing. If no procedure given and part has tasklist
defined, the task is waiting/syncronizing for other task in list.
•
Graphical view of production cycle
Continues on next page
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2 Production Manager user interface
2.4 Production Information window
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|
2.3.4 Add filtering functionality to menus
It is possible to tag Setup and Service menus with a category and apply a filter on
these categories. This one-level filtering is achieved by introducing a special syntax
in the description field of the menudata instance.
1
In the Production Manager main menu select Setup or Service depending
on which type of menudata you would like to add or edit.
2
Select the menu to edit or tap New… to create a new menu.
3
In the Description field, add the following syntax to add a filter:
"categoryname"#"description string".
![Image]
xx1400002347
4
Use the drop-down box to filter the menus based on the categories.
![Image]
xx1400002348
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2 Production Manager user interface
2.3.4 Add filtering functionality to menus
2.4 Production Information window
Overview
The production information window displays information during the production of
parts.
•
Current station and active part are displayed.
•
Messages sent from the active task are displayed in the lower part of the
window.
•
By tapping Move PP to Main , it is possible to move the program pointer to
main in all tasks. A log of the 50 latest messages is saved and can be viewed
at any time.
![Image]
xx1400002349
Note
It is possible to see messages sent from other tasks by checking the
corresponding taskname in the Filter menu.
Status information
The status information window displays detailed information during the production
cycle.
•
State of configured signals.
•
What event executing.
•
What procedure executing. If no procedure given and part has tasklist
defined, the task is waiting/syncronizing for other task in list.
•
Graphical view of production cycle
Continues on next page
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2 Production Manager user interface
2.4 Production Information window
![Image]
xx1400002350
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2 Production Manager user interface
2.4 Production Information window
Continued
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| 36
|
2.4 Production Information window
Overview
The production information window displays information during the production of
parts.
•
Current station and active part are displayed.
•
Messages sent from the active task are displayed in the lower part of the
window.
•
By tapping Move PP to Main , it is possible to move the program pointer to
main in all tasks. A log of the 50 latest messages is saved and can be viewed
at any time.
![Image]
xx1400002349
Note
It is possible to see messages sent from other tasks by checking the
corresponding taskname in the Filter menu.
Status information
The status information window displays detailed information during the production
cycle.
•
State of configured signals.
•
What event executing.
•
What procedure executing. If no procedure given and part has tasklist
defined, the task is waiting/syncronizing for other task in list.
•
Graphical view of production cycle
Continues on next page
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2 Production Manager user interface
2.4 Production Information window
![Image]
xx1400002350
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2 Production Manager user interface
2.4 Production Information window
Continued
2.5 Part handler
Overview
The functions available in Part Handler windows may be restricted by the User
Authorization System, see User Authorization System settings on page 58 .
Select parts for available stations
The part handler window lets the user select parts for available stations
1
Select the station number.
2
Tap Select Part to select a new part to this station.
![Image]
xx1400002351
Debug part
When a part has been selected for a station it is possible to run the part in debug
mode. When running a part in debug mode the execution will stop just before the
user code is called at every place in the production loop. Typically the user presses
Step forward when the execution has stopped. This feature can be useful if an
error has occured during the process and it is too expensive to throw away the
object. The operator can fix the problem, step through the program until he reaches
the error point and then continue production.
Two different debug types are available:
•
Debug all
The execution will stop before all user code calls throughout the complete
part cycle.
•
Debug to part
The execution will stop before all user code calls for the events before the
part (part procedure call included). When the part procedure has been invoked
the user can press Start to continue normal execution without any stops at
the events after the part.
Continues on next page
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2 Production Manager user interface
2.5 Part handler
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![Image]
xx1400002350
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2 Production Manager user interface
2.4 Production Information window
Continued
2.5 Part handler
Overview
The functions available in Part Handler windows may be restricted by the User
Authorization System, see User Authorization System settings on page 58 .
Select parts for available stations
The part handler window lets the user select parts for available stations
1
Select the station number.
2
Tap Select Part to select a new part to this station.
![Image]
xx1400002351
Debug part
When a part has been selected for a station it is possible to run the part in debug
mode. When running a part in debug mode the execution will stop just before the
user code is called at every place in the production loop. Typically the user presses
Step forward when the execution has stopped. This feature can be useful if an
error has occured during the process and it is too expensive to throw away the
object. The operator can fix the problem, step through the program until he reaches
the error point and then continue production.
Two different debug types are available:
•
Debug all
The execution will stop before all user code calls throughout the complete
part cycle.
•
Debug to part
The execution will stop before all user code calls for the events before the
part (part procedure call included). When the part procedure has been invoked
the user can press Start to continue normal execution without any stops at
the events after the part.
Continues on next page
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2 Production Manager user interface
2.5 Part handler
To start debugging:
1
Select the station number.
2
Tap Debug Part on the command bar and make your selection to start
debugging.
![Image]
xx1400002352
Continues on next page
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2.5 Part handler
Continued
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| 38
|
2.5 Part handler
Overview
The functions available in Part Handler windows may be restricted by the User
Authorization System, see User Authorization System settings on page 58 .
Select parts for available stations
The part handler window lets the user select parts for available stations
1
Select the station number.
2
Tap Select Part to select a new part to this station.
![Image]
xx1400002351
Debug part
When a part has been selected for a station it is possible to run the part in debug
mode. When running a part in debug mode the execution will stop just before the
user code is called at every place in the production loop. Typically the user presses
Step forward when the execution has stopped. This feature can be useful if an
error has occured during the process and it is too expensive to throw away the
object. The operator can fix the problem, step through the program until he reaches
the error point and then continue production.
Two different debug types are available:
•
Debug all
The execution will stop before all user code calls throughout the complete
part cycle.
•
Debug to part
The execution will stop before all user code calls for the events before the
part (part procedure call included). When the part procedure has been invoked
the user can press Start to continue normal execution without any stops at
the events after the part.
Continues on next page
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2 Production Manager user interface
2.5 Part handler
To start debugging:
1
Select the station number.
2
Tap Debug Part on the command bar and make your selection to start
debugging.
![Image]
xx1400002352
Continues on next page
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2 Production Manager user interface
2.5 Part handler
Continued
2.5.1 Preview window
If the image field is entered in the partdata , the preview window on the right will
display a picture of the part when a station is selected.
![Image]
xx1400002353
Deploying image resources to the FlexPendant:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Select
To select a part, select the line and tap OK .
If the part contains a task list, this part will be selected for this station in all tasks
in the task list, if the partdata instance exists in the other tasks. If the part
procedure name cannot be found in a task, a message box will be displayed where
it is possible to select the part anyway and override the warning.
Note
Parts with tasklists are connected via the partdata instance name, not the part
procedure name. I.e. it is possible to have different names on the part procedures
between synchronized parts as long as the partdata instance name is the same.
Only persistent partdata instances will be shown in the list of available parts.
Create
To create a new part, tap New… on the command bar. See Create a new part on
page 41 .
Edit
To edit the selected part, tap Edit... on the command bar. See Part Handler - Edit
part on page 47 .
Continues on next page
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2 Production Manager user interface
2.5.1 Preview window
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To start debugging:
1
Select the station number.
2
Tap Debug Part on the command bar and make your selection to start
debugging.
![Image]
xx1400002352
Continues on next page
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2 Production Manager user interface
2.5 Part handler
Continued
2.5.1 Preview window
If the image field is entered in the partdata , the preview window on the right will
display a picture of the part when a station is selected.
![Image]
xx1400002353
Deploying image resources to the FlexPendant:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Select
To select a part, select the line and tap OK .
If the part contains a task list, this part will be selected for this station in all tasks
in the task list, if the partdata instance exists in the other tasks. If the part
procedure name cannot be found in a task, a message box will be displayed where
it is possible to select the part anyway and override the warning.
Note
Parts with tasklists are connected via the partdata instance name, not the part
procedure name. I.e. it is possible to have different names on the part procedures
between synchronized parts as long as the partdata instance name is the same.
Only persistent partdata instances will be shown in the list of available parts.
Create
To create a new part, tap New… on the command bar. See Create a new part on
page 41 .
Edit
To edit the selected part, tap Edit... on the command bar. See Part Handler - Edit
part on page 47 .
Continues on next page
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2 Production Manager user interface
2.5.1 Preview window
Delete
To delete the selected part, tap Delete on the command bar.
40
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2 Production Manager user interface
2.5.1 Preview window
Continued
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| 40
|
2.5.1 Preview window
If the image field is entered in the partdata , the preview window on the right will
display a picture of the part when a station is selected.
![Image]
xx1400002353
Deploying image resources to the FlexPendant:
1
Open a FTP client session with the controller.
2
Navigate to the system you want to update images.
3
Copy the graphical resources into the system directory.
Select
To select a part, select the line and tap OK .
If the part contains a task list, this part will be selected for this station in all tasks
in the task list, if the partdata instance exists in the other tasks. If the part
procedure name cannot be found in a task, a message box will be displayed where
it is possible to select the part anyway and override the warning.
Note
Parts with tasklists are connected via the partdata instance name, not the part
procedure name. I.e. it is possible to have different names on the part procedures
between synchronized parts as long as the partdata instance name is the same.
Only persistent partdata instances will be shown in the list of available parts.
Create
To create a new part, tap New… on the command bar. See Create a new part on
page 41 .
Edit
To edit the selected part, tap Edit... on the command bar. See Part Handler - Edit
part on page 47 .
Continues on next page
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2 Production Manager user interface
2.5.1 Preview window
Delete
To delete the selected part, tap Delete on the command bar.
40
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2 Production Manager user interface
2.5.1 Preview window
Continued
2.5.2 Create a new part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
The Create new partdata dialog has a number of fields to enter, see New
parts dialog on page 42 . The user interface will help the user to create a new
partdata instance together with the actual part procedure to be called during
production.
The partdata instance will be declared as TASK PERS . The part procedure
will be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002355
Continues on next page
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2 Production Manager user interface
2.5.2 Create a new part
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Delete
To delete the selected part, tap Delete on the command bar.
40
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2.5.1 Preview window
Continued
2.5.2 Create a new part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
The Create new partdata dialog has a number of fields to enter, see New
parts dialog on page 42 . The user interface will help the user to create a new
partdata instance together with the actual part procedure to be called during
production.
The partdata instance will be declared as TASK PERS . The part procedure
will be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002355
Continues on next page
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2 Production Manager user interface
2.5.2 Create a new part
New parts dialog
Description
Default value
This is the procedure that will be called during production. It typically
contains process instructions such as ArcL , SpotL . A default name
is suggested when creating new partdata .
Part name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected it means that these tasks will be ex-
ecuted simultaneous.
![Image]
xx1400002355
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID.
Partdata instance
Select the module where the data and the part procedure will be de-
clared. It is possible to create a new module for the part.
Declared in module
If a task list is used, the module will be created in all tasks in the task
list if it does not already exist, and the partdata and procedure will
be placed in this module.
Note: Only normal program modules will be visible in the list.
Continues on next page
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2 Production Manager user interface
2.5.2 Create a new part
Continued
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| 42
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2.5.2 Create a new part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
The Create new partdata dialog has a number of fields to enter, see New
parts dialog on page 42 . The user interface will help the user to create a new
partdata instance together with the actual part procedure to be called during
production.
The partdata instance will be declared as TASK PERS . The part procedure
will be an empty PROC ready to be added with instructions.
Some of the fields in the dialog are loaded with default values.
![Image]
xx1400002355
Continues on next page
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2 Production Manager user interface
2.5.2 Create a new part
New parts dialog
Description
Default value
This is the procedure that will be called during production. It typically
contains process instructions such as ArcL , SpotL . A default name
is suggested when creating new partdata .
Part name
Select the field to change the suggested name by typing a new name
in the alpha pad.
A custom string that describes the part.
Description
These are the tasks this part should be declared in.
Run in tasks
Select the line and check the boxes in the window that appears on
the right side.
If more than one task is selected it means that these tasks will be ex-
ecuted simultaneous.
![Image]
xx1400002355
This field cannot be edited. It indicates if the Part name and partdata
instance name are valid in all tasks in the task list.
Procedure valid
Select the stations this part will be valid on.
![Image]
xx1400002356
Valid on stations
The name of the partdata instance in RAPID.
Partdata instance
Select the module where the data and the part procedure will be de-
clared. It is possible to create a new module for the part.
Declared in module
If a task list is used, the module will be created in all tasks in the task
list if it does not already exist, and the partdata and procedure will
be placed in this module.
Note: Only normal program modules will be visible in the list.
Continues on next page
42
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© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.5.2 Create a new part
Continued
Description
Default value
Connect an advanced part to this part. See Example 1, advanced part
on page 16 .
Advanced part
Create a new dynamic part
1
In the Production Manager main menu select Part handling .
2
Tap New .
![Image]
xx1400002354
3
Select Part name in list and tap ABC… .
![Image]
xx1400002357
Continues on next page
Application manual - Production Manager
43
3HAC052855-001 Revision: C
© Copyright 2014-2021 ABB. All rights reserved.
2 Production Manager user interface
2.5.2 Create a new part
Continued
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