Technical reference manual RAPID Instructions

Technical reference manual RAPID Instructions
ABB Robotics
Technical reference manual
RAPID Instructions, Functions and Data types
Technical reference manual
RAPID Instructions, Functions and Data types
RobotWare 5.13
Document ID: 3HAC 16581-1
© Copyright 2004-2010 ABB. All rights reserved.
Revision: J
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, damages 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, and contents thereof must not be imparted to a third party nor be used for
any unauthorized purpose. Contravention will be prosecuted.
© Copyright 2004-2010 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
© Copyright 2004-2010 ABB. All rights reserved.
Additional copies of this manual may be obtained from ABB at its then current charge.
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
© Copyright 2004-2010 ABB. All rights reserved.
1 Instructions
15
1.1 AccSet - Reduces the acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 ActUnit - Activates a mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3 Add - Adds a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 AliasIO - Define I/O signal with alias name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.5 ":=" - Assigns a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.6 BitClear - Clear a specified bit in a byte data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.7 BitSet - Set a specified bit in a byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.8 BookErrNo - Book a RAPID system error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.9 Break - Break program execution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.10 CallByVar - Call a procedure by a variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.11 CancelLoad - Cancel loading of a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.12 CheckProgRef - Check program references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
1.13 CirPathMode - Tool reorientation during circle path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1.14 Clear - Clears the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
1.15 ClearIOBuff - Clear input buffer of a serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
1.16 ClearPath - Clear current path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
1.17 ClearRawBytes - Clear the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
1.18 ClkReset - Resets a clock used for timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
1.19 ClkStart - Starts a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
1.20 ClkStop - Stops a clock used for timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
1.21 Close - Closes a file or serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
1.22 CloseDir - Close a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
1.23 Comment - Comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
1.24 Compact IF - If a condition is met, then... (one instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
1.25 ConfJ - Controls the configuration during joint movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
1.26 ConfL - Monitors the configuration during linear movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
1.27 CONNECT - Connects an interrupt to a trap routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
1.28 CopyFile - Copy a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
1.29 CopyRawBytes - Copy the contents of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
1.30 CorrClear - Removes all correction generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
1.31 CorrCon - Connects to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
1.32 CorrDiscon - Disconnects from a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
1.33 CorrWrite - Writes to a correction generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
1.34 DeactUnit - Deactivates a mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
1.35 Decr - Decrements by 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
1.36 DitherAct - Enables dither for soft servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
1.37 DitherDeact - Disables dither for soft servo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
1.38 DropWObj - Drop work object on conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
1.39 EOffsOff - Deactivates an offset for external axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
1.40 EOffsOn - Activates an offset for external axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
1.41 EOffsSet - Activates an offset for external axes using known values . . . . . . . . . . . . . . . . . . . . . . . . . . 90
1.42 EraseModule - Erase a module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
1.43 ErrLog - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
1.44 ErrRaise - Writes a warning and calls an error handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
1.45 ErrWrite - Write an error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
1.46 EXIT - Terminates program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
1.47 ExitCycle - Break current cycle and start next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
1.48 FOR - Repeats a given number of times. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
1.49 GetDataVal - Get the value of a data object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
1.50 GetSysData - Get system data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
1.51 GetTrapData - Get interrupt data for current TRAP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
1.52 GOTO - Goes to a new instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
3HAC 16581-1 Revision: J
3
1.53 GripLoad - Defines the payload for the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
1.54 HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403 . . . . . . . . . . . . . . . . . . . . . . . . . . 121
1.55 IDelete - Cancels an interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
1.56 IDisable - Disables interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
1.57 IEnable - Enables interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
1.58 IError - Orders an interrupt on errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
1.59 IF - If a condition is met, then ...; otherwise ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
1.60 Incr - Increments by 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
1.61 IndAMove - Independent absolute position movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
1.62 IndCMove - Independent continuous movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
1.63 IndDMove - Independent delta position movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
1.64 IndReset - Independent reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
1.65 IndRMove - Independent relative position movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
1.66 InvertDO - Inverts the value of a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
1.67 IOBusStart - Start of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
1.68 IOBusState - Get current state of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
1.69 IODisable - Disable I/O unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
1.70 IOEnable - Enable I/O unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
1.71 IPers - Interrupt at value change of a persistent variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
1.72 IRMQMessage - Orders RMQ interrupts for a data type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
1.73 ISignalAI - Interrupts from analog input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
1.74 ISignalAO - Interrupts from analog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
1.75 ISignalDI - Orders interrupts from a digital input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
1.76 ISignalDO - Interrupts from a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
1.77 ISignalGI - Orders interrupts from a group of digital input signals. . . . . . . . . . . . . . . . . . . . . . . . . . . 192
1.78 ISignalGO - Orders interrupts from a group of digital output signals . . . . . . . . . . . . . . . . . . . . . . . . . 195
1.79 ISleep - Deactivates an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
1.80 ITimer - Orders a timed interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
1.81 IVarValue - orders a variable value interrupt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
1.82 IWatch - Activates an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
1.83 Label - Line name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
1.84 Load - Load a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
1.85 LoadId - Load identification of tool or payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
1.86 MakeDir - Create a new directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
1.87 ManLoadIdProc - Load identification of IRBP manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
1.88 MechUnitLoad - Defines a payload for a mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
1.89 MotionSup - Deactivates/Activates motion supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
1.90 MoveAbsJ - Moves the robot to an absolute joint position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
1.91 MoveC - Moves the robot circularly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
1.92 MoveCDO - Moves the robot circularly and sets digital output in the corner. . . . . . . . . . . . . . . . . . . 242
1.93 MoveCSync - Moves the robot circularly and executes a RAPID procedure . . . . . . . . . . . . . . . . . . . 246
1.94 MoveExtJ - Move one or several mechanical units without TCP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
1.95 MoveJ - Moves the robot by joint movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
1.96 MoveJDO - Moves the robot by joint movement and sets digital output in the corner . . . . . . . . . . . . 257
1.97 MoveJSync - Moves the robot by joint movement and executes a RAPID procedure . . . . . . . . . . . . 260
1.98 MoveL - Moves the robot linearly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
1.99 MoveLDO - Moves the robot linearly and sets digital output in the corner . . . . . . . . . . . . . . . . . . . . 268
1.100 MoveLSync - Moves the robot linearly and executes a RAPID procedure . . . . . . . . . . . . . . . . . . . . 271
1.101 MToolRotCalib - Calibration of rotation for moving tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
1.102 MToolTCPCalib - Calibration of TCP for moving tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
1.103 Open - Opens a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
1.104 OpenDir - Open a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
1.105 PackDNHeader - Pack DeviceNet Header into rawbytes data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
1.106 PackRawBytes - Pack data into rawbytes data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
1.107 PathAccLim - Reduce TCP acceleration along the path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
4
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
1.108 PathRecMoveBwd - Move path recorder backwards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
1.109 PathRecMoveFwd - Move path recorder forward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
1.110 PathRecStart - Start the path recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
1.111 PathRecStop - Stop the path recorder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
1.112 PathResol - Override path resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
1.113 PDispOff - Deactivates program displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
1.114 PDispOn - Activates program displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
1.115 PDispSet - Activates program displacement using known frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
1.116 ProcCall - Calls a new procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
1.117 ProcerrRecovery - Generate and recover from process-move error. . . . . . . . . . . . . . . . . . . . . . . . . . 325
1.118 PulseDO - Generates a pulse on a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
1.119 RAISE - Calls an error handler. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
1.120 RaiseToUser - Propagates an error to user level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
1.121 ReadAnyBin - Read data from a binary serial channel or file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
1.122 ReadBlock - read a block of data from device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
1.123 ReadCfgData - Reads attribute of a system parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
1.124 ReadErrData - Gets information about an error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
1.125 ReadRawBytes - Read rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
1.126 RemoveDir - Delete a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
1.127 RemoveFile - Delete a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
1.128 RenameFile - Rename a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
1.129 Reset - Resets a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
1.130 ResetPPMoved - Reset state for the program pointer moved in manual mode . . . . . . . . . . . . . . . . . 360
1.131 ResetRetryCount - Reset the number of retries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
1.132 RestoPath - Restores the path after an interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
1.133 RETRY - Resume execution after an error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
1.134 RETURN - Finishes execution of a routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
1.135 Rewind - Rewind file position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
1.136 RMQEmptyQueue - Empty RAPID Message Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
1.137 RMQFindSlot - Find a slot identity from the slot name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
1.138 RMQGetMessage - Get an RMQ message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
1.139 RMQGetMsgData - Get the data part from an RMQ message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
1.140 RMQGetMsgHeader - Get header information from an RMQ message . . . . . . . . . . . . . . . . . . . . . . 380
1.141 RMQReadWait - Returns message from RMQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383
1.142 RMQSendMessage - Send an RMQ data message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
1.143 RMQSendWait - Send an RMQ data message and wait for a response. . . . . . . . . . . . . . . . . . . . . . . 390
1.144 Save - Save a program module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
1.145 SCWrite - Send variable data to a client application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
1.146 SearchC - Searches circularly using the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
1.147 SearchExtJ - Search with one or several mechanical units without TCP . . . . . . . . . . . . . . . . . . . . . . 410
1.148 SearchL - Searches linearly using the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
1.149 SenDevice - connect to a sensor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
1.150 Set - Sets a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
1.151 SetAllDataVal - Set a value to all data objects in a defined set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
1.152 SetAO - Changes the value of an analog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
1.153 SetDataSearch - Define the symbol set in a search sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
1.154 SetDataVal - Set the value of a data object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437
1.155 SetDO - Changes the value of a digital output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440
1.156 SetGO - Changes the value of a group of digital output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
1.157 SetSysData - Set system data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
1.158 SingArea - Defines interpolation around singular points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
1.159 SkipWarn - Skip the latest warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
1.160 SocketAccept - Accept an incoming connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
1.161 SocketBind - Bind a socket to my IP-address and port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
1.162 SocketClose - Close a socket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
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1.163 SocketConnect - Connect to a remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
1.164 SocketCreate - Create a new socket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
1.165 SocketListen - Listen for incoming connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
1.166 SocketReceive - Receive data from remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
1.167 SocketSend - Send data to remote computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
1.168 SoftAct - Activating the soft servo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
1.169 SoftDeact - Deactivating the soft servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
1.170 SpeedRefresh - Update speed override for ongoing movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
1.171 SpyStart - Start recording of execution time data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
1.172 SpyStop - Stop recording of time execution data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
1.173 StartLoad - Load a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
1.174 StartMove - Restarts robot movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
1.175 StartMoveRetry - Restarts robot movement and execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
1.176 STCalib - Calibrate a Servo Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
1.177 STClose - Close a Servo Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
1.178 StepBwdPath - Move backwards one step on path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
1.179 STIndGun - Sets the gun in independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
1.180 STIndGunReset - Resets the gun from independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
1.181 SToolRotCalib - Calibration of TCP and rotation for stationary tool . . . . . . . . . . . . . . . . . . . . . . . . 504
1.182 SToolTCPCalib - Calibration of TCP for stationary tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
1.183 Stop - Stops program execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
1.184 STOpen - Open a Servo Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
1.185 StopMove - Stops robot movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
1.186 StopMoveReset - Reset the system stop move state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
1.187 StorePath - Stores the path when an interrupt occurs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
1.188 STTune - Tuning Servo Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523
1.189 STTuneReset - Resetting Servo tool tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
1.190 SyncMoveOff - End coordinated synchronized movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
1.191 SyncMoveOn - Start coordinated synchronized movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
1.192 SyncMoveResume - Set synchronized coordinated movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
1.193 SyncMoveSuspend - Set independent-semicoordinated movements. . . . . . . . . . . . . . . . . . . . . . . . . 543
1.194 SyncMoveUndo - Set independent movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
1.195 SystemStopAction - Stop the robot system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
1.196 TEST - Depending on the value of an expression ... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
1.197 TestSignDefine - Define test signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
1.198 TestSignReset - Reset all test signal definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
1.199 TextTabInstall - Installing a text table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
1.200 TPErase - Erases text printed on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
1.201 TPReadDnum - Reads a number from the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
1.202 TPReadFK - Reads function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
1.203 TPReadNum - Reads a number from the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
1.204 TPShow - Switch window on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
1.205 TPWrite - Writes on the FlexPendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568
1.206 TriggC - Circular robot movement with events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570
1.207 TriggCheckIO - Defines IO check at a fixed position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
1.208 TriggEquip - Define a fixed position and time I/O event on the path . . . . . . . . . . . . . . . . . . . . . . . . 582
1.209 TriggInt - Defines a position related interrupt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
1.210 TriggIO - Define a fixed position or time I/O event near a stop point. . . . . . . . . . . . . . . . . . . . . . . . 592
1.211 TriggJ - Axis-wise robot movements with events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
1.212 TriggL - Linear robot movements with events. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
1.213 TriggLIOs - Linear robot movements with I/O events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
1.214 TriggRampAO - Define a fixed position ramp AO event on the path . . . . . . . . . . . . . . . . . . . . . . . . 616
1.215 TriggSpeed - Defines TCP speed proportional analog output with fixed position-time scale event . 622
1.216 TriggStopProc - Generate restart data for trigg signals at stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629
1.217 TryInt - Test if data object is a valid integer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634
6
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
1.218 TRYNEXT - Jumps over an instruction which has caused an error . . . . . . . . . . . . . . . . . . . . . . . . . 636
1.219 TuneReset - Resetting servo tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
1.220 TuneServo - Tuning servos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
1.221 UIMsgBox - User Message Dialog Box type basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
1.222 UIShow - User Interface show . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
1.223 UnLoad - UnLoad a program module during execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
1.224 UnpackRawBytes - Unpack data from rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
1.225 VelSet - Changes the programmed velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662
1.226 WaitAI - Waits until an analog input signal value is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664
1.227 WaitAO - Waits until an analog output signal value is set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667
1.228 WaitDI - Waits until a digital input signal is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670
1.229 WaitDO - Waits until a digital output signal is set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672
1.230 WaitGI - Waits until a group of digital input signals are set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674
1.231 WaitGO - Waits until a group of digital output signals are set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 678
1.232 WaitLoad - Connect the loaded module to the task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682
1.233 WaitRob - Wait until stop point or zero speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686
1.234 WaitSyncTask - Wait at synchronization point for other program tasks . . . . . . . . . . . . . . . . . . . . . . 688
1.235 WaitTestAndSet - Wait until variable unset - then set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692
1.236 WaitTime - Waits a given amount of time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
1.237 WaitUntil - Waits until a condition is met . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697
1.238 WaitWObj - Wait for work object on conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
1.239 WarmStart - Restart the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704
1.240 WHILE - Repeats as long as .... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
1.241 WorldAccLim - Control acceleration in world coordinate system. . . . . . . . . . . . . . . . . . . . . . . . . . . 707
1.242 Write - Writes to a character-based file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
1.243 WriteAnyBin - Writes data to a binary serial channel or file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713
1.244 WriteBin - Writes to a binary serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 716
1.245 WriteBlock - write block of data to device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719
1.246 WriteCfgData - Writes attribute of a system parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721
1.247 WriteRawBytes - Write rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
1.248 WriteStrBin - Writes a string to a binary serial channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
1.249 WriteVar - write variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729
1.250 WZBoxDef - Define a box-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732
1.251 WZCylDef - Define a cylinder-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734
1.252 WZDisable - Deactivate temporary world zone supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
1.253 WZDOSet - Activate world zone to set digital output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738
1.254 WZEnable - Activate temporary world zone supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742
1.255 WZFree - Erase temporary world zone supervision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 744
1.256 WZHomeJointDef - Define a world zone for home joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 746
1.257 WZLimJointDef - Define a world zone for limitation in joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749
1.258 WZLimSup - Activate world zone limit supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753
1.259 WZSphDef - Define a sphere-shaped world zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756
2 Functions
759
2.1 Abs - Gets the absolute value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 759
2.2 ACos - Calculates the arc cosine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761
2.3 AOutput - Reads the value of an analog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 762
2.4 ArgName - Gets argument name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 764
2.5 ASin - Calculates the arc sine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767
2.6 ATan - Calculates the arc tangent value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768
2.7 ATan2 - Calculates the arc tangent2 value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769
2.8 BitAnd - Logical bitwise AND - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770
2.9 BitCheck - Check if a specified bit in a byte data is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772
2.10 BitLSh - Logical bitwise LEFT SHIFT - operation on byte. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774
2.11 BitNeg - Logical bitwise NEGATION - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776
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2.12 BitOr - Logical bitwise OR - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778
2.13 BitRSh - Logical bitwise RIGHT SHIFT - operation on byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780
2.14 BitXOr - Logical bitwise XOR - operation on byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782
2.15 ByteToStr - Converts a byte to a string data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784
2.16 CalcJointT - Calculates joint angles from robtarget. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786
2.17 CalcRobT - Calculates robtarget from jointtarget . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789
2.18 CalcRotAxFrameZ - Calculate a rotational axis frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 791
2.19 CalcRotAxisFrame - Calculate a rotational axis frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 795
2.20 CDate - Reads the current date as a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 799
2.21 CJointT - Reads the current joint angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 800
2.22 ClkRead - Reads a clock used for timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 802
2.23 CorrRead - Reads the current total offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803
2.24 Cos - Calculates the cosine value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 804
2.25 CPos - Reads the current position (pos) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 805
2.26 CRobT - Reads the current position (robtarget) data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 807
2.27 CSpeedOverride - Reads the current override speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 810
2.28 CTime - Reads the current time as a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812
2.29 CTool - Reads the current tool data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 813
2.30 CWObj - Reads the current work object data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 814
2.31 DecToHex - Convert from decimal to hexadecimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 815
2.32 DefAccFrame - Define an accurate frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 816
2.33 DefDFrame - Define a displacement frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 819
2.34 DefFrame - Define a frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822
2.35 Dim - Obtains the size of an array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 825
2.36 Distance - Distance between two points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827
2.37 DnumToNum - Converts dnum to num . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 829
2.38 DotProd - Dot product of two pos vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 831
2.39 DOutput - Reads the value of a digital output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833
2.40 EulerZYX - Gets euler angles from orient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 835
2.41 EventType - Get current event type inside any event routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837
2.42 ExecHandler - Get type of execution handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839
2.43 ExecLevel - Get execution level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 840
2.44 Exp - Calculates the exponential value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841
2.45 FileSize - Retrieve the size of a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 842
2.46 FileTime - Retrieve time information about a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845
2.47 FSSize - Retrieve the size of a file system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 848
2.48 GetMecUnitName - Get the name of the mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851
2.49 GetNextMechUnit - Get name and data for mechanical units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852
2.50 GetNextSym - Get next matching symbol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855
2.51 GetSysInfo - Get information about the system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 857
2.52 GetTaskName - Gets the name and number of current task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 860
2.53 GetTime - Reads the current time as a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 862
2.54 GInputDnum - Read value of group input signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 864
2.55 GOutput - Reads the value of a group of digital output signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 866
2.56 GOutputDnum - Read value of group output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 868
2.57 HexToDec - Convert from hexadecimal to decimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870
2.58 IndInpos - Independent axis in position status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 871
2.59 IndSpeed - Independent speed status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 873
2.60 IOUnitState - Get current state of I/O unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 875
2.61 IsFile - Check the type of a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 878
2.62 IsMechUnitActive - Is mechanical unit active. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 882
2.63 IsPers - Is persistent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883
2.64 IsStopMoveAct - Is stop move flags active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 884
2.65 IsStopStateEvent - Test whether moved program pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886
2.66 IsSyncMoveOn - Test if in synchronized movement mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
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© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
2.67 IsSysId - Test system identity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
2.68 IsVar - Is variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891
2.69 MaxRobSpeed - Maximum robot speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 892
2.70 MirPos - Mirroring of a position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 893
2.71 ModExist - Check if program module exist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895
2.72 ModTime - Get file modify time for the loaded module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 896
2.73 MotionPlannerNo - Get connected motion planner number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898
2.74 NonMotionMode - Read the Non-Motion execution mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 900
2.75 NOrient - Normalize orientation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 901
2.76 NumToDnum - Converts num to dnum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903
2.77 NumToStr - Converts numeric value to string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 904
2.78 Offs - Displaces a robot position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 906
2.79 OpMode - Read the operating mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908
2.80 OrientZYX - Builds an orient from euler angles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 909
2.81 ORobT - Removes the program displacement from a position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
2.82 ParIdPosValid - Valid robot position for parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 913
2.83 ParIdRobValid - Valid robot type for parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 916
2.84 PathLevel - Get current path level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 919
2.85 PathRecValidBwd - Is there a valid backward path recorded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 921
2.86 PathRecValidFwd - Is there a valid forward path recorded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 924
2.87 PFRestart - Check interrupted path after power failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 928
2.88 PoseInv - Inverts pose data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 929
2.89 PoseMult - Multiplies pose data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931
2.90 PoseVect - Applies a transformation to a vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 933
2.91 Pow - Calculates the power of a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 935
2.92 PPMovedInManMode - Test whether the program pointer is moved in manual mode . . . . . . . . . . . . 936
2.93 Present - Tests if an optional parameter is used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 937
2.94 ProgMemFree - Get the size of free program memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 939
2.95 RawBytesLen - Get the length of rawbytes data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 940
2.96 ReadBin - Reads a byte from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942
2.97 ReadDir - Read next entry in a directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 944
2.98 ReadMotor - Reads the current motor angles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947
2.99 ReadNum - Reads a number from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 949
2.100 ReadStr - Reads a string from a file or serial channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 952
2.101 ReadStrBin - Reads a string from a binary serial channel or file . . . . . . . . . . . . . . . . . . . . . . . . . . . . 956
2.102 ReadVar - Read variable from a device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 958
2.103 RelTool - Make a displacement relative to the tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 961
2.104 RemainingRetries - Remaining retries left to do . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 963
2.105 RMQGetSlotName - Get the name of an RMQ client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 964
2.106 RobName - Get the TCP robot name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 966
2.107 RobOS - Check if execution is on RC or VC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 968
2.108 Round - Round is a numeric value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 969
2.109 RunMode - Read the running mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971
2.110 Sin - Calculates the sine value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972
2.111 SocketGetStatus - Get current socket state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 973
2.112 Sqrt - Calculates the square root value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976
2.113 STCalcForce - Calculate the tip force for a Servo Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 977
2.114 STCalcTorque - Calc. the motor torque for a servo tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 979
2.115 STIsCalib - Tests if a servo tool is calibrated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 981
2.116 STIsClosed - Tests if a servo tool is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 983
2.117 STIsIndGun - Tests if a servo tool is in independent mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985
2.118 STIsOpen - Tests if a servo tool is open. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 986
2.119 StrDigCalc - Arithmetic operations with datatype stringdig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 988
2.120 StrDigCmp - Compare two strings with only digits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 991
2.121 StrFind - Searches for a character in a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 994
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2.122 StrLen - Gets the string length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 996
2.123 StrMap - Maps a string. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 997
2.124 StrMatch - Search for pattern in string. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 999
2.125 StrMemb - Checks if a character belongs to a set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1001
2.126 StrOrder - Checks if strings are ordered. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003
2.127 StrPart - Finds a part of a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1005
2.128 StrToByte - Converts a string to a byte data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1007
2.129 StrToVal - Converts a string to a value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010
2.130 Tan - Calculates the tangent value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1012
2.131 TaskRunMec - Check if task controls any mechanical unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013
2.132 TaskRunRob - Check if task controls some robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014
2.133 TasksInSync - Returns the number of synchronized tasks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1015
2.134 TestAndSet - Test variable and set if unset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017
2.135 TestDI - Tests if a digital input is set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019
2.136 TestSignRead - Read test signal value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020
2.137 TextGet - Get text from system text tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022
2.138 TextTabFreeToUse - Test whether text table is free . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1024
2.139 TextTabGet - Get text table number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1026
2.140 Trunc - Truncates a numeric value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1028
2.141 Type - Get the data type name for a variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1030
2.142 UIAlphaEntry - User Alpha Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1032
2.143 UIClientExist - Exist User Client. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1037
2.144 UIDnumEntry - User Number Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1038
2.145 UIDnumTune - User Number Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044
2.146 UIListView - User List View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050
2.147 UIMessageBox - User Message Box type advanced . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1057
2.148 UINumEntry - User Number Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1064
2.149 UINumTune - User Number Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1070
2.150 ValidIO - Valid I/O signal to access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1076
2.151 ValToStr - Converts a value to a string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1078
2.152 VectMagn - Magnitude of a pos vector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1080
1083
3.1 aiotrigg - Analog I/O trigger condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1083
3.2 bool - Logical values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1085
3.3 btnres - Push button result data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1086
3.4 busstate - State of I/O bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1088
3.5 buttondata - Push button data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1089
3.6 byte - Integer values 0 - 255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1091
3.7 clock - Time measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1092
3.8 confdata - Robot configuration data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1093
3.9 corrdescr - Correction generator descriptor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1099
3.10 datapos - Enclosing block for a data object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1101
3.11 dionum - Digital values (0 - 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1102
3.12 dir - File directory structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1103
3.13 dnum - Double numeric values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1104
3.14 errdomain - Error domain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1106
3.15 errnum - Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1108
3.16 errstr - Error string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1114
3.17 errtype - Error type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1115
3.18 event_type - Event routine type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1116
3.19 exec_level - Execution level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1117
3.20 extjoint - Position of external joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1118
3.21 handler_type - Type of execution handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1120
3.22 icondata - Icon display data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1121
10
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
3 Data types
© Copyright 2004-2010 ABB. All rights reserved.
Table of Contents
3.23 identno - Identity for move instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1123
3.24 intnum - Interrupt identity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1125
3.25 iodev - Serial channels and files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1127
3.26 iounit_state - State of I/O unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1128
3.27 jointtarget - Joint position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1129
3.28 listitem - List item data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1131
3.29 loaddata - Load data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1132
3.30 loadidnum - Type of load identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1137
3.31 loadsession - Program load session . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1138
3.32 mecunit - Mechanical unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1139
3.33 motsetdata - Motion settings data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1141
3.34 num - Numeric values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1146
3.35 opcalc - Arithmetic Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1148
3.36 opnum - Comparison operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1149
3.37 orient - Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1150
3.38 paridnum - Type of parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1154
3.39 paridvalidnum - Result of ParIdRobValid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1156
3.40 pathrecid - Path recorder identifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1158
3.41 pos - Positions (only X, Y and Z). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1160
3.42 pose - Coordinate transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1162
3.43 progdisp - Program displacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1163
3.44 rawbytes - Raw data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1165
3.45 restartdata - Restart data for trigg signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1167
3.46 rmqheader - RAPID Message Queue Message header. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1171
3.47 rmqmessage - RAPID Message Queue message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1173
3.48 rmqslot - Identity number of an RMQ client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1174
3.49 robjoint - Joint position of robot axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1175
3.50 robtarget - Position data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1176
3.51 shapedata - World zone shape data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1179
3.52 signalxx - Digital and analog signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1181
3.53 socketdev - Socket device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1183
3.54 socketstatus - Socket communication status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1184
3.55 speeddata - Speed data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1185
3.56 stoppointdata - Stop point data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1189
3.57 string - Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1195
3.58 stringdig - String with only digits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1197
3.59 switch - Optional parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1198
3.60 symnum - Symbolic number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1199
3.61 syncident - Identity for synchronization point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1200
3.62 System data - Current RAPID system data settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1201
3.63 taskid - Task identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1203
3.64 tasks - RAPID program tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1204
3.65 testsignal - Test signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1206
3.66 tooldata - Tool data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1207
3.67 tpnum - FlexPendant window number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1211
3.68 trapdata - Interrupt data for current TRAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1212
3.69 triggdata - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1213
3.70 triggios - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1214
3.71 triggiosdnum - Positioning events, trigg. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1217
3.72 triggstrgo - Positioning events, trigg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1219
3.73 tunetype - Servo tune type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1222
3.74 uishownum - Instance ID for UIShow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1223
3.75 wobjdata - Work object data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1224
3.76 wzstationary - Stationary world zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1228
3.77 wztemporary - Temporary world zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1230
3HAC 16581-1 Revision: J
11
Table of Contents
3.78 zonedata - Zone data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1232
4 Programming type examples
1239
4.1 ERROR handler with movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1239
4.2 Service routines with or without movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1242
4.3 System I/O interrupts with or without movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1246
4.4 TRAP routines with movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1250
1255
© Copyright 2004-2010 ABB. All rights reserved.
Index
12
3HAC 16581-1 Revision: J
Overview
Overview
About this manual
This is a technical reference manual intended for the RAPID programmer. The RAPID base
instructions, functions and data types are detailed in this manual.
Usage
This manual should be read during programming and when you need specific information
about a RAPID instruction, function or data type.
Who should read this manual?
This manual is intended for someone with some previous experience in programming, for
example, a robot programmer.
Prerequisites
The reader should have some programming experience and have studied
•
Operating manual - Introduction to RAPID
•
Technical reference manual - RAPID overview
Organization of chapters
The manual is organized in the following chapters:
© Copyright 2004-2010 ABB. All rights reserved.
Chapter
Contents
1. Instructions
Detailed descriptions of all RAPID base
instructions, including examples of how to use
them.
2. Functions
Detailed descriptions of all RAPID base
functions, including examples of how to use
them.
3. Data types
Detailed descriptions of all RAPID base data
types, including examples of how to use them.
4. Programming type examples
A general view of how to write program code
that contains different instructions/functions/
data types. The chapter contains also
programming tips and explanations.
References
Reference
Document ID
Operating manual - Introduction to RAPID
3HAC029364-001
Technical reference manual - RAPID
overview
3HAC16580-1
Technical reference manual - RAPID kernel 3HAC16585-1
Continues on next page
3HAC 16581-1 Revision: J
13
Overview
Continued
Revisions
Description
F
7th edition. RobotWare 5.10.
New chapter added, 4 Programming type examples.
G
8th edition. RobotWare 5.11.
New instructions, functions and data types are added. Also a new
programming type example is added.
H
9th edition. RobotWare 5.12.
New instructions, functions and data types are added.
J
10th edition. RobotWare 5.13.
The following new instructions, functions and data types are added:
• TPReadNum - Reads a number from the FlexPendant on page 564
• Type - Get the data type name for a variable on page 1030
• UIDnumEntry - User Number Entry on page 1038
• UIDnumTune - User Number Tune on page 1044
• triggiosdnum - Positioning events, trigg on page 1217
Updated safety signal graphics for the levels Danger and Warning.
© Copyright 2004-2010 ABB. All rights reserved.
Revision
14
3HAC 16581-1 Revision: J
1 Instructions
1.1. AccSet - Reduces the acceleration
RobotWare - OS
1 Instructions
1.1. AccSet - Reduces the acceleration
Usage
AccSet is used when handling fragile loads. It allows slower acceleration and deceleration,
which results in smoother robot movements.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction AccSet are illustrated below.
Example 1
AccSet 50, 100;
The acceleration is limited to 50% of the normal value.
Example 2
AccSet 100, 50;
The acceleration ramp is limited to 50% of the normal value.
Arguments
AccSet Acc Ramp
Acc
Data type: num
Acceleration and deceleration as a percentage of the normal values. 100% corresponds to
maximum acceleration. Maximum value: 100%. Input value < 20% gives 20% of maximum
acceleration.
© Copyright 2004-2010 ABB. All rights reserved.
Ramp
Data type: num
The rate at which acceleration and deceleration increases as a percentage of the normal
values. Jerking can be restricted by reducing this value. 100% corresponds to maximum rate.
Maximum value: 100%. Input value < 10% gives 10% of maximum rate.
Continues on next page
3HAC 16581-1 Revision: J
15
1 Instructions
1.1. AccSet - Reduces the acceleration
RobotWare - OS
Continued
The figures show that reducing the acceleration results in smoother movements.
Ti
xx0500002146
Program execution
The acceleration applies to both the robot and external axes until a new AccSet instruction
is executed.
The default values (100%) are automatically set
•
at a cold start.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
AccSet
[ Acc ':=' ] < expression (IN) of num > ','
[ Ramp ':=' ] < expression (IN) of num > ';'
For information about
See
Control acceleration in world coordinate WorldAccLim - Control acceleration in world
system
coordinate system on page 707
16
Reduce TCP acceleration along the
path
PathAccLim - Reduce TCP acceleration along the
path on page 295
Positioning instructions
Technical reference manual - RAPID overview
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.2. ActUnit - Activates a mechanical unit
RobotWare - OS
1.2. ActUnit - Activates a mechanical unit
Usage
ActUnit is used to activate a mechanical unit.
It can be used to determine which unit is to be active when, for example, common drive units
are used.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
A basic example of the instruction ActUnit is illustrated below.
Example 1
ActUnit orbit_a;
Activation of the orbit_a mechanical unit.
Arguments
ActUnit MechUnit
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit that is to be activated.
Program execution
When the robots and external axes actual path is ready, the path on current path level is
cleared and the specified mechanical unit is activated. This means that it is controlled and
monitored by the robot.
© Copyright 2004-2010 ABB. All rights reserved.
If several mechanical units share a common drive unit, activation of one of these mechanical
units will also connect that unit to the common drive unit.
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after
power failure will not be possible.
ActUnit cannot be executed in a RAPID routine connected to any of the following special
system events: PowerOn, Stop, QStop, Restart, Reset.or Step.
It is possible to use ActUnit - DeactUnit on StorePath level, but the same mechanical
units must be active when doing RestoPath as when StorePath was done. Such operation
on the Path Recorder and the path on the base level will be intact, but the path on the
StorePath level will be cleared.
Syntax
ActUnit
[MechUnit ':=' ] < variable (VAR) of mecunit> ';'
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3HAC 16581-1 Revision: J
17
1 Instructions
1.2. ActUnit - Activates a mechanical unit
RobotWare - OS
Continued
Related information
See
Deactivating mechanical units
DeactUnit - Deactivates a mechanical unit on page 79
Mechanical units
mecunit - Mechanical unit on page 1139
More examples
DeactUnit - Deactivates a mechanical unit on page 79
Path Recorder
PathRecMoveBwd - Move path recorder backwards on
page 298
© Copyright 2004-2010 ABB. All rights reserved.
For information about
18
3HAC 16581-1 Revision: J
1 Instructions
1.3. Add - Adds a numeric value
RobotWare - OS
1.3. Add - Adds a numeric value
Usage
Add is used to add or subtract a value to or from a numeric variable or persistent.
Basic examples
Basic examples of the instruction Add are illustrated below.
Example 1
Add reg1, 3;
3 is added to reg1, i.e. reg1:=reg1+3.
Example 2
Add reg1, -reg2;
The value of reg2 is subtracted from reg1, i.e. reg1:=reg1-reg2.
Example 3
VAR dnum mydnum:=5;
Add mydnum, 500000000;
500000000 is added to mydnum, i.e. mynum:=mynum+500000000.
Example 4
VAR dnum mydnum:=5000;
VAR num mynum:=6000;
Add mynum, DnumToNum(mydnum \Integer);
5000 is added to mynum, i.e. mynum:=mynum+5000. You have to use DnumToNum to get a
num numeric value that you can use together with the num variable mynum.
Arguments
Add Name | Dname AddValue | AddDvalue
© Copyright 2004-2010 ABB. All rights reserved.
Name
Data type: num
The name of the variable or persistent to be changed.
Dname
Data type: dnum
The name of the variable or persistent to be changed.
AddValue
Data type: num
The value to be added.
AddDvalue
Data type: dnum
The value to be added.
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3HAC 16581-1 Revision: J
19
1 Instructions
1.3. Add - Adds a numeric value
RobotWare - OS
Continued
Limitations
If the value to be added is of the type dnum, and the variable/persistent that should be changed
is a num, a runtime error will be generated. The combination of arguments is not possible (see
Example 4 above how to solve this).
Syntax
Add
[ Name ':=' ] < var or pers (INOUT) of num >
| [ Dname’ :=’ ] < var or pers (INOUT) of dnum > ’,’
[ AddValue ':=' ] < expression (IN) of num >
| [ AddDvalue’ :=’ ] < expression (IN) of dnum > ’;’
Related information
See
Incrementing a variable by 1
Incr - Increments by 1 on page 131
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
© Copyright 2004-2010 ABB. All rights reserved.
For information about
20
3HAC 16581-1 Revision: J
1 Instructions
1.4. AliasIO - Define I/O signal with alias name
RobotWare - OS
1.4. AliasIO - Define I/O signal with alias name
Usage
AliasIO is used to define a signal of any type with an alias name or to use signals in builtin task modules.
Signals with alias names can be used for predefined generic programs, without any
modification of the program before running in different robot installations.
The instruction AliasIO must be run before any use of the actual signal. See Basic examples
on page 21 for loaded modules, and More examples on page 22 for installed modules.
Basic examples
A basic example of the instruction AliasIO is illustrated below.
See also More examples on page 22.
Example 1
VAR signaldo alias_do;
PROC prog_start()
AliasIO config_do, alias_do;
ENDPROC
The routine prog_start is connected to the START event in system parameters. The
program defining digital output signal alias_do is connected to the configured digital
output signal config_do at program start.
Arguments
AliasIO FromSignal ToSignal
FromSignal
Data type: signalxx or string
© Copyright 2004-2010 ABB. All rights reserved.
Loaded modules:
The signal identifier named according to the configuration (data type signalxx) from which
the signal descriptor is copied. The signal must be defined in the I/O configuration.
Installed modules or loaded modules:
A reference (CONST, VAR or parameter of these) containing the name of the signal (data type
string) from which the signal descriptor after search in the system is copied. The signal
must be defined in the I/O configuration.
ToSignal
Data type: signalxx
The signal identifier according to the program (data type signalxx) to which the signal
descriptor is copied. The signal must be declared in the RAPID program.
The same data type must be used (or found) for the arguments FromSignal and ToSignal
and must be one of type signalxx (signalai, signalao, signaldi, signaldo,
signalgi, or signalgo).
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1 Instructions
1.4. AliasIO - Define I/O signal with alias name
RobotWare - OS
Continued
Program execution
The signal descriptor value is copied from the signal given in argument FromSignal to the
signal given in argument ToSignal.
Error handling
Following recoverable errors can be generated. The errors can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_ALIASIO_DEF
The FromSignal is not defined in the IO configuration
or the ToSignal is not declared in the RAPID program
or the ToSignal is defined in the IO configuration.
ERR_ALIASIO_TYPE
The data types for the arguments FromSignal and
ToSignal is not the same type.
More examples
More examples of the instruction AliasIO are illustrated below.
Example 1
VAR signaldi alias_di;
PROC prog_start()
CONST string config_string := "config_di";
AliasIO config_string, alias_di;
ENDPROC
The routine prog_start is connected to the START event in system parameters. The
program defined digital input signal alias_di is connected to the configured digital input
signal config_di (via constant config_string) at program start.
Limitation
When starting the program, the alias signal cannot be used until the AliasIO instruction is
executed.
•
either in the event routine executed at program start (event START)
•
or in the program part executed after every program start (before use of the signal)
In order to prevent mistakes it is not recommended to use dynamic reconnection of an
AliasIO signal to different physical signals.
Syntax
AliasIO
[ FromSignal ':=' ] < reference (REF) of anytype> ','
[ ToSignal ':=' ] < variable (VAR) of anytype> ';'
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Instruction AliasIO must be placed
1 Instructions
1.4. AliasIO - Define I/O signal with alias name
RobotWare - OS
Continued
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview
Input/Output functionality in general Technical reference manual - RAPID overview
Technical reference manual - System parameters
Defining event routines
Technical reference manual - System parameters
Loaded/Installed task modules
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
Configuration of I/O
3HAC 16581-1 Revision: J
23
1 Instructions
1.5. ":=" - Assigns a value
RobotWare - OS
1.5. ":=" - Assigns a value
Usage
The “:=” instruction is used to assign a new value to data. This value can be anything from a
constant value to an arithmetic expression, e.g. reg1+5*reg3.
Basic examples
Basic examples of the instruction “:=” are illustrated below.
See also More examples on page 24.
Example 1
reg1 := 5;
reg1 is assigned the value 5.
Example 2
reg1 := reg2 - reg3;
reg1 is assigned the value that the reg2-reg3 calculation returns.
Example 3
counter := counter + 1;
counter is incremented by one.
Arguments
Data := Value
Data
Data type: All
The data that is to be assigned a new value.
Value
Data type: Same as Data
More examples
More examples of the instruction “:=” are illustrated below.
Example 1
tool1.tframe.trans.x := tool1.tframe.trans.x + 20;
The TCP for tool1 is shifted 20 mm in the X-direction.
Example 2
pallet{5,8} := Abs(value);
An element in the pallet matrix is assigned a value equal to the absolute value of the value
variable.
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24
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The desired value.
1 Instructions
1.5. ":=" - Assigns a value
RobotWare - OS
Continued
Limitations
The data (whose value is to be changed) must not be
•
a constant
•
a non-value data type.
The data and value must have similar (the same or alias) data types.
Syntax
(EBNF)
<assignment target> ':=' <expression> ';'
<assignment target> ::=
<variable>
| <persistent>
| <parameter>
| <VAR>
Related information
See
Expressions
Technical reference manual - RAPID overview
Non-value data types
Technical reference manual - RAPID overview
Assigning an initial value to data
Operating manual - IRC5 with FlexPendant
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
25
1 Instructions
1.6. BitClear - Clear a specified bit in a byte data
RobotWare - OS
1.6. BitClear - Clear a specified bit in a byte data
Usage
BitClear is used to clear (set to 0) a specified bit in a defined byte data.
Basic examples
A basic example of the instruction BitClear is illustrated below.
Example 1
CONST num parity_bit := 8;
VAR byte data1 := 130;
BitClear data1, parity_bit;
Bit number 8 (parity_bit) in the variable data1 will be set to 0, e.g. the content of the variable
data1 will be changed from 130 to 2 (integer representation). Bit manipulation of data type
byte when using BitClear is illustrated in the figure below.
xx0500002147
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
BitClear BitData BitPos
BitData
Data type: byte
The bit data, in integer representation, to be changed.
BitPos
Bit Position
Data type: num
The bit position (1-8) in the BitData to be set to 0.
Limitations
The range for a data type byte is 0 - 255 decimal.
The bit position is valid from 1 - 8.
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3HAC 16581-1 Revision: J
1 Instructions
1.6. BitClear - Clear a specified bit in a byte data
RobotWare - OS
Continued
Syntax
BitClear
[ BitData ':=' ] < var or pers (INOUT) of byte > ','
[ BitPos ':=' ] < expression (IN) of num > ';'
Related information
For information about
See
Set a specified bit in a byte data
BitSet - Set a specified bit in a byte data on page
28
Check if a specified bit in a byte data is set BitCheck - Check if a specified bit in a byte data
is set on page 772
Technical reference manual - RAPID overview
© Copyright 2004-2010 ABB. All rights reserved.
Other bit functions
3HAC 16581-1 Revision: J
27
1 Instructions
1.7. BitSet - Set a specified bit in a byte data
RobotWare - OS
1.7. BitSet - Set a specified bit in a byte data
Usage
BitSet is used to set a specified bit to 1 in a defined byte data.
Basic examples
A basic example of the instruction BitSet is illustrated below.
Example 1
CONST num parity_bit := 8;
VAR byte data1 := 2;
BitSet data1, parity_bit;
Bit number 8 (parity_bit) in the variable data1 will be set to 1, e.g. the content of the
variable data1 will be changed from 2 to 130 (integer representation). Bit manipulation of
data type byte when using BitSet is illustrated in the figure below.
xx0500002148
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
BitSet BitData BitPos
BitData
Data type: byte
The bit data, in integer representation, to be changed.
BitPos
Bit Position
Data type: num
The bit position (1-8) in the BitData to be set to 1.
Limitations
The range for a data type byte is integer 0 - 255.
The bit position is valid from 1 - 8.
Continues on next page
28
3HAC 16581-1 Revision: J
1 Instructions
1.7. BitSet - Set a specified bit in a byte data
RobotWare - OS
Continued
Syntax
BitSet
[ BitData':=' ] < var or pers (INOUT) of byte > ','
[ BitPos':=' ] < expression (IN) of num > ';'
Related information
See
Clear a specified bit in a byte data
BitClear - Clear a specified bit in a byte data
on page 26
Check if a specified bit in a byte data is set
BitCheck - Check if a specified bit in a byte
data is set on page 772
Other bit functions
Technical reference manual - RAPID
overview
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
29
1 Instructions
1.8. BookErrNo - Book a RAPID system error number
RobotWare - OS
1.8. BookErrNo - Book a RAPID system error number
Usage
BookErrNo is used to book a new RAPID system error number.
Basic examples
A basic example of the instruction BookErrNo is illustrated below.
Example 1
! Introduce a new error number in a glue system
! Note: The new error variable must be declared with the initial
value -1
VAR errnum ERR_GLUEFLOW := -1;
! Book the new RAPID system error number
BookErrNo ERR_GLUEFLOW;
The variable ERR_GLUEFLOW will be assigned to a free system error number for use in the
RAPID code.
! Use the new error number
IF di1 = 0 THEN
RAISE ERR_GLUEFLOW;
ELSE
...
ENDIF
! Error handling
ERROR
IF ERRNO = ERR_GLUEFLOW THEN
...
...
ENDIF
If the digital input di1 is 0, the new booked error number will be raised and the system error
variable ERRNO will be set to the new booked error number. The error handling of those user
generated errors can then be handled in the error handler as usual.
Arguments
BookErrNo ErrorName
ErrorName
Data type: errnum
The new RAPID system error variable name.
Limitations
The new error variable must not be declared as a routine variable.
The new error variable must be declared with an initial value of -1, that gives the information
that this error should be a RAPID system error.
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ELSE
1 Instructions
1.8. BookErrNo - Book a RAPID system error number
RobotWare - OS
Continued
Syntax
BookErrNo
[ ErrorName ':='] < variable (VAR) of errnum > ';'
Related information
See
Error handling
Technical reference manual - RAPID overview
Error number
errnum - Error number on page 1108
Call an error handler
RAISE - Calls an error handler on page 334
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
31
1 Instructions
1.9. Break - Break program execution
RobotWare - OS
1.9. Break - Break program execution
Usage
Break is used to make an immediate break in program execution for RAPID program code
debugging purposes. The robot movement is stopped at once.
Basic examples
A basic example of the instruction Break is illustrated below.
Example 1
...
Break;
...
Program execution stops and it is possible to analyze variables, values etc. for debugging
purposes.
Program execution
The instruction stops program execution at once, without waiting for the robot and external
axes to reach their programmed destination points for the movement being performed at the
time. Program execution can then be restarted from the next instruction.
If there is a Break instruction in some routine event, the execution of the routine will be
interrupted and no STOP routine event will be executed. The routine event will be executed
from the beginning the next time the same event occurs.
Syntax
Break';'
32
For information about
See
Stopping for program actions
Stop - Stops program execution on page 510
Stopping after a fatal error
EXIT - Terminates program execution on page 105
Terminating program execution
EXIT - Terminates program execution on page 105
Only stopping robot movements
StopMove - Stops robot movement on page 515
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.10. CallByVar - Call a procedure by a variable
RobotWare - OS
1.10. CallByVar - Call a procedure by a variable
Usage
CallByVar (Call By Variable) can be used to call procedures with specific names, e.g.
proc_name1, proc_name2, proc_name3 ... proc_namex via a variable.
Basic examples
A basic example of the instruction CallByVar is illustrated below.
See also More examples on page 33.
Example 1
reg1 := 2;
CallByVar "proc", reg1;
The procedure proc2 is called.
Arguments
CallByVar Name Number
Name
Data type: string
The first part of the procedure name, e.g. proc_name.
Number
Data type: num
The numeric value for the number of the procedure. This value will be converted to a string
and gives the 2nd part of the procedure name, e.g. 1. The value must be a positive integer.
More examples
More examples of how to make static and dynamic selection of procedure call.
Example 1 - Static selection of procedure call
© Copyright 2004-2010 ABB. All rights reserved.
TEST reg1
CASE 1:
lf_door door_loc;
CASE 2:
rf_door door_loc;
CASE 3:
lr_door door_loc;
CASE 4:
rr_door door_loc;
DEFAULT:
EXIT;
ENDTEST
Depending on whether the value of register reg1 is 1, 2, 3, or 4, different procedures are
called that perform the appropriate type of work for the selected door. The door location in
argument door_loc.
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3HAC 16581-1 Revision: J
33
1 Instructions
1.10. CallByVar - Call a procedure by a variable
RobotWare - OS
Continued
Example 2 - Dynamic selection of procedure call with RAPID syntax
reg1 := 2;
%"proc"+NumToStr(reg1,0)% door_loc;
The procedure proc2 is called with argument door_loc.
Limitation: All procedures must have a specific name e.g. proc1, proc2, proc3.
Example 3 - Dynamic selection of procedure call with CallByVar
reg1 := 2;
CallByVar "proc",reg1;
The procedure proc2 is called.
Limitation: All procedures must have specific name, e.g. proc1, proc2, proc3, and no
arguments can be used.
Limitations
Can only be used to call procedures without parameters.
Can not be used to call LOCAL procedures.
Execution of CallByVar takes a little more time than execution of a normal procedure call.
Error handling
In the argument Number is < 0 or is not an integer, the system variable ERRNO is set to
ERR_ARGVALERR.
In reference to an unknown procedure, the system variable ERRNO is set to
ERR_REFUNKPRC.
In procedure call error (not procedure), the system variable ERRNO is set to
ERR_CALLPROC.
These errors can be handled in the error handler.
Syntax
[Name ':='] <expression (IN) of string>','
[Number ':='] <expression (IN) of num>';'
Related information
34
For information about
See
Calling procedures
Technical reference manual - RAPID overview
Operating manual - IRC5 with FlexPendant
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
CallByVar
1 Instructions
1.11. CancelLoad - Cancel loading of a module
RobotWare - OS
1.11. CancelLoad - Cancel loading of a module
Usage
CancelLoad can be used to cancel the loading operation generated from the instruction
StartLoad.
CancelLoad can only be used between the instruction StartLoad and WaitLoad.
Basic examples
A basic example of the instruction CancelLoad is illustrated below.
See also More examples on page 35.
Example1
CancelLoad load1;
The load session load1 is cancelled.
Arguments
CancelLoad LoadNo
LoadNo
Data type: loadsession
Reference to the load session, created by the instruction StartLoad.
More examples
More examples of how to use the instruction CancelLoad are illustrated below.
Example 1
VAR loadsession load1;
StartLoad "HOME:"\File:="PART_B.MOD",load1;
...
© Copyright 2004-2010 ABB. All rights reserved.
IF ...
CancelLoad load1;
StartLoad "HOME:"\File:="PART_C.MOD",load1;
ENDIF
...
WaitLoad load1;
The instruction CancelLoad will cancel the on-going loading of the module PART_B.MOD
and instead make it possible to load PART_C.MOD.
Error handling
If the variable specified in argument LoadNo is not in use, meaning that no load session is in
use, the system variable ERRNO is set to ERR_LOADNO_NOUSE. This error can then be
handled in the error handler.
Limitation
CancelLoad can only be used in the sequence after that instruction StartLoad is ready and
before instruction WaitLoad is started.
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3HAC 16581-1 Revision: J
35
1 Instructions
1.11. CancelLoad - Cancel loading of a module
RobotWare - OS
Continued
Syntax
CancelLoad
[ LoadNo ':=' ] < variable (VAR) of loadsession >';'
Related information
For information about
See
Load a program module during
execution
StartLoad - Load a program module during
execution on page 482
Connect the loaded module to the task WaitLoad - Connect the loaded module to the task
on page 682
loadsession - Program load session on page 1138
Load a program module
Load - Load a program module during execution on
page 208
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Check program references
CheckProgRef - Check program references on
page 37
© Copyright 2004-2010 ABB. All rights reserved.
Load session
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3HAC 16581-1 Revision: J
1 Instructions
1.12. CheckProgRef - Check program references
RobotWare - OS
1.12. CheckProgRef - Check program references
Usage
CheckProgRef is used to check for unresolved references at any time during execution.
Basic examples
A basic example of the instruction CheckProgRef is illustrated below.
Example 1
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;
Unload "PART_A.MOD";
CheckProgRef;
In this case the program contains a module called PART_A.MOD. A new module PART_B.MOD
is loaded, which checks if all references are OK. Then PART_A.MOD is unloaded. To check
for unresolved references after unload, a call to CheckProgRef is done.
Program execution
Program execution forces a new link of the program task and checks for unresolved
references.
If an error occurs during CheckProgRef, the program is not affected, it just tells you that an
unresolved reference exists in the program task. Therefore, use CheckProgRef immediately
after changing the number of modules in the program task (loading or unloading) to be able
to know which module caused the link error.
This instruction can also be used as a substitute for using the optional argument \CheckRef
in instruction Load or WaitLoad.
Error handling
© Copyright 2004-2010 ABB. All rights reserved.
If the program task contains unresolved references, the system variable ERRNO will be set
to ERR_LINKREF, which can be handled in the error handler.
Syntax
CheckProgRef';'
Related information
For information about
See
Load of a program module
Load - Load a program module during
execution on page 208
Unload of a program module
UnLoad - UnLoad a program module during
execution on page 655
Start loading of a program module
StartLoad - Load a program module during
execution on page 482
Finish loading of a program module
WaitLoad - Connect the loaded module to the
task on page 682
3HAC 16581-1 Revision: J
37
1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
RobotWare - OS
1.13. CirPathMode - Tool reorientation during circle path
Usage
CirPathMode (Circle Path Mode) makes it possible to select different modes to reorientate
the tool during circular movements.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system in
Motion tasks.
Basic examples
Basic examples of the instruction CirPathMode are illustrated below.
Example 1
CirPathMode \PathFrame;
Standard mode for tool reorientation in the actual path frame from the start point to the
ToPoint during all succeeding circular movements. This is default in the system.
Example 2
CirPathMode \ObjectFrame;
Modified mode for tool reorientation in actual object frame from the start point to the
ToPoint during all succeeding circular movements.
Example 3
CirPathMode \CirPointOri;
Modified mode for tool reorientation from the start point via the programmed CirPoint
orientation to the ToPoint during all succeeding circular movements.
Example 4
CirPathMode \Wrist45;
Example 5
CirPathMode \Wrist46;
Modified mode such that the projection of the tool’s z-axis onto the cut plane will follow the
programmed circle segment. Only wrist axes 4 and 6 are used. This mode should only be used
for thin objects.
Example 6
CirPathMode \Wrist56;
Modified mode such that the projection of the tool’s z-axis onto the cut plane will follow the
programmed circle segment. Only wrist axes 5 and 6 are used. This mode should only be used
for thin objects.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Modified mode such that the projection of the tool’s z-axis onto the cut plane will follow the
programmed circle segment. Only wrist axes 4 and 5 are used. This mode should only be used
for thin objects.
1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
RobotWare - OS
Continued
Description
PathFrame
The figure in the table shows the tool reorientation for the standard mode \PathFrame.
Illustration
Description
The arrows shows the tool from wrist center
point to tool center point for the programmed
points. The path for the wrist center point is
dotted in the figure.
The \PathFrame mode makes it easy to get
the same angle of the tool around the
cylinder. The robot wrist will not go through
the programmed orientation in the
CirPoint
xx0500002152
The figure in the table shows the use of standard mode \PathFrame with fixed tool orientation.
Illustration
Description
© Copyright 2004-2010 ABB. All rights reserved.
This picture shows the obtained orientation of the
tool in the middle of the circle using a leaning tool
and \PathFrame mode.
Compare with the figure below when
\ObjectFrame mode is used.
xx0500002153
Continues on next page
3HAC 16581-1 Revision: J
39
1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
RobotWare - OS
Continued
ObjectFrame
The figure in the table shows the use of modified mode \ObjectFrame with fixed tool orientation.
Illustration
Description
This picture shows the obtained orientation of the
tool in the middle of the circle using a leaning tool
and \ObjectFrame mode.
This mode will make a linear reorientation of the
tool in the same way as for MoveL. The robot wrist
will not go through the programmed orientation in
the CirPoint.
Compare with the figure above when
\PathFrame mode is used.
xx0500002151
CirPointOri
The figure in the table shows the different tool reorientation between the standard mode
\PathFrame and the modified mode \CirPointOri.
Illustration
Description
xx0500002150
Wrist45 / Wrist46 / Wrist56
The figure in the table shows the frames involved when cutting a shape using axes 4 and 5..
Illustration
Description
It is assumed that the cutting beam is aligned
with the tool’s z axis. The coordinate frame of the
cut plane is defined by the robot’s starting
position when executing the MoveC instruction.
xx0800000294
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© Copyright 2004-2010 ABB. All rights reserved.
The arrows show the tool from wrist center point
to tool center point for the programmed points.
The different paths for the wrist center point are
dashed in the figure.
The \CirPointOri mode will make the robot
wrist to go through the programmed orientation
in the CirPoint.
1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
RobotWare - OS
Continued
Arguments
CirPathMode [\PathFrame] | [\ObjectFrame] | [\CirPointOri] |
[\Wrist45] | [\Wrist46] | [\Wrist56]
[ \PathFrame ]
Data type: switch
During the circular movement the reorientation of the tool is done continuously from the start
point orientation to the ToPoint orientation in the actual path frame. This is the standard
mode in the system.
[ \ObjectFrame ]
Data type: switch
During the circular movement the reorientation of the tool is done continuously from the start
point orientation to the ToPoint orientation in the actual object frame.
[ \CirPointOri ]
Data type: switch
During the circular movement the reorientation of the tool is done continuously from the start
point orientation to the programmed CirPoint orientation and further to the ToPoint
orientation.
[ \Wrist45 ]
Data type: switch
The robot will move axes 4 and 5 such that the projection of the tool’s z-axis onto the cut
plane will follow the programmed circle segment. This mode should only be used for thin
objects as only 2 wrist axes are used and thus give us increased accuracy but also less control.
NOTE: This switch requires option Wrist Move.
[ \Wrist46 ]
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
The robot will move axes 4 and 6 such that the projection of the tool’s z-axis onto the cut
plane will follow the programmed circle segment. This mode should only be used for thin
objects as only 2 wrist axes are used and thus give us increased accuracy but also less control.
NOTE: This switch requires option Wrist Move.
[ \Wrist56 ]
Data type: switch
The robot will move axes 5 and 6 such that the projection of the tool’s z-axis onto the cut
plane will follow the programmed circle segment. This mode should only be used for thin
objects as only 2 wrist axes are used and thus give us increased accuracy but also less control.
NOTE: This switch requires option Wrist Move.
If you use CirPathMode without any switch then result is the same as CirPointMode
\PathFrame
Continues on next page
3HAC 16581-1 Revision: J
41
1 Instructions
1.13. CirPathMode - Tool reorientation during circle path
RobotWare - OS
Continued
Program execution
The specified circular tool reorientation mode applies for the next executed robot circular
movements of any type (MoveC, SearchC, TriggC, MoveCDO, MoveCSync, ArcC,
PaintC ... ) and is valid until a new CirPathMode (or obsolete CirPathReori) instruction
is executed.
The standard circular reorientation mode (CirPathMode \PathFrame) is automatically set
•
At a cold start-up.
•
When a new program is loaded.
•
When starting program execution from the beginning.
Limitations
The instruction only affects circular movements.
When using the \CirPointOri mode, the CirPoint must be between the points A and B
according to the figure below to make the circle movement to go through the programmed
orientation in the CirPoint.
xx0500002149
\Wrist45, \Wrist46, and \Wrist56 mode should only be used for cutting thin objects as
the ability to control the angle of the tool is lost when using only two wrist axes. Coordinated
movements are not possible since the main axis is locked.
This instruction replaces the old instruction CirPathReori (will work even in the future but
will not be documented any more).
Syntax
CirPathMode
['\'PathFrame] | ['\'ObjectFrame] | ['\'CirPointOri] |
['\'Wrist45] | ['\'Wrist46] | ['\'Wrist56] ';'
Related information
42
For information about
See
Interpolation
Technical reference manual - RAPID overview
Motion settings data
motsetdata - Motion settings data on page 1141
Circular move instruction
MoveC - Moves the robot circularly on page 236
Wrist movements
Application manual - Motion Performance,
section Wrist Move
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
If working in wrist singularity area and the instruction SingArea\Wrist has been executed,
the instruction CirPathMode has no effect because the system then selects another tool
reorientation mode for circular movements (joint interpolation).
1 Instructions
1.14. Clear - Clears the value
RobotWare - OS
1.14. Clear - Clears the value
Usage
Clear is used to clear a numeric variable or persistent , i.e. set it to 0.
Basic examples
Basic examples of the instruction Clear are illustrated below.
Example 1
Clear reg1;
Reg1 is cleared, i.e. reg1:=0.
Example 2
CVAR dnum mydnum:=5;
Clear mydnum;
mydnum is cleared, i.e. mydnum:=0.
Arguments
Clear Name | Dname
Name
Data type: num
The name of the variable or persistent to be cleared.
Dname
Data type: dnum
The name of the variable or persistent to be cleared.
Syntax
Clear
© Copyright 2004-2010 ABB. All rights reserved.
[ Name ':=' ] < var or pers (INOUT) of num >
| [ Dname ':=' ] < var or pers (INOUT) of dnum > ';'
Related information
For information about
See
Incrementing a variable by 1
Incr - Increments by 1 on page 131
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Adding any value to a variable
Add - Adds a numeric value on page 19
Changing data using arbitrary
":=" - Assigns a value on page 24
3HAC 16581-1 Revision: J
43
1 Instructions
1.15. ClearIOBuff - Clear input buffer of a serial channel
RobotWare - OS
1.15. ClearIOBuff - Clear input buffer of a serial channel
Usage
ClearIOBuff (Clear I/O Buffer) is used to clear the input buffer of a serial channel. All
buffered characters from the input serial channel are discarded.
Basic examples
A basic example of the instruction ClearIOBuff is illustrated below.
Example 1
VAR iodev channel2;
...
Open "com2:", channel2 \Bin;
ClearIOBuff channel2;
WaitTime 0.1;
The input buffer for the serial channel referred to by channel2 is cleared. The wait time
guarantees the clear operation enough time to finish.
Arguments
ClearIOBuff IODevice
IODevice
Data type: iodev
The name (reference) of the serial channel whose input buffer is to be cleared.
Program execution
All buffered characters from the input serial channel are discarded. Next read instructions will
wait for new input from the channel.
This instruction can only be used for serial channels. Do not wait for acknowledgement of the
operation to finish. Allow a wait time 0.1 after the instruction is recommended to give the
operation enough time in every application.
Error handling
If trying to use the instruction on a file, the system variable ERRNO is set to ERR_FILEACC.
This error can then be handled in the error handler.
Syntax
ClearIOBuff
[IODevice ':='] <variable (VAR) of iodev>';'
Related information
44
For information about
See
Opening a serial channel
Technical reference manual - RAPID overview
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
1 Instructions
1.16. ClearPath - Clear current path
Robot Ware - OS
1.16. ClearPath - Clear current path
Usage
ClearPath (Clear Path) clears the whole motion path on the current motion path level (base
level or StorePath level).
With motion path, meaning all the movement segments from any move instructions which
have been executed in RAPID but not performed by the robot at the execution time of
ClearPath.
The robot must be in a stop point position or must be stopped with StopMove before the
instruction ClearPath can be executed.
Basic examples
Basic examples of the instruction ClearPath are illustrated below.
xx0500002154
In the following program example, the robot moves from the position home to the position
p1. At the point px the signal di1 will indicate that the payload has been dropped. The
execution continues in the trap routine gohome. The robot will stop moving (start the braking)
at px, the path will be cleared, the robot will move to position home. The error will be raised
up to the calling routine minicycle and the whole user defined program cycle proc1 ..
proc2 will be executed from the beginning one more time.
Example 1
© Copyright 2004-2010 ABB. All rights reserved.
VAR intnum drop_payload;
VAR errnum ERR_DROP_LOAD := -1;
PROC minicycle()
BookErrNo ERR_DROP_LOAD;
proc1;
...
ERROR (ERR_DROP_LOAD)
RETRY;
ENDPROC
PROC proc1()
...
proc2;
...
ENDPROC
Continues on next page
3HAC 16581-1 Revision: J
45
1 Instructions
1.16. ClearPath - Clear current path
Robot Ware - OS
Continued
PROC proc2()
CONNECT drop_payload WITH gohome;
ISignalDI \Single, di1, 1, drop_payload;
MoveL p1, v500, fine, gripper;
...........
IDelete drop_payload
ENDPROC
TRAP gohome
StopMove \Quick;
ClearPath;
IDelete drop_payload;
StorePath;
MoveL home, v500, fine, gripper;
RestoPath;
RAISE ERR_DROP_LOAD;
ERROR
RAISE;
ENDTRAP
If the same program is being run but without StopMove and ClearPath in the trap routine
gohome, the robot will continue to position p1 before going back to position home.
If programming MoveL home with flying-point (zone) instead of stop-point (fine), the
movement is going on during the RAISE to the error handler in procedure minicycle and
further until the movement is ready.
Limitations
Limitation examples of the instruction ClearPath are illustrated below.
Example 1 - Limitation
VAR intnum int_move_stop;
© Copyright 2004-2010 ABB. All rights reserved.
...
PROC test_move_stop()
CONNECT int_move_stop WITH trap_move_stop;
ISignalDI di1, 1, int_move_stop;
MoveJ p10, v200, z20, gripper;
MoveL p20, v200, z20, gripper;
ENDPROC
TRAP trap_move_stop
StopMove;
ClearPath;
StartMove;
StorePath;
MoveJ p10, v200, z20, gripper;
RestoPath;
ENDTRAP
Continues on next page
46
3HAC 16581-1 Revision: J
1 Instructions
1.16. ClearPath - Clear current path
Robot Ware - OS
Continued
This is an example of ClearPath limitation. During the robot movement to p10 and p20,
the ongoing movement is stopped and the motion path is cleared, but no action is done to
break off the active instruction MoveJ p10 or MoveL p20 in the PROC test_move_stop.
So the ongoing movement will be interrupted and the robot will go to p10 in the TRAP
trap_move_stop, but no further movement to p10 or p20 in the PROC test_move_stop
will be done. The program execution will be hanging.
This problem can be solved with either error recovery with long jump as described in example
2 below or with asynchronously raised error with instruction ProcerrRecovery.
Example 2 - No limitations
VAR intnum int_move_stop;
VAR errnum err_move_stop := -1;
...
PROC test_move_stop()
BookErrNo err_move_stop;
CONNECT int_move_stop WITH trap_move_stop;
ISignalDI di1, 1, int_move_stop;
MoveJ p10, v200, z20, gripper;
MoveL p20, v200, z20, gripper;
ERROR (err_move_stop)
StopMove;
ClearPath;
StartMove;
StorePath;
MoveJ p10, v200, z20, gripper;
RestoPath;
RETRY;
ENDPROC
TRAP trap_move_stop
© Copyright 2004-2010 ABB. All rights reserved.
RAISE err_move_stop;
ERROR
RAISE;
ENDTRAP
This is an example of how to use error recovery with long jump together with ClearPath
without any limitation. During the robot movement to p10 and p20, the ongoing movement
is stopped. The motion path is cleared, and because of error recovery through execution level
boundaries, break off is done of the active instruction MoveJ p10 or MoveL p20. So the
ongoing movement will be interrupted and the robot will go to p10 in the ERROR handler,
and once more execute the interrupted instruction MoveJ p10 or MoveL p20 in the PROC
test_move_stop.
Syntax
ClearPath ';'
Continues on next page
3HAC 16581-1 Revision: J
47
1 Instructions
1.16. ClearPath - Clear current path
Robot Ware - OS
Continued
Related information
For information about
See
Stop robot movements
StopMove - Stops robot movement on page 515
Error recovery
Technical reference manual - RAPID overview
Technical reference manual - RAPID kernel
© Copyright 2004-2010 ABB. All rights reserved.
Asynchronously raised error ProcerrRecovery - Generate and recover from process-move
error on page 325
48
3HAC 16581-1 Revision: J
1 Instructions
1.17. ClearRawBytes - Clear the contents of rawbytes data
RobotWare - OS
1.17. ClearRawBytes - Clear the contents of rawbytes data
Usage
ClearRawBytes is used to set all the contents of a rawbytes variable to 0.
Basic examples
A basic example of the instruction is illustrated below.
Example 1
VAR rawbytes raw_data;
VAR num integer := 8
VAR num float := 13.4;
PackRawBytes integer, raw_data, 1 \IntX := DINT;
PackRawBytes float, raw_data, (RawBytesLen(raw_data)+1) \Float4;
ClearRawBytes raw_data \FromIndex := 5;
In the first 4 bytes the value of integer is placed (from index 1) and in the next 4 bytes
starting from index 5 the value of float.
The last instruction in the example clears the contents of raw_data, starting at index 5, i.e.
float will be cleared, but integer is kept in raw_data. Current length of valid bytes in
raw_data is set to 4.
Arguments
ClearRawBytes RawData [ \FromIndex ]
RawData
Data type: rawbytes
RawData is the data container which will be cleared.
© Copyright 2004-2010 ABB. All rights reserved.
[ \FromIndex ]
Data type: num
With \FromIndex it is specified where to start clearing the contents of RawData. Everything
is cleared to the end.
If \FromIndex is not specified, all data starting at index 1 is cleared.
Program execution
Data from index 1 (default) or from \FromIndex in the specified variable is reset to 0.
The current length of valid bytes in the specified variable is set to 0 (default) or to
(FromIndex - 1) if \FromIndex is programmed.
Syntax
ClearRawBytes
[RawData ':=' ] < variable (VAR) of rawbytes>
['\'FromIndex ':=' <expression (IN) of num>]';'
Continues on next page
3HAC 16581-1 Revision: J
49
1 Instructions
1.17. ClearRawBytes - Clear the contents of rawbytes data
RobotWare - OS
Continued
Related information
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of rawbytes
data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes
data on page 658
© Copyright 2004-2010 ABB. All rights reserved.
For information about
50
3HAC 16581-1 Revision: J
1 Instructions
1.18. ClkReset - Resets a clock used for timing
RobotWare - OS
1.18. ClkReset - Resets a clock used for timing
Usage
ClkReset is used to reset a clock that functions as a stop-watch used for timing.
This instruction can be used before using a clock to make sure that it is set to 0.
Basic examples
A basic example of the instruction ClkReset is illustrated below.
Example 1
ClkReset clock1;
The clock clock1 is reset.
Arguments
ClkReset Clock
Clock
Data type: clock
The name of the clock to reset.
Program execution
When a clock is reset, it is set to 0.
If a clock is running it will be stopped and then reset.
Syntax
ClkReset
[ Clock ':=' ] < variable (VAR) of clock > ';'
© Copyright 2004-2010 ABB. All rights reserved.
Related Information
For information about
See
Other clock instructions
Technical reference manual - RAPID overview
3HAC 16581-1 Revision: J
51
1 Instructions
1.19. ClkStart - Starts a clock used for timing
RobotWare - OS
1.19. ClkStart - Starts a clock used for timing
Usage
ClkStart is used to start a clock that functions as a stop-watch used for timing.
Basic examples
A basic example of the instruction ClkStart is illustrated below.
Example 1
ClkStart clock1;
The clock clock1 is started.
Arguments
ClkStart Clock
Clock
Data type: clock
The name of the clock to start.
Program execution
When a clock is started, it will run and continue counting seconds until it is stopped.
A clock continues to run when the program that started it is stopped. However, the event that
you intended to time may no longer be valid. For example, if the program was measuring the
waiting time for an input, the input may have been received while the program was stopped.
In this case, the program will not be able to “see” the event that occurred while the program
was stopped.
A clock continues to run when the robot is powered down as long as the battery back-up
retains the program that contains the clock variable.
If a clock is running it can be read, stopped, or reset.
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of the instruction ClkStart are illustrated below.
Example 1
VAR clock clock2;
VAR num time;
ClkReset clock2;
ClkStart clock2;
WaitUntil di1 = 1;
ClkStop clock2;
time:=ClkRead(clock2);
The waiting time for di1 to become 1 is measured.
Continues on next page
52
3HAC 16581-1 Revision: J
1 Instructions
1.19. ClkStart - Starts a clock used for timing
RobotWare - OS
Continued
Error handling
If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it becomes
overflowed and the system variable ERRNO is set to ERR_OVERFLOW.
The error can be handled in the error handler.
Syntax
ClkStart
[ Clock ':=' ] < variable (VAR) of clock >';'
Related Information
See
Other clock instructions
Technical reference manual - RAPID overview
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
53
1 Instructions
1.20. ClkStop - Stops a clock used for timing
RobotWare - OS
1.20. ClkStop - Stops a clock used for timing
Usage
ClkStop is used to stop a clock that functions as a stop-watch used for timing.
Basic examples
A basic example of the instruction ClkStop is illustrated below.
ClkStop clock1;
The clock clock1 is stopped.
Arguments
ClkStop Clock
Clock
Data type: clock
The name of the clock to stop.
Program execution
When a clock is stopped, it will stop running.
If a clock is stopped, it can be read, started again, or reset.
Error handling
If the clock runs for 4,294,967 seconds (49 days 17 hours 2 minutes 47 seconds) it becomes
overflowed and the system variable ERRNO is set to ERR_OVERFLOW.
The error can be handled in the error handler.
Syntax
ClkStop
Related Information
54
For information about
See
Other clock instructions
Technical reference manual - RAPID overview
More examples
ClkStart - Starts a clock used for timing on page 52
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ Clock ':=' ] < variable (VAR) of clock >';'
1 Instructions
1.21. Close - Closes a file or serial channel
RobotWare - OS
1.21. Close - Closes a file or serial channel
Usage
Close is used to close a file or serial channel.
Basic examples
A basic example of the instruction Close is illustrated below.
Example 1
Close channel2;
The serial channel referred to by channel2 is closed.
Arguments
Close IODevice
IODevice
Data type: iodev
The name (reference) of the file or serial channel to be closed.
Program execution
The specified file or serial channel is closed and must be re-opened before reading or writing.
If it is already closed the instruction is ignored.
Syntax
Close
[IODevice ':='] <variable (VAR) of iodev>';'
Related information
See
Opening a file or serial channel
Technical reference manual - RAPID overview
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
55
1 Instructions
1.22. CloseDir - Close a directory
RobotWare - OS
1.22. CloseDir - Close a directory
Usage
CloseDir is used to close a directory in balance with OpenDir.
Basic examples
A basic example of the instruction CloseDir is illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Arguments
CloseDir Dev
Dev
Data type: dir
A variable with reference to the directory fetched with instruction OpenDir.
Syntax
CloseDir
Related information
56
For information about
See
Directory
dir - File directory structure on page 1103
Make a directory
MakeDir - Create a new directory on page 218
Open a directory
OpenDir - Open a directory on page 285
Read a directory
ReadDir - Read next entry in a directory on page 944
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ Dev ':=' ] < variable (VAR) of dir>';'
1 Instructions
1.23. Comment - Comment
RobotWare - OS
1.23. Comment - Comment
Usage
Comment is only used to make the program easier to understand. It has no effect on the
execution of the program.
Basic examples
A basic example of the instruction Comment is illustrated below.
Example 1
! Goto the position above pallet
MoveL p100, v500, z20, tool1;
A comment is inserted into the program to make it easier to understand.
Arguments
! Comment
Comment
Text string
Any text.
Program execution
Nothing happens when you execute this instruction.
Syntax
(EBNF)
'!' {<character>} <newline>
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Characters permitted in a comment
Technical reference manual - RAPID overview
Comments within data and routine dec- Technical reference manual - RAPID overview
larations
3HAC 16581-1 Revision: J
57
1 Instructions
1.24. Compact IF - If a condition is met, then... (one instruction)
RobotWare - OS
1.24. Compact IF - If a condition is met, then... (one instruction)
Usage
Compact IF is used when a single instruction is only to be executed if a given condition is
met.
If different instructions are to be executed, depending on whether the specified condition is
met or not, the IF instruction is used.
Basic examples
Basic examples of the instruction CompactIF are illustrated below.
Example 1
IF reg1 > 5 GOTO next;
If reg1 is greater than 5, program execution continues at the next label.
Example 2
IF counter > 10 Set do1;
The do1 signal is set if counter > 10.
Arguments
IF Condition ...
Condition
Data type: bool
The condition that must be satisfied for the instruction to be executed.
Syntax
(EBNF)
IF <conditional expression> ( <instruction> | <SMT>) ';'
58
For information about
See
Conditions (logical expressions
Technical reference manual - RAPID overview
IF with several instructions
IF - If a condition is met, then ...; otherwise ... on
page 129
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.25. ConfJ - Controls the configuration during joint movement
RobotWare - OS
1.25. ConfJ - Controls the configuration during joint movement
Usage
ConfJ (Configuration Joint) is used to specify whether or not the robot’s configuration is to
be controlled during joint movement. If it is not controlled, the robot can sometimes use a
different configuration than that which was programmed.
With ConfJ \Off, the robot cannot switch main axis configuration - it will search for a
solution with the same main axis configuration as the current one, but it moves to the closest
wrist configuration for axes 4 and 6.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction ConfJ are illustrated below.
Example 1
ConfJ \Off;
MoveJ *, v1000, fine, tool1;
The robot moves to the programmed position and orientation. If this position can be reached
in several different ways, with different axis configurations, the closest possible position is
chosen.
Example 2
ConfJ \On;
MoveJ *, v1000, fine, tool1;
The robot moves to the programmed position, orientation and axis configuration. If this is not
possible, program execution stops.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
ConfJ [\On] | [\Off]
[ \On ]
Data type: switch
The robot always moves to the programmed axis configuration. If this is not possible using
the programmed position and orientation, program execution stops.
The IRB5400 robot will move to the programmed axis configuration or to an axis
configuration close the the programmed one. Program execution will not stop if it is
impossible to reach the programmed axis configuration.
[ \Off ]
Data type: switch
The robot always moves to the closest axis configuration.
Continues on next page
3HAC 16581-1 Revision: J
59
1 Instructions
1.25. ConfJ - Controls the configuration during joint movement
RobotWare - OS
Continued
Program execution
If the argument \On (or no argument) is chosen, the robot always moves to the programmed
axis configuration. If this is not possible using the programmed position and orientation,
program execution stops before the movement starts.
If the argument \Off is chosen, the robot always moves to the closest axis configuration. This
may be different to the programmed one if the configuration has been incorrectly specified
manually, or if a program displacement has been carried out.
To control the configuration (ConfJ \On) is active by default. This is automatically set:
•
At a cold start-up.
•
When a new program is loaded.
•
When starting program execution from the beginning.
Syntax
ConfJ
[ '\' On] | [ '\' Off]';'
Related information
See
Handling different configurations
Technical reference manual - RAPID overview
Robot configuration during linear
movement
ConfL - Monitors the configuration during linear
movement on page 61
© Copyright 2004-2010 ABB. All rights reserved.
For information about
60
3HAC 16581-1 Revision: J
1 Instructions
1.26. ConfL - Monitors the configuration during linear movement
RobotWare - OS
1.26. ConfL - Monitors the configuration during linear movement
Usage
ConfL (Configuration Linear) is used to specify whether or not the robot’s configuration is
to be monitored during linear or circular movement. If it is not monitored, the configuration
at execution time may differ from that at programmed time. It may also result in unexpected
sweeping robot movements when the mode is changed to joint movement.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
NOTE!
For the IRB 5400 robot monitoring is always off independent of what is specified in ConfL.
Basic examples
Basic examples of the instruction ConfL are illustrated below.
Example 1
ConfL \On;
MoveL *, v1000, fine, tool1;
Program execution stops when the programmed configuration is not possible to reach from
the current position.
Example 2
SingArea \Wrist;
ConfL \On;
MoveL *, v1000, fine, tool1;
The robot moves to the programmed position, orientation and wrist axis configuration. If this
is not possible, program execution stops.
Example 3
© Copyright 2004-2010 ABB. All rights reserved.
ConfL \Off;
MoveL *, v1000, fine, tool1;
The robot moves to the programmed position and orientation but to the closest possible axis
configuration, which can be different from the programmed.
Arguments
ConfL [\On]|[\Off]
[ \On ]
Data type: switch
The robot configuration is monitored.
[ \Off ]
Data type: switch
The robot configuration is not monitored.
Continues on next page
3HAC 16581-1 Revision: J
61
1 Instructions
1.26. ConfL - Monitors the configuration during linear movement
RobotWare - OS
Continued
Program execution
During linear or circular movement, the robot always moves to the programmed position and
orientation that has the closest possible axis configuration. If the argument \On (or no
argument) is chosen, then the program execution stops as soon as there’s a risk that the
configuration of the programmed position will not be attained from the current position.
However, it is possible to restart the program again, although the wrist axes may continue to
be the wrong configuration. At a stop point, the robot will check that the configurations of all
axes are achieved, not only the wrist axes.
If SingArea\Wrist is also used, the robot always moves to the programmed wrist axis
configuration and at a stop point the remaining axes configurations will be checked.
If the argument \Off is chosen, there is no monitoring.
A simple rule to avoid problems, both for ConfL\On and \Off, is to insert intermediate
points to make the movement of each axis less than 90 degrees between points. More
precisely, the sum of movements for any of the par of axes (1+4), (1+6), (3+4) or (3+6) should
not exceed 180 degrees.
If ConfL\Off is used with a big movement, it can cause stops directly or later in the program
with error 50050 Position outside reach or 50080 Position not compatible. In
a program with ConfL\Off it is recommended to have movements to known configurations
points with“ConfJ\On + MoveJ” or “ConfL\On + SingArea\Wrist + MoveL” as start
points for different program parts.
Monitoring is active by default. This is automatically set:
•
At a cold start-up.
•
When a new program is loaded.
•
When starting program execution from the beginning.
Syntax
ConfL
Related information
62
For information about
See
Handling different configurations
Technical reference manual - RAPID overview
Robot configuration during joint
movement
ConfJ - Controls the configuration during joint
movement on page 59
Define interpolation around singular
points
SingArea - Defines interpolation around singular
points on page 447
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ '\' On] | [ '\' Off]';'
1 Instructions
1.27. CONNECT - Connects an interrupt to a trap routine
RobotWare - OS
1.27. CONNECT - Connects an interrupt to a trap routine
Usage
CONNECT is used to find the identity of an interrupt and connect it to a trap routine.
The interrupt is defined by ordering an interrupt event and specifying its identity. Thus, when
that event occurs, the trap routine is automatically executed.
Basic examples
A basic example of the instruction CONNECT is illustrated below.
Example 1
VAR intnum feeder_low;
CONNECT feeder_low WITH feeder_empty;
ISignalDI di1, 1 , feeder_low;
An interrupt identity feeder_low is created which is connected to the trap routine
feeder_empty. There will be an interrupt when input di1 is getting high. In other words,
when this signal becomes high, the feeder_empty trap routine is executed.
Arguments
CONNECT Interrupt WITH Trap routine
Interrupt
Data type: intnum
The variable that is to be assigned the identity of the interrupt. This must not be declared
within a routine (routine data).
Trap routine
Identifier
The name of the trap routine.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The variable is assigned an interrupt identity which shall be used when ordering or disabling
interrupts. This identity is also connected to the specified trap routine.
NOTE!
All interrupts in a task are cancelled when program pointer is set to main for that task and
must be reconnected. The interrupts will not be affected by a power fail or a warm start.
Limitations
An interrupt (interrupt identity) cannot be connected to more than one trap routine. Different
interrupts, however, can be connected to the same trap routine.
When an interrupt has been connected to a trap routine, it cannot be reconnected or
transferred to another routine; it must first be deleted using the instruction IDelete.
Interrupts that come or have not been handled when program execution is stopped will be
neglected. The interrupts are not considered when stopping the program.
Continues on next page
3HAC 16581-1 Revision: J
63
1 Instructions
1.27. CONNECT - Connects an interrupt to a trap routine
RobotWare - OS
Continued
Error handling
If the interrupt variable is already connected to a TRAP routine, the system variable ERRNO is
set to ERR_ALRDYCNT.
If the interrupt variable is not a variable reference, the system variable ERRNO is set to
ERR_CNTNOTVAR.
If no more interrupt numbers are available, the system variable ERRNO is set to ERR_INOMAX.
These errors can be handled in the ERROR handler.
Syntax
(EBNF)
CONNECT <connect target> WITH <trap>';'
<connect target> ::= <variable>
| <parameter>
| <VAR>
<trap> ::= <identifier>
Related information
See
Summary of interrupts
Technical reference manual - RAPID overview
More information on interrupt management
Technical reference manual - RAPID overview
Data type for interrupt
intnum - Interrupt identity on page 1125
Cancelling an interrupt
IDelete - Cancels an interrupt on page 123
© Copyright 2004-2010 ABB. All rights reserved.
For information about
64
3HAC 16581-1 Revision: J
1 Instructions
1.28. CopyFile - Copy a file
RobotWare - OS
1.28. CopyFile - Copy a file
Usage
CopyFile is used to make a copy of an existing file.
Basic examples
A basic example of the instruction CopyFile is illustrated below.
Example 1
CopyFile "HOME:/myfile", "HOME:/yourfile";
The file myfile is copied to yourfile. Both files are then identical.
CopyFile "HOME:/myfile", "HOME:/mydir/yourfile";
The file myfile is copied to yourfile in directory mydir.
Arguments
CopyFile OldPath NewPath
OldPath
Data type: string
The complete path of the file to be copied from.
NewPath
Data type: string
The complete path where the file is to be copied to.
Program execution
The file specified in OldPath will be copied to the file specified in NewPath.
Error Handling
© Copyright 2004-2010 ABB. All rights reserved.
If the file specified in NewPath already exists, the system variable ERRNO is set to
ERR_FILEEXIST. This error can then be handled in the error handler.
Syntax
CopyFile
[ OldPath ':=' ] < expression (IN) of string > ','
[ NewPath ':=' ] < expression (IN) of string >';'
Continues on next page
3HAC 16581-1 Revision: J
65
1 Instructions
1.28. CopyFile - Copy a file
RobotWare - OS
Continued
Related information
See
Make a directory
MakeDir - Create a new directory on page
218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
© Copyright 2004-2010 ABB. All rights reserved.
For information about
66
3HAC 16581-1 Revision: J
1 Instructions
1.29. CopyRawBytes - Copy the contents of rawbytes data
RobotWare - OS
1.29. CopyRawBytes - Copy the contents of rawbytes data
Usage
CopyRawBytes is used to copy all or part of the contents from one rawbytes variable to
another.
Basic examples
A basic example of the instruction CopyRawBytes is illustrated below.
Example 1
VAR rawbytes from_raw_data;
VAR rawbytes to_raw_data;
VAR num integer := 8
VAR num float := 13.4;
ClearRawBytes from_raw_data;
PackRawBytes integer, from_raw_data, 1 \IntX := DINT;
PackRawBytes float, from_raw_data, (RawBytesLen(from_raw_data)+1)
\Float4;
CopyRawBytes from_raw_data, 1, to_raw_data, 3,
RawBytesLen(from_raw_data);
In this example the variable from_raw_data of type rawbytes is first cleared,that is all
bytes set to 0. Then in the first 4 bytes the value of integer is placed and in the next 4 bytes
the value of float.
After having filled from_raw_data with data, the contents (8 bytes) is copied to
to_raw_data, starting at position 3.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
CopyRawBytes FromRawData FromIndex ToRawData
ToIndex [ \NoOfBytes ]
FromRawData
Data type: rawbytes
FromRawData is the data container from which the rawbytes data shall be copied.
FromIndex
Data type: num
FromIndex is the position in FromRawData where the data to be copied starts. Indexing
starts at 1.
ToRawData
Data type: rawbytes
ToRawData is the data container to which the rawbytes data shall be copied.
ToIndex
Data type: num
ToIndex is the position in ToRawData where the data to be copied will be placed. Everything
is copied to the end. Indexing starts at 1.
Continues on next page
3HAC 16581-1 Revision: J
67
1 Instructions
1.29. CopyRawBytes - Copy the contents of rawbytes data
RobotWare - OS
Continued
[\NoOfBytes]
Data type: num
The value specified with \NoOfBytes is the number of bytes to be copied from
FromRawData to ToRawData.
If \NoOfBytes is not specified, all bytes from FromIndex to the end of current length of
valid bytes in FromRawData is copied.
Program execution
During program execution data is copied from one rawbytes variable to another.
The current length of valid bytes in the ToRawData variable is set to:
•
(ToIndex + copied_number_of_bytes - 1)
•
The current length of valid bytes in the ToRawData variable is not changed, if the
complete copy operation is done inside the old current length of valid bytes in the
ToRawData variable.
Limitations
CopyRawBytes can not be used to copy some data from one rawbytes variable to other part
of the same rawbytes variable.
Syntax
CopyRawBytes
[FromRawData ':=' ] < variable (VAR) of rawbytes> ','
[FromIndex ':=' ] < expression (IN) of num> ','
[ToRawData ':=' ] < variable (VAR) of rawbytes> ','
[ToIndex ':=' ] < expression (IN) of num>
© Copyright 2004-2010 ABB. All rights reserved.
['\'NoOfBytes ':=' < expression (IN) of num> ]';'
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68
3HAC 16581-1 Revision: J
1 Instructions
1.29. CopyRawBytes - Copy the contents of rawbytes data
RobotWare - OS
Continued
Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data on
page 940
Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes data
on page 49
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page 725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page 352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes data
on page 658
© Copyright 2004-2010 ABB. All rights reserved.
Pack DeviceNet header into
rawbytes data
3HAC 16581-1 Revision: J
69
1 Instructions
1.30. CorrClear - Removes all correction generators
Path Offset
1.30. CorrClear - Removes all correction generators
Descriptions
CorrClear is used to remove all connected correction generators. The instruction can be
used to remove all offsets provided earlier by all correction generators.
Basic examples
Basic examples of the instruction CorrClear are illustrated below.
Example 1
CorrClear;
The instruction removes all connected correction generators.
NOTE!
An easy way to ensure that all correction generators (with corrections) are removed at
program start, is to run CorrClear in a START event routine.
See Technical reference manual - System parameters, topic Controller.
Syntax
CorrClear ';'
70
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a correction generator
CorrWrite - Writes to a correction generator on
page 77
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Correction descriptor
corrdescr - Correction generator descriptor on
page 1099
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.31. CorrCon - Connects to a correction generator
Path Offset
1.31. CorrCon - Connects to a correction generator
Usage
CorrCon is used to connect to a correction generator.
Basic examples
A basic example of the instruction CorrCon is illustrated below.
See also More examples on page 71.
Example1
VAR corrdescr id;
...
CorrCon id;
The correction generator reference corresponds to the variable id reservation.
Arguments
CorrCon Descr
Descr
Data type: corrdescr
Descriptor of the correction generator.
More examples
More examples of the instruction CorrCon are illustrated below.
© Copyright 2004-2010 ABB. All rights reserved.
Path coordinate system
All path corrections (offsets on the path) are added in the path coordinate system. The path
coordinate system is defined as illustrated below:
xx0500002156
•
Path coordinate axis X is given as the tangent of the path.
•
Path coordinate axis Y is derived as the cross product of tool coordinate axis Z and
path coordinate axis X.
•
Path coordinate axis Z is derived as the cross product of path coordinate axis X and
path coordinate axis Y.
Continues on next page
3HAC 16581-1 Revision: J
71
1 Instructions
1.31. CorrCon - Connects to a correction generator
Path Offset
Continued
Application example
An example of an application using path corrections is a robot holding a tool with two sensors
mounted on it to detect the vertical and horizontal distances to a work object. The figure
below illustrates a path correction device.
xx0500002155
Program example
NOTE! hori_sig and vert_sig are analog signals defined in system
parameters.
CONST num TARGET_DIST := 5;
CONST num SCALE_FACTOR := 0.5;
VAR intnum intno1;
VAR corrdescr hori_id;
VAR corrdescr vert_id;
VAR pos total_offset;
VAR pos write_offset;
VAR bool conFlag;
! Connect to the correction generators for horizontal and
vertical correction.
CorrCon hori_id;
CorrCon vert_id;
conFlag := TRUE;
! Setup a 5 Hz timer interrupt. The trap routine will read the
sensor values and
! compute the path corrections.
CONNECT intno1 WITH ReadSensors;
ITimer\Single, 0.2, intno1;
! Position for start of contour tracking
MoveJ p10,v100,z10,tool1;
! Run MoveL with both vertical and horizontal correction.
MoveL p20,v100,z10,tool1\Corr;
Continues on next page
72
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
PROC PathRoutine()
1 Instructions
1.31. CorrCon - Connects to a correction generator
Path Offset
Continued
! Read the total corrections added by all connected correction
generators.
total_offset := CorrRead();
! Write the total vertical correction on the FlexPendant.
TPWrite "The total vertical correction is:"
\Num:=total_offset.z;
! Disconnect the correction generator for vertical correction.
! Horizontal corrections will be unaffected.
CorrDiscon vert_id;
conFlag := FALSE;
! Run MoveL with only horizontal interrupt correction.
MoveL p30,v100,z10,tool1\Corr;
! Remove all outstanding connected correction generators.
! In this case, the only connected correction generator is the
one for horizontal
! correction.
CorrClear;
! Remove the timer interrupt.
IDelete intno1;
ENDPROC
TRAP ReadSensors
VAR num horiSig;
VAR num vertSig;
! Compute the horizontal correction values and execute the
correction.
horiSig := hori_sig;
© Copyright 2004-2010 ABB. All rights reserved.
write_offset.x := 0;
write_offset.y := (hori_sig - TARGET_DIST)*SCALE_FACTOR;
write_offset.z := 0;
CorrWrite hori_id, write_offset;
IF conFlag THEN
! Compute the vertical correction values and execute the
correction.
write_offset.x := 0;
write_offset.y := 0;
write_offset.z := (vert_sig - TARGET_DIST)*SCALE_FACTOR;
CorrWrite vert_id, write_offset;
ENDIF
!Setup interrupt again
IDelete intnol;
CONNECT intno1 WITH ReadSensors;
ITimer\single, 0.2, intno1;
ENDTRAP
Continues on next page
3HAC 16581-1 Revision: J
73
1 Instructions
1.31. CorrCon - Connects to a correction generator
Path Offset
Continued
Program explanation
Two correction generators are connected with the instruction CorrCon. Each correction
generator is referenced by a unique descriptor (hori_id and vert_id) of the type
corrdescr. The two sensors will use one correction generator each.
A timer interrupt is set up to call the trap routine ReadSensors with a frequency of 5 Hz.
The offsets, needed for path correction, are computed in the trap routine and written to the
corresponding correction generator (referenced by the descriptors hori_id and vert_id)
by the instruction CorrWrite. All the corrections will have immediate effect on the path.
The MoveL instruction must be programmed with the switch argument Corr when path
corrections are used. Otherwise, no corrections will be executed.
When the first MoveL instruction is ready, the function CorrRead is used to read the sum of
all the corrections (the total path correction) given by all the connected correction generators.
The result of the total vertical path correction is written to the FlexPendant with the
instruction TPWrite.
CorrDiscon will then disconnect the correction generator for vertical correction (referenced
by the descriptor vert_id). All corrections added by this correction generator will be
removed from the total path correction. The corrections added by the correction generator for
horizontal correction will still be preserved.
Finally, the function CorrClear will remove all remaining connected correction generators
and their previously added corrections. In this case, it is only the correction generator for
horizontal correction that will be removed. The timer interrupt will also be removed by the
instruction IDelete.
The correction generators
xx0500002160
Limitations
A maximum number of 5 correction generators can be connected simultaneously.
Connected Correction Generators do not survive a controller restart.
Syntax
CorrCon
[ Descr ':=' ] < variable (VAR) of corrdescr > ';'
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74
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The figure below illustrates the correction generators.
1 Instructions
1.31. CorrCon - Connects to a correction generator
Path Offset
Continued
Related information
See
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Writes to a correction generator
CorrWrite - Writes to a correction generator
on page 77
Reads the current total offsets
CorrRead - Reads the current total offsets
on page 803
Removes all correction generators
CorrClear - Removes all correction
generators on page 70
Correction generator descriptor
corrdescr - Correction generator descriptor
on page 1099
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
75
1 Instructions
1.32. CorrDiscon - Disconnects from a correction generator
Path Offset
1.32. CorrDiscon - Disconnects from a correction generator
Description
CorrDiscon is used to disconnect from a previously connected correction generator. The
instruction can be used to remove corrections given earlier.
Basic examples
A basic example of the instruction CorrDiscon is illustrated below.
See also More examples on page 76.
Example 1
VAR corrdescr id;
...
CorrCon id;
...
CorrDiscon id;
CorrDiscon disconnects from the previously connected correction generator referenced by
the descriptor id.
Arguments
CorrDiscon Descr
Descr
Data type: corrdescr
Descriptor of the correction generator.
More examples
Syntax
CorrDiscon
[ Descr ':=' ] < variable (VAR) of corrdescr > ';'
Related information
76
For information about
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Writes to a correction generator
CorrWrite - Writes to a correction generator on
page 77
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Removes all correction generators
CorrClear - Removes all correction generators on
page 70
Correction descriptor
corrdescr - Correction generator descriptor on
page 1099
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
For more examples of the instruction CorrDiscon, see CorrCon - Connects to a correction
generator on page 71.
1 Instructions
1.33. CorrWrite - Writes to a correction generator
Path Offset
1.33. CorrWrite - Writes to a correction generator
Description
CorrWrite is used to write offsets in the path coordinate system to a correction generator.
Basic examples
A basic example of the instruction CorrWrite is illustrated below.
Example 1
VAR corrdescr id;
VAR pos offset;
...
CorrWrite id, offset;
The current offsets, stored in the variable offset, are written to the correction generator
referenced by the descriptor id.
Arguments
CorrWrite Descr Data
Descr
Data type: corrdescr
Descriptor of the correction generator.
Data
Data type: pos
The offset to be written.
More examples
© Copyright 2004-2010 ABB. All rights reserved.
For more examples of the instruction CorrWrite, see CorrCon - Connects to a correction
generator on page 71.
Limitations
The best performance is achieved on straight paths. As the speed and angles between
consecutive linear paths increase, the deviation from the expected path will also increase. The
same applies to circles with decreasing circle radius.
Syntax
CorrWrite
[ Descr ':=' ] < variable (VAR) of corrdescr > ','
[ Data ':=' ] < expression (IN) of pos > ';'
Continues on next page
3HAC 16581-1 Revision: J
77
1 Instructions
1.33. CorrWrite - Writes to a correction generator
Path Offset
Continued
Related information
See
Connects to a correction generator
CorrCon - Connects to a correction generator on
page 71
Disconnects from a correction generator
CorrDiscon - Disconnects from a correction
generator on page 76
Reads the current total offsets
CorrRead - Reads the current total offsets on
page 803
Removes all correction generators
CorrClear - Removes all correction generators
on page 70
Correction generator descriptor
corrdescr - Correction generator descriptor on
page 1099
© Copyright 2004-2010 ABB. All rights reserved.
For information about
78
3HAC 16581-1 Revision: J
1 Instructions
1.34. DeactUnit - Deactivates a mechanical unit
RobotWare - OS
1.34. DeactUnit - Deactivates a mechanical unit
Usage
DeactUnit is used to deactivate a mechanical unit.
It can be used to determine which unit is to be active when, for example, common drive units
are used.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Examples
Basic examples of the instruction DeactUnit are illustrated below.
Example 1
DeactUnit orbit_a;
Deactivation of the orbit_a mechanical unit.
Example 2
MoveL p10, v100, fine, tool1;
DeactUnit track_motion;
MoveL p20, v100, z10, tool1;
MoveL p30, v100, fine, tool1;
ActUnit track_motion;
MoveL p40, v100, z10, tool1;
The unit track_motion will be stationary when the robot moves to p20 and p30. After this,
both the robot and track_motion will move to p40.
Example 3
MoveL p10, v100, fine, tool1;
DeactUnit orbit1;
ActUnit orbit2;
© Copyright 2004-2010 ABB. All rights reserved.
MoveL p20, v100, z10, tool1;
The unit orbit1 is deactivated and orbit2 is activated.
Arguments
DeactUnit MechUnit
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit that is to be deactivated.
Program execution
When the robot’s and external axes’ actual path is ready, the path on current path level is
cleared and the specified mechanical unit is deactivated. This means that it will neither be
controlled nor monitored until it is re-activated.
If several mechanical units share a common drive unit, deactivation of one of the mechanical
units will also disconnect that unit from the common drive unit.
Continues on next page
3HAC 16581-1 Revision: J
79
1 Instructions
1.34. DeactUnit - Deactivates a mechanical unit
RobotWare - OS
Continued
Limitations
Instruction DeactUnit cannot be used when one of the mechanical unit is in independent
mode.
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after
power failure will not be possible.
DeactUnit cannot be executed in a RAPID routine connected to any of following special
system events: PowerOn, Stop, QStop, Restart or Step.
It is possible to use ActUnit - DeactUnit on StorePath level, but the same mechanical
units must be active when doing RestoPath as when StorePath was done. If such
operation the Path Recorder and the path on the base level will be intact, but the path on the
StorePath level will be cleared.
Syntax
DeactUnit
[MechUnit ':='] < variable (VAR) of mecunit> ';'
Related information
See
Activating mechanical units
ActUnit - Activates a mechanical unit on page 17
Mechanical units
mecunit - Mechanical unit on page 1139
Path Recorder
PathRecMoveBwd - Move path recorder
backwards on page 298
mecunit - Mechanical unit on page 1139
© Copyright 2004-2010 ABB. All rights reserved.
For information about
80
3HAC 16581-1 Revision: J
1 Instructions
1.35. Decr - Decrements by 1
RobotWare - OS
1.35. Decr - Decrements by 1
Usage
Decr is used to subtract 1 from a numeric variable or persistent.
Basic examples
A basic example of the instruction Decr is illustrated below.
See also More examples on page 81.
Example 1
Decr reg1;
1 is subtracted from reg1, that is reg1:=reg1-1.
Arguments
Decr Name | Dname
Name
Data type: num
The name of the variable or persistent to be decremented.
Dname
Data type: dnum
The name of the variable or persistent to be decremented.
More examples
More examples of the instruction Decr are illustrated below.
Example 1
VAR num no_of_parts:=0;
...
© Copyright 2004-2010 ABB. All rights reserved.
TPReadNum no_of_parts, "How many parts should be produced? ";
WHILE no_of_parts>0 DO
produce_part;
Decr no_of_parts;
ENDWHILE
The operator is asked to input the number of parts to be produced. The variable
no_of_parts is used to count the number that still have to be produced.
Example 2
VAR dnum no_of_parts:=0;
...
TPReadDnum no_of_parts, "How many parts should be produced? ";
WHILE no_of_parts>0 DO
produce_part;
Decr no_of_parts;
ENDWHILE
The operator is asked to input the number of parts to be produced. The variable
no_of_parts is used to count the number that still have to be produced.
Continues on next page
3HAC 16581-1 Revision: J
81
1 Instructions
1.35. Decr - Decrements by 1
RobotWare - OS
Continued
Syntax
Decr
[ Name ':=' ] < var or pers (INOUT) of num >
| [ Dname ':=' ] < var or pers (INOUT) of dnum >' ;'
Related information
See
Incrementing a variable by 1
Incr - Increments by 1 on page 131
Subtracting any value from a variable
Add - Adds a numeric value on page 19
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
© Copyright 2004-2010 ABB. All rights reserved.
For information about
82
3HAC 16581-1 Revision: J
1 Instructions
1.36. DitherAct - Enables dither for soft servo
RobotWare - OS
1.36. DitherAct - Enables dither for soft servo
Usage
DitherAct is used to enable the dither functionality, which will reduce the friction in soft
servo for IRB 7600.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction DitherAct are illustrated below.
Example 1
SoftAct \MechUnit:=ROB_1, 2, 100;
WaitTime 2;
DitherAct \MechUnit:=ROB_1, 2;
WaitTime 1;
DitherDeact;
SoftDeact;
Dither is enabled only for one second while in soft servo.
Example 2
DitherAct \MechUnit:=ROB_1, 2;
SoftAct \MechUnit:=ROB_1, 2, 100;
WaitTime 1;
MoveL p1, v50, z20, tool1;
SoftDeact;
© Copyright 2004-2010 ABB. All rights reserved.
DitherDeact;
Dither is enabled for axis 2. Movement is delayed for one second to allow sufficient transition
time for the SoftAct ramp. If DitherAct is called before SoftAct, dither will start
whenever a SoftAct is executed for that axis. If no DitherDeact is called, dither will stay
enabled for all subsequent SoftAct calls.
Arguments
DitherAct [\MechUnit] Axis [\Level]
[ \MechUnit ]
Mechanical Unit
Data type: mecunit
The name of the mechanical unit. If argument is omitted, it means activation of the soft servo
for specified robot axis.
Axis
Data type: num
Axis number (1-6).
Continues on next page
3HAC 16581-1 Revision: J
83
1 Instructions
1.36. DitherAct - Enables dither for soft servo
RobotWare - OS
Continued
[ \Level ]
Data type: num
Amplitude of dither (50-150%). At 50%, oscillations are reduced (increased friction). At
150%, amplitude is maximum (may result in vibrations of endeffector). The default value is
100%.
Program execution
DitherAct can be called before, or after SoftAct. Calling DitherAct after SoftAct is
faster but it has other limitations.
Dither is usually not required for axis 1 of IRB 7600. Highest effect of friction reduction is
on axes 2 and 3.
Dither parameters are self-adjusting. Full dither performance is achieved after three or four
executions of SoftAct in process position.
Limitations
Calling DitherAct after SoftAct may cause unwanted movement of the robot. The only
way to eliminate this behavior is to call DitherAct before SoftAct. If there still is
movement, SoftAct ramp time should be increased.
The transition time is the ramp time, which varies between robots, multiplied with the ramp
factor of the SoftAct-instruction.
Dithering is not available for axis 6.
Dither is always deactivated when there is a power failure.
The instruction is only to be used for IRB 7600.
WARNING!
Syntax
DitherAct
[ '\' MechUnit ':=' < variable (VAR) of mecunit > ]
[Axis ':=' ] < expression (IN) of num >
[ '\' Level ':=' < expression (IN) of num > ] ';'
Related information
84
For information about
See
Activating Soft Servo
SoftAct - Activating the soft servo on page 473
Behavior with the soft servo engaged
Technical reference manual - RAPID overview
Disable of dither
DitherDeact - Disables dither for soft servo on
page 85
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
When calling DitherAct before SoftAct the robot must be in a fine point. Also, leaving
the fine point is not permitted until the transition time of the ramp is over. This might
damage the gear boxes.
1 Instructions
1.37. DitherDeact - Disables dither for soft servo
RobotWare - OS
1.37. DitherDeact - Disables dither for soft servo
Usage
DitherDeact is used to disable the dither functionality for soft servo of IRB 7600.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
A basic example of the instruction DitherDeact is illustrated below.
Example 1
DitherDeact;
Deactivates dither on all axis.
Program execution
DitherDeact can be used at any time. If in soft servo, dither stops immediately on all axes.
If not in soft servo, dither will not be active when next SoftAct is executed.
The dither is automatically disabled
•
at a cold start-up
•
when a new program is loaded
•
when starting program execution from the beginning.
Syntax
DitherDeact';'
Related information
See
Activating dither
DitherAct - Enables dither for soft servo on page
83
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
85
1 Instructions
1.38. DropWObj - Drop work object on conveyor
Conveyor Tracking
1.38. DropWObj - Drop work object on conveyor
Usage
DropWObj (Drop Work Object) is used to disconnect from the current object and the program
is ready for the next object on the conveyor.
Basic examples
A basic example of the instruction DropWObj is illustrated below.
Example 1
MoveL *, v1000, z10, tool, \WObj:=wobj_on_cnv1;
MoveL *, v1000, fine, tool, \WObj:=wobj0;
DropWObj wobj_on_cnv1;
MoveL *, v1000, z10, tool, \WObj:=wobj0;
Arguments
DropWObj WObj
WObj
Work Object
Data type: wobjdata
The moving work object (coordinate system) to which the robot position in the instruction is
related. The mechanical unit conveyor is to be specified by the ufmec in the work object.
Program execution
Dropping the work object means that the encoder unit no longer tracks the object. The object
is removed from the object queue and cannot be recovered.
Limitations
The instruction may be issued only after a fixed work object has been used in the preceding
motion instructions with either a fine point or several (>1) corner zones.
Syntax
DropWObj
[ WObj ':='] < persistent (PERS) of wobjdata>';'
Related information
86
For information about
See
Wait for work objects
WaitWObj - Wait for work object on conveyor on
page 701
Conveyor tracking
Application manual - Conveyor tracking
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
If the instruction is issued while the robot is actively using the conveyor coordinated work
object, then the motion stops.
1 Instructions
1.39. EOffsOff - Deactivates an offset for external axes
RobotWare - OS
1.39. EOffsOff - Deactivates an offset for external axes
Usage
EOffsOff (External Offset Off) is used to deactivate an offset for external axes.
The offset for external axes is activated by the instruction EOffsSet or EOffsOn and applies
to all movements until some other offset for external axes is activated or until the offset for
external axes is deactivated.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction EOffsOff are illustrated below.
Example 1
EOffsOff;
Deactivation of the offset for external axes.
Example 2
MoveL p10, v500, z10, tool1;
EOffsOn \ExeP:=p10, p11;
MoveL p20, v500, z10, tool1;
MoveL p30, v500, z10, tool1;
EOffsOff;
MoveL p40, v500, z10, tool1;
An offset is defined as the difference between the position of each axis at p10 and p11. This
displacement affects the movement to p20 and p30, but not to p40.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
Active offsets for external axes are reset.
Syntax
EOffsOff ';'
Related information
For information about
See
Definition of offset using two positions
EOffsOn - Activates an offset for external axes on
page 88
Definition of offset using known values
EOffsSet - Activates an offset for external axes
using known values on page 90
Deactivation of the robot’s program dis- PDispOff - Deactivates program displacement on
placement
page 316
3HAC 16581-1 Revision: J
87
1 Instructions
1.40. EOffsOn - Activates an offset for external axes
RobotWare - OS
1.40. EOffsOn - Activates an offset for external axes
Usage
EOffsOn (External Offset On) is used to define and activate an offset for external axes using
two positions.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction EOffsOn are illustrated below.
See also More examples on page 89.
Example 1
MoveL p10, v500, z10, tool1;
EOffsOn \ExeP:=p10, p20;
Activation of an offset for external axes. This is calculated for each axis based on the
difference between positions p10 and p20.
Example 2
MoveL p10, v500, fine \Inpos := inpos50, tool1;
EOffsOn *;
Activation of an offset for external axes. Since a stop point that is accurately defined has been
used in the previous instruction, the argument \ExeP does not have to be used. The
displacement is calculated on the basis of the difference between the actual position of each
axis and the programmed point (*) stored in the instruction.
Arguments
EOffsOn [\ExeP] ProgPoint
[ \ExeP ]
Data type: robtarget
The new position, used for calculation of the offset. If this argument is omitted, the current
position of the axes at the time of the program execution is used.
ProgPoint
Programmed Point
Data type: robtarget
The original position of the axes at the time of programming.
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Executed Point
1 Instructions
1.40. EOffsOn - Activates an offset for external axes
RobotWare - OS
Continued
Program execution
The offset is calculated as the difference between \ExeP and ProgPoint for each separate
external axis. If \ExeP has not been specified, the current position of the axes at the time of
the program execution is used instead. Since it is the actual position of the axes that is used,
the axes should not move when EOffsOn is executed.
This offset is then used to displace the position of external axes in subsequent positioning
instructions and remains active until some other offset is activated (the instruction EOffsSet
or EOffsOn) or until the offset for external axes is deactivated (the instruction EOffsOff).
Only one offset for each individual external axis can be activated at the same time. Several
EOffsOn, on the other hand, can be programmed one after the other and, if they are, the
different offsets will be added.
The external axes offset is automatically reset:
•
At a cold start-up.
•
When a new program is loaded.
•
When starting program execution from the beginning.
More examples
More examples of how to use the instruction EOffsOn are illustrated below.
Example 1
SearchL sen1, psearch, p10, v100, tool1;
PDispOn \ExeP:=psearch, *, tool1;
EOffsOn \ExeP:=psearch, *;
© Copyright 2004-2010 ABB. All rights reserved.
A search is carried out in which the searched position of both the robot and the external axes
is stored in the position psearch. Any movement carried out after this starts from this
position using a program displacement of both the robot and the external axes. This is
calculated based on the difference between the searched position and the programmed point
(*) stored in the instruction.
Syntax
EOffsOn
[ '\' ExeP ':=' < expression (IN) of robtarget> ',']
[ ProgPoint ':=' ] < expression (IN) of robtarget> ';'
Related information
For information about
See
Deactivation of offset for external axes
EOffsOff - Deactivates an offset for external
axes on page 87
Definition of offset using known values
EOffsSet - Activates an offset for external axes
using known values on page 90
Displacement of the robot’s movements
PDispOn - Activates program displacement on
page 317
Coordinate systems
Technical reference manual - RAPID overview
3HAC 16581-1 Revision: J
89
1 Instructions
1.41. EOffsSet - Activates an offset for external axes using known values
RobotWare - OS
1.41. EOffsSet - Activates an offset for external axes using known values
Usage
EOffsSet (External Offset Set) is used to define and activate an offset for external axes using
known values.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
A basic example of the instruction EOffsSet is illustrated below.
Example 1
VAR extjoint eax_a_p100 := [100, 0, 0, 0, 0, 0];
...
EOffsSet eax_a_p100;
Activation of an offset eax_a_p100 for external axes, meaning (provided that the logical
external axis "a" is linear) that:
•
The ExtOffs coordinate system is displaced 100 mm for the logical axis "a" (see
figure below).
•
As long as this offset is active, all positions will be displaced 100 mm in the direction
of the x-axis.
xx0500002162
Arguments
EOffsSet EAxOffs
EAxOffs
External Axes Offset
Data type: extjoint
The offset for external axes is defined as data of the type extjoint, expressed in:
•
mm for linear axes
•
degrees for rotating axes
Continues on next page
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The figure shows displacement of an external axis.
1 Instructions
1.41. EOffsSet - Activates an offset for external axes using known values
RobotWare - OS
Continued
Program execution
The offset for external axes is activated when the EOffsSet instruction is executed and
remains active until some other offset is activated (the instruction EOffsSet or EOffsOn) or
until the offset for external axes is deactivated (the instruction EOffsOff).
Only one offset for external axes can be activated at the same time. Offsets cannot be added
to one another using EOffsSet.
The external axes offset is automatically reset:
•
At a cold start-up.
•
When a new program is loaded.
•
When starting program executing from the beginning.
Syntax
EOffsSet
[ EAxOffs ':=' ] < expression (IN) of extjoint> ';'
Related information
See
Activate an offset for external axes
EOffsOn - Activates an offset for external axes
on page 88
Deactivation of offset for external axes
EOffsOff - Deactivates an offset for external
axes on page 87
Displacement of the robot’s movements
PDispOn - Activates program displacement on
page 317
Definition of data of the type extjoint
extjoint - Position of external joints on page 1118
Coordinate systems
Technical reference manual - RAPID overview
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.42. EraseModule - Erase a module
RobotWare - OS
1.42. EraseModule - Erase a module
Usage
EraseModule is used to remove a module from the program memory during execution.
There are no restrictions on how the module was loaded. It could have been loaded manually,
from the configuration, or with a combination of the instructions Load, StartLoad, and
WaitLoad.
The module cannot be defined as Shared in the configuration.
Basic examples
A basic example of the instruction EraseModule is illustrated below.
Example 1
EraseModule "PART_A";
Erase the program module PART_A from the program memory.
Arguments
EraseModule ModuleName
ModuleName
Data type: string
The name of the module that should be removed. Please note that this is the name of the
module, not the name of the file.
Program execution
The program execution waits for the program module to finish the removal process before the
execution proceeds with the next instruction.
When the program module is removed the rest of the program modules will be linked.
It is not allowed to remove a program module that is executing.
TRAP routines, system I/O events, and other program tasks cannot execute during the
removal process.
Avoid ongoing robot movements during the removal.
Program stop during execution of EraseModule instruction results in guard stop with motors
off and error message "20025 Stop order timeout" on the FlexPendant.
Error handling
If the file in the EraseModule instruction cannot be removed because it was not found, the
system variable ERRNO is set to ERR_MODULE. This error can then be handled in the error
handler.
Syntax
EraseModule
[ModuleName':=']<expression (IN) of string>';'
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Limitations
1 Instructions
1.42. EraseModule - Erase a module
RobotWare - OS
Continued
Related information
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another program execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the task
on page 682
Accept unresolved reference
Technical reference manual - System parameters,
section Controller
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
93
1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
1.43. ErrLog - Write an error message
Usage
ErrLog is used to display an error message on the FlexPendant and write it in the event log.
Error number and five error arguments must be stated. The message is stored in the process
domain in the robot log. ErrLog can also be used to display warnings and information
messages.
Basic examples
Basic examples of the instruction ErrLog are illustrated below.
Example 1
In case you do not want to make your own .xml file, you can use ErrorId 4800 like in the
example below:
VAR errstr my_title := "myerror";
VAR errstr str1 := "errortext1";
VAR errstr str2 := "errortext2";
VAR errstr str3 := "errortext3";
VAR errstr str4 := "errortext4";
ErrLog 4800, my_title, str1,str2,str3,str4;
On the FlexPendant the message will look like this:
Event Message: 4800
myerror
errortext1
errortext2
errortext3
Example 2
An ErrorId must be declared in an .xml file. The number must be between 5000 - 9999. The
error message is written in the .xml file and the arguments to the message is sent in by the
ErrLog instruction. The ErrorId in the .xml file is the same stated in the ErrLog
instruction.
NOTE: If using an ErrorId between 5000-9999 you have to install your own xml file.
Example of message in .xml file:
<Message number="5210" eDefine="ERR_INPAR_RDONLY">
<Title>Parameter error</Title>
<Description>Task:<arg format="%s" ordinal="1" />
<p />Symbol <arg format="%s" ordinal="2" />is read-only
<p />Context:<arg format="%s" ordinal="3" /><p />
</Description>
</Message>
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errortext4
1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
Continued
Example of instruction:
MODULE MyModule
PROC main()
VAR num errorid := 5210;
VAR errstr arg := "P1";
ErrLog errorid, ERRSTR_TASK, arg,
ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED;
ErrLog errorid \W, ERRSTR_TASK, arg,
ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED;
ENDPROC
ENDMODULE
On the FlexPendant the message will look like this:
Event Message: 5210
Parameter error
Task: T_ROB1
Symbol P1 is read-only.
Context: MyModule/main/ErrLog
The first ErrLog instruction generates an error message. The message is stored in the robot
log in the process domain. It is also shown on the FlexPendant display.
The second instruction is a warning. A message is stored in the robot log only.
The program will in both cases continue its execution when the instruction is done.
Arguments
ErrLog ErrorID [\W] | [\I] Argument1 Argument2 Argument3 Argument4
Argument5
ErrorId
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
The number of a specific error that is to be monitored. The error number must be in interval
4800-4814 if using the preinstalled xml file, and between 5000 - 9999 if using an own xml
file.
[ \W ]
Warning
Data type: switch
Gives a warning that is stored in the robot event log only (not shown directly on the
FlexPendant display).
[ \I ]
Information
Data type: switch
Gives an information message that is stored in the event log only (not shown directly on the
FlexPendant display).
If none of the arguments \W or \I are specified then the instruction will generate an error
message directly on the flexpendant and also store it in the event log.
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1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
Continued
Argument1
Data type: errstr
First argument in the error message. Any string or predefined data of type errstr can be
used.
Argument2
Data type: errstr
Second argument in the error message. Any string or predefined data of type errstr can be
used.
Argument3
Data type: errstr
Third argument in the error message. Any string or predefined data of type errstr can be
used
Argument4
Data type: errstr
Fourth argument in the error message. Any string or predefined data of type errstr can be
used.
Argument5
Data type: errstr
Fifth argument in the error message. Any string or predefined data of type errstr can be
used.
Program execution
An error message (max 5 lines) is displayed on the FlexPendant and written in the event log.
In the case of argument \W or argument \I a warning or an information message is written
in the event log.
by the system, and between 5000-9999 if installing an own xml file. The error generated
depends on the ErrorID indicated.
The message is stored in the process domain in the event log.
How to install an own xml file is described in the Additional options manual, see Related
information below.
Limitations
Total string length (Argument1-Argument5) is limited to 195 characters.
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ErrLog generates program errors between 4800-4814 if using the xml file that are installed
1 Instructions
1.43. ErrLog - Write an error message
RobotWare - OS
Continued
Syntax
ErrLog
[ErrorId ':=' ] < expression (IN) of num> ','
[ '\'W ] | [' \' I ] ','
[Argument1 ':=' ] < expression (IN) of errstr> ','
[Argument2 ':=' ] < expression (IN) of errstr> ','
[Argument3 ':=' ] < expression (IN) of errstr> ','
[Argument4 ':=' ] < expression (IN) of errstr> ','
[Argument5 ':=' ] < expression (IN) of errstr> ';'
Related information
For information about
See
Predefined data of type errstr
errstr - Error string on page 1114
Display message on the FlexPendant
TPWrite - Writes on the FlexPendant on page
568
UIMsgBox - User Message Dialog Box type basic
on page 644
Event log
Operating manual - IRC5 with FlexPendant
Event log messages, explanation of xml- Application manual - Additional options, section
file
Event log messages
Application manual - Additional options
© Copyright 2004-2010 ABB. All rights reserved.
How to install XML files when using
additional options
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1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
1.44. ErrRaise - Writes a warning and calls an error handler
Usage
ErrRaise is used to create an error in the program and then call the error handler of the
routine. A warning is written in the event log. ErrRaise can also be used in the error handler
to propagate the current error to the error handler of the calling routine.
Error name, error number, and five error arguments must be stated. The message is stored in
the process domain in the robot log.
Basic examples
Basic examples of the instruction ErrRaise is illustrated below.
Example 1
In case you do not want to make your own .xml file, you can use ErrorId 4800 like in the
example below:
MODULE MyModule
VAR errnum ERR_BATT:=-1;
PROC main()
VAR num errorid := 4800;
VAR errstr my_title := "Backup battery status";
VAR errstr str1 := "Bacup battery is fully charged";
BookErrNo ERR_BATT;
ErrRaise "ERR_BATT", errorid, my_title, ERRSTR_TASK, str1,
ERRSTR_CONTEXT,ERRSTR_EMPTY;
ERROR
IF ERRNO = ERR_BATT THEN
TRYNEXT;
ENDIF
ENDPROC
Event Message: 4800
Backup battery status
Task: main
Backup battery is fully charged
Context: MyModule/main/ErrRaise
An error number must be booked with the instruction BookErrNo. Corresponding string is
stated as the first argument, ErrorName, in the ErrRaise.
ErrRaise creates an error and then calls the error handler. If the error is taken care of, a
warning is generated in the event log, in the process domain. Otherwise a fatal error is
generated and the program stops.
ErrRaise can also be used in an error handler in a subroutine. In this case the execution
continues in the error handler of the calling routine.
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ENDMODULE
On the FlexPendant the message will look like this (warning and/or an error):
1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
Continued
Example 2
An ErrorId must be declared in an .xml file. The number must be between 5000 - 9999. The
error message is written in the .xml file and the arguments to the message are sent in by the
ErrRaise instruction. The ErrorId in the .xml file is the same stated in the ErrRaise
instruction.
NOTE: If using an ErrorId between 5000-9999 you have to install your own xml file.
Example of message in .xml file:
<Message number="7055" eDefine="SYS_ERR_ARL_INPAR_RDONLY">
<Title>Parameter error</Title>
<Description>Task:<arg format="%s" ordinal="1" />
<p />Symbol <arg format="%s" ordinal="2" />is read-only
<p />Context:<arg format="%s" ordinal="3" /><p /></
Description>
</Message>
Example of instruction:
MODULE MyModule
VAR errnum ERR_BATT:=-1;
PROC main()
VAR num errorid := 7055;
BookErrNo ERR_BATT;
ErrRaise "ERR_BATT", errorid, ERRSTR_TASK,
ERRSTR_CONTEXT,ERRSTR_UNUSED, ERRSTR_UNUSED,
ERRSTR_UNUSED;
ERROR
IF ERRNO = ERR_BATT THEN
TRYNEXT;
ENDIF
ENDPROC
ENDMODULE
© Copyright 2004-2010 ABB. All rights reserved.
On the FlexPendant the message will look like this (warning and/or an error):
Event Message: 7055
Backup battery status
Task: main
Backup battery is fully charged
Context: MyModule/main/ErrRaise
An error number must be booked with the instruction BookErrNo. Corresponding string is
stated as the first argument, ErrorName, in the ErrRaise.
ErrRaise creates an error and then calls the error handler. If the error is taken care of, a
warning is generated in the event log, in the process domain. Otherwise a fatal error is
generated and the program stops.
ErrRaise can also be used in an error handler in a subroutine. In this case the execution
continues in the error handler of the calling routine.
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1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
Continued
Arguments
ErrRaise ErrorName ErrorId Argument1 Argument2 Argument3 Argument4
Argument5
ErrorName
Data type: string
An error number must be booked using the instruction BookErrNo. Corresponding variable
is stated as ErrorName.
ErrorId
Data type: num
The number of a specific error that is to be monitored. The error number must be in interval
4800-4814 if using the preinstalled xml file, and between 5000 - 9999 if using an own xml
file.
Argument1
Data type: errstr
First argument in the error message. Any string or predefined data of type errstr can be
used.
Argument2
Data type: errstr
Second argument in the error message. Any string or predefined data of type errstr can be
used.
Argument3
Data type: errstr
Third argument in the error message. Any string or predefined data of type errstr can be
used
Argument4
Fourth argument in the error message. Any string or predefined data of type errstr can be
used.
Argument5
Data type: errstr
Fifth argument in the error message. Any string or predefined data of type errstr can be
used.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: errstr
1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
Continued
Program execution
ErrRaise generates program warningss between 4800-4814 if using the xml file that are
installed by the system, and between 5000-9999 if installing an own xml file. The error
generated depends on the ErrorID indicated. A warning is written in the robot message log
in the domain process.
When the ErrRaise is executed the behavior depends on where it is executed:
•
When executing instruction in the routine body, a warning is generated, and the
execution continues in the error handler.
•
When executing instruction in an error handler, the old warning is skipped, a new one
is generated, and the control is raised to calling instruction.
Limitations
Total string length (Argument1-Argument5) is limited to 195 characters.
More examples
More examples of how to use the instruction ErrRaise are illustrated below.
Example 1
VAR errnum ERR_BATT:=-1;
VAR errnum ERR_NEW_ERR:=-1;
PROC main()
testerrraise;
ENDPROC
PROC testerrraise()
BookErrNo ERR_BATT;
BookErrNo ERR_NEW_ERR;
© Copyright 2004-2010 ABB. All rights reserved.
ErrRaise "ERR_BATT",7055,ERRSTR_TASK,ERRSTR_CONTEXT,
ERRSTR_UNUSED,ERRSTR_UNUSED,ERRSTR_UNUSED;
ERROR
IF ERRNO = ERR_BATT THEN
ErrRaise "ERR_NEW_ERR",7156,ERRSTR_TASK,ERRSTR_CONTEXT,
ERRSTR_UNUSED,ERRSTR_UNUSED, ERRSTR_UNUSED;
ENDIF
ENDPROC
Generate new warning 7156 from error handler. Raise control to calling routine and stop
execution.
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1 Instructions
1.44. ErrRaise - Writes a warning and calls an error handler
RobotWare - OS
Continued
Syntax
ErrRaise
[ErrorName ':=' ] < expression (IN) of string> ','
[ErrorId ':=' ] < expression (IN) of num> ','
[Argument1 ':=' ] < expression (IN) of errstr> ','
[Argument2 ':=' ] < expression (IN) of errstr> ','
[Argument3 ':=' ] < expression (IN) of errstr> ','
[Argument4 ':=' ] < expression (IN) of errstr> ','
[Argument5 ':=' ] < expression (IN) of errstr> ';'
Related information
See
Predefined data of type errstr
errstr - Error string on page 1114
Booking error numbers
BookErrNo - Book a RAPID system error number
on page 30
Error handling
Technical reference manual - RAPID overview
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.45. ErrWrite - Write an error message
RobotWare - OS
1.45. ErrWrite - Write an error message
Usage
ErrWrite (Error Write) is used to display an error message on the FlexPendant and write it
in the event log. It can also be used to display warnings and information messages.
Basic examples
Basic examples of the instruction ErrWrite are illustrated below.
Example 1
ErrWrite "PLC error", "Fatal error in PLC" \RL2:="Call service";
Stop;
A message is stored in the robot log. The message is also shown on the FlexPendant display.
Example 2
ErrWrite \W, "Search error", "No hit for the first search";
RAISE try_search_again;
A message is stored in the robot log only. Program execution then continues.
Arguments
ErrWrite [ \W ] | [\I] Header Reason [ \RL2] [ \RL3] [ \RL4]
[ \W ]
Warning
Data type: switch
Gives a warning that is stored in the robot error message log only (not shown directly on the
FlexPendant display).
[ \I ]
Information
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Gives an information message that is stored in the event log only (not shown directly on the
FlexPendant display).
If none of the arguments \W or \I are specified then the instruction will generate an error
message directly on the flexpendant and also store it in the event log.
Header
Data type: string
Error message heading (max. 46 characters).
Reason
Data type: string
Reason for error.
[ \RL2]
Reason Line 2
Data type: string
Reason for error.
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1 Instructions
1.45. ErrWrite - Write an error message
RobotWare - OS
Continued
[ \RL3]
Reason Line 3
Data type: string
Reason for error.
[ \RL4]
Reason Line 4
Data type: string
Reason for error.
Program execution
An error message (max. 5 lines) is displayed on the FlexPendant and written in the robot
message log.
In the case of argument \W or argument \I a warning or an information message is written
in the event log.
ErrWrite generates the program error no. 80001 for an error, no. 80002 for a warning (\W)
and no. 80003 for an information message (\I).
Limitations
Total string length (Header+Reason+\RL2+\RL3+\RL4) is limited to 195 characters.
Syntax
ErrWrite
[ '\'W ] | [ '\' I ] ','
[ Header ':=' ] < expression (IN) of string>','
[ Reason ':=' ] < expression (IN) of string>
[ ’\’RL2 ':=' < expression (IN) of string> ]
[ ’\’RL3 ':=' < expression (IN) of string> ]
Related information
104
For information about
See
Predefined data of type errstr
errstr - Error string on page 1114
Display message on the FlexPendant
TPWrite - Writes on the FlexPendant on page
568
UIMsgBox - User Message Dialog Box type basic
on page 644
Event log
Operating manual - IRC5 with FlexPendant
Write error message - Err Log
ErrLog - Write an error message on page 94
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’RL4 ':=' < expression (IN) of string> ] ';'
1 Instructions
1.46. EXIT - Terminates program execution
RobotWare - OS
1.46. EXIT - Terminates program execution
Usage
EXIT is used to terminate program execution. Program restart will then be blocked, that is
the program can only be restarted from the first instruction of the main routine.
The EXIT instruction should be used when fatal errors occur or when program execution is
to be stopped permanently. The Stop instruction is used to temporarily stop program
execution. After execution of the instruction EXIT the program pointer is gone. To continue
program execution, the program pointer must be set.
Basic examples
A basic example of the instruction EXIT is illustrated below.
Example 1
ErrWrite "Fatal error","Illegal state";
EXIT;
Program execution stops and cannot be restarted from that position in the program.
Syntax
EXIT ';'
Related information
See
Stopping program execution temporarily
Stop - Stops program execution on page 510
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.47. ExitCycle - Break current cycle and start next
RobotWare - OS
1.47. ExitCycle - Break current cycle and start next
Usage
ExitCycle is used to break the current cycle and move the program pointer (PP) back to the
first instruction in the main routine.
If the program is executed in continuous mode, it will start to execute the next cycle.
If the execution is in cycle mode, the execution will stop at the first instruction in the main
routine.
Basic examples
Basic examples of the instruction ExitCycle are illustrated below.
Example 1
VAR num cyclecount:=0;
VAR intnum error_intno;
PROC main()
IF cyclecount = 0 THEN
CONNECT error_intno WITH error_trap;
ISignalDI di_error,1,error_intno;
ENDIF
cyclecount:=cyclecount+1;
! start to do something intelligent
...
ENDPROC
TRAP error_trap
TPWrite "ERROR, I will start on the next item";
ExitCycle;
This will start the next cycle if the signal di_error is set.
Program execution
Execution of ExitCycle in a program task controlling mechanical units results in the
following in the actual task:
•
On-going robot movements stops.
•
All robot paths that are not performed at all path levels (both normal and StorePath
level) are cleared.
•
All instructions that are started but not finished at all execution levels (both normal
and TRAP level) are interrupted.
•
The program pointer is moved to the first instruction in the main routine.
•
The program execution continues to execute the next cycle.
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© Copyright 2004-2010 ABB. All rights reserved.
ENDTRAP
1 Instructions
1.47. ExitCycle - Break current cycle and start next
RobotWare - OS
Continued
Execution of ExitCycle in some other program task, not controlling mechanical units,
results in the following in the actual task:
•
All instructions that are started but not finished on all execution levels (both normal
and TRAP level) are interrupted.
•
The program pointer is moved to the first instruction in the main routine.
•
The program execution continues to execute the next cycle.
All other modal things in the program and system are not affected by ExitCycle such as:
•
The actual value of variables or persistents.
•
Any motion settings such as StorePath-RestoPath sequence, world zones, etc.
•
Open files, directories, etc.
•
Defined interrupts, etc.
When using ExitCycle in routine calls and the entry routine is defined with “Move PP to
Routine ...” or “Call Routine ...”, ExitCycle breaks the current cycle and moves the program
pointer back to the first instruction in the entry routine (instead of the main routine as
specified above).
Syntax
ExitCycle';'
Related information
See
Stopping after a fatal error
EXIT - Terminates program execution on page
105
Terminating program execution
EXIT - Terminates program execution on page
105
Stopping for program actions
Stop - Stops program execution on page 510
Finishing execution of a routine
RETURN - Finishes execution of a routine on
page 365
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.48. FOR - Repeats a given number of times
RobotWare - OS
1.48. FOR - Repeats a given number of times
Usage
FOR is used when one or several instructions are to be repeated a number of times.
Basic examples
A basic example of the instruction FOR is illustrated below.
See also More examples on page 108.
Example 1
FOR i FROM 1 TO 10 DO
routine1;
ENDFOR
Repeats the routine1 procedure 10 times.
Arguments
FOR Loop counter FROM Start value TO End value
DO ... ENDFOR
[STEP Step value]
Loop counter
Identifier
The name of the data that will contain the value of the current loop counter. The data is
declared automatically.
If the loop counter name is the same as any data that already exists in the actual scope, the
existing data will be hidden in the FOR loop and not affected in any way.
Start value
Data type: Num
The desired start value of the loop counter. (usually integer values)
Data type: Num
The desired end value of the loop counter. (usually integer values)
Step value
Data type: Num
The value by which the loop counter is to be incremented (or decremented) each loop.
(usually integer values)
If this value is not specified, the step value will automatically be set to 1 (or -1 if the start
value is greater than the end value).
More examples
More examples of how to use the instruction FOR are illustrated below.
Example 1
FOR i FROM 10 TO 2 STEP -2 DO
a{i} := a{i-1};
ENDFOR
The values in an array are adjusted upwards so that a{10}:=a{9}, a{8}:=a{7} etc.
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© Copyright 2004-2010 ABB. All rights reserved.
End value
1 Instructions
1.48. FOR - Repeats a given number of times
RobotWare - OS
Continued
Program execution
1. The expressions for the start, end, and step values are evaluated.
2. The loop counter is assigned the start value.
3. The value of the loop counter is checked to see whether its value lies between the start
and end value, or whether it is equal to the start or end value. If the value of the loop
counter is outside of this range, the FOR loop stops and program execution continues
with the instruction following ENDFOR.
4. The instructions in the FOR loop are executed.
5. The loop counter is incremented (or decremented) in accordance with the step value.
6. The FOR loop is repeated, starting from point 3.
Limitations
The loop counter (of data type num) can only be accessed from within the FOR loop and
consequently hides other data and routines that have the same name. It can only be read (not
updated) by the instructions in the FOR loop.
Decimal values for start, end, or stop values, in combination with exact termination
conditions for the FOR loop, cannot be used (undefined whether or not the last loop is
running).
Remarks
If the number of repetitions is to be repeated as long as a given expression is evaluated to a
TRUE value, the WHILE instructions should be used instead.
Syntax
(EBNF)
FOR <loop variable> FROM <expression> TO <expression>
[ STEP <expression> ] DO
© Copyright 2004-2010 ABB. All rights reserved.
<instruction list>
ENDFOR
<loop variable> ::= <identifier>
Related information
For information about
See
Expressions
Technical reference manual - RAPID overview
Repeats as long as...
WHILE - Repeats as long as ... on page 705
Identifiers
Technical reference manual - RAPID overview
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1 Instructions
1.49. GetDataVal - Get the value of a data object
RobotWare - OS
1.49. GetDataVal - Get the value of a data object
Usage
GetDataVal (Get Data Value) makes it possible to get a value from a data object that is
specified with a string variable.
Basic examples
Basic examples of the instruction GetDataVal are illustrated below.
Example 1
VAR num value;
...
GetDataVal "reg"+ValToStr(ReadNum(mycom)),value;
This will get the value of a register, with a number which is received from the serial channel
mycom. The value will be stored in the variable value.
Example 2
VAR datapos block;
VAR string name;
VAR num valuevar;
...
SetDataSearch "num" \Object:="my.*" \InMod:="mymod";
WHILE GetNextSym(name,block) DO
GetDataVal name\Block:=block,valuevar;
TPWrite name+" "\Num:=valuevar;
ENDWHILE
This session will print out all num variables that begin with my in the module mymod with its
value to the FlexPendant.
Example 3
...
GetDataVal "NumArrConst", NumArrConst_copy;
TPWrite "Pos1 = " \Num:=NumArrConst_copy{1};
TPWrite "Pos2 = " \Num:=NumArrConst_copy{2};
This session will print out the num variables in the array NumArrConst.
Arguments
GetDataVal Object [\Block]|[\TaskRef]|[\TaskName]Value
Object
Data type: string
The name of the data object.
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© Copyright 2004-2010 ABB. All rights reserved.
VAR num NumArrConst_copy{2};
1 Instructions
1.49. GetDataVal - Get the value of a data object
RobotWare - OS
Continued
[ \Block ]
Data type: datapos
The enclosed block to the data object. This can only be fetched with the GetNextSym
function.
If this argument is omitted, the value of the visible data object in the current program
execution scope will be fetched.
[\TaskRef]
Task Reference
Data type: taskid
The program task identity in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id.
[\TaskName]
Data type: string
The program task name in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
Value
Data type: anytype
Variable for storage of the get value. The data type must be the same as the data type for the
data object to find. The get value can be fetched from a constant, variable, or persistent but
must be stored in a variable.
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The system variable ERRNO is set to ERR_SYM_ACCESS if:
•
the data object is non-existent
•
the data object is routine data or routine parameter and is not located in the current
active routine
•
searching in other tasks for other declarations then PERS or TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
declarations in other tasks, any other declarations will result in an error and the system
variable ERRNO is set to ERR_SYM_ACCESS. Searching for a PERS declared as LOCAL in other
tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS.
The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in
argument Value have different dimensions.
The error can be handled in the error handler of the routine.
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1 Instructions
1.49. GetDataVal - Get the value of a data object
RobotWare - OS
Continued
Limitations
For a semivalue data type, it is not possible to search for the associated value data type. E.g.
if searching for dionum, no search hit for signals signaldi will be obtained and if searching
for num, no search hit for signals signalgi or signalai will be obtained.
It is not possible to get the value of a variable declared as LOCAL in a built in RAPID module.
Syntax
GetDataVal
[ Object ’:=’ ] < expression (IN) of string >
[’\’Block’ :=’<variable (VAR) of datapos>]
|[ ’\’TaskRef’ :=’ <variable (VAR) of taskid>]
|[ ’\’TaskName’ :=’ <expression (IN) of string>] ’,’]
[ Value ’:=’ ] <variable (VAR) of anytype>]’;’
Related information
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Set the value of a data object
SetDataVal - Set the value of a data object on page
437
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.50. GetSysData - Get system data
RobotWare - OS
1.50. GetSysData - Get system data
Usage
GetSysData fetches the value and the optional symbol name for the current system data of
specified data type.
With this instruction it is possible to fetch data and the name of the current active Tool, Work
Object, or PayLoad for the robot in actual or connected motion task.
Basic examples
Basic examples of the instruction GetSysData are illustrated below.
Example 1
PERS tooldata curtoolvalue := [TRUE, [[0, 0, 0], [1, 0, 0, 0]],
[2, [0, 0, 2], [1, 0, 0, 0], 0, 0, 0]];
VAR string curtoolname;
GetSysData curtoolvalue;
Copy current active tool data value to the persistent variable curtoolvalue.
Example 2
GetSysData curtoolvalue \ObjectName := curtoolname;
Also copy current active tool name to the variable curtoolname.
Arguments
GetSysData DestObject [\ ObjectName ]
DestObject
Data type: anytype
Persistent variable for storage of current active system data value.
© Copyright 2004-2010 ABB. All rights reserved.
The data type of this argument also specifies the type of system data (Tool, Work Object, or
PayLoad) to fetch.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
Array or record component can not be used.
[\ObjectName]
Data type: string
Option argument (variable or persistent) to also fetch the current active system data name.
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1 Instructions
1.50. GetSysData - Get system data
RobotWare - OS
Continued
Program execution
When running the instruction GetSysData the current data value is stored in the specified
persistent variable in argument DestObject.
If argument \ObjectName is used, the name of the current data is stored in the specified
variable or persistent in argument ObjectName.
Current system data for Tool or Work Object is activated by execution of any move
instruction. Payload is activated by execution of the instruction GripLoad.
Syntax
GetSysData
[ DestObject ’:=’] < persistent(PERS) of anytype>
[’\’ObjectName’ :=’ < variable or persistent (INOUT) of string>
] ’;’
Related information
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Set system data
SetSysData - Set system data on page 445
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.51. GetTrapData - Get interrupt data for current TRAP
RobotWare - OS
1.51. GetTrapData - Get interrupt data for current TRAP
Usage
GetTrapData is used in a trap routine to obtain all information about the interrupt that
caused the trap routine to be executed.
To be used in trap routines generated by instruction IError, before use of the instruction
ReadErrData.
Basic examples
Basic examples of the instruction GetTrapData are illustrated below.
See also More examples on page 115.
Example 1
VAR trapdata err_data;
GetTrapData err_data;
Store interrupt information in the non-value variable err_data.
Arguments
GetTrapData TrapEvent
TrapEvent
Data type: trapdata
Variable for storage of the information about what caused the trap to be executed.
Limitation
This instruction can only be used in a TRAP routine.
More examples
More examples of the instruction GetTrapData are illustrated below.
© Copyright 2004-2010 ABB. All rights reserved.
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 the type trapdata.
Syntax
GetTrapData
[TrapEvent ’:=’] <variable (VAR) of trapdata>’;’
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1 Instructions
1.51. GetTrapData - Get interrupt data for current TRAP
RobotWare - OS
Continued
Related information
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
Interrupt data for current TRAP
trapdata - Interrupt data for current TRAP on page
1212
Orders an interrupt on errors
IError - Orders an interrupt on errors on page 126
Gets information about an error
ReadErrData - Gets information about an error on
page 349
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1 Instructions
1.52. GOTO - Goes to a new instruction
RobotWare - OS
1.52. GOTO - Goes to a new instruction
Usage
GOTO is used to transfer program execution to another line (a label) within the same routine.
Basic examples
Basic examples of the instruction GOTO are illustrated below.
Example 1
GOTO next;
...
next:
Program execution continues with the instruction following next.
Example 2
reg1 := 1;
next:
...
reg1 := reg1 + 1;
IF reg1<=5 GOTO next;
The execution will be transferred to next four times (for reg1= 2, 3, 4, 5).
Example 3
IF reg1>100 THEN
GOTO highvalue
ELSE
GOTO lowvalue
ENDIF
lowvalue:
...
© Copyright 2004-2010 ABB. All rights reserved.
GOTO ready;
highvalue:
...
ready:
If reg1 is greater than 100, the execution will be transferred to the label highvalue,
otherwise the execution will be transferred to the label lowvalue.
Arguments
GOTO Label
Label
Identifier
The label from where program execution is to continue.
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1 Instructions
1.52. GOTO - Goes to a new instruction
RobotWare - OS
Continued
Limitations
It is only possible to transfer program execution to a label within the same routine.
It is only possible to transfer program execution to a label within an IF or TEST instruction
if the GOTO instruction is also located within the same branch of that instruction.
It is only possible to transfer program execution to a label within a FOR or WHILE instruction
if the GOTO instruction is also located within that instruction.
Syntax
(EBNF)
GOTO <identifier>’;’
Related information
See
Label
Label - Line name on page 207
Other instructions that change the
program flow
Technical reference manual - RAPID overview,
section RAPID summary - Controlling the program
flow
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.53. GripLoad - Defines the payload for the robot
RobotWare - OS
1.53. GripLoad - Defines the payload for the robot
Usage
GripLoad is used to define the payload which the robot holds in its gripper.
Description
When incorrect load data is specified, it can often lead to the following consequences:
If the value in the specified load data is greater than that of the value of the true load;
•
The robot will not be used to its maximum capacity
•
Impaired path accuracy including a risk of overshooting
If the value in the specified load data is less than the value of the true load;
•
Impaired path accuracy including a risk of overshooting
•
Risk of overloading the mechanical structure
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 the robot mechanical
structure.
Basic examples
Basic examples of the instruction GripLoad are illustrated below.
Example 1
GripLoad piece1;
The robot gripper holds a load called piece1.
Example 2
GripLoad load0;
© Copyright 2004-2010 ABB. All rights reserved.
The robot gripper releases all loads.
Arguments
GripLoad Load
Load
Data type: loaddata
The load data that describes the current payload.
Program execution
The specified load affects the performance of the robot.
The default load, 0 kg, is automatically set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
The payload is updated for the mechanical unit that are controlled from current program task.
If GripLoad is used from a non-motion task, the payload is updated for the mechanical unit
controlled by the connected motion task.
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119
1 Instructions
1.53. GripLoad - Defines the payload for the robot
RobotWare - OS
Continued
Syntax
GripLoad
[ Load ’:=’ ] < persistent (PERS) of loaddata > ’;’
Related information
See
Load identification of tool or payload
Operating manual - IRC5 with FlexPendant,
section Programming and testing - Service
routines - Loadidentify, load identification
service routine
Definition of load data
loaddata - Load data on page 1132
Definition of tool load
tooldata - Tool data on page 1207
Definition of work object load
wobjdata - Work object data on page 1224
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
RobotWare - OS
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
Usage
HollowWristReset (Reset hollow wrist) resets the position of the wrist joints on hollow
wrist manipulators, such as IRB5402 and IRB5403.
The instruction makes it possible to avoid rewinding the wrist joints 4 and 5 after they have
been wound up one or more revolutions. After executing a HollowWristReset instruction,
the wrist joints may continue to wind up in the same direction.
Description
HollowWristReset makes it easier to make application programs. You do not have to
ensure that the wrist position is within ±2 revolutions at the time of programming, and it may
save cycle time because the robot does not have to spend time rewinding the wrist. However,
there is a limitation of ±144 revolutions for winding up joints 4 and 5 before the wrist position
is reset by HollowWristReset. The robot programmer must be aware of this limitation and
take it into consideration when planning the robot programs. To ensure that the 144 revolution
limit is not exceeded after running a “wrist-winding” program several times, you should
always let the robot come to a complete stop and reset the absolute position in every program
(or cycle/routine/module etc. as necessary). Please note that all axes must remain stopped
during the execution of the HollowWristReset instruction. As long as these limitations are
taken into consideration, joints 4 and 5 can wind indefinitely and independently of joint 6
during program execution.
Please use HollowWristReset instead of IndReset to reset the hollow wrist as this
instruction preserves the joint limits for joint 6 in order to prevent too much twisting of the
paint tubes/cables.
Basic examples
Basic examples of the instruction HollowWristReset are illustrated below.
© Copyright 2004-2010 ABB. All rights reserved.
Example 1
MoveL p10,v800,fine,paintgun1\WObj:=workobject1;
HollowWristReset;
All active axes are stopped by a stop point and the wrist is reset.
Limitations
All active axes must be stopped while the HollowWristReset instruction is executed.
The wrist joints must be reset before any of them reach the ±144 revolution limit (i.e.
51840 degrees/ 904 rad).
Whenever a program stop, emergency stop, power failure stop, etc. occurs, the controller
retains the path context in order to be able to return to the path and let the robot continue
program execution from the point on the path at which it was stopped. In manual mode, if the
manipulator has been moved out of the path between a stop and a restart, the operator is
informed by the following message on the FlexPendant: “Not on path! Robot has been
moved after program stop. Should the robot return to the path on Start? Yes/No/
Cancel”. This provides an opportunity of returning to the path before restart. In automatic
mode, the robot automatically returns to the path.
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121
1 Instructions
1.54. HollowWristReset - Reset hollow wrist for IRB5402 and IRB5403
RobotWare - OS
Continued
HollowWristReset removes the path context. This means that it is not possible to return to
the path in case of a program restart if the HollowWristReset instruction has been executed
in the meantime. If this instruction is executed manually (“Debug + Call Service Rout.” in the
Program Editor) it should only be executed at a time when returning to the path is not
required. That is, after a program is completely finished, or an instruction is completely
finished in step-by-step execution and the manipulator is not moved out of the path by
jogging, etc.
Syntax
HollowWristReset ´;’
Related information
See
Related system parameters
Technical reference manual - System parameters, section
Motion - Arm - Independent Joint
Return to path
Technical reference manual - RAPID overview, section
Motion and I/O principles - Positioning during program
execution
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.55. IDelete - Cancels an interrupt
IDelete
1.55. IDelete - Cancels an interrupt
Usage
IDelete (Interrupt Delete) is used to cancel (delete) an interrupt subscription.
If the interrupt is to be only temporarily disabled, the instruction ISleep or IDisable
should be used.
Basic examples
Basic examples of the instruction IDelete are illustrated below.
Example 1
IDelete feeder_low;
The interrupt feeder_low is cancelled.
Arguments
IDelete Interrupt
Interrupt
Data type: intnum
The interrupt identity.
Program execution
The definition of the interrupt is completely erased. To define it again it must first be reconnected to the trap routine.
It is recommended to preceed IDelete with a stop point. Otherwise the interrupt will be
deactivated before the end point of the movement path is reached.
© Copyright 2004-2010 ABB. All rights reserved.
Interrupts do not have to be erased; this is done automatically when
•
a new program is loaded
•
the program is restarted from the beginning
•
the program pointer is moved to the start of a routine
Syntax
IDelete [ Interrupt ´:=’ ] < variable (VAR) of intnum > ´;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview,
section Basic characteristics - Interrupt
Temporarily disabling an interrupt
ISleep - Deactivates an interrupt on page 198
Temporarily disabling all interrupts
IDisable - Disables interrupts on page 124
3HAC 16581-1 Revision: J
123
1 Instructions
1.56. IDisable - Disables interrupts
RobotWare - OS
1.56. IDisable - Disables interrupts
Usage
IDisable (Interrupt Disable) is used to disable all interrupts temporarily. It may, for
example, be used in a particularly sensitive part of the program where no interrupts may be
permitted to take place in case they disturb normal program execution.
Basic examples
Basic examples of the instruction IDisable are illustrated below.
Example 1
IDisable;
FOR i FROM 1 TO 100 DO
character[i]:=ReadBin(sensor);
ENDFOR
IEnable;
No interrupts are permitted as long as the serial channel is reading.
Program execution
Interrupts that occur during the time in which an IDisable instruction is in effect are placed
in a queue. When interrupts are permitted once more, then the interrupt(s) immediately begin
generating, executed in “first in - first out” order in the queue.
IEnable is active by default. IEnable is automatically set
•
at a cold start-up
•
when starting program execution from the beginning of main
•
after executing one cycle (passing main) or executing ExitCycle
Syntax
Related information
124
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupt
More information about interrupt
management
Technical reference manual - RAPID overview,
section Basic characteristics - Interrupt
Permitting interrupts
IEnable - Enables interrupts on page 125
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
IDisable´;’
1 Instructions
1.57. IEnable - Enables interrupts
RobotWare - OS
1.57. IEnable - Enables interrupts
Usage
IEnable (Interrupt Enable) is used to enable interrupts during program execution.
Basic examples
Basic examples of the instruction IEnable are illustrated below.
Example 1
IDisable;
FOR i FROM 1 TO 100 DO
character[i]:=ReadBin(sensor);
ENDFOR
IEnable;
No interrupts are permitted as long as the serial channel is reading. When it has finished
reading interrupts are once more permitted.
Program execution
Interrupts which occur during the time in which an IDisable instruction is in effect are
placed in a queue. When interrupts are permitted once more (IEnable), the interrupt(s) then
immediately begin generating, executed in“ first in - first out” order in the queue. Program
execution then continues in the ordinary program and interrupts which occur after this are
dealt with as soon as they occur.
Interrupts are always permitted when a program is started from the beginning. Interrupts
disabled by the ISleep instruction are not affected by the IEnable instruction.
Syntax
IEnable´;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupts
More information about interrupt
management
Technical reference manual - RAPID overview,
section Basic characteristics - Interrupt
Permitting no interrupts
IDisable - Disables interrupts on page 124
3HAC 16581-1 Revision: J
125
1 Instructions
1.58. IError - Orders an interrupt on errors
RobotWare - OS
1.58. IError - Orders an interrupt on errors
Usage
IError (Interrupt Errors) is used to order and enable an interrupt when an error occurs.
Error, warning, or state change can be logged with IError.
Basic examples
Basic examples of the instruction IError are illustrated below.
See also More examples on page 127.
Example 1
VAR intnum err_int;
...
CONNECT err_int WITH err_trap;
IError COMMON_ERR, TYPE_ALL, err_int;
Orders an interrupt in RAPID and execution of the TRAP routine err_trap each time an
error, warning, or state change is generated in the system.
Arguments
IError ErrorDomain [\ErrorId] ErrorType Interrupt
ErrorDomain
Data type: errdomain
The error domain that is to be monitored. Refer to predefined data of type errdomain. To
specify any domain use COMMON_ERR.
[ \ErrorId ]
Data type: num
E.g. 10008 Program restarted, must be specified as 0008 or only 8.
ErrorType
Data type: errtype
The type of event such as error, warning, or state change that is to be monitored. Refer to
predefined data of type errtype. To specify any type use TYPE_ALL.
Interrupt
Data type: intnum
The interrupt identity. This should have been previously connected to a trap routine by means
of the instruction CONNECT.
Program execution
The corresponding trap routine is automatically called when an error occurs in the specified
domain of the specified type and optionally with the specified error number. When this has
been executed, program execution continues from where the interrupt occurred.
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126
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Optionally, the number of a specific error that is to be monitored. The error number must be
specified without the first digit (error domain) of the complete error number.
1 Instructions
1.58. IError - Orders an interrupt on errors
RobotWare - OS
Continued
More examples
More examples of the instruction IError are illustrated below.
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
...
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
IDelete err_interrupt;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
! Set domain no 1 ... 11
SetGO go_err1, err_domain;
! Set error no 1 ...9999
SetGO go_err2, err_number;
ENDTRAP
When an error occurs (only error, not warning or state change) the error number is retrieved
in the trap routine, and its value is used to set 2 groups of digital output signals.
Limitation
It is not possible to order an interrupt on internal errors.
© Copyright 2004-2010 ABB. All rights reserved.
In a task of type NORMAL the event will be thrown away during program stop so not all events
can be fetched in a NORMAL task. To fetch all events the task must be of static or semi-static
type.
The same variable for interrupt identity cannot be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ( )
VAR intnum err_interrupt;
CONNECT err_interrupt WITH err_trap;
IError COMMON_ERR, TYPE_ERR, err_interupt;
WHILE TRUE DO
:
:
ENDWHILE
ENDPROC
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3HAC 16581-1 Revision: J
127
1 Instructions
1.58. IError - Orders an interrupt on errors
RobotWare - OS
Continued
Interrupts are activated at the beginning of the program. These instructions in the beginning
are then kept outside the main flow of the program.
PROC main ( )
VAR intnum err_interrupt;
CONNECT err_interrupt WITH err_trap;
IError COMMON_ERR, TYPE_ERR, err_interupt;
:
:
IDelete err_interrupt;
ENDPROC
The interrupt is deleted at the end of the program and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
IError
[ErrorDomain ’:=’] <expression (IN) of errdomain>
[’\’ErrorId’:=’ <expression (IN) of num>\\ ’,’
[ErrorType’ :=’] <expression (IN) of errtype> ´,’
[Interrupt’ :=’] <variable (VAR) of intnum>’;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupts
128
Error domains, predefined constants
errdomain - Error domain on page 1106
Error types, predefined constants
errtype - Error type on page 1115
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
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
More information on interrupt management Technical reference manual - RAPID overview,
section Basic characteristics- Interrupts
1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
RobotWare - OS
1.59. IF - If a condition is met, then ...; otherwise ...
Usage
IF is used when different instructions are to be executed depending on whether a condition
is met or not.
Basic examples
Basic examples of the instruction IF are illustrated below.
See also More examples on page 130.
Example 1
IF reg1 > 5 THEN
Set do1;
Set do2;
ENDIF
The do1 and do2 signals are set only if reg1 is greater than 5.
Example 2
IF reg1 > 5 THEN
Set do1;
Set do2;
ELSE
Reset do1;
Reset do2;
ENDIF
The do1 and do2 signals are set or reset depending on whether reg1 is greater than 5 or not.
Arguments
IF Condition THEN ...
{ELSEIF Condition THEN ...}
© Copyright 2004-2010 ABB. All rights reserved.
[ELSE ...]
ENDIF
Condition
Data type: bool
The condition that must be satisfied for the instructions between THEN and ELSE/ELSEIF to
be executed.
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3HAC 16581-1 Revision: J
129
1 Instructions
1.59. IF - If a condition is met, then ...; otherwise ...
RobotWare - OS
Continued
More examples
More examples of how to use the instruction IF are illustrated below.
Example 1
IF counter > 100 THEN
counter := 100;
ELSEIF counter < 0 THEN
counter := 0;
ELSE
counter := counter + 1;
ENDIF
Counter is incremented by 1. However, if the value of counter is outside the limit 0-100,
counter is assigned the corresponding limit value.
Program execution
The conditions are tested in sequential order, until one of them is satisfied. Program execution
continues with the instructions associated with that condition. If none of the conditions are
satisfied, program execution continues with the instructions following ELSE. If more than one
condition is met, only the instructions associated with the first of those conditions are
executed.
Syntax
(EBNF)
IF <conditional expression> THEN
<instruction list>
{ELSEIF <conditional expression> THEN <instruction list> | <EIT>}
[ELSE
<instruction list>]
Related information
130
For information about
See
Conditions (logical expressions)
Technical reference manual - RAPID overview,
section Basic characteristics - Expressions
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
1 Instructions
1.60. Incr - Increments by 1
RobotWare - OS
1.60. Incr - Increments by 1
Usage
Incr is used to add 1 to a numeric variable or persistent.
Basic examples
Basic examples of the instruction Incr are illustrated below.
See also More examples on page 131.
Example 1
Incr reg1;
1 is added to reg1, i.e. reg1:=reg1+1.
Arguments
Incr Name | Dname
Name
Data type: num
The name of the variable or persistent to be changed.
Dname
Data type: dnum
The name of the variable or persistent to be changed.
More examples
More examples of the instruction Incr are illustrated below.
Example 1
VAR num no_of_parts:=0;
...
© Copyright 2004-2010 ABB. All rights reserved.
WHILE stop_production=0 DO
produce_part;
Incr no_of_parts;
TPWrite "No of produced parts= "\Num:=no_of_parts;
ENDWHILE
The number of parts produced is updated each cycle on the FlexPendant. Production
continues to run as long as the input signal stop_production is not set.
Example 2
VAR dnum no_of_parts:=0;
...
WHILE stop_production=0 DO
produce_part;
Incr no_of_parts;
TPWrite "No of produced parts= "\Dnum:=no_of_parts;
ENDWHILE
The number of parts produced is updated each cycle on the FlexPendant. Production
continues to run as long as the input signal stop_production is not set.
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3HAC 16581-1 Revision: J
131
1 Instructions
1.60. Incr - Increments by 1
RobotWare - OS
Continued
Syntax
Incr
[ Name ’:=’ ] < var or pers (INOUT) of num >
| [ Dname’ :=’ ] < var or pers (INOUT) of dnum >’ ;’
Related information
See
Decrementing a variable by 1
Decr - Decrements by 1 on page 81
Adding any value to a variable
Add - Adds a numeric value on page 19
Changing data using an arbitrary
expression, e.g. multiplication
":=" - Assigns a value on page 24
© Copyright 2004-2010 ABB. All rights reserved.
For information about
132
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1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
1.61. IndAMove - Independent absolute position movement
Usage
IndAMove (Independent Absolute Movement) is used to change an axis to independent mode
and move the axis to a specific position.
An independent axis is an axis moving independently of other axes in the robot system. As
program execution immediately continues, it is possible to execute other instructions
(including positioning instructions) during the time the independent axis is moving.
If the axis is to be moved within a revolution, the instruction IndRMove should be used
instead. If the move is to occur a short distance from the current position, the instruction
IndDMove must be used.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction IndAMove are illustrated below.
See also More examples on page 135.
Example 1
IndAMove Station_A,2\ToAbsPos:=p4,20;
Axis 2 of Station_A is moved to the position p4 at the speed 20 degrees/s.
Arguments
IndAMove MecUnit Axis [\ToAbsPos] | [\ToAbsNum] Speed [\Ramp]
MecUnit
Mechanical Unit
Data type: mecunit
© Copyright 2004-2010 ABB. All rights reserved.
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6)
[\ToAbsPos]
To Absolute Position
Data type: robtarget
Axis position specified as a robtarget. Only the component for this specific Axis is used.
The value is used as an absolute position value in degrees (mm for linear axes).
The axis position will be affected if the axis is displaced using the instruction EOffsSet or
EOffsOn.
For robot axes the argument \ToAbsNum is to be used instead.
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3HAC 16581-1 Revision: J
133
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
Continued
[\ToAbsNum]
To Absolute Numeric value
Data type: num
Axis position defined in degrees (mm for linear axis).
Using this argument, the position will NOT be affected by any displacement, e.g. EOffsSet
or PDispOn.
Same function as \ToAbsPos but the position is defined as a numeric value to make it easy
to manually change the position.
Speed
Data type: num
Axis speed in degrees/s (mm/s for linear axis).
[\Ramp]
Data type: num
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Program execution
When IndAMove is executed the specified axis moves with the programmed speed to the
specified axis position. If \Ramp is programmed there will be a reduction of acceleration/
deceleration.
To change the axis back to normal mode the IndReset instruction is used. In connection with
this the logical position of the axis can be changed so that a number of revolutions are erased
from the position, for example, to avoid rotating back for the next movement.
For stepwise execution of the instruction the axis is set in independent mode only. The axis
begins its movement when the next instruction is executed and continues as long as program
execution takes place. For more information see RAPID reference manual - RAPID overview,
section Motion and I/O principles - Positioning during program execution - Independent
axes.
When the program pointer is moved to the start of the program or to a new routine all axes
are automatically set to normal, without changing the measurement system (equivalent to
executing the instruction IndReset\Old).
NOTE!
An IndAMove instruction after an IndCMove operation can result in the axis spinning back
to the movement performed in the IndCMove instruction. To prevent this, use an IndReset
instruction before the IndAMove, or use an IndRMove instruction.
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134
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© Copyright 2004-2010 ABB. All rights reserved.
The speed can be altered by executing another IndAMove instruction (or another IndXMove
instruction). If a speed in the opposite direction is selected the axis stops and then accelerates
to the new speed and direction.
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
Continued
Limitations
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually, the axis will not move and an error message will be displayed. Execute an
IndReset instruction or move the program pointer to main in order to leave independent
mode.
If a power fail occurs when an axis is in independent mode the program cannot be restarted.
An error message is displayed and the program must be started from the beginning.
The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual RAPID overview, section Motion and I/O principles - Positioning during program execution
- Independent axes).
More examples
More examples of the instruction IndAMove are illustrated below.
Example 1
ActUnit Station_A;
weld_stationA;
IndAMove Station_A,1\ToAbsNum:=90,20\Ramp:=50;
ActUnit Station_B;
weld_stationB_1;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
DeactUnit Station_A;
weld_stationB_2;
Station_A is activated and the welding is started in station A.
Station_A (axis 1) is then moved to the 90 degrees position while the robot is welding in
© Copyright 2004-2010 ABB. All rights reserved.
station B. The speed of the axis is 20 degrees/s. The speed is changed with acceleration/
deceleration reduced to 50% of max performance.
When station A reaches this position it is deactivated, and reloading can take place in the
station at the same time as the robot continues to weld in station B.
Error handling
If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can
then be handled in the error handler.
Syntax
IndAMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit>’ ,’
[ Axis’:=’ ] < expression (IN) of num>
[ ’\’ToAbsPos’:=’ < expression (IN) of robtarget> ]
| [ ’\’ ToAbsNum’:=’ < expression (IN) of num> ] ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’
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3HAC 16581-1 Revision: J
135
1 Instructions
1.61. IndAMove - Independent absolute position movement
Independent Axis
Continued
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID
overview, section Motion and I/O Principles Positioning during program execution Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous
movement on page 137
Check the speed status for independent axes IndSpeed - Independent speed status on
page 873
IndInpos - Independent axis in position status
on page 871
Defining independent joints
Technical reference manual - System
parameters, section Motion - Arm Independent Joint
© Copyright 2004-2010 ABB. All rights reserved.
Check the position status for independent
axes
136
3HAC 16581-1 Revision: J
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
1.62. IndCMove - Independent continuous movement
Usage
IndCMove (Independent Continuous Movement) is used to change an axis to independent
mode and start the axis moving continuously at a specific speed.
An independent axis is an axis moving independently of other axes in the robot system. As
program execution continues immediately it is possible to execute other instructions
(including positioning instructions) during the time the independent axis is moving.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction IndCMove are illustrated below.
See also More examples on page 139.
Example 1
IndCMove Station_A,2,-30.5;
Axis 2 of Station_A starts to move in a negative direction at a speed of 30.5 degrees/s.
Arguments
IndCMove MecUnit Axis Speed [\Ramp]
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
© Copyright 2004-2010 ABB. All rights reserved.
The number of the current axis for the mechanical unit (1-6).
Speed
Data type: num
Axis speed in degrees/s (mm/s for linear axis).
The direction of movement is specified with the sign of the speed argument.
[\Ramp]
Data type: num
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Continues on next page
3HAC 16581-1 Revision: J
137
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
Continued
Program execution
When IndCMove is executed the specified axis starts to move with the programmed speed.
The direction of movement is specified as the sign of the speed argument. If \Ramp is
programmed there will be a reduction of acceleration/deceleration.
To change the axis back to normal mode the IndReset instruction is used. The logical
position of the axis can be changed in connection with this - a number of full revolutions can
be erased, for example, to avoid rotating back for the next movement.
The speed can be changed by executing a further IndCMove instruction. If a speed in the
opposite direction is ordered the axis stops and then accelerates to the new speed and
direction. To stop the axis, speed argument 0 can be used. It will then still be in independent
mode.
During stepwise execution of the instruction the axis is set in independent mode only. The
axis starts its movement when the next instruction is executed and continues as long as
program execution continues. For more information see RAPID reference manual - RAPID
overview, section Motion and I/O principles - Positioning during program execution Independent axes.
When the program pointer is moved to the beginning of the program or to a new routine, all
axes are set automatically to normal mode without changing the measurement system
(equivalent to executing the instruction IndReset\Old).
Limitations
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually, the axis will not move, and an error message will be displayed. Execute an
IndReset instruction or move the program pointer to main in order to leave independent
mode.
If a power fail occurs when the axis is in independent mode the program cannot be restarted.
An error message is displayed, and the program must be started from the beginning.
The instruction is not advisable for coupled robot wrist axes (see RAPID Reference Manual RAPID overview, section Motion and I/O principles - Positioning during program execution Independent Axes).
Continues on next page
138
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
The resolution of the axis position worsens the further it is moved from its logical zero
position (usually the middle of the working area). To achieve high resolution again the logical
working area can be set to zero with the instruction IndReset. For more information see
RAPID reference manual - RAPID overview, section Motion and I/O Principles - Positioning
during program execution - Independent axes.
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
Continued
More examples
More examples of the instruction IndCMove are illustrated below.
IndCMove Station_A,2,20;
WaitUntil IndSpeed(Station_A,2 \InSpeed) = TRUE;
WaitTime 0.2;
MoveL p10, v1000, fine, tool1;
IndCMove Station_A,2,-10\Ramp:=50;
MoveL p20, v1000, z50, tool1;
IndRMove Station_A,2 \ToRelPos:=p1 \Short,10;
MoveL p30, v1000, fine, tool1;
WaitUntil IndInpos(Station_A,2 ) = TRUE;
WaitTime 0.2;
IndReset Station_A,2 \RefPos:=p40\Short;
MoveL p40, v1000, fine, tool1;
Axis 2 of Station_A starts to move in a positive direction at a speed of 20 degrees/s. When
this axis has reached the selected speed the robot axes start to move.
When the robot reaches position p10 the external axis changes direction and rotates at a speed
of 10 degrees/s. The change of speed is performed with acceleration/deceleration reduced to
50% of maximum performance. At the same time, the robot executes towards p20.
Axis 2 of Station_A is then stopped as quickly as possible in position p1 within the current
revolution.
When axis 2 has reached this position, and the robot has stopped in position p30, axis 2
returns to normal mode again. The measurement system offset for this axis is changes a whole
number of axis revolutions so that the actual position is as close as possible to p40.
When the robot is then moved to position p40, axis 2 of Station_A will be moved by the
instruction MoveL p40 via the shortest route to position p40 (max ±180 degrees).
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can
then be handled in the error handler.
Syntax
IndCMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num> ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’
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139
1 Instructions
1.62. IndCMove - Independent continuous movement
Independent Axis
Continued
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndDMove - Independent delta position movement
on page 141
Check the speed status for independent IndSpeed - Independent speed status on page
axes
873
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters,
section Motion - Arm - Independent Joint
© Copyright 2004-2010 ABB. All rights reserved.
Check the position status for
independent axes
140
3HAC 16581-1 Revision: J
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
1.63. IndDMove - Independent delta position movement
Usage
IndDMove (Independent Delta Movement) is used to change an axis to independent mode
and move the axis to a specific distance.
An independent axis is an axis moving independently of other axes in the robot system. As
program execution continues immediately it is possible to execute other instructions
(including positioning instructions) during the time the independent axis is moving.
If the axis is to be moved to a specific position, the instruction IndAMove or IndRMove must
be used instead.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction IndDMove are illustrated below.
See also More examples on page 142.
Example 1
IndDMove Station_A,2,-30,20;
Axis 2 of Station_A is moved 30 degrees in a negative direction at a speed of 20 degrees/s.
Arguments
IndDMove MecUnit Axis Delta Speed [\Ramp]
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
© Copyright 2004-2010 ABB. All rights reserved.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
Delta
Data type: num
The distance which the current axis is to be moved, expressed in degrees (mm for linear axes).
The sign specifies the direction of movement.
Speed
Data type: num
Axis speed in degrees/s (mm/s for linear axis).
[ \Ramp ]
Data type: num
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Continues on next page
3HAC 16581-1 Revision: J
141
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
Continued
Program execution
When IndDMove is executed the specified axis moves with the programmed speed to the
specified distance. The direction of movement is specified as the sign of the Delta argument.
If \Ramp is programmed there will be a reduction of acceleration/deceleration.
If the axis is moving the new position is calculated from the momentary position of the axis
when the instruction IndDMove is executed. If an IndDMove instruction with distance 0 is
executed and the axis is already moving position, the axis will stop and then move back to the
position which the axis had when the instruction was executed.
To change the axis back to normal mode the IndReset instruction is used. The logical
position of the axis can be changed in connection with this - a number of full revolutions can
be erased from the position, for example, to avoid rotating back for the next movement.
The speed can be changed by running a further IndDMove instruction (or another IndXMove
instruction). If a speed in the opposite direction is selected the axis stops and then accelerates
to the new speed and direction.
During stepwise execution of the instruction the axis is set in independent mode only. The
axis starts its movement when the next instruction is executed and continues as long as
program execution continues. For more information see RAPID reference manual - RAPID
overview, section Motion and I/O principles - Positioning during program execution Independent axes.
When the program pointer is moved to the beginning of the program, or to a new routine, all
axes are automatically set to normal mode without changing the measurement system
(equivalent to running the instruction IndReset \Old).
Limitations
If a loss of power fail occurs when the axis is in independent mode the program cannot be
restarted. An error message is displayed, and the program must be started from the beginning.
The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual RAPID overview, section Motion and I/O principles - Positioning during program execution
- Independent axes.
More examples
More examples of the instruction IndDMove are illustrated below.
Example 1
IndAMove ROB_1,6\ToAbsNum:=90,20;
WaitUntil IndInpos(ROB_1,6) = TRUE;
WaitTime 0.2;
IndDMove Station_A,2,-30,20;
WaitUntil IndInpos(ROB_1,6) = TRUE;
WaitTime 0.2;
IndDMove ROB_1,6,400,20;
Continues on next page
142
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually the axis will not move, and an error message will be displayed. Execute an
IndReset instruction or move the program pointer to main in order to leave independent
mode.
1 Instructions
1.63. IndDMove - Independent delta position movement
Independent Axis
Continued
Axis 6 of the robot is moved to the following positions:
•
90 degrees
•
60 degrees
•
460 degrees (1 revolution + 100 degrees)
Error handling
If the axis is not activated, the system variable ERRNO is set to ERR_AXIS_ACT. This error can
then be handled in the error handler.
Syntax
IndDMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num> ’,’
[ Delta’:=’ ] < expression (IN) of num>’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’ Ramp’:=’ < expression (IN) of num > ] ’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndRMove - Independent relative position
movement on page 149
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent IndSpeed - Independent speed status on page
axes
873
Check the position status for
independent axes
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters,
section Motion - Arm - Independent Joint
3HAC 16581-1 Revision: J
143
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
1.64. IndReset - Independent reset
Usage
IndReset (Independent Reset) is used to change an independent axis back to normal mode.
At the same time, the measurement system for rotational axes can be moved a number of axis
revolutions.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction IndReset are illustrated below.
See also More examples on page 147.
IndCMove Station_A,2,5;
MoveL *,v1000,fine,tool1;
IndCMove Station_A,2,0;
WaitUntil IndSpeed(Station_A,2\ZeroSpeed);
WaitTime 0.2
IndReset Station_A,2;
Axis 2 of Station_A is first moved in independent mode and then changed back to normal
mode. The axis will keep its position.
NOTE!
The current independent axis and the normal axes should not move when the instruction
IndReset is executed. That is why previous position is a stop point, and an IndCMove
instruction is executed at zero speed. Furthermore, a pause of 0.2 seconds is used to ensure
that the correct status has been achieved.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
IndReset MecUnit Axis [\RefPos] | [\RefNum] [\Short] | [\Fwd]
|[\Bwd] | \Old]
MecUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
Continues on next page
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1 Instructions
1.64. IndReset - Independent reset
Independent Axis
Continued
[ \RefPos ]
Reference Position
Data type: robtarget
Reference axis position specified as a robtarget. Only the component for this specific Axis
is used. The position must be inside the normal working range.
For robot axes, the argument \RefNum is to be used instead.
The argument is only to be defined together with the argument \Short, \Fwd or \Bwd. It is
not allowed together with the argument \Old.
[ \RefNum ]
Reference Numeric value
Data type: num
Reference axis position defined in degrees (mm for linear axis). The position must be inside
the normal working range.
The argument is only to be defined together with the argument \Short, \Fwd or \Bwd. It is
not allowed together with the argument \Old.
Same function as \RefPos but the position is defined as a numeric value to make it easy to
change the position manually.
[ \Short ]
Data type: switch
The measurement system will change a whole number of revolutions on the axis side so that
the axis will be as close as possible to the specified \RefPos or \RefNum position. If a
positioning instruction with the same position is executed after IndReset the axis will travel
the shortest route, less than ±180 degrees, in order to reach the position.
[ \Fwd ]
Forward
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
The measurement system will change a whole number of revolutions on the axis side so that
the reference position will be on the positive side of the specified \RefPos or \RefNum
position. If a positioning instruction with the same position is executed after IndReset, the
axis will turn in a positive direction less than 360 degrees in order to reach the position.
[ \Bwd ]
Backward
Data type: switch
The measurement system will change a whole number of revolutions on the axis side so that
the reference position will be on the negative side of the specified \RefPos or \RefNum
position. If a positioning instruction with the same position is executed after IndReset, the
axis will turn in a negative direction less than 360 degrees in order to reach the position.
Continues on next page
3HAC 16581-1 Revision: J
145
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
Continued
[ \Old ]
Data type: switch
Keeps the old position.
NOTE!
Resolution is decreased in positions far away from zero.
If no argument \Short, \Fwd, \Bwd or \Old is specified - \Old is used as default value.
Program execution
When IndReset is executed it changes the independent axis back to normal mode. At the
same time the measurement system for the axis can be moved by a whole number of axis
revolutions.
The instruction may also be used in normal mode in order to change the measurement system.
NOTE!
The position is used only to adjust the measurement system - the axis will not move to the
position.
Limitations
The instruction may only be executed when all active axes running in normal mode are
standing still. All active axis in every mechanical unit connected to the same motion planner
need to stand still. The independent mode axis which is going to be changed to normal mode
must also be stationary. For axes in normal mode this is achieved by executing a move
instruction with the argument fine. The independent axis is stopped by an IndCMove with
Speed:=0 (followed by a wait period of 0.2 seconds), IndRMove, IndAMove, or IndDMove
instruction.
The resolution of positions is decreased when moving away from logical position 0. An axis
which progressively rotates further and further from the position 0 should thus be set to zero
using the instruction IndReset with an argument other than \Old.
To ensure a proper start after IndReset of an axis with a relative measured measurement
system (synchronization switches) an extra time delay of 0.12 seconds must be added after
the IndReset instruction.
Only robot axis 6 can be used as independent axis. The IndReset instruction can also be
used for axis 4 on models IRB2400 and IRB 4400. If IndReset is used on robot axis 4 then
axis 6 must not be in the independent mode.
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
IndReset cannot be executed in a RAPID routine connected to any of following special
system events: PowerOn, Stop, QStop, Restart or Step.
IndReset only switches the independent state for an axis. It cannot be used to stop an
Independent movement. To stop an independent motion it has to reach a stop condition ot the
user has to for example move PP to main.
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© Copyright 2004-2010 ABB. All rights reserved.
The measurement system cannot be changed for linear axes.
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
Continued
More examples
More examples of the instruction IndReset are illustrated below.
Example 1
IndAMove Station_A,1\ToAbsNum:=750,50;
WaitUntil IndInpos(Station_A,1);
WaitTime 0.2;
IndReset Station_A,1 \RefNum:=0 \Short;.
IndAMove Station_A,1\ToAbsNum:=750,50;
WaitUntil IndInpos(Station_A,1);
WaitTime 0.2;
IndReset Station_A,1 \RefNum:=300 \Short;
Axis 1 in Station_A is first moved independently to the 750 degrees position (2 revolutions
and 30 degrees). At the same time as it changes to normal mode the logical position is set to
30 degrees.
Axis 1 in Station_A is subsequently moved to the 750 degrees position (2 revolutions and
30 degrees). At the same time as it changes to normal mode the logical position is set to
390 degrees (1 revolution and 30 degrees).
Error handling
If the axis is moving the system variable ERRNO is set to ERR_AXIS_MOVING.
If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can
then be handled in the error handler.
Syntax
IndReset
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num>
[ ’\’ RefPos’:=’ < expression (IN) of robtarget> ] |
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ RefNum’:=’ < expression (IN) of num> ]
[ ’\’ Short ] | [ ’\’ Fwd ] | [ ’\’ Bwd ] | [ ’\’ Old ]’;’
Continues on next page
3HAC 16581-1 Revision: J
147
1 Instructions
1.64. IndReset - Independent reset
Independent Axis
Continued
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change an axis to independent mode
IndAMove - Independent absolute position
movement on page 133
IndCMove - Independent continuous movement
on page 137
IndDMove - Independent delta position movement
on page 141
IndRMove - Independent relative position
movement on page 149
Check the speed status for independent IndSpeed - Independent speed status on page
axes
873
IndInpos - Independent axis in position status on
page 871
Defining independent joints
Technical reference manual - System parameters,
section Motion - Arm - Independent Joint
© Copyright 2004-2010 ABB. All rights reserved.
Check the position status for
independent axes
148
3HAC 16581-1 Revision: J
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
1.65. IndRMove - Independent relative position movement
Usage
IndRMove (Independent Relative Movement) is used to change a rotational axis to
independent mode and move the axis to a specific position within one revolution.
An independent axis is an axis moving independently of other axes in the robot system. As
program execution continues immediately it is possible to execute other instructions
(including positioning instructions) during the time the independent axis is moving.
If the axis is to be moved to an absolute position (several revolutions) or if the axis is linear,
the instruction IndAMove is used instead. If the movement is to take place a certain distance
from the current position the instruction IndDMove must be used.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction IndRMove are illustrated below.
See also More examples on page 152.
Example 1
IndRMove Station_A,2\ToRelPos:=p5 \Short,20;
Axis 2 of Station_A is moved the shortest route to position p5 within one revolution
(maximum rotation ± 180 degrees) at a speed of 20 degrees/s.
Arguments
IndRMove MecUnit Axis [\ToRelPos] | [\ToRelNum] [\Short] | [\Fwd]
| [\Bwd] Speed [\Ramp]
MecUnit
Mechanical Unit
© Copyright 2004-2010 ABB. All rights reserved.
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The number of the current axis for the mechanical unit (1-6).
[ \ToRelPos ]
To Relative Position
Data type: robtarget
Axis position specified as a robtarget. Only the component for this specific Axis is used.
The value is used as a position value in degrees within one axis revolution. This means that
the axis moves less than one revolution.
The axis position will be affected if the axis is displaced using the instruction EOffsSet or
EOffsOn.
For robot axes the argument \ToRelNum is to be used instead.
Continues on next page
3HAC 16581-1 Revision: J
149
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
Continued
[ \ToRelNum ]
To Relative Numeric value
Data type: num
Axis position defined in degrees.
Using this argument the position will NOT be affected by any displacement, e.g. EOffsSet
or PDispOn.
Same function as \ToRelPos but the position is defined as a numeric value to make it easy
to change the position manually.
[ \Short ]
Data type: switch
The axis is moved the shortest route to the new position. This means that the maximum
rotation will be 180 degrees in any direction. The direction of movement therefore depends
on the current location of the axis.
[ \Fwd ]
Forward
Data type: switch
The axis is moved in a positive direction to the new position. This means that the maximum
rotation will be 360 degrees and always in a positive direction (increased position value).
[ \Bwd ]
Backward
Data type: switch
The axis is moved in a negative direction to the new position. This means that the maximum
rotation will be 360 degrees and always in a negative direction (decreased position value).
If \Short, \Fwd or \Bwd argument is omitted, \Short is used as default value.
Speed
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
Axis speed in degrees/s.
[ \Ramp ]
Data type: num
Decrease acceleration and deceleration from maximum performance
(1 - 100%, 100% = maximum performance).
Continues on next page
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3HAC 16581-1 Revision: J
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
Continued
Program execution
When IndRMove is executed the specified axis moves with the programmed speed to the
specified axis position, but only a maximum of one revolution. If \Ramp is programmed there
will be a reduction of acceleration/deceleration.
To change the axis back to normal mode the IndReset instruction is used. The logical
position of the axis can be changed in connection with this - a number of full revolutions can
be erased from the position, for example, to avoid rotating back for the next movement.
The speed can be changed by running a further IndRMove instruction (or another IndXMove
instruction). If a speed in the opposite direction is selected the axis stops and then accelerates
to the new speed and direction.
During stepwise execution of the instruction the axis is set in independent mode only. The
axis starts its movement when the next instruction is executed and continues as long as
program execution continues. For more information see RAPID reference manual - RAPID
overview, section Motion and I/O principles - Positioning during program execution Independent axes.
When the program pointer is moved to the beginning of the program or to a new routine, all
axes are automatically set to normal mode without changing the measurement system
(equivalent to running the instruction IndReset \Old).
Limitations
Axes in independent mode cannot be jogged. If an attempt is made to execute the axis
manually the axis will not move, and an error message will be displayed. Execute an
IndReset instruction or move the program pointer to main in order to leave independent
mode.
© Copyright 2004-2010 ABB. All rights reserved.
If a power fail occurs when the axis is in independent mode the program cannot be restarted.
An error message is displayed, and the program must be started from the beginning.
The instruction is not advisable for coupled robot wrist axes (see RAPID reference manual RAPID overview, section Motion and I/O principles - Positioning during program execution Independent axes).
Continues on next page
3HAC 16581-1 Revision: J
151
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
Continued
More examples
More examples of the instruction IndRMove are illustrated below.
Example 1
IndRMove Station_A,1\ToRelPos:=p5 \Fwd,20\Ramp:=50;
Axis 1 of Station_A starts to move in a positive direction to the position p5 within one
revolution (maximum rotation 360 degrees) at a speed of 20 degrees/s. The speed is changed
with acceleration/deceleration reduced to 50% of maximum performance.
IndAMove Station_A,1\ToAbsNum:=90,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
IndRMove Station_A,1\ToRelNum:=80 \Fwd,20;
WaitTime 0.2;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndRMove Station_A,1\ToRelNum:=50 \Bwd,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndRMove Station_A,1\ToRelNum:=150 \Short,20;
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
IndAMove Station_A,1\ToAbsNum:=10,20;
Axis 1 of Station_A is moved to the following positions:
•
90 degrees
•
440 degrees (1 revolution + 80 degrees)
•
410 degrees (1 revolution + 50 degrees)
•
510 degrees (1 revolution + 150 degrees)
•
10 degrees
If the axis is not activated the system variable ERRNO is set to ERR_AXIS_ACT. This error can
then be handled in the error handler.
Syntax
IndRMove
[ MecUnit’:=’ ] < variable (VAR) of mecunit> ’,’
[ Axis’:=’ ] < expression (IN) of num>
[ ’\’ToRelPos’:=’ < expression (IN) of robtargets> ]
| [ ’\’ToRelNum’:=’ < expression (IN) of num> ]
[ ’\’Short ] | [ ’\’ Fwd ] | [ ’\’ Bwd ] ’,’
[ Speed ’:=’ ] < expression (IN) of num>
[ ’\’Ramp’:=’ < expression (IN) of num > ] ’;’
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
1 Instructions
1.65. IndRMove - Independent relative position movement
Independent Axis
Continued
Related information
For information about
See
Independent axes in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning
during program execution - Independent axes
Change back to normal mode
IndReset - Independent reset on page 144
Reset the measurement system
IndReset - Independent reset on page 144
Other independent axis movement
IndAMove - Independent absolute position
movement on page 133
IndDMove - Independent delta position
movement on page 141
IndCMove - Independent continuous movement
on page 137
Check the speed status for independent
axes
IndSpeed - Independent speed status on page
873
Check the position status for independent IndInpos - Independent axis in position status on
axes
page 871
Technical reference manual - System
parameters, section Motion - Arm - Independent
Joint
© Copyright 2004-2010 ABB. All rights reserved.
Defining independent joints
3HAC 16581-1 Revision: J
153
1 Instructions
1.66. InvertDO - Inverts the value of a digital output signal
RobotWare - OS
1.66. InvertDO - Inverts the value of a digital output signal
Usage
InvertDO (Invert Digital Output) inverts the value of a digital output signal (0 -> 1 and 1 -
> 0).
Basic examples
Basic examples of the instruction InvertDO are illustrated below.
Example 1
InvertDO do15;
The current value of the signal do15 is inverted.
Arguments
InvertDO Signal
Signal
Data type: signaldo
The name of the signal to be inverted.
Program execution
The current value of the signal is inverted (see figure below).
The figure below shows inversion of digital output signal.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. If there is no contact with the unit the system variable ERRNO will be set to:
ERR_NORUNUNIT
Syntax
InvertDO
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’
Related information
154
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID summary - Input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002164
1 Instructions
1.67. IOBusStart - Start of I/O bus
RobotWare - OS
1.67. IOBusStart - Start of I/O bus
Usage
IOBusStart is used to start a certain I/O bus.
Basic examples
Basic example of the instruction IOBusStart is illustrated below.
Example 1
IOBusStart "IBS";
The instruction start the bus with the name IBS.
Arguments
IOBusStart BusName
BusName
Data type: string
The name of bus to start.
Program execution
Start the bus with the name specified in the parameter BusName.
Error handling
The system variable ERRNO will be set to ERR_NAME_INVALID if the bus name does not
exist.That error can be handled in an ERROR handler.
Syntax
IOBusStart
[ BusName ’:=’ ] < expression (IN) of string>’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
How to get I/O bus state
IOBusState - Get current state of I/O bus on
page 156
Configuration of I/O
Technical reference manual - System
parameters
3HAC 16581-1 Revision: J
155
1 Instructions
1.68. IOBusState - Get current state of I/O bus
RobotWare - OS
1.68. IOBusState - Get current state of I/O bus
Usage
IOBusState is used to read the state of a certain I/O bus. Its physical state and logical state
define the status for an I/O bus.
Basic examples
Basic examples of the instruction IOBusState are illustrated below.
Example 1
VAR busstate bstate;
IOBusState "IBS", bstate \Phys;
TEST bstate
CASE IOBUS_PHYS_STATE_RUNNING:
! Possible to access the signals on the IBS bus
DEFAULT:
! Actions for not up and running IBS bus
ENDTEST
The instruction returns the physical bus state of IBS in the bstate variable of type
busstate.
Example 2
VAR busstate bstate;
IOBusState "IBS", bstate \Logic;
TEST bstate
CASE IOBUS_LOG_STATE_STARTED:
! The IBS bus is started
DEFAULT:
ENDTEST
The instruction returns the logical bus state of IBS in the bstate variable of type busstate.
Arguments
IOBusState BusName State [\Phys] | [\Logic]
BusName
Data type: string
The name of bus to get state about.
State
Data type: busstate
The variable in which the bus state is returned. See predefined data of type busstate below
at Program execution.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
! Actions for stopped IBS bus
1 Instructions
1.68. IOBusState - Get current state of I/O bus
RobotWare - OS
Continued
[\Phys]
Physical
Data type: switch
If using this parameter the physical state of the bus is read.
[\Logic]
Logical
Data type: switch
If using this parameter the logical state of the bus is read.
Program execution
Returning in parameter State the state of the bus is specified in parameter BusName.
The I/O bus logical states describe the state a user can order the bus into. The state of the I/O
bus is defined in the table below when using optional argument \Logic.
Return value Symbolic constant
Comment
10
IOBUS_LOG_STATE_STOPPED
Bus is stopped due to error 2)
11
IOBUS_LOG_STATE_STARTED
Bus is started 1)
© Copyright 2004-2010 ABB. All rights reserved.
The I/O bus physical state describes the state that the fieldbus driver can order the bus into.
The state of the I/O bus is defined in the table below when using optional argument \Phys.
Return value
Symbolic constant
Comment
20
IOBUS_PHYS_STATE_HALTED
Bus is halted 3)
21
IOBUS_PHYS_STATE_RUNNING
Bus is up and running 1)
22
IOBUS_PHYS_STATE_ERROR
Bus is not working 2)
23
IOBUS_PHYS_STATE_STARTUP
Bus is in start up mode, is not communicating with any units.
24
IOBUS_PHYS_STATE_INIT
Bus is only created 3)
-
NOTE!
For RobotWare 5.08 and earlier versions it is not possible to use the instruction IOBusState
with optional argument \Phys or \Logic. From RobotWare 5.09 it is recommended to use
the optional argument \Phys or \Logic.
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1 Instructions
1.68. IOBusState - Get current state of I/O bus
RobotWare - OS
Continued
The state of the I/O bus is defined in the table below when not using any of the optional
argument \Phys or \Logic.
Return value
Symbolic constant
Comment
0
BUSSTATE_HALTED
Bus is halted 3)
1
BUSSTATE_RUN
Bus is up and running 1)
2
BUSSTATE_ERROR
Bus is not working 2)
3
BUSSTATE_STARTUP
Bus is in start up mode, is not communicating with any units.
4
BUSSTATE_INIT
Bus is only created 3)
1)
If the bus is up and running the state returned in argument State in instruction
IOBusState can be either IOBUS_LOG_STATE_STARTED, IOBUS_PHYS_STATE_RUNNING,
or BUSSTATE_RUN depending on if optional parameters are used or not in IOBusState.
2)
If the bus is stopped due to some error the state returned in argument State can be either
IOBUS_LOG_STATE_STOPPED, IOBUS_PHYS_STATE_ERROR, or BUSSTATE_ERROR
depending on if optional parameters are used or not in IOBusState.
3)
Not possible to get this state in the RAPID program with current version of Robotware - OS.
Error handling
The system variable ERRNO will be set to ERR_NAME_INVALID if the bus name does not
exist.That error can be handled in an ERROR handler
Syntax
IOBusState
[ BusName ’:=’ ] < expression (IN) of string> ’,’
[ State ’:=’ ] < variable (VAR) of busstate>
[ ’\’ Phys] | [ ’\’ Logic]’;’
For information about
See
Definition of bus state
busstate - State of I/O bus on page 1088
Start of I/O bus
IOBusStart - Start of I/O bus on page 155
Input/Output functionality in general Technical reference manual - RAPID overview, section
Motion and I/O Principles -I/O principles
Configuration of I/O
158
Technical reference manual - System parameters
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.69. IODisable - Disable I/O unit
RobotWare - OS
1.69. IODisable - Disable I/O unit
Usage
IODisable is used to deactivate an I/O unit during program execution.
I/O units are automatically activated after start-up if they are defined in the system
parameters. When required for some reason, I/O units can be deactivated or activated during
program execution.
NOTE!
It is not possible to deactivate a unit with Trustlevel set to Required.
Basic examples
Basic examples of the instruction IODisable are illustrated below.
See also More examples on page 160.
Example 1
CONST string cell1:="cell1";
IODisable cell1, 5;
Deactivate an I/O unit with name cell1. Wait max. 5 s.
Arguments
IODisable UnitName MaxTime
UnitName
Data type: string
A name of an I/O unit (the unit name must be present in the system parameters).
MaxTime
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
The maximum period of waiting time permitted expressed in seconds. If this time runs out
before the I/O unit has finished the deactivation steps the error handler will be called, if there
is one, with the error code ERR_IODISABLE. If there is no error handler the program
execution will be stopped. However, the I/O unit deactivationprocess will always continue
regardless of the MaxTime or error.
To deactivate an I/O unit takes about 0-5 s.
Program execution
The specified I/O unit starts the deactivation steps. The instruction is ready when the
deactivation steps are finished. If the MaxTime runs out before the I/O unit has finished the
deactivation steps, a recoverable error will be generated.
After deactivation of an I/O unit, any setting of outputs in this unit will result in an error.
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1 Instructions
1.69. IODisable - Disable I/O unit
RobotWare - OS
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_IODISABLE
if the time out time runs out before the unit is deactivated.
ERR_TRUSTLEVEL
if the trustlevel on the unit is set to 0, then the unit can´t be
deactivated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
deactivated.
More examples
More examples of the instruction IODisable are illustrated below.
Example 1
PROC go_home()
VAR num recover_flag :=0;
...
! Start to disable I/O unit cell1
recover_flag := 1;
IODisable "cell1", 0;
! Move to home position
MoveJ home, v1000,fine,tool1;
! Wait until deactivation of I/O unit cell1 is ready
recover_flag := 2;
IODisable "cell1", 5;
...
ERROR
IF ERRNO = ERR_IODISABLE THEN
IF recover_flag = 1 THEN
TRYNEXT;
ELSEIF recover_flag = 2 THEN
ENDIF
ELSEIF ERRNO <> ERR_EXCRTYMAX THEN
RAISE;
ELSE
ErrWrite "IODisable error", "Not possible to disable I/O
unit cell1";
Stop;
ENDIF
ENDPROC
To save cycle time the I/O unit cell1 is deactivated during robot movement to the home
position. With the robot at the home position a test is done to establish whether or not the I/O
unit cell1 is fully deactivated. After the max. number of retries (5 with a waiting time of
5 s), the robot execution will stop with an error message.
The same principle can be used with IOEnable (this will save more cycle time compared
with IODisable).
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© Copyright 2004-2010 ABB. All rights reserved.
RETRY;
1 Instructions
1.69. IODisable - Disable I/O unit
RobotWare - OS
Continued
Syntax
IODisable
[ UnitName ’:=’ ] < expression (IN) of string> ’,’
[ MaxTime ’:=’ ] < expression (IN) of num> ’;’
Related information
See
Enabling an I/O unit
IOEnable - Enable I/O unit on page 162
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
161
1 Instructions
1.70. IOEnable - Enable I/O unit
RobotWare - OS
1.70. IOEnable - Enable I/O unit
Usage
IOEnable is used to activate an I/O unit during program execution.
I/O units are automatically activated after start-up if they are defined in the system
parameters. When required for some reason I/O units can be deactivated or activated during
program execution.
The controller action when activating a unit depends on the set unit Trustlevel. See System
Parameters Unit Trustlevel.
Basic examples
Basic examples of the instruction IOEnable are illustrated below.
See also More examples on page 163.
Example 1
CONST string cell1:="cell1";
IOEnable cell1, 5;
Enable I/O unit with name cell1. Wait max. 5 s.
Arguments
IOEnable UnitName MaxTime
UnitName
Data type: string
A name of an I/O unit (the unit name must be present in the system parameters).
MaxTime
The maximum period of waiting time permitted, expressed in seconds. If this time runs out
before the I/O unit has finished the activation steps the error handler will be called, if there is
one, with the error code ERR_IOENABLE. If there is no error handler the execution will be
stopped. The I/O unit activation process will however always continue regardless of
MaxTime or error.
To activate an I/O unit takes about 2-5 s.
Program execution
The specified I/O unit starts the activation steps. The instruction is ready when the activation
steps are finished. If the MaxTime runs out before the I/O unit has finished the activation steps
a recoverable error will be generated.
After a sequence of IODisable - IOEnable, all outputs for the current I/O unit will be set
to the old values (before IODisable).
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
1 Instructions
1.70. IOEnable - Enable I/O unit
RobotWare - OS
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_IOENABLE
if the time out time runs out before the unit is activated.
ERR_NAME_INVALID
if the unit name don’t exist or if the unit isn’t allowed to be
activated.
ERR_BUSSTATE
if an IOEnable is done, and the bus is in error state or
enter error state before the unit is activated.
More examples
IOEnable can also be used to check whether some I/O unit is disconnected for some reason.
More examples of how to use the instruction IOEnable are illustrated below.
Example 1
VAR num max_retry:=0;
...
IOEnable "cell1", 0;
SetDO cell1_sig3, 1;
...
ERROR
IF ERRNO = ERR_IOENABLE THEN
WaitTime 1;
RETRY;
ELSEIF ERRNO <> Err_EXCRTYMAX THEN
RAISE;
ELSE
ErrWrite "IOEnable error", "Not possible to enable I/O
unit cell";
Stop;
ENDIF
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
Before using signals on the I/O unit cell1, a test is done by trying to activate the I/O unit
with timeout after 0 sec. If the test fails a jump is made to the error handler. In the error
handler the program execution waits for 1 sec. and a new retry is made. After 5 retry attempts
the error ERR_IOENABLE is propagated to the caller of this routine.
Syntax
IOEnable
[ UnitName ’:=’ ] < expression (IN) of string>’ ,’
[ MaxTime’ :=’ ] < expression (IN) of num > ’;’
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163
1 Instructions
1.70. IOEnable - Enable I/O unit
RobotWare - OS
Continued
Related information
See
Disabling an I/O unit
IODisable - Disable I/O unit on page 159
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID Summary - Input and Output Signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.71. IPers - Interrupt at value change of a persistent variable
RobotWare - OS
1.71. IPers - Interrupt at value change of a persistent variable
Usage
IPers (Interrupt Persistent) is used to order and enable interrupts to be generated when the
value of a persistent variable is changed.
Basic examples
Basic examples of the instruction IPers are illustrated below.
Example 1
VAR intnum pers1int;
PERS num counter := 0;
PROC main()
CONNECT pers1int WITH iroutine1;
IPers counter, pers1int;
...
Idelete pers1int;
ENDPROC
TRAP iroutine1
TPWrite "Current value of counter = " \Num:=counter;
ENDTRAP
Orders an interrupt which is to occur each time the persistent variable counter is changed.
A call is then made to the iroutine1 trap routine.
Arguments
IPers Name Interrupt
Name
© Copyright 2004-2010 ABB. All rights reserved.
Data type: anytype
The persistent variable that is to generate interrupts.
All type of data could be used such as atomic, record, record component, array, or array
element.
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means
of the instruction CONNECT.
Program execution
When the persistent variable changes value a call is made to the corresponding trap routine.
When this routine has been executed program execution continues from where the interrupt
occurred.
If the persistent variable changes value during a program stop no interrupt will occur when
the program starts again.
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1 Instructions
1.71. IPers - Interrupt at value change of a persistent variable
RobotWare - OS
Continued
Limitations
The same variable for interrupt identity cannot be used more than once without first deleting
it. See Instructions - ISignalDI.
If subscribed on data such as record component or array element specified in parameter Name,
the interrupt will occur every time any part of the data is changed.
When executing the trap routine and reading the value of the persistent, there is no guarantee
that the value read is the one that triggered the interrupt.
Syntax
IPers
[ Name ’:=’ ] < persistent (PERS) of anytype > ’,’
[ Interrupt’ :=’ ] < variable (VAR) of intnum > ’;’
Related information
See
Summary of interrupts
Technical reference manual - RAPID
overview, section RAPID summary Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information about interrupt
management
Technical reference manual - RAPID
overview, section Basic characteristics Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
1.72. IRMQMessage - Orders RMQ interrupts for a data type
Usage
IRMQMessage (Interrupt RAPID Message Queue Message) is used to order and enable
interrupts for a specific data type when using RMQ functionality.
Basic examples
Basic examples of the instruction IRMQMessage are illustrated below.
See also More Examples.
Example 1
VAR intnum rmqint;
VAR string dummy;
...
CONNECT rmqint WITH iroutine1;
IRMQMessage dummy, rmqint;
Orders an interrupt which is to occur each time a new rmqmessage containing the data type
string is received. A call is then made to the iroutine1 TRAP routine.
Arguments
IRMQMessage InterruptDataType Interrupt
InterruptDataType
Data type: anytype
A reference to a variable, persistent or constant of a data type that will generate an interrupt
when a rmqmessage with the specified data type is received.
Interrupt
Data type: intnum
© Copyright 2004-2010 ABB. All rights reserved.
The interrupt identity. This should have previously been connected to a TRAP routine by
means of the instruction CONNECT.
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167
1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
Continued
Program execution
When the RMQ message with the specified data type is received, a call is made to the
corresponding TRAP routine. When this has been executed, program execution continues
from where the interrupt occurred.
All messages containing data of the same data type regardless of number of dimensions will
be handled by the same interrupt. If using different dimensions, use RMQGetMsgHeader to
adapt for this.
Any message containing data of a data type that no interrupt is connected to will genererate
a warning.
The RMQSendWait instruction has the highest priority if a message is received and it fits the
description for both the expected answer and a message connected to a TRAP routine with
instruction IRMQMessage.
Not all data types can be used in argument InterruptDataType (see limitations).
The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with
instruction ISleep. The safe interrupt event will be queued at program stop and stepwise
execution, and when starting in continious mode again, the interrupt will be executed. The
only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will
be reported. The interrupt will not survive program reset, e.g. PP to main.
More examples
More examples of how to use the instruction IRMQMessage are illustrated below.
Example 1
MODULE ReceiverMod
VAR intnum intno1;
VAR rmqheader rmqheader1;
VAR rmqslot rmqslot1;
© Copyright 2004-2010 ABB. All rights reserved.
VAR rmqmessage rmqmessage1;
PROC main()
VAR string interrupt_on_str := stEmpty;
CONNECT intno1 WITH RecMsgs;
! Set up interrupts for data type string
IRMQMessage interrupt_on_str, intno1;
! Perform cycle
WHILE TRUE DO
...
ENDWHILE
ENDPROC
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
Continued
TRAP RecMsgs
VAR string receivestr;
VAR string client_name;
VAR num userdef;
! Get the message from the RMQ
RMQGetMessage rmqmessage1;
! Get information about the message
RMQGetMsgHeader rmqmessage1 \Header:=rmqheader1
\SenderId:=rmqslot1 \UserDef:=userdef;
IF rmqheader1.datatype = "string" AND rmqheader1.ndim = 0 THEN
! Get the data received in rmqmessage1
RMQGetMsgData rmqmessage1, receivestr;
client_name := RMQGetSlotName(rmqslot1);
TPWrite "Rec string: " + receivestr;
TPWrite "User Def: " + ValToStr(userdef);
TPWrite "From: " + client_name;
ELSE
TPWrite "Faulty data received!"
ENDIF
ENDTRAP
ENDMODULE
© Copyright 2004-2010 ABB. All rights reserved.
The example show how to set up interrupts for a specific data type. When a message is
received, the TRAP RecMsgs is executed and the received data in the message is printed to
the FlexPendant. If the data type received or the dimension of the data is different from the
expected, this is printed to the FlexPendant.
Limitations
It is not allowed to execute IRMQMessage in synchronous mode. That will cause a fatal
runtime error.
It is not possible to setup interrupts, send or receive data instances of data types that are of
non-value, semi-value types or data type motsetdata.
The same variable for interrupt identity can not be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ()
VAR intnum rmqint;
VAR mytype dummy;
CONNECT rmq1int WITH iroutine1;
IRMQMessage dummy, rmqint;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
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1 Instructions
1.72. IRMQMessage - Orders RMQ interrupts for a data type
FlexPendant Interface, PC Interface, or Multitasking
Continued
All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum rmqint;
VAR mytype dummy;
CONNECT rmqint WITH iroutine1;
IRMQMessage dummy, rmqint;
...
IDelete rmqint;
ENDPROC
The interrupt is deleted at the end of the program, and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
IRMQMessage
[ InterruptDataType‘ :=’ ] < reference (REF) of anytype >
[ Interrupt‘ :=’ ] < variable (VAR) of intnum >‘;‘
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Extract the header data from a rmqmessage. RMQGetMsgHeader - Get header
information from an RMQ message on page
380
170
Send data to the queue of a RAPID task or
Robot Application Builder client.
RMQSendMessage - Send an RMQ data
message on page 386
Extract the data from a rmqmessage.
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Get the slot name from a specified slot
identity.
RMQGetSlotName - Get the name of an
RMQ client on page 964
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client.
390
1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
1.73. ISignalAI - Interrupts from analog input signal
Usage
ISignalAI (Interrupt Signal Analog Input) is used to order and enable interrupts from an
analog input signal.
Basic examples
Basic examples of the instruction ISignalAI are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAI \Single, ai1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog input signal
ai1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap routine.
Example 2
ISignalAI ai1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;
Orders an interrupt which is to occur each time the logical value of the analog input signal
ai1 is between 0.5 and 1.5, and the absolute signal difference compared to the stored
reference value is bigger than 0.1.
Example 3
ISignalAI ai1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;
Orders an interrupt which is to occur each time the logical value of the analog input signal
ai1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the
stored reference value is bigger than 0.1.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
ISignalAI [\Single] | [\SingleSafe] Signal Condition HighValue
LowValue DeltaValue [\DPos] | [\DNeg] Interrupt
[\Single]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set,
the interrupt occurs once at the most. If the Single and SingleSafe arguments is omitted,
an interrupt will occur each time its condition is satisfied.
[\SingleSafe]
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
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1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
Signal
Data type: signalai
The name of the signal that is to generate interrupts.
Condition
Data type: aiotrigg
Specifies how HighValue and LowValue define the condition to be satisfied:
Value Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
HighValue
Data type: num
High logical value to define the condition.
LowValue
Data type: num
Low logical value to define the condition.
DeltaValue
Defines the minimum logical signal difference before generation of a new interrupt. The
current signal value compared to the stored reference value must be greater than the specified
DeltaValue before generation of a new interrupt.
[\DPos]
Data type: switch
Specifies that only positive logical signal differences will give new interrupts.
[\DNeg]
Data type: switch
Specifies that only negative logical signal differences will give new interrupts.
If none of \DPos and \DNeg argument is used, both positive and negative differences will
generate new interrupts.
Interrupt
Data type: intnum
The interrupt identity. This interrupt should have previously been connected to a trap routine
by means of the instruction CONNECT.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
Program execution
When the signal fulfils the specified conditions (both Condition and DeltaValue) a call
is made to the corresponding trap routine. When this has been executed, program execution
continues from where the interrupt occurred.
Conditions for interrupt generation
Before the interrupt subscription is ordered, each time the signal is sampled, the value of the
signal is read, saved, and later used as a reference value for the DeltaValue condition.
At the interrupt subscription time if specified DeltaValue = 0 and after the interrupt
subscription time, the signal is sampled. The signal value is then compared to HighValue
and LowValue according to Condition and with consideration to DeltaValue to decide if
an interrupt should be generated or not. If the new read value satisfies the specified
HighValue and LowValue Condition, but its difference compared to the last stored
reference value is less or equal to the DeltaValue argument, no interrupt occurs. If the signal
difference is not in the specified direction no interrupts will occur (argument \DPos or
\DNeg).
The stored reference value for the DeltaValue condition is updated with a newly read value
for later use at any sample if the following conditions are satisfied:
•
Argument Condition with specified HighValue and LowValue (within limits)
•
Argument DeltaValue (sufficient signal change in any direction independently of
specified switch \DPos or \DNeg)
The reference value is only updated at the sample time, not at the interrupt subscription time.
© Copyright 2004-2010 ABB. All rights reserved.
An interrupt is also generated at the sample for update of the reference value if the direction
of the signal difference is in accordance with the specified argument (any direction, \DPos0,
or \DNeg).
When the \Single switch is used only one interrupt at the most will be generated. If the
switch \Single (cyclic interrupt) is not used a new test of the specified conditions (both
Condition and DeltaValue) is made at every sample of the signal value. Acomparison is
made between the current signal value and the last stored reference value to decide if an
interrupt should be generated or not.
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1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
Condition for interrupt generation at interrupt subscription time
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002165
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1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
© Copyright 2004-2010 ABB. All rights reserved.
Condition for interrupt generation at each sample after interrupt subscription
xx0500002166
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1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
Example 1 of interrupt generation
xx0500002167
Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give
the following results:
ISignalAI ai1, AIO_BETWEEN, 6.1, 2.2, 1.0, sig1int;
Sample 1 will generate an interrupt because the signal value is between HighValue and
LowValue and the signal difference compared to Sample 0 is more than DeltaValue.
Sample 2 will generate an interrupt because the signal value is between HighValue and
LowValue and the signal difference compared to Sample 1 is more than DeltaValue.
Samples 3, 4, 5 will not generate any interrupt because the signal difference is less than
Sample 6 will generate an interrupt.
Samples 7 to 10 will not generate any interrupt because the signal is above HighValue.
Sample 11 will not generate any interrupt because the signal difference compared to Sample
6 is equal to DeltaValue.
Sample 12 will not generate any interrupt because the signal difference compared to Sample
6 is less than DeltaValue.
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© Copyright 2004-2010 ABB. All rights reserved.
DeltaValue.
1 Instructions
1.73. ISignalAI - Interrupts from analog input signal
RobotWare - OS
Continued
Example 2 of interrupt generation
xx0500002168
Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give
the following results:
ISignalAI ai1, AIO_BETWEEN, 6.1, 2.2, 1.0 \DPos, sig1int;
A new reference value is stored at sample 1 and 2 because the signal is within limits and the
absolute signal difference between the current value and the last stored reference value is
greater than 1.0. No interrupt will be generated because the signal changes are in the negative
direction.
© Copyright 2004-2010 ABB. All rights reserved.
Sample 6 will generate an interrupt because the signal value is between HighValue and
LowValue, and the signal difference in the positive direction compared to sample 2 is more
than DeltaValue.
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1.73. ISignalAI - Interrupts from analog input signal
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Continued
Example 3 of interrupt generation
xx0500002169
Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give
the following results:
ISignalAI \Single, ai1, AIO_OUTSIDE, 6.1, 2.2, 1.0 \DPos, sig1int;
A new reference value is stored at sample 7 because the signal is within limits and the
absolute signal difference between the current value and the last stored reference value is
greater than 1.0
© Copyright 2004-2010 ABB. All rights reserved.
sample 8 will generate an interrupt because the signal value is above HighValue, and the
signal difference in the positive direction compared to sample 7 is more than DeltaValue.
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1.73. ISignalAI - Interrupts from analog input signal
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Continued
Example 4 of interrupt generation
xx0500002170
Assuming the interrupt is ordered between sample 0 and 1, the following instruction will give
the following results:
ISignalAI ai1, AIO_ALWAYS, 6.1, 2.2, 1.0 \DPos, sig1int;
A new reference value is stored at sample 1 and 2 because the signal is within limits and the
absolute signal difference between the current value and the last stored reference value is
greater than 1.0
Sample 6 will generate an interrupt because the signal difference in the positive direction
compared to sample 2 is more than DeltaValue.
© Copyright 2004-2010 ABB. All rights reserved.
Sample 7 and 8 will generate an interrupt because the signal difference in the positive
direction compared to previous sample is more than DeltaValue.
A new reference value is stored at sample 11 and 12 because the signal is within limits, and
the absolute signal difference between the current value and the last stored reference value is
greater than 1.0
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1.73. ISignalAI - Interrupts from analog input signal
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Continued
Error handling
If there is a subscription of interrupt on an analog input signal, an interrupt will be given for
every change in the analog value that satisfies the condition specified when ordering the
interrupt subscription. If the analog value is noisy many interrupts can be generated even if
only one or two bits in the analog value are changed.
To avoid generating interrupts for small changes of the analog input value, set the
DeltaValue to a level greater than 0. Then no interrupts will be generated until a change of
the analog value is greater than the specified DeltaValue.
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed HighValue or LowValue argument for the specified analog input signal
Signal is outside limits.
Limitations
The HighValue and LowValue arguments should be in the range: logical maximum value,
logical minimum value defined for the signal.
HighValue must be above LowValue.
DeltaValue must be 0 or positive.
The limitations for the interrupt identity are the same as for ISignalDI.
Syntax
ISignalAI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal’:=’ ]<variable (VAR) of signalai>’,’
© Copyright 2004-2010 ABB. All rights reserved.
[ Condition’:=’ ]<expression (IN) of aiotrigg>’,’
[ HighValue’:=’ ]<expression (IN) of num>’,’
[ LowValue’:=’ ]<expression (IN) of num>’,’
[ DeltaValue’:=’ ]<expression (IN) of num>
[[’\’DPos] | [ ’\’DNeg] ’,’]
[ Interrupt’:=’ ]<variable (VAR) of intnum>’;’
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1.73. ISignalAI - Interrupts from analog input signal
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Continued
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog output signal
ISignalAO - Interrupts from analog output
signal on page 182
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital input
signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management Technical reference manual - RAPID overview,
section Basic Characteristics - Interrupts
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters, section IO signals
© Copyright 2004-2010 ABB. All rights reserved.
Interrupt identity
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1 Instructions
1.74. ISignalAO - Interrupts from analog output signal
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1.74. ISignalAO - Interrupts from analog output signal
Usage
ISignalAO (Interrupt Signal Analog Output) is used to order and enable interrupts from an
analog output signal.
Basic examples
Basic examples of the instruction ISignalAO are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalAO \Single, ao1, AIO_BETWEEN, 1.5, 0.5, 0, sig1int;
Orders an interrupt which is to occur the first time the logical value of the analog output signal
ao1 is between 0.5 and 1.5. A call is then made to the iroutine1 trap routine.
Example 2
ISignalAO ao1, AIO_BETWEEN, 1.5, 0.5, 0.1, sig1int;
Orders an interrupt which is to occur each time the logical value of the analog output signal
ao1 is between 0.5 and 1.5, and the absolute signal difference compared to the previous
stored reference value is bigger than 0.1.
Example 3
ISignalAO ao1, AIO_OUTSIDE, 1.5, 0.5, 0.1, sig1int;
Orders an interrupt which is to occur each time the logical value of the analog output signal
ao1 is lower than 0.5 or higher than 1.5, and the absolute signal difference compared to the
previous stored reference value is bigger than 0.1.
Arguments
[\Single]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically. If the argument Single is set
the interrupt occurs once at the most. If the Single and SingleSafe argument is omitted an
interrupt will occur each time its condition is satisfied.
[\SingleSafe]
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
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ISignalAO [\Single] | [\SingleSafe] Signal Condition HighValue
LowValue DeltaValue [\DPos] | [\DNeg] Interrupt
1 Instructions
1.74. ISignalAO - Interrupts from analog output signal
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Continued
Signal
Data type: signalao
The name of the signal that is to generate interrupts.
Condition
Data type: aiotrigg
Specifies how HighValue and LowValue define the condition to be satisfied:
Value Symbolic constant Comment
1
AIO_ABOVE_HIGH
Signal will generate interrupts if above specified high value
2
AIO_BELOW_HIGH
Signal will generate interrupts if below specified high value
3
AIO_ABOVE_LOW
Signal will generate interrupts if above specified low value
4
AIO_BELOW_LOW
Signal will generate interrupts if below specified low value
5
AIO_BETWEEN
Signal will generate interrupts if between specified low and
high values
6
AIO_OUTSIDE
Signal will generate interrupts if below specified low value
or above specified high value
7
AIO_ALWAYS
Signal will always generate interrupts
HighValue
Data type: num
High logical value to define the condition.
LowValue
Data type: num
Low logical value to define the condition.
DeltaValue
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
Defines the minimum logical signal difference before generation of a new interrupt. The
current signal value compared to the previous stored reference value must be greater than the
specified DeltaValue before generation of a new interrupt.
[\DPos]
Data type: switch
Specifies that only positive logical signal differences will give new interrupts.
[\DNeg]
Data type: switch
Specifies that only negative logical signal differences will give new interrupts.
If neither of the \DPos and \DNeg arguments are used, both positive and negative differences
will generate new interrupts.
Interrupt
Data type: intnum
The interrupt identity. This interrupt should have previously been connected to a trap routine
by means of the instruction CONNECT.
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1.74. ISignalAO - Interrupts from analog output signal
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Continued
Program execution
See instruction ISignalAI for information about:
•
Program execution
•
Condition for interrupt generation
•
More examples
Same principles are valid for ISignalAO as for ISignalAI.
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed HighValue or LowValue argument for the specified analog output signal
Signal is outside limits.
Limitations
The HighValue and LowValue arguments should be in the range: logical maximum value,
logical minimum value, defined for the signal.
HighValue must be above LowValue.
DeltaValue must be 0 or positive.
The limitations for the interrupt identity are the same as for ISignalDO.
Syntax
ISignalAO
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Condition’:=’ ]<expression (IN) of aiotrigg>’,’
[ HighValue’:=’ ]<expression (IN) of num>’,’
[ LowValue’:=’ ]<expression (IN) of num>’,’
[ DeltaValue’:=’ ]<expression (IN) of num>
[’\’DPos] | [ ’\’DNeg] ’,’]
[ Interrupt’:=’ ]<variable (VAR) of intnum>’;’
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© Copyright 2004-2010 ABB. All rights reserved.
[ Signal’:=’ ]<variable (VAR) of signalao>’,’
1 Instructions
1.74. ISignalAO - Interrupts from analog output signal
RobotWare - OS
Continued
Related information
See
Summary of interrupts
Technical reference manual - RAPID
overview, section RAPID Summary Interrupts
Definition of constants
aiotrigg - Analog I/O trigger condition on page
1083
Interrupt from analog input signal
ISignalAI - Interrupts from analog input signal
on page 171
Interrupt from digital input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
Interrupt from digital output signal
ISignalDO - Interrupts from a digital output
signal on page 189
More information on interrupt management
RAPID reference manual - RAPID overview,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
Related system parameters (filter)
Technical reference manual - System
parameters, section IO signals
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
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1 Instructions
1.75. ISignalDI - Orders interrupts from a digital input signal
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1.75. ISignalDI - Orders interrupts from a digital input signal
Usage
ISignalDI (Interrupt Signal Digital In) is used to order and enable interrupts from a digital
input signal.
Basic examples
Basic examples of the instruction ISignalDI are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDI di1,1,sig1int;
Orders an interrupt which is to occur each time the digital input signal di1 is set to 1. A call
is then made to the iroutine1 trap routine.
Example 2
ISignalDI di1,0,sig1int;
Orders an interrupt which is to occur each time the digital input signal di1 is set to 0.
Example 3
ISignalDI \Single, di1,1,sig1int;
Orders an interrupt which is to occur only the first time the digital input signal di1 is set to 1.
Arguments
ISignalDI [ \Single] | [ \SingleSafe] Signal TriggValue Interrupt
[ \Single ]
Data type: switch
If the argument Single is set, the interrupt occurs once at the most. If the Single and
SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied.
[ \SingleSafe ]
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
Signal
Data type: signaldi
The name of the signal that is to generate interrupts.
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Specifies whether the interrupt is to occur once or cyclically.
1 Instructions
1.75. ISignalDI - Orders interrupts from a digital input signal
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Continued
TriggValue
Data type: dionum
The value to which the signal must change for an interrupt to occur.
The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal is edgetriggered upon changeover to 0 or 1.
TriggValue 2 or symbolic value edge can be used for generation of interrupts on both
positive flank (0 -> 1) and negative flank (1 -> 0).
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means
of the instruction CONNECT.
Program execution
When the signal assumes the specified value a call is made to the corresponding trap routine.
When this has been executed, program execution continues from where the interrupt
occurred.
© Copyright 2004-2010 ABB. All rights reserved.
If the signal changes to the specified value before the interrupt is ordered no interrupt occurs.
Interrupts from a digital input signal at signal level 1 is illustrated in the figure below.
xx0500002189
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
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1.75. ISignalDI - Orders interrupts from a digital input signal
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Continued
Limitations
The same variable for interrupt identity cannot be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDI di1, 1, sig1int;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDI di1, 1, sig1int;
...
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
ISignalDI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signaldi > ’,’
[ TriggValue’ :=’ ] < expression (IN) of dionum > ’,’
Related information
188
For information about
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID Summary - Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output signal on
page 189
More information on interrupt
management
Technical reference manual - RAPID overview,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ Interrupt’ :=’ ] < variable (VAR) of intnum > ’;’
1 Instructions
1.76. ISignalDO - Interrupts from a digital output signal
RobotWare - OS
1.76. ISignalDO - Interrupts from a digital output signal
Usage
ISignalDO (Interrupt Signal Digital Out) is used to order and enable interrupts from a digital
output signal.
Basic examples
Basic examples of the instruction ISignalDO are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDO do1,1,sig1int;
Orders an interrupt which is to occur each time the digital output signal do1 is set to 1. A call
is then made to the iroutine1 trap routine.
Example 2
ISignalDO do1,0,sig1int;
Orders an interrupt which is to occur each time the digital output signal do1 is set to 0.
Example 3
ISignalDO\Single, do1,1,sig1int;
Orders an interrupt which is to occur only the first time the digital output signal do1 is set to 1.
Arguments
ISignalDO [ \Single ] | [ \SingleSafe ] Signal TriggValue Interrupt
[ \Single ]
Data type: switch
© Copyright 2004-2010 ABB. All rights reserved.
Specifies whether the interrupt is to occur once or cyclically.
If the argument Single is set, the interrupt occurs once at the most. If the Single and
SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied.
[ \SingleSafe ]
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
Signal
Data type: signaldo
The name of the signal that is to generate interrupts.
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Continued
TriggValue
Data type: dionum
The value to which the signal must change for an interrupt to occur.
The value is specified as 0 or 1 or as a symbolic value (e.g. high/low). The signal is edgetriggered upon changeover to 0 or 1.
TriggValue 2 or symbolic value edge can be used for generation of interrupts on both
positive flank (0 -> 1) and negative flank (1 -> 0).
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means
of the instruction CONNECT.
Program execution
When the signal assumes the specified value 0 or 1, a call is made to the corresponding trap
routine. When this has been executed program execution continues from where the interrupt
occurred.
xx0500002190
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
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If the signal changes to the specified value before the interrupt is ordered no interrupt occurs.
Interrupts from a digital output signal at signal level 1 is illustrated in the figure below.
1 Instructions
1.76. ISignalDO - Interrupts from a digital output signal
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Continued
Limitations
The same variable for interrupt identity cannot be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDO do1, 1, sig1int;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalDO do1, 1, sig1int;
...
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
ISignalDO
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’
[ TriggValue’ :=’ ] < expression (IN) of dionum > ’,’
© Copyright 2004-2010 ABB. All rights reserved.
[ Interrupt’ :=’ ] < variable (VAR) of intnum > ’;’
Related information
For information about
See
Summary of interrupts
Technical reference manual - RAPID
overview, section RAPID Summary Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital
input signal on page 186
More information on interrupt management
Technical reference manual - RAPID
overview, section Basic CharacteristicsInterrupts
Interrupt identity
intnum - Interrupt identity on page 1125
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
Usage
ISignalGI (Interrupt Signal Group Digital In) is used to order and enable interrupts from
a group of digital input signals.
Basic examples
Basic examples of the instruction ISignalGI are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1,sig1int;
Orders an interrupt when a digital input group signal changes value.
Arguments
ISignalGI [ \Single ] | [ \SingleSafe ] Signal Interrupt
[ \Single ]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically.
If the argument Single is set, the interrupt occurs once at the most. If the Single and
SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied.
[ \SingleSafe ]
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
Signal
Data type: signalgi
The name of the group input signal that generates interrupts.
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means
of the instruction CONNECT.
Program execution
When the group signal changes value a call is made to the corresponding trap routine. When
this has been executed program execution continues from where the interrupt occurred.
If the signal changes before the interrupt is ordered no interrupt occurs.
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Data type: switch
1 Instructions
1.77. ISignalGI - Orders interrupts from a group of digital input signals
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Continued
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Limitations
Maximum number of signals that can be used for a group is 32.
Numeric value condition can not be used in the instruction to specify that an interrupt should
occur on changes to that specific value. This must be handled in the user program by reading
the group signal value at execution of the TRAP.
The interrupts are generated as bit interrupts, e.g. interrupts on single digital input signal
change within the group. If the bits in the group signal change value with a delay between
settings, several interrupts will be generated. Knowledege about how the I/O board works is
necessary to get right functionality when using ISignalGI. If several interrupts are
generated at group input settings, use instead ISignalDI on a strobe signal that are set when
all bits in the group signal have been set.
The same variable for interrupt identity cannot be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, sig1int;
WHILE TRUE DO
...
ENDWHILE
© Copyright 2004-2010 ABB. All rights reserved.
ENDPROC
All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGI gi1, sig1int;
...
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
ISignalGI
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signalgi > ’,’
[ Interrupt’:=’ ] < variable (VAR) of intnum > ’;’
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1.77. ISignalGI - Orders interrupts from a group of digital input signals
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Continued
Related information
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID Summary - Interrupts
Interrupt from an input signal
ISignalDI - Orders interrupts from a digital input signal
on page 186
Interrupt from group output signals
ISignalGO - Orders interrupts from a group of digital
output signals on page 195
More information on interrupt
management
Technical reference manual - RAPID overview,
section Basic Characteristics - Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1.78. ISignalGO - Orders interrupts from a group of digital output signals
RobotWare - OS
1.78. ISignalGO - Orders interrupts from a group of digital output signals
Usage
ISignalGO (Interrupt Signal Group Digital Out) is used to order and enable interrupts from
a group of digital output signals.
Basic examples
Basic examples of the instruction ISignalGO are illustrated below.
Example 1
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGO go1,sig1int;
Orders an interrupt when a digital output group signal change value.
Arguments
ISignalGO [ \Single ] | [ \SingleSafe ] Signal Interrupt
[ \Single ]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically.
If the argument \Single is set, the interrupt occurs once at the most. If the Single and
SingleSafe arguments is omitted, an interrupt will occur each time its condition is satisfied.
[ \SingleSafe ]
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed. The only time a safe interrupt will be
thrown is when the interrupt queue is full. Then an error will be reported. The interrupt will
not survive program reset, e.g. PP to main.
Signal
Data type: signalgo
The name of the group output signal that generates interrupts.
Interrupt
Data type: intnum
The interrupt identity. This should have previously been connected to a trap routine by means
of the instruction CONNECT.
Program execution
When the group signal changes value a call is made to the corresponding trap routine. When
this has been executed program execution continues from where the interrupt occurred.
If the signal changes before the interrupt is ordered no interrupt occurs.
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Continued
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Limitations
Maximum number of signals that can be used for a group is 32.
Numeric value condition can not be used in the instruction to specify that an interrupt should
occur on changes to that specific value. This must be handled in the user program by reading
the group signal value at execution of the TRAP.
The same variable for interrupt identity cannot be used more than once without first deleting
it. Interrupts should therefore be handled as shown in one of the alternatives below.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGO go1, sig1int;
WHILE TRUE DO
...
ENDWHILE
ENDPROC
All activation of interrupts is done at the beginning of the program. These beginning
instructions are then kept outside the main flow of the program.
PROC main ( )
VAR intnum sig1int;
CONNECT sig1int WITH iroutine1;
ISignalGO go1, sig1int;
IDelete sig1int;
ENDPROC
The interrupt is deleted at the end of the program and is then reactivated. It should be noted,
in this case, that the interrupt is inactive for a short period.
Syntax
ISignalGO
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signalgo > ’,’
[ Interrupt’:=’ ] < variable (VAR) of intnum > ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
...
1 Instructions
1.78. ISignalGO - Orders interrupts from a group of digital output signals
RobotWare - OS
Continued
Related information
See
Summary of interrupts
Technical reference manual - RAPID
overview, section RAPID Summary Interrupts
Interrupt from an output signal
ISignalDO - Interrupts from a digital output
signal on page 189
Interrupt from group input signals
ISignalGI - Orders interrupts from a group of
digital input signals on page 192
More information on interrupt management
Technical reference manual - RAPID
overview, section Basic Characteristics Interrupts
Interrupt identity
intnum - Interrupt identity on page 1125
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
197
1 Instructions
1.79. ISleep - Deactivates an interrupt
RobotWare - OS
1.79. ISleep - Deactivates an interrupt
Usage
ISleep (Interrupt Sleep) is used to deactivate an individual interrupt temporarily.
During the deactivation time any generated interrupts of the specified type are discarded
without any trap execution.
Basic examples
Basic examples of the instruction are illustrated below.
See also More examples on page 198.
Example 1
ISleep sig1int;
The interrupt sig1int is deactivated.
Arguments
ISleep Interrupt
Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt.
Program execution
Any generated interrupts of the specified type are discarded without any trap execution until
the interrupt has been re-activated by means of the instruction IWatch. Interrupts which are
generated while ISleep is in effect are ignored.
More examples
More examples of the instruction ISleep are illustrated below.
VAR intnum timeint;
CONNECT timeint WITH check_serialch;
ITimer 60, timeint;
...
ISleep timeint;
WriteBin ch1, buffer, 30;
IWatch timeint;
...
TRAP check_serialch
WriteBin ch1, buffer, 1;
IF ReadBin(ch1\Time:=5) < 0 THEN
TPWrite "The serial communication is broken";
EXIT;
ENDIF
ENDTRAP
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© Copyright 2004-2010 ABB. All rights reserved.
Example 1
1 Instructions
1.79. ISleep - Deactivates an interrupt
RobotWare - OS
Continued
Communication across the ch1 serial channel is monitored by means of interrupts which are
generated every 60 seconds. The trap routine checks whether the communication is working.
When, however, communication is in progress these interrupts are not permitted.
Error handling
Interrupts which have neither been ordered nor enabled are not permitted. If the interrupt
number is unknown the system variable ERRNO will be set to ERR_UNKINO (see errnum Error number on page 1108). If trying to deactivate a safe interrupt temporarily with ISleep,
the system variable ERRNO is set to ERR_INOISSAFE. These errors can be handled in an error
handler.
Syntax
ISleep
[ Interrupt ‘:=’ ] < variable (VAR) of intnum > ‘;’
Related information
See
Summary of interrupts
Technical reference manual - RAPID overview,
section RAPID summary - Interrupts
Enabling an interrupt
IWatch - Activates an interrupt on page 205
Disabling all interrupts
IDisable - Disables interrupts on page 124
Cancelling an interrupt
IDelete - Cancels an interrupt on page 123
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
199
1 Instructions
1.80. ITimer - Orders a timed interrupt
RobotWare - OS
1.80. ITimer - Orders a timed interrupt
Usage
ITimer (Interrupt Timer) is used to order and enable a timed interrupt.
This instruction can be used, for example, to check the status of peripheral equipment once
every minute.
Basic examples
Basic examples of the instruction ITimer are illustrated below.
See also More examples on page 201.
Example 1
VAR intnum timeint;
CONNECT timeint WITH iroutine1;
ITimer 60, timeint;
Orders an interrupt that is to occur cyclically every 60 seconds. A call is then made to the trap
routine iroutine1.
Example 2
ITimer \Single, 60, timeint;
Orders an interrupt that is to occur once, after 60 seconds.
Arguments
ITimer [ \Single ] | [ \SingleSafe ] Time Interrupt
[ \Single ]
Data type: switch
Specifies whether the interrupt is to occur once or cyclically.
[ \SingleSafe ]
Data type: switch
Specifies that the interrupt is single and safe. For definition of single, see description of
Single argument. A safe interrupt can not be put in sleep with instruction ISleep. The safe
interrupt event will be queued at program stop and stepwise execution, and when starting in
continious mode again, the interrupt will be executed.
Time
Data type: num
The amount of time that must lapse before the interrupt occurs.
The value is specified in seconds. If Single or SingleSafe is set this time may not be less
than 0.01 seconds. The corresponding time for cyclical interrupts is 0.1 seconds.
Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt. This should have previously been connected
to a trap routine by means of the instruction CONNECT.
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If the argument Single is set, the interrupt occurs only once. If the Single and
SingleSafe arguments is omitted, an interrupt will occur each time at the specified time.
1 Instructions
1.80. ITimer - Orders a timed interrupt
RobotWare - OS
Continued
Program execution
The corresponding trap routine is automatically called at a given time following the interrupt
order. When this has been executed program execution continues from where the interrupt
occurred.
If the interrupt occurs cyclically a new computation of time is started from when the interrupt
occurs.
More examples
More examples of the instruction ITimer are illustrated below.
Example 1
VAR intnum timeint;
CONNECT timeint WITH check_serialch;
ITimer 60, timeint;
...
TRAP check_serialch
WriteBin ch1, buffer, 1;
IF ReadBin(ch1\Time:=5) < 0 THEN
TPWrite "The serial communication is broken";
EXIT;
ENDIF
ENDTRAP
Communication across the ch1 serial channel is monitored by means of interrupts which are
generated every 60 seconds. The trap routine checks whether the communication is working.
If it is not program execution is terminated and an error message appears.
Limitations
© Copyright 2004-2010 ABB. All rights reserved.
The same variable for interrupt identity cannot be used more than once without being first
deleted. See Instructions - ISignalDI.
Syntax
ITimer
[ ’\’ Single ] | [ ’\’ SingleSafe ] ’,’
[ Time ’:=’ ] < expression (IN) of num >’,’
[ Interrupt’ :=’ ] < variable (VAR) of intnum > ’;’
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 CharacteristicsInterrupts
3HAC 16581-1 Revision: J
201
1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
1.81. IVarValue - orders a variable value interrupt
Usage
IVarValue (Interrupt Variable Value) is used to order and enable an interrupt when the value
of a variable accessed via the serial sensor interface has been changed.
This instruction can be used, for example, to get seam volume or gap values from a seam
tracker.
Basic examples
Basic examples of the instruction IVarValue are illustrated below.
Example 1
LOCAL PERS num
adptVlt{25}:=[1,1.2,1.4,1.6,1.8,2,2.16667,2.33333,2.5,...];
LOCAL PERS num
adptWfd{25}:=[2,2.2,2.4,2.6,2.8,3,3.16667,3.33333,3.5,...];
LOCAL PERS num
adptSpd{25}:=10,12,14,16,18,20,21.6667,23.3333,25[,...];
LOCAL CONST num GAP_VARIABLE_NO:=11;
PERS num gap_value;
VAR intnum IntAdap;
PROC main()
! Setup the interrupt. The trap routine AdapTrp will be called
! when the gap variable with number ´GAP_VARIABLE_NO’ in the
!sensor interface has been changed. The new value will be
! available in the PERS gp_value variable.
! Connect to the sensor device "sen1:" (defined in sio.cfg).
CONNECT IntAdap WITH AdapTrp;
IVarValue "sen1:", GAP_VARIABLE_NO, gap_value, IntAdap;
! Start welding
ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track;
ArcL\On,*,v100,adaptSm,adaptWd,adaptWv,z10,tool\j\Track:=track;
ENDPROC
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SenDevice "sen1:";
1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
Continued
TRAP AdapTrap
VAR num ArrInd;
!Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active welddata PERS variable ‘adaptWd’ with new data
! from the arrays of predefined parameter arrays. The scaled gap
! value is used as index in the voltage, wirefeed and
! speed arrays.
adaptWd.weld_voltage:=adptVlt{ArrInd};
adaptWd.weld_wirefeed:=adptWfd{ArrInd};
adaptWd.weld_speed:=adptSpd{ArrInd};
!Request a refresh of AW parameters using the new data i adaptWd
ArcRefresh;
ENDTRAP
Arguments
IVarValue device VarNo Value Interrupt [ \Unit ] [ \DeadBand ]
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
VarNo
Data type: num
The number of the variable to be supervised.
Value
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
A PERS variable which will hold the new value of VarNo.
Interrupt
Data type: intnum
The variable (interrupt identity) of the interrupt. This should have previously been connected
to a trap routine by means of the instruction CONNECT.
[ \Unit ]
Data type: num
Scale factor with which the sensor value for VarNo is multiplied before check and before it
is saved in Value.
[ \DeadBand ]
Data type: num
If the value for Varno, returned by the sensor, is within +/- DeadBand no interrupt is
generated.
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1 Instructions
1.81. IVarValue - orders a variable value interrupt
Optical Tracking
Continued
Program execution
The corresponding trap routine is automatically called at a given time following the interrupt
order. When this has been executed program execution continues from where the interrupt
occurred.
Limitations
The same variable for interrupt identity cannot be used more than five times without first
being deleted.
CAUTION!
Too high interrupt frequency will stall the whole RAPID execution.
Syntax
IVarValue
[ device ’:=’ ] < expression (IN) of string>’,’
[ VarNo ’:=’ ] < expression (IN) of num >’,’
[ Value ’:=’ ] < persistent (PERS) of num >’,’
[ Interrupt’ :=’ ] < variable (VAR) of intnum > ’,’
[ ’\’ Unit’ :=’ ] < expression (IN) of num >’,’
[ ’\’ DeadBand’ :=’ ] < expression (IN) of num > ’;’
204
For information about
See
Connect to a sensor device
SenDevice - connect to a sensor device on page
425
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
Optical Tracking
Application manual - Continuous application
platform
Optical Tracking Art
Application manual - Arc and Arc Sensor
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.82. IWatch - Activates an interrupt
RobotWare - OS
1.82. IWatch - Activates an interrupt
Usage
IWatch (Interrupt Watch) is used to activate an interrupt which was previously ordered but
was deactivated with ISleep.
Basic examples
Basic examples of the instruction IWatch are illustrated below.
See also More examples on page 205.
Example 1
IWatch sig1int;
The interrupt sig1int that was previously deactivated is activated.
Arguments
IWatch Interrupt
Interrupt
Data type: intnum
Variable (interrupt identity) of the interrupt.
Program execution
Re-activates interrupts of the specified type once again. However, interrupts generated during
the time the ISleep instruction was in effect are ignored.
More examples
More examples of the instruction IWatch are illustrated below.
Example 1
VAR intnum sig1int;
© Copyright 2004-2010 ABB. All rights reserved.
CONNECT sig1int WITH iroutine1;
ISignalDI di1,1,sig1int;
...
ISleep sig1int;
weldpart1;
IWatch sig1int;
During execution of the weldpart1 routine no interrupts are permitted from the signal di1.
Error handling
Interrupts which have not been ordered are not permitted. If the interrupt number is unknown
the system variable ERRNO is set to ERR_UNKINO (see errnum - Error number on page 1108).
The error can be handled in the error handler.
Syntax
IWatch
[ Interrupt ‘:=’ ] < variable (VAR) of intnum > ‘;’
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1 Instructions
1.82. IWatch - Activates an interrupt
RobotWare - OS
Continued
Related information
See
Summary of interrupts
Technical reference manual - RAPID
overview, section RAPID summary Interrupts
Deactivating an interrupt
ISleep - Deactivates an interrupt on page 198
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.83. Label - Line name
RobotWare - OS
1.83. Label - Line name
Usage
Label is used to name a line in the program. Using the GOTO instruction this name can then
be used to move program execution within the same routine.
Basic examples
Basic examples of the instruction Label are illustrated below.
Example 1
GOTO next;
...
next:
Program execution continues with the instruction following next.
Arguments
Label:
Label
Identifier
The name you wish to give the line.
Program execution
Nothing happens when you execute this instruction.
Limitations
The label must not be the same as
•
any other label within the same routine.
•
any data name within the same routine.
© Copyright 2004-2010 ABB. All rights reserved.
A label hides global data and routines with the same name within the routine it is located in.
Syntax
(EBNF)
<identifier>’:’
Related information
For information about
See
Identifiers
Technical reference manual - RAPID overview,
section Basic characteristics - Basic elements
Moving program execution to a label
GOTO - Goes to a new instruction on page 117
3HAC 16581-1 Revision: J
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1 Instructions
1.84. Load - Load a program module during execution
RobotWare - OS
1.84. Load - Load a program module during execution
Usage
Load is used to load a program module into the program memory during execution.
The loaded program module will be added to the already existing modules in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad.
Static mode
The following table describes how different operations affect static loaded program or system
modules.
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Dynamic mode
The following table describes how different operations affect dynamic loaded program or
system modules.
Type of module
Set PP to main from
FlexPendant
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
Basic examples
Basic examples of the instruction Load are illustrated below.
See also More examples on page 210.
Load \Dynamic, diskhome \File:="PART_A.MOD";
Loads the program module PART_A.MOD from the diskhome into the program memory.
diskhome is a predefined string constant "HOME:". Load the program module in the
dynamic mode.
Example 2
Load \Dynamic, diskhome \File:="PART_A.MOD";
Load \Dynamic, diskhome \File:="PART_B.MOD" \CheckRef;
Loads the program module PART_A.MOD into the program memory, then PART_B.MOD is
loaded. If PART_A.MOD contains references to PART_B.MOD, \CheckRef can be used to
check for unresolved references only when the last module is loaded. IF \CheckRef is used
on PART_A.MOD, a link error would occur and the module would not be loaded.
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© Copyright 2004-2010 ABB. All rights reserved.
Example 1
1 Instructions
1.84. Load - Load a program module during execution
RobotWare - OS
Continued
Arguments
Load [\Dynamic] FilePath [\File] [\CheckRef]
[\Dynamic]
Data type: switch
The switch enables load of a module in dynamic mode. Otherwise the load is in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program memory. The
file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath then it must be defined with this
argument.
[\CheckRef]
Data type: switch
Check after loading of the module for unsolved references in the program task. If not used no
check for unsolved references are done.
Program execution
Program execution waits for the program module to finish loading before proceeding with the
next instruction.
Unresolved references will always be accepted for the loading operation, if parameter
\CheckRef is not used, but it will be a run time error on execution of an unresolved
reference.
© Copyright 2004-2010 ABB. All rights reserved.
After the program module is loaded it will be linked and initialized. The initialization of the
loaded module sets all variables at module level to their unit values.
If any error from the loading operation, including unresolved references if use of switch
\CheckRef, the loaded module will not be available any more in the program memory.
To obtain a good program structure that is easy to understand and maintain, all loading and
unloading of program modules should be done from the main module which is always present
in the program memory during execution.
For loading of program that contains a main procedure to a main program (with another main
procedure), see example in More examples on page 210 below.
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1 Instructions
1.84. Load - Load a program module during execution
RobotWare - OS
Continued
More examples
More examples of how to use the instruction Load are illustrated below.
More general examples
Load \Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
Loads the program module DOOR1.MOD from HOME: at the directory DOORDIR into the
program memory. The program module is loaded in the dynamic mode.
Load "HOME:" \File:="DOORDIR/DOOR1.MOD";
Same as above but another syntax, and the module is loaded in the static mode.
Load\Dynamic, "HOME:/DOORDIR/DOOR1.MOD";
%"routine_x"%;
UnLoad "HOME:/DOORDIR/DOOR1.MOD";
Procedure routine_x, will be binded during execution (late binding).
xx0500002104
The above example shows how you can load a program which includes a main procedure.
This program can have been developed and tested separately and later loaded with Load or
StartLoad... WaitLoad into the system using some type of main program framework. In
this example car.prg, which loads other programs door.prg or window.prg.
In the program car.prg you load door.prg or window.prg located at "HOME:". Because
the main procedures in door.prg and window.prg after the loading are considered
LOCAL in the module by the system, the procedure calls are made in the following way:
%"door:main"% or %"window: main"%. This syntax is used when you want to get access
to LOCAL procedures in other modules in this example procedure main in module door or
module window.
Unloading the modules with \Save argument will again make the main procedures global in
the saved program.
If you, when the module car or window are loaded in the system, set program pointer to main
from any part of the program, the program pointer will always be set to the global main
procedure in the main program, car.prg in this example.
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Loaded program contains a main procedure
1 Instructions
1.84. Load - Load a program module during execution
RobotWare - OS
Continued
Limitations
Avoid ongoing robot movements during the loading.
Error handling
If the file specified in the Load instruction cannot be found the system variable ERRNO is set
to ERR_FILNOTFND at execution.
If some other type of problems to read the file to load the system variable ERRNO will be set
to ERR_IOERROR.
If the module cannot be loaded because the program memory is full the system variable
ERRNO is set to ERR_PRGMEMFULL.
If the module is already loaded into the program memory the system variable ERRNO is set to
ERR_LOADED.
If the loaded module contains syntax errors the system variable ERRNO is set to ERR_SYNTAX.
If the loaded module result in fatal link errors the system variable ERRNO is set to
ERR_LINKREF.
If Load is used with the switch \CheckRef to check for any reference error and the program
memory contains unresolved references the system variable ERRNO is set to ERR_LINKREF.
These errors can then be handled in the ERROR handler. If some of these error occurs the actual
module will be unloaded and will not be available in the ERROR handler.
Syntax
Load
[´\´Dynamic´,´]
[FilePath´:=´]<expression (IN) of string>
[´\´File´:=´ <expression (IN) of string>]
[´\´CheckRef]´;´
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Load a program module in parallel with
another program execution
StartLoad - Load a program module during
execution on page 482
WaitLoad - Connect the loaded module to the
task on page 682
Check program references
CheckProgRef - Check program references
on page 37
3HAC 16581-1 Revision: J
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
1.85. LoadId - Load identification of tool or payload
Usage
LoadId (Load Identification) can be used for load identification of tool (also gripper tool if
roomfix TCP) or payload (activates with instruction GripLoad) by executing a user defined
RAPID program.
NOTE!
An easier way to identify the tool load or payload is to use the interactive dialogue RAPID
program LoadIdentify. This program can be started from the menu
Program Editor/Debug/Call Service Rout./LoadIdentify.
Basic examples
Basic examples of the instruction LoadId are illustrated below.
See also More examples on page 216.
Example 1
VAR bool invalid_pos := TRUE;
VAR jointtarget joints;
VAR bool valid_joints{12};
CONST speeddata low_ori_speed := [20, 5, 20, 5];
VAR bool slow_test_flag := TRUE;
PERS tooldata grip3 := [ TRUE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [0, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0]];
! Check if valid robot type
IF ParIdRobValid(TOOL_LOAD_ID) <> ROB_LOAD_VAL THEN
EXIT;
ENDIF
! Check if valid robot position
WHILE invalid_pos = TRUE DO
IF ParIdPosValid (TOOL_LOAD_ID, joints, valid_joints) = TRUE
THEN
! Valid position
invalid_pos := FALSE;
ELSE
! Invalid position
! Adjust the position by program movements (horizontal tilt
house)
MoveAbsJ joints, low_ori_speed, fine, tool0;
ENDIF
ENDWHILE
! Do slow test for check of free working area
IF slow_test_flag = TRUE THEN
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3 \SlowTest;
ENDIF
! Do measurement and update all load data in grip3
LoadId TOOL_LOAD_ID, MASS_WITH_AX3, grip3;
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© Copyright 2004-2010 ABB. All rights reserved.
joints := CJointT();
1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
Continued
Load identification of tool grip3.
Condition
The following conditions should be fulfilled before load measurements with LoadId:
•
Make sure that all loads are correctly mounted on the robot
•
Check whether valid robot type with ParIdRobValid
•
Check whether valid position with ParIdPosValid:
- Axes 3, 5, and 6 not close to their corresponding working range
- Tilt housing almost horizontal, i.e. that axis 4 is in zero position
•
The following data should be defined in system parameters and in arguments to
LoadId before running LoadId
The table below illustrates the load identification of tool.
Load identification
modes /
Defined data before
LoadId
Moving
TCP Mass
Known
Upper arm load
(System parameter)
Mass in tool
Moving
TCP Mass
Unknown
Roomfix
TCP Mass
Known
Defined
Roomfix
TCP Mass
Unknown
Defined
Defined
Defined
The table below illustrates the load identification of payload.
Load identification
modes /
Defined data before
LoadId
Moving
Moving
TCP Mass TCP Mass
Known
Unknown
© Copyright 2004-2010 ABB. All rights reserved.
Upper arm load
(System parameters)
Roomfix
TCP Mass
Known
Defined
Load data in tool
Defined
Mass in payload
Defined
Tool frame in tool
Defined
Defined
Roomfix
TCP Mass
Unknown
Defined
Defined
Defined
Defined
Defined
User frame in work object
Defined
Defined
Object frame in work object
Defined
Defined
•
Operating mode and speed override:
- Slow test in manual mode reduced speed
- Load measurements in automatic mode (or manual mode full speed) with speed
override 100%
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213
1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
Continued
Arguments
LoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj] [\ConfAngle]
[\SlowTest] [\Accuracy]
ParIdType
Data type: paridnum
Type of load identification as defined in the table below.
Value
Symbolic constant
Comment
1
TOOL_LOAD_ID
Identify tool load
2
PAY_LOAD_ID
Identify payload (Ref. instruction GripLoad)
LoadIdType
Data type: loadidnum
Type of load identification as defined in the table below.
Value
Symbolic constant
Comment
1
MASS_KNOWN
Known mass in tool or payload respectively. (Mass in
specified Tool or PayLoad must be specified)
2
MASS_WITH_AX3
Unknown mass in tool or payload respectively.
Identification of mass in tool or payload will be done
with movements of axis 3
Tool
Data type: tooldata
Persistent variable for the tool to be identified. If argument \PayLoad is specified, the
persistent variable for the tool in use.
For load identification of tool, the following arguments \PayLoad and \WObj should not be
specified.
Data type: loaddata
Persistent variable for the payload to be identified.
This option argument must always be specified for load identification of payload.
[ \ WObj ]
Data type: wobjdata
Persistent variable for the work object in use.
This option argument must always be specified for load identification of payload with
roomfix TCP.
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[ \ PayLoad ]
1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
Continued
[ \ ConfAngle ]
Data type: num
Option argument for specification of a specific configuration angle ± degrees to be used for
the parameter identification.
xx0500002198
Default + 90 degrees if this argument is not specified. Min. + or - 30 degrees. Optimum + or
- 90 degrees.
[ \ SlowTest ]
Data type: switch
Option argument to specify whether only slow test for checking of free working area should
be done. See table below:
LoadId ... \SlowTest
Run only slow test
LoadId ...
Run only measurement and update tool or payload
[ \ Accuracy ]
Data type: num
© Copyright 2004-2010 ABB. All rights reserved.
Variable for output of calculated measurement accuracy in % for the whole load identification
calculation (100% means maximum accuracy).
Program execution
The robot will carry out a large number of relative small transport and measurement
movements on axes 5 and 6. For identification of mass, movements will also be made with
axis 3.
After all measurements, movements, and load calculations the load data is returned in
argument Tool or PayLoad. The following load data is calculated:
•
Mass in kg (if mass is unknown otherwise not affected)
•
Center of gravity x, y, z, and axes of moment
•
Inertia ix, iy, iz in kgm
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1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
Continued
More examples
More examples of the instruction LoadId are illustrated below.
Example 1
PERS tooldata grip3 := [ FALSE, [[97.4, 0, 223.1], [0.924, 0, 0.383
,0]], [6, [10, 10, 100], [0.5, 0.5, 0.5, 0.5], 1.2, 2.7,
0.5]];
PERS loaddata piece5 := [ 5, [0, 0, 0], [1, 0, 0, 0], 0, 0, 0];
PERS wobjdata wobj2 := [ TRUE, TRUE, "", [ [34, 0, -45], [0.5, 0.5, 0.5 ,-0.5] ], [ [0.56, 10, 68], [0.5, 0.5, 0.5 ,0.5] ] ];
VAR num load_accuracy;
! Do measurement and update all payload data except mass in piece5
LoadId PAY_LOAD_ID, MASS_KNOWN, grip3 \PayLoad:=piece5
\WObj:=wobj2 \Accuracy:=load_accuracy;
TPWrite " Load accuracy for piece5 (%) = " \Num:=load_accuracy;
Load identification of payload piece5 with known mass in installation with roomfix TCP.
Limitations
Usually load identification of tool or payload for the robot is done with the service routine
LoadIdentify. It is also possible to do this identification with this RAPID instruction
LoadId. Before loading or executing the program with LoadId following modules must be
loaded to the system:
Load \Dynamic, "RELEASE:/system/mockit.sys";
Load \Dynamic, "RELEASE:/system/mockit1.sys";
It is not possible to restart the load identification movements after any type of stop such as
program stop, emergency stop, or power failure. The load identification movements must
then be started from the beginning.
At any error during execution of the RAPID NOSTEPIN routine LoadId, the system variable
ERRNO is set to ERR_PID_MOVESTOP, ERR_PID_RAISE_PP or ERR_LOADID_FATAL and the
program pointer is raised to the user call of LoadId.
Syntax
LoadId
[ ParIdType ’:=’ ] <expression (IN) of paridnum>´,’
[ LoadIdType’ :=’ ] <expression (IN) of loadidnum> ´,’
[ Tool ’:=’ ] <persistent (PERS) of tooldata>
[ ‘\’ PayLoad’ :=’ <persistent (PERS) of loaddata> ]
[ ‘\’ WObj’ :=’ <persistent (PERS) of wobjdata> ]
[ ‘\’ ConfAngle’ :=’ <expression (IN) of num> ]
[ ´\’ SlowTest ]
[ ´\’ Accuracy’ :=’ <variable (VAR) of num> ] ´;’
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© Copyright 2004-2010 ABB. All rights reserved.
Error handling
1 Instructions
1.85. LoadId - Load identification of tool or payload
RobotWare-OS
Continued
Related information
See
Predefined program Load Identify
Operating manual - IRC5 with FlexPendant, section
Programming and testing - Service routines - LoadIdentify, load identification and service routines
Type of parameter identification
paridnum - Type of parameter identification on page
1154
Result of ParIdRobValid
paridvalidnum - Result of ParIdRobValid on page
1156
Type of load identification
loadidnum - Type of load identification on page 1137
Valid robot type
ParIdRobValid - Valid robot type for parameter identification on page 916
Valid robot position
ParIdPosValid - Valid robot position for parameter
identification on page 913
© Copyright 2004-2010 ABB. All rights reserved.
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3HAC 16581-1 Revision: J
217
1 Instructions
1.86. MakeDir - Create a new directory
RobotWare - OS
1.86. MakeDir - Create a new directory
Usage
MakeDir is used to create a new directory. The user must have write and execute permission
for the parent directory under which the new directory is created.
Basic examples
Basic examples of the instruction MakeDir are illustrated below.
Example 1
MakeDir "HOME:/newdir";
This example creates a new directory, called newdir, under HOME:
Arguments
MakeDir Path
Path
Data type:string
The name of the new directory specified with full or relative path.
Error handling
If the directory cannot be created the system variable ERRNO is set to ERR_FILEACC. This
error can then be handled in the error handler.
Syntax
MakeDir
[ Path’:=’ ] < expression (IN) of string>’;’
218
For information about
See
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
RobotWare-OS
1.87. ManLoadIdProc - Load identification of IRBP manipulators
Usage
ManLoadIdProc (Manipulator Load Identification Procedure) is used for load identification
of payload for external manipulators by executing a user defined RAPID program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
NOTE!
An easier way to identify the payload is to use the interactive dialogue RAPID program
ManLoadIdentify.This program can be started from the menu
Program Editor/Debug/Call Routine.../ManLoadIdentify.
Basic examples
Basic examples of the instruction ManLoadIdProc are illustrated below.
PERS loaddata myload := [6,[0,0,0],[1,0,0,0],0,0,0];
VAR bool defined;
ActUnit STN1;
ManLoadIdProc \ParIdType := IRBP_L
\MechUnit := STN1
\PayLoad := myload
\ConfigAngle := 60
\AlreadyActive
\DefinedFlag := defined;
DeactUnit STN1;
© Copyright 2004-2010 ABB. All rights reserved.
Load identification of payload myload mounted on the mechanical unit STN1. The external
manipulator is of type IRBP-L. The configuration angle is set to 60 degrees. The manipulator
is activated before the load identification and deactivated after. After the identification
myload has been updated and defined it is set to TRUE.
Arguments
ManLoadIdProc [\ParIdType] [\MechUnit] | [\MechUnitName]
[\AxisNumber] [\PayLoad] [\ConfigAngle] [\DeactAll] |
[\AlreadyActive] [DefinedFlag] [DoExit]
[ \ ParIdType ]
Data type: paridnum
Type of parameter identification. Predefined constants are found under the datatype
paridnum.
[ \ MechUnit ]
Data type: mecunit
Mechanical unit used for the load identification. Can not be used together with argument
\MechUnitName.
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1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
RobotWare-OS
Continued
[ \ MechUnitName ]
Data type: string
Mechanical unit used for the load identification given as a string. Can not be used together
with argument \MechUnit.
[ \ AxisNumber ]
Data type: num
Axis number within the mechanical unit, which holds the load to be identified.
[ \ PayLoad ]
Data type: loaddata
Variable for the payload to be identified. The component mass must be specified.
This variable will be updated after the identification is done.
[ \ ConfigAngle ]
Data type: num
Specification of a specific configuration angle ± degrees to be used for the parameter
identification.
xx0500002197
[ \ DeactAll ]
Data type: switch
If this switch is used all mechanical units in the system will be deactivated before
identification is done. The mechanical unit to identify will then be activated. It cannot be used
together with argument \AlreadyActive.
[ \ AlreadyActive ]
Data type: switch
This switch is used if the mechanical unit to identify is active. It cannot be used together with
argument \DeactAll.
[ \ DefinedFlag ]
Data type: bool
This argument will be set to TRUE if the identification has been made, FALSE otherwise.
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© Copyright 2004-2010 ABB. All rights reserved.
Min. + or - 30 degrees. Optimum + or - 90 degrees.
1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
RobotWare-OS
Continued
[ \ DoExit]
Data type: bool
If set to TRUE the load identification will end up with an EXIT command to force the user to
set PP to main before continuing the execution. If not present or set to FALSE no EXIT will
be done. Note that ManLoadIdProc always clears the current path.
Program Execution
All arguments are optional. If an argument is not given the user will be asked for the value
from the FlexPendant (except for \DoExit).
The user will always be asked to give the mass and if the manipulator is of type IRBP R, z in
mm.
The mechanical unit will carry out a large number of relative small transport and
measurement movements.
After all measurements, movements, and load calculations the load data is returned in
argument Payload if used. The following load data is calculated.
IRBP-L
IRBP-C
IRBP_T
IRBP-A
IRBP-B
IRBP-D
Manipulator type/
Calculated load data
IRBP-K
Parameter PayLoad cog.x, cog.y, cog.z in loaddata in mm
cog.x cog.y cog.x cog.y cog.x cog.y cog.x cog.y
cog.z
Parameter PayLoad - ix, iy, iz in
loaddata in kgm2
iz
iz
IRBP-R
ix
iy
iz
ix
iy
iz
The calculated data will be displayed on the FlexPendant.
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
Usually load identification of load for the external manipulator is done with the service
routine ManLoadIdentify. It is also possible to do this identification with this RAPID
instruction ManLoadIdProc.
Any path in progress will be cleared before the load identification. The program pointer will
be lost after the load identification if argument \DoExit:=TRUE is used.
It is not possible to restart the load identification movements after any type of stop, such as
program stop, emergency stop, or power failure. The load identification movements must be
again restarted from the beginning.
Error handling
At any error during execution of the RAPID NOSTEPIN routine ManLoadIdProc the system
variable ERRNO is set to ERR_PID_MOVESTOP, ERR_PID_RAISE_PP, or
ERR_LOADID_FATAL and the program pointer is raised to the user call of ManLoadIdProc.
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1 Instructions
1.87. ManLoadIdProc - Load identification of IRBP manipulators
RobotWare-OS
Continued
Syntax
ManLoadIdProc
[ ´\’ParIdType ’:=’ <expression (IN) of paridnum>]
[ ´\’MechUnit ’:=’ <variable (VAR) of mecunit> ]
|[´\’MechUnitName ’:=’ <expression (IN) of string>]
[´\’ AxisNumber ’:=’ <expression (IN) of num> ]
[´\’ PayLoad ’:=’ <var or pers (INOUT) of loaddata>
[ ´\’ ConfigAngle ’:=’ <expression (IN) of num>]
[ ´\’ DeactAll] | [´\’AlreadyActive]
[ ´\’ DefinedFlag ’:=’ <variable (VAR) of bool> ]
[ ´\’ DoExit ’:=’ <expression (IN) of bool> ] ´;’
Related information
See
Type of parameter identification
paridnum - Type of parameter identification on
page 1154
Mechanical unit
mecunit - Mechanical unit on page 1139
PayLoad
loaddata - Load data on page 1132
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.88. MechUnitLoad - Defines a payload for a mechanical unit
RobotWare - OS
1.88. MechUnitLoad - Defines a payload for a mechanical unit
Usage
MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for
the robot is defined with instruction GripLoad.)
This instruction should be used for all mechanical units with dynamic model in servo to
achieve the best motion performance.
The MechUnitLoad instruction should always be executed after execution of the instruction
ActUnit.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_L of type IRBP L.
xx0500002142
Example 1
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, load0;
© Copyright 2004-2010 ABB. All rights reserved.
Activate mechanical unit IRBP_L and define the payload load0 corresponding to no load (at
all) mounted on axis 1.
Example 2
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, fixture1;
Activate mechanical unit IRBP_L and define the payload fixture1 corresponding to fixture
fixture1 mounted on axis 1.
Example 3
ActUnit IRBP_L;
MechUnitLoad IRBP_L, 1, workpiece1;
Activate mechanical unit IRBP_L and define the payload workpiece1 corresponding to
fixture and work piece named workpiece1 mounted on axis 1.
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1 Instructions
1.88. MechUnitLoad - Defines a payload for a mechanical unit
RobotWare - OS
Continued
Arguments
MechUnitLoad MechUnit AxisNo Load
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
AxisNo
Axis Number
Data type: num
The axis number within the mechanical unit that holds the load.
Load
Data type: loaddata
The load data that describes the current payload to be defined.
Program execution
After execution of MechUnitLoad, when the robot and external axes have come to a
standstill, the specified load is defined for the specified mechanical unit and axis. This means
that the payload is controlled and monitored by the control system.
The default payload at cold start-up, for a certain mechanical unit type, is the predefined
maximal payload for this mechanical unit type.
When some other payload is used the actual payload for the mechanical unit and axis should
be redefined with this instruction. This should always be done after activation of the
mechanical unit.
The following figure shows a payload mounted on the end-effector of a mechanical unit.
xx0500002143
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The defined payload will survive a power failure restart. The defined payload will also
survive a restart of the program after manual activation of some other mechanical units from
the jogging window.
1 Instructions
1.88. MechUnitLoad - Defines a payload for a mechanical unit
RobotWare - OS
Continued
More examples
More examples of how to use the instruction MechUnitLoad are illustrated below.
Illustration
The following figure shows a mechanical unit named IRBP_K of type IRBP K with three
axes.
xx0500002144
Example 1
MoveL homeside1, v1000, fine, gun1;
...
ActUnit IRBP_K;
The whole mechanical unit IRBP_K is activated.
Example 2
MechUnitLoad IRBP_K, 2, workpiece1;
Defines payload workpiece1 on the mechanical unit IRBP_K axis 2.
Example 3
MechUnitLoad IRBP_K, 3, workpiece2;
© Copyright 2004-2010 ABB. All rights reserved.
Defines payload workpiece2 on the mechanical unit IRBP_K axis 3.
Example 4
MoveL homeside2, v1000, fine, gun1;
The axes of the mechanical unit IRBP_K move to the switch position homeside2 with
mounted payload on both axes 2 and 3.
Limitations
If this instruction is preceded by a move instruction, that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
MechUnitLoad cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart or Step.
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1 Instructions
1.88. MechUnitLoad - Defines a payload for a mechanical unit
RobotWare - OS
Continued
Syntax
MechUnitLoad
[MechUnit ’:=’ ] <variable (VAR) of mecunit>’ ,’
[AxisNo ´:=’ ] <expression (IN) of num> ´,’
[Load ’:=’ ] <persistent (PERS) of loaddata>’;’
Related information
See
Identification of payload for external
mechanical units
Application manual - Additional axes and stand
alone controller
Mechanical units
mecunit - Mechanical unit on page 1139
Definition of load data
loaddata - Load data on page 1132
Definition of payload for the robot
GripLoad - Defines the payload for the robot on
page 119
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
1.89. MotionSup - Deactivates/Activates motion supervision
Usage
MotionSup (Motion Supervision) is used to deactivate or activate the motion supervision
function for robot movements during program execution.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Description
Motion supervision is the name of a collection of functions for high sensitivity, model-based
supervision of the robot. Currently it contains functionality for load supervision, jam
supervision, and collision detection. Because the supervision is designed to be very sensitive
it may trip if there are large process forces acting on the robot.
If the load is not correctly defined use the load identification function to specify it. If large
external process forces are present in most parts of the application, such as during deburring,
then use the system parameters to raise the supervision level of the motion supervision until
it no longer triggers. If, however, the external forces are only temporary, such as during the
closing of a large spotweld gun, then the MotionSup instruction should be used to raise the
supervision level (or turn the function off) for those parts of the application where the
disturbance acts.
Basic examples
Basic examples of the instruction MotionSup are illustrated below.
Example 1
! If the motion supervision is active in the system parameters,
! then it is active by default during program execution
...
! If the motion supervision is deactivated through the system
© Copyright 2004-2010 ABB. All rights reserved.
! parameters,
! then it cannot be activated through the MotionSup instruction
...
! Deactivate motion supervision during program execution
MotionSup \Off;
...
! Activate motion supervision again during program execution
MotionSup \On;
...
! Tune the supervision level to 200% (makes the function less
! sensitive) of the level in
! the system parameters
MotionSup \On \TuneValue:= 200;
...
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1 Instructions
1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
Continued
Arguments
MotionSup[\On] | [\Off] [\TuneValue]
[ \On ]
Data type: switch
Activate the motion supervision function during program execution (if it has already been
activated in system parameters).
[ \Off ]
Data type: switch
Deactivate the motion supervision function during program execution.
One of the arguments \On or \Off must be specified.
[ \TuneValue ]
Data type: num
Tuning the motion supervision sensitivity level in percent (1 - 300%) of system parameter
level. A higher level gives more robust sensitivity. This argument can only be combined with
argument \On.
Program execution
If the function motion supervision is active both in the system parameters and in the RAPID
program and the motion supervision is triggered because of a collision etc., then
•
the robot will stop as quickly as possible
•
the robot will back up to remove any residual forces
•
the program execution will stop with an error message
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Limitations
Motion supervision is never active for external axes or when one or more joints are run in
independent joint mode. When using the robot in the soft servo mode it may be necessary to
turn the motion supervision off to avoid accidental tripping.
Syntax
MotionSup
[ ’\’ On] | [ ’\’ Off ]
[’\’ Tunevalue’:=’< expression (IN) of num> ] ’;´
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© Copyright 2004-2010 ABB. All rights reserved.
If motion supervision is active in system parameters it is then active by default during
program execution (TuneValue 100%). These values are set automatically
1 Instructions
1.89. MotionSup - Deactivates/Activates motion supervision
Collision Detection
Continued
Related information
See
General description of the function
Technical reference manual - RAPID overview,
section Motion and I/O principles - Motion
supervision/collision detection
Tuning using system parameters
Technical reference manual - System parameters,
section Motion - Motion Planner - Use Motion
Supervision
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
1.90. MoveAbsJ - Moves the robot to an absolute joint position
Usage
MoveAbsJ (Move Absolute Joint) is used to move the robot and external axes to an absolute
position defined in axes positions.
Examples of use:
•
the end point is a singular point
•
for ambiguous positions on the IRB 6400C, e.g. for movements with the tool over the
robot
The final position of the robot during a movement with MoveAbsJ is neither affected by the
given tool and work object nor by active program displacement. However, the robot uses this
data to calculate the load, TCP velocity, and the corner path. The same tools can be used in
adjacent movement instructions.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveAbsJ are illustrated below.
See also More examples on page 233.
Example 1
MoveAbsJ p50, v1000, z50, tool2;
The robot with the tool tool2 is moved along a non-linear path to the absolute axis position,
p50, with velocity data v1000 and zone data z50.
Example 2
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© Copyright 2004-2010 ABB. All rights reserved.
MoveAbsJ *, v1000\T:=5, fine, grip3;
The robot with the tool grip3 is moved along a non-linear path to a stop point which is stored
as an absolute axis position in the instruction (marked with an *). The entire movement takes
5 seconds.
1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
Continued
Arguments
MoveAbsJ [\Conc] ToJointPos [\ID] [\NoEOffs] Speed [\V] | [\T]
Zone [\Z] [\Inpos] Tool [\WObj]
[\Conc]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but is used to shorten the cycle time when, for example, communicating with external
equipment if synchronization is not required.
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point, the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
© Copyright 2004-2010 ABB. All rights reserved.
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \NoEOffs ]
No External Offsets
Data type: switch
If the argument \NoEOffs is set then the movement with MoveAbsJ is not affected by active
offsets for external axes.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
Continued
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone that is specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robots TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
The tool in use during the movement.
The position of the TCP and the load on the tool are defined in the tool data. The TCP position
is used to calculate the velocity and the corner path for the movement.
[ \WObj ]
Work Object
Data type: wobjdata
The work object used during the movement.
This argument can be omitted if the tool is held by the robot. However, if the robot holds the
work object, i.e. the tool is stationary, or with coordinated external axes, then the argument
must be specified.
In the case of a stationary tool or coordinated external axes, the data used by the system to
calculate the velocity and the corner path for the movement is defined in the work object.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: tooldata
1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
Continued
Program execution
A movement with MoveAbsJ is not affected by active program displacement and if executed
with switch \NoEOffs there will be no offset for external axes. Without switch \NoEOffs the
external axes in the destination target are affected by active offset for external axes.
The tool is moved to the destination absolute joint position with interpolation of the axis
angles. This means that each axis is moved with constant axis velocity and that all axes reach
the destination joint position at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at approximate programmed velocity. The tool is
reoriented and the external axes are moved at the same time as the TCP moves. If the
programmed velocity for reorientation or for the external axes cannot be attained, the velocity
of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data program execution only continues when the
robot and external axes have reached the appropriate joint position.
More examples
More examples of how to use the instruction MoveAbsJ are illustrated below.
Example 1
MoveAbsJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The tool, grip3, is moved along a non-linear path to an absolute joint position stored in the
instruction. The movement is carried out with data set to v2000 and z40. The velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveAbsJ p5, v2000, fine \Inpos := inpos50, grip3;
© Copyright 2004-2010 ABB. All rights reserved.
The tool, grip3, is moved along a non-linear path to an absolute joint position p5. The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata.
Example 3
MoveAbsJ \Conc, *, v2000, z40, grip3;
The tool, grip3, is moved along a non-linear path to an absolute joint position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
Example 4
MoveAbsJ \Conc, * \NoEOffs, v2000, z40, grip3;
Same movement as above but the movement is not affected by active offsets for external axes.
Example 5
GripLoad obj_mass;
MoveAbsJ start, v2000, z40, grip3 \WObj:= obj;
The robot moves the work object obj in relation to the fixed tool grip3 along a non-linear
path to an absolute axis position start.
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1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
Continued
Limitations
In order to be able to run backwards with the instruction MoveAbsJ involved and avoiding
problems with singular points or ambiguous areas, it is essential that the subsequent
instructions fulfil certain requirements as follows (see figure below).
The figure shows limitation for backward execution with MoveAbsJ.
.
xx0500002201
Syntax
MoveAbsJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression (IN) of jointtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]
[ ’\’ NoEoffs ] ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
| [ ’\’ T’ :=’ < expression (IN) of num > ] ’,’
[Zone ’:=’ ] < expression (IN) of zonedata>
[’\’ Z ´:=’ ] < expression (IN) of num >
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ] ’;’
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[ ’\’ V ’:=’ < expression (IN) of num > ]
1 Instructions
1.90. MoveAbsJ - Moves the robot to an absolute joint position
RobotWare - OS
Continued
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.91. MoveC - Moves the robot circularly
RobotWare - OS
1.91. MoveC - Moves the robot circularly
Usage
MoveC is used to move the tool center point (TCP) circularly to a given destination. During
the movement the orientation normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveC are illustrated below.
See also More examples on page 239.
Example 1
MoveC p1, p2, v500, z30, tool2;
The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and
zone data z30. The circle is defined from the start position, the circle point p1, and the
destination point p2.
Example 2
MoveC *, *, v500 \T:=5, fine, grip3;
The TCP of the tool, grip3, is moved circularly to a fine point stored in the instruction
(marked by the second *). The circle point is also stored in the instruction (marked by the first
*). The complete movement takes 5 seconds.
Example 3
MoveL p1, v500, fine, tool1;
MoveC p2, p3, v500, z20, tool1;
MoveC p4, p1, v500, fine, tool1;
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows how a complete circle is performed by two MoveC instructions.
xx0500002212
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1.91. MoveC - Moves the robot circularly
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Continued
Arguments
MoveC [\Conc] CirPoint ToPoint [\ID] Speed [\V] | [\T] Zone [\Z]
[\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath, movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination
point, the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
© Copyright 2004-2010 ABB. All rights reserved.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
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1.91. MoveC - Moves the robot circularly
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Continued
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if it is then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used this
argument must be specified in order for a circle relative to the work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: tooldata
1 Instructions
1.91. MoveC - Moves the robot circularly
RobotWare - OS
Continued
Program execution
The robot and external units are moved to the destination point as follows:
•
The TCP of the tool is moved circularly at a constant programmed velocity.
•
The tool is reoriented at a constant velocity from the orientation at the start position to
the orientation at the destination point.
•
The reorientation is performed relative to the circular path. Thus, if the orientation
relative to the path is the same at the start and the destination points, the relative
orientation remains unchanged during the movement (see figure below).
The figure shows tool orientation during circular movement.
xx0500002214
The orientation in the circle point is not reached. It is only used to distinguish between two
possible directions of reorientation. The accuracy of the reorientation along the path depends
only on the orientation at the start and destination points.
Different modes for tool orientation during circle path are described in instruction
CirPathMode.
© Copyright 2004-2010 ABB. All rights reserved.
Uncoordinated external axes are executed at constant velocity in order for them to arrive at
the destination point at the same time as the robot axes. The position in the circle position is
not used.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes, the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data, program execution only continues when the robot
and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveC are illustrated below.
Example 1
MoveC *, *, v500 \V:=550, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved circularly to a position stored in the instruction. The
movement is carried out with data set to v500 and z40; the velocity and zone size of the TCP
are 550 mm/s and 45 mm respectively.
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1 Instructions
1.91. MoveC - Moves the robot circularly
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Continued
Example 2
MoveC p5, p6, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3, is moved circularly to a stop point p6. The robot considers it to
be in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveC \Conc, *, *, v500, z40, grip3;
The TCP of the tool, grip3, is moved circularly to a position stored in the instruction. The
circle point is also stored in the instruction. Subsequent logical instructions are executed
while the robot moves.
Example 4
MoveC cir1, p15, v500, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved circularly to a position, p15 via the circle point cir1.
These positions are specified in the object coordinate system for fixture.
Limitations
There are some limitations in how the CirPoint and the ToPoint can be placed, as shown
in the figure below.
•
Minimum distance between start and ToPoint is 0.1 mm
•
Minimum distance between start and CirPoint is 0.1 mm
•
Minimum angle between CirPoint and ToPoint from the start point is 1 degree
The accuracy can be poor near the limits, e.g. if the start point and the ToPoint on the circle
are close to each other then the fault caused by the leaning of the circle can be much greater
than the accuracy with which the points have been programmed.
Make sure that the robot can reach the circle point during program execution and divide the
circle segment if necessary.
A change of execution mode from forward to backward or vice versa while the robot is
stopped on a circular path is not permitted and will result in an error message.
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xx0500002213
1 Instructions
1.91. MoveC - Moves the robot circularly
RobotWare - OS
Continued
WARNING!
The instruction MoveC (or any other instruction including circular movement) should never
be started from the beginning with TCP between the circle point and the end point. Otherwise
the robot will not take the programmed path (positioning around the circular path in another
direction compared with that which is programmed).
To minimize the risk set the system parameter Restrict placing of circlepoints to TRUE (type
Motion Planner, topic Motion). The parameter adds a supervision that the circle path not turns
around more than 240 degrees and that the circle point is placed in the middle part of the circle
path.
Syntax
MoveC
[ ’\’ Conc ’,’ ]
[ CirPoint’ :=’ ] < expression (IN) of robtarget> ’,’
[ ToPoint’ :=’ ] < expression (IN) of robtarget> ’,’
[ ’\’ ID ’:=’ < expression (IN) of identno>]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata>
[ ’\’ V ’:=’ < expression (IN) of num> ]
[ ’\’ T ’:=’ < expression (IN) of num> ] ’,’
[Zone ’:=’ ] < expression (IN) of zonedata>
[ ’\’ Z ’:=’ < expression (IN) of num> ]
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata> ] ´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata>
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata> ]
[ ’\’ Corr ]’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview, section
RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Tool reorientation during circle
path
CirPathMode - Tool reorientation during circle path on
page 38
Motion in general
Technical reference manual - RAPID overview, section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview, section
Motion and I/O principles - Coordinate systems
Concurrent program execution
Technical reference manual - RAPID overview, section
Motion and I/O principles - Synchronization with logical
instructions
System parameters
Technical reference manual - System parameters
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1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
RobotWare - OS
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
Usage
MoveCDO (Move Circular Digital Output) is used to move the tool center point (TCP)
circularly to a given destination. The specified digital output is set/reset in the middle of the
corner path at the destination point. During the movement the orientation normally remains
unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCDO are illustrated below.
Example 1
MoveCDO p1, p2, v500, z30, tool2, do1,1;
The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and
zone data z30. The circle is defined from the start position, the circle point p1, and the
destination point p2. Output do1 is set in the middle of the corner path at p2.
Arguments
MoveCDO CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal
Value
CirPoint
Data type: robtarget
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
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© Copyright 2004-2010 ABB. All rights reserved.
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
RobotWare - OS
Continued
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified in order for a circle relative to the work object to be executed.
Signal
© Copyright 2004-2010 ABB. All rights reserved.
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
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1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
RobotWare - OS
Continued
Program execution
See the instruction MoveC for more information about circular movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
The figure shows set/reset of digital output signal in the corner path with MoveCDO.
xx0500002215
For stop points we recommend the use of“ normal” programming sequence with MoveC +
SetDO. But when using stop point in instruction MoveCDO the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
Limitations
General limitations according to instruction MoveC.
Syntax
MoveCDO
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signaldo > ] ´,’
[ Value ´:=’ ] < expression (IN) of dionum > ] ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
[ ToPoint’ :=’ ] < expression (IN) of robtarget > ’,’
1 Instructions
1.92. MoveCDO - Moves the robot circularly and sets digital output in the corner
RobotWare - OS
Continued
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
RobotWare - OS
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
Usage
MoveCSync (Move Circular Synchronously) is used to move the tool center point (TCP)
circularly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point. During the movement the orientation
normally remains unchanged relative to the circle.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveCSync are illustrated below.
Example 1
MoveCSync p1, p2, v500, z30, tool2, "proc1";
The TCP of the tool, tool2, is moved circularly to the position p2 with speed data v500 and
zone data z30. The circle is defined from the start position, the circle point p1, and the
destination point p2. Procedure proc1 is executed in the middle of the corner path at p2.
Example 2
MoveCSync p1, p2, v500, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveCSync CirPoint ToPoint [\ID] Speed [\T] Zone Tool [\WObj]
ProcName
CirPoint
The circle point of the robot. The circle point is a position on the circle between the start point
and the destination point. To obtain the best accuracy it should be placed about halfway
between the start and destination points. If it is placed too close to the start or destination point
the robot may give a warning. The circle point is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). The position of the external
axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: robtarget
1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
RobotWare - OS
Continued
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the TCP, the tool
reorientation and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot and external
axes move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination point.
[ \WObj ]
Work Object
© Copyright 2004-2010 ABB. All rights reserved.
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the instruction is
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used, this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point.
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1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
RobotWare - OS
Continued
Program execution
See the instruction MoveC for more information about circular movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveCSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done at the
middle of the corner path.
xx0500002216
For stop points we recommend the use of“ normal” programming sequence with MoveC + and
other RAPID instructions in sequence.
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Limitation
General limitations according to instruction MoveC.
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveCSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
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The table describes execution of the specified RAPID procedure in different execution
modes:
1 Instructions
1.93. MoveCSync - Moves the robot circularly and executes a RAPID procedure
RobotWare - OS
Continued
Syntax
MoveCSync
[ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression (IN) of robtarget > ’,’
[’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression (IN) of string > ] ’;’
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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249
1 Instructions
1.94. MoveExtJ - Move one or several mechanical units without TCP
RobotWare - OS
1.94. MoveExtJ - Move one or several mechanical units without TCP
Usage
MoveExtJ (Move External Joints) is used to move linear or rotating external axes. The
external axes can belong to one or several mechanical units without TCP.
This instruction can only be used with an actual program task defined as a Motion Task and
if the task controls one or several mechanical units without TCP.
Basic examples
Basic examples of the instruction MoveExtJ are illustrated below.
See also More examples on page 252.
Example 1
MoveExtJ jpos10, vrot10, z50;
Move rotational external axes to joint position jpos10 with speed 10 degrees/s with zone
data z50.
Example 2
MoveExtJ \Conc, jpos20, vrot10 \T:=5, fine \InPos:=inpos20;
Move external axes to joint position jpos20 in 5. The program execution goes forward at
once but the external axes stops in the position jpos20 until the convergence criteria in
inpos20 are fulfilled.
Arguments
MoveExtJ [\Conc] ToJointPos [\ID] [\UseEOffs] Speed [\T] Zone
[\Inpos]
[ \Conc ]
Concurrent
Subsequent instructions are executed while the external axis is moving. The argument is
usually not used but can be used to avoid unwanted stops caused by overloaded CPU when
using fly-by points. This is useful when the programmed points are very close together at high
speeds. The argument is also useful when, for example, communicating with external
equipment and synchronization between the external equipment and robot movement is not
required.
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToJointPos is not a stop point then the subsequent
instruction is executed some time before the external axes has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
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Data type: switch
1 Instructions
1.94. MoveExtJ - Move one or several mechanical units without TCP
RobotWare - OS
Continued
ToJointPos
To Joint Position
Data type: jointtarget
The destination absolute joint position of the external axes. It is defined as a named position
or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization ID
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet, is activated for MoveExtJ
instruction when the argument UseEOffs is used. See instruction EOffsSet for more
information about external offset.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the linear or
rotating external axis.
[ \T ]
Time
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
This argument is used to specify the total time in seconds during which the external axes
move. It is then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data defines stop point or fly-by point. If it is a fly-by point
then the zone size describes the deceleration and acceleration for the linear or rotational
external axes.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the external axis
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Program execution
The linear or rotating external axes are moved to the programmed point with the programmed
velocity.
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1.94. MoveExtJ - Move one or several mechanical units without TCP
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Continued
More examples
CONST jointtarget j1 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[0,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j2 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[30,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j3 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[60,9E9,9E9,9E9,9E9,9E9]];
CONST jointtarget j4 :=
[[9E9,9E9,9E9,9E9,9E9,9E9],[90,9E9,9E9,9E9,9E9,9E9]];
CONST speeddata rot_ax_speed := [0, 0, 0, 45];
MoveExtJ j1, rot_ax_speed, fine;
MoveExtJ j2, rot_ax_speed, z20;
MoveExtJ j3, rot_ax_speed, z20;
MoveExtJ j4, rot_ax_speed, fine;
In this example the rotating single axis is moved to joint position 0, 30, 60, and 90 degrees
with the speed of 45 degrees/s.
Syntax
MoveExtJ
[ ’\’ Conc ’,’ ]
[ ToJointPos’ :=’ ] < expression (IN) of jointtarget >
[’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata >]‘;’
252
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview,
section Motion
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Concurrent program execution
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.95. MoveJ - Moves the robot by joint movement
RobotWare - OS
1.95. MoveJ - Moves the robot by joint movement
Usage
MoveJ is used to move the robot quickly from one point to another when that movement does
not have to be in a straight line.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJ are illustrated below.
See also More examples on page 255.
Example 1
MoveJ p1, vmax, z30, tool2;
The tool center point (TCP) of the tool, tool2, is moved along a non-linear path to the
position, p1, with speed data vmax and zone data z30.
Example 2
MoveJ *, vmax \T:=5, fine, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a stop point stored in the
instruction (marked with an *). The entire movement takes 5 seconds.
Arguments
MoveJ [\Conc] ToPoint [\ID] Speed [\V] | [\T] Zone [\Z] [\Inpos]
Tool [\WObj]
[ \Conc ]
Concurrent
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point, the subsequent instruction is
executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
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1.95. MoveJ - Moves the robot by joint movement
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Continued
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
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Zone
1 Instructions
1.95. MoveJ - Moves the robot by joint movement
RobotWare - OS
Continued
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Program execution
The tool center point is moved to the destination point with interpolation of the axis angles.
This means that each axis is moved with constant axis velocity and that all axes reach the
destination point at the same time, which results in a non-linear path.
Generally speaking, the TCP is moved at the approximate programmed velocity (regardless
of whether or not the external axes are coordinated). The tool is reoriented and the external
axes are moved at the same time that the TCP moves. If the programmed velocity for
reorientation or for the external axes cannot be attained then the velocity of the TCP will be
reduced.
A corner path is usually generated when movement is transferred to the next section of the
path. If a stop point is specified in the zone data the program execution only continues when
the robot and external axes have reached the appropriate position.
More examples
More examples of how to use the instruction MoveJ are illustrated below.
© Copyright 2004-2010 ABB. All rights reserved.
Example 1
MoveJ *, v2000\V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the
instruction. The movement is carried out with data set to v2000 and z40; the velocity and
zone size of the TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveJ p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3, is moved in a non-linear path to a stop point p5. The robot
considers it to be in the point when 50% of the position condition and 50% of the speed
condition for a stop point fine are satisfied. It waits at most for 2 seconds for the conditions
to be satisfied. See predefined data inpos50 of data type stoppointdata.
Example 3
MoveJ \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3, is moved along a non-linear path to a position stored in the
instruction. Subsequent logical instructions are executed while the robot moves.
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1 Instructions
1.95. MoveJ - Moves the robot by joint movement
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Continued
Example 4
MoveJ start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved along a non-linear path to a position, start. This
position is specified in the object coordinate system for fixture.
Syntax
MoveJ
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ V ’:=’ < expression (IN) of num > ]
| [ ’\’ ’:=’ < expression (IN) of num > ] ’,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Z ‘:=’ < expression (IN) of num > ]
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata > ] ´,’
[ Tool’ :=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ] ’;’
256
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
RobotWare - OS
1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the
corner
Usage
MoveJDO (Move Joint Digital Output) is used to move the robot quickly from one point to
another when that movement does not have to be in a straight line. The specified digital output
signal is set/reset at the middle of the corner path.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJDO are illustrated below.
Example 1
MoveJDO p1, vmax, z30, tool2, do1, 1;
The tool center point (TCP) of the tool, tool2 , is moved along a non-linear path to the
position, p1, with speed data vmax and zone data z30. Output do1 is set in the middle of the
corner path at p1.
Arguments
MoveJDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
© Copyright 2004-2010 ABB. All rights reserved.
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
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Continued
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveJ for more information about joint movement.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in figure below.
xx0500002196
For stop points we recommend the use of“ normal” programming sequence with MoveJ +
SetDO. But when using stop point in instruction MoveJDO, the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
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© Copyright 2004-2010 ABB. All rights reserved.
The figure shows set/reset of digital output signal in the corner path with MoveJDO.
1 Instructions
1.96. MoveJDO - Moves the robot by joint movement and sets digital output in the corner
RobotWare - OS
Continued
Syntax
MoveJDO
[ ToPoint ’:=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata>
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ] ’,’
[ Signal ’:=’ ] < variable (VAR) of signaldo>] ´,’
[ Value ´:=’ ] < expression (IN) of dionum > ] ’;’
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview,
section Synchronization with logical instructions
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
259
1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
RobotWare - OS
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID
procedure
Usage
MoveJSync (Move Joint Synchronously) is used to move the robot quickly from one point
to another when that movement does not have to be in a straight line. The specified RAPID
procedure is ordered to execute at the middle of the corner path in the destination point.
The robot and external axes move to the destination position along a non-linear path. All axes
reach the destination position at the same time.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveJSync are illustrated below.
Example 1
MoveJSync p1, vmax, z30, tool2, "proc1";
The tool center point (TCP) of the tool, tool2, is moved along a non-linear path to the
position, p1, with speed data vmax and zone data z30. Procedure proc1 is executed in the
middle of the corner path at p1.
Example 2
MoveJSync p1, vmax, z30, tool2, "MyModule:proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveJSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The id number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and external axes.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: robtarget
1 Instructions
1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
RobotWare - OS
Continued
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
See the instruction MoveJ for more information about joint movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveJSync instruction, as shown in the figure
below.
xx0500002195
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
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Continued
For stop points we recommend the use of “normal” programming sequence with MoveJ +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Execution mode
Execution of RAPID procedure
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveJSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
Syntax
MoveJSync
[ ToPoint ’:=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >] ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num >] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata >´,´
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ´:=’ < persistent (PERS) of wobjdata > ] ’,’
© Copyright 2004-2010 ABB. All rights reserved.
[ ProcName ´:=’ ] < expression (IN) of string > ] ’;’
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1.97. MoveJSync - Moves the robot by joint movement and executes a RAPID procedure
RobotWare - OS
Continued
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview, section
RAPID summary - Motion
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview, section
Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview, section
Motion and I/O principles - Coordinate systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on page
588
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.98. MoveL - Moves the robot linearly
RobotWare - OS
1.98. MoveL - Moves the robot linearly
Usage
MoveL is used to move the tool center point (TCP) linearly to a given destination. When the
TCP is to remain stationary then this instruction can also be used to reorientate the tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveL are illustrated below.
See also More examples on page 266.
Example 1
MoveL p1, v1000, z30, tool2;
The TCP of the tool, tool2, is moved linearly to the position p1, with speed data v1000
and zone data z30.
Example 2
MoveL *, v1000\T:=5, fine, grip3;
The TCP of the tool, grip3, is moved linearly to a stop point stored in the instruction (marked
with an *). The complete movement takes 5 seconds.
Arguments
MoveL [\Conc] ToPoint [\ID] Speed [\V] | [ \T] Zone [\Z] [\Inpos]
Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required.
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath, movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
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Data type: switch
1 Instructions
1.98. MoveL - Moves the robot linearly
RobotWare - OS
Continued
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified id number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Z ]
© Copyright 2004-2010 ABB. All rights reserved.
Zone
Data type: num
This argument is used to specify the position accuracy of the robot TCP directly in the
instruction. The length of the corner path is given in mm, which is substituted for the
corresponding zone specified in the zone data.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
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1 Instructions
1.98. MoveL - Moves the robot linearly
RobotWare - OS
Continued
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary tool or coordinated external axes are used then this
argument must be specified in order to perform a linear movement relative to the work object.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
The robot and external units are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at constant programmed velocity.
•
The tool is reoriented at equal intervals along the path.
•
Uncoordinated external axes are executed at a constant velocity in order for them to
arrive at the destination point at the same time as the robot axes.
If it is not possible to attain the programmed velocity for the reorientation or for the external
axes then the velocity of the TCP will be reduced.
A corner path is usually generated when movement is transferred to the next section of a path.
If a stop point is specified in the zone data then program execution only continues when the
robot and external axes have reached the appropriate position.
More examples
Example 1
MoveL *, v2000 \V:=2200, z40 \Z:=45, grip3;
The TCP of the tool, grip3, is moved linearly to a position stored in the instruction. The
movement is carried out with data set to v2000 and z40. The velocity and zone size of the
TCP are 2200 mm/s and 45 mm respectively.
Example 2
MoveL p5, v2000, fine \Inpos := inpos50, grip3;
The TCP of the tool, grip3, is moved linearly to a stop point p5. The robot considers it to be
in the point when 50% of the position condition and 50% of the speed condition for a stop
point fine are satisfied. It waits at most for 2 seconds for the conditions to be satisfied. See
predefined data inpos50 of data type stoppointdata.
Example 3
MoveL \Conc, *, v2000, z40, grip3;
The TCP of the tool, grip3, is moved linearly to a position stored in the instruction.
Subsequent logical instructions are executed while the robot moves.
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© Copyright 2004-2010 ABB. All rights reserved.
More examples of how to use the instruction MoveL are illustrated below.
1 Instructions
1.98. MoveL - Moves the robot linearly
RobotWare - OS
Continued
Example 4
MoveL start, v2000, z40, grip3 \WObj:=fixture;
The TCP of the tool, grip3, is moved linearly to a position, start. This position is specified
in the object coordinate system for fixture.
Syntax
MoveL
[ ’\’ Conc ’,’ ]
[ ToPoint’ :=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >] ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ V ’:=’ < expression (IN) of num > ]
| [ ’\’ T’ :=’ < expression (IN) of num > ] ’,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Z ’:=’< expression (IN) of num > ]
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ] ’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Concurrent program execution
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
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1 Instructions
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
RobotWare - OS
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
Usage
MoveLDO (Move Linearly Digital Output) is used to move the tool center point (TCP) linearly
to a given destination. The specified digital output signal is set/reset at the middle of the
corner path.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLDO are illustrated below.
Example 1
MoveLDO p1, v1000, z30, tool2, do1,1;
The TCP of the tool, tool2, is moved linearly to the position p1 with speed data v1000 and
zone data z30. Output do1 is set in the middle of the corner path at p1.
Arguments
MoveLDO ToPoint [\ID] Speed [\T] Zone Tool [\WObj] Signal Value
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: identno
1 Instructions
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
RobotWare - OS
Continued
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
Signal
Data type: signaldo
The name of the digital output signal to be changed.
Value
Data type: dionum
The desired value of signal (0 or 1).
Program execution
See the instruction MoveL for more information about linear movements.
The digital output signal is set/reset in the middle of the corner path for flying points, as
shown in the figure below.
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows set/reset of digital output signal in the corner path with MoveLDO.
xx0500002193
For stop points we recommend the use of“ normal” programming sequence with MoveL +
SetDO. But when using stop point in instruction MoveLDO, the digital output signal is set/reset
when the robot reaches the stop point.
The specified I/O signal is set/reset in execution mode continuously and stepwise forward,
but not in stepwise backward.
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1 Instructions
1.99. MoveLDO - Moves the robot linearly and sets digital output in the corner
RobotWare - OS
Continued
Syntax
MoveLDO
[ ToPoint ’:=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ ] < persistent (PERS) of wobjdata > ’,’
[ Signal ’:=’ ] < variable (VAR) of signaldo >] ´,’
[ Value ´:=’ ] < expression (IN) of dionum > ] ’;’
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Movements with I/O settings
Technical reference manual - RAPID overview,
section Motion and I/O principles - Synchronization
with logical instructions
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
RobotWare - OS
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
Usage
MoveLSync (Move Linearly Synchronously) is used to move the tool center point (TCP)
linearly to a given destination. The specified RAPID procedure is ordered to execute at the
middle of the corner path in the destination point.
When the TCP is to remain stationary then this instruction can also be used to reorient the
tool.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction MoveLSync are illustrated below.
Example 1
MoveLSync p1, v1000, z30, tool2, "proc1";
The TCP of the tool, tool2, is moved linearly to the position p1 with speed data v1000 and
zone data z30. Procedure proc1 is executed in the middle of the corner path at p1.
Example 2
MoveLSync p1, v1000, z30, tool2, "proc1";
The same as in example 1 above, but here the locally declared procedure proc1 in module
MyModule will be called in the middle of the corner path.
Arguments
MoveLSync ToPoint [\ID] Speed [\T] Zone Tool [\WObj] ProcName
ToPoint
Data type: robtarget
© Copyright 2004-2010 ABB. All rights reserved.
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity for the tool center
point, the tool reorientation, and external axes.
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
RobotWare - OS
Continued
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point moved to the specified
destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified.
ProcName
Procedure Name
Data type: string
© Copyright 2004-2010 ABB. All rights reserved.
Name of the RAPID procedure to be executed at the middle of the corner path in the
destination point. The procedure call is a late binding call, and therefore inherits its properties.
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
RobotWare - OS
Continued
Program execution
See the instruction MoveL for more information about linear movements.
The specified RAPID procedure is ordered to execute when the TCP reaches the middle of
the corner path in the destination point of the MoveLSync instruction, as shown in the figure
below.
The figure shows that the order to execute the user defined RAPID procedure is done in the
middle of the corner path.
xx0500002194
For stop points we recommend the use of“ normal” programming sequence with MoveL +
other RAPID instructions in sequence.
The table describes execution of the specified RAPID procedure in different execution
modes:
Execution mode:
Execution of RAPID procedure:
Continuously or Cycle
According to this description
Forward step
In the stop point
Backward step
Not at all
© Copyright 2004-2010 ABB. All rights reserved.
Limitation
When the robot reaches the middle of the corner path there is normally a delay of 2-30 ms
until the specified RAPID routine is executed, depending on what type of movement is being
performed at the time.
Switching execution mode after program stop from continuously or cycle to stepwise forward
or backward results in an error. This error tells the user that the mode switch can result in
missed execution of the RAPID procedure in the queue for execution on the path.
Instruction MoveLSync cannot be used on TRAP level. The specified RAPID procedure
cannot be tested with stepwise execution.
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1 Instructions
1.100. MoveLSync - Moves the robot linearly and executes a RAPID procedure
RobotWare - OS
Continued
Syntax
MoveLSync
[ ToPoint ’:=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Zone ’:=’ ] < expression (IN) of zonedata > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj ´:=’ < persistent (PERS) of wobjdata > ] ’,’
[ ProcName ´:=’ ] < expression (IN) of string > ] ´;’
Related information
See
Other positioning instructions
Technical reference manual - RAPID overview,
section Motion
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Defines a position related interrupt
TriggInt - Defines a position related interrupt on
page 588
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
RobotWare - OS
1.101. MToolRotCalib - Calibration of rotation for moving tool
Usage
MToolRotCalib (Moving Tool Rotation Calibration) is used to calibrate the rotation of a
moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant, section Programming and testing).
Description
To define the tool orientation, you need a world fixed tip within the robot’s working space.
© Copyright 2004-2010 ABB. All rights reserved.
Before using the instruction MToolRotCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold (TRUE).
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
The TCP value of the tool must already be defined. The calibration can be done with
the instruction MToolTCPCalib.
•
tool0, wobj0, and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip (origin of the
tool coordinate system) and define a jointtarget for the reference point RefTip.
•
Jog the robot without changing the tool orientation so the world fixed tip is pointing
at some point on the positive z-axis of the tool coordinate system, and define a
jointtarget for point ZPos.
•
Optionally jog the robot without changing the tool orientation so the world fixed tip is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a jointtarget for point XPos.
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
See the figure below for a definition of jointtarget for RefTip, ZPos, and optional XPos.
xx0500002192
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1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
RobotWare - OS
Continued
NOTE!
It is not recommended to modify the positions RefTip, ZPos, and XPos in the instruction
MToolRotCalib.
Basic examples
Basic examples of the instruction MToolRotCalib are illustrated below.
Example 1
! Created with the world fixed tip pointing at origin, positive
! z-axis, and positive x-axis of the wanted tool coordinate
! system.
CONST jointtarget pos_tip := [...];
CONST jointtarget pos_z := [...];
CONST jointtarget pos_x := [...];
PERS tooldata tool1:= [ TRUE, [[20, 30, 100], [1, 0, 0 ,0]],
[0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
! Instructions for creating or ModPos of pos_tip, pos_z, and pos_x
MoveAbsJ pos_tip, v10, fine, tool0;
MoveAbsJ pos_z, v10, fine, tool0;
MoveAbsJ pos_x, v10, fine, tool0;
! Only tool calibration in the z direction
MToolRotCalib pos_tip, pos_z, tool1;
The tool orientation (tframe.rot) in the z direction of tool1 is calculated. The x and y
directions of the tool orientation are calculated to coincide with the wrist coordinate system.
! Calibration with complete tool orientation
MToolRotCalib pos_tip, pos_z \XPos:=pos_x, tool1;
The complete tool orientation (tframe.rot) of tool1 is calculated.
Arguments
MToolRotCalib RefTip ZPos [\XPos]Tool
RefTip
Data type: jointtarget
The point where the TCP of the tool is pointing at the world fixed tip.
ZPos
Data type: jointtarget
The elongator point that defines the positive z direction.
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© Copyright 2004-2010 ABB. All rights reserved.
Example 2
1 Instructions
1.101. MToolRotCalib - Calibration of rotation for moving tool
RobotWare - OS
Continued
[\XPos]
Data type: jointtarget
The elongator point that defines the x positive direction. If this point is omitted then the x and
y directions of the tool will coincide with the corresponding axes in the wrist coordinate
system.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Program execution
The system calculates and updates the tool orientation (tfame.rot) in the specified tooldata.
The calculation is based on the specified 2 or 3 jointtarget. The remaining data in tooldata
such as TCP (tframe.trans) is not changed.
Syntax
MToolRotCalib
[ RefTip ’:=’ ] < expression (IN) of jointtarget > ’,’
[ ZPos ’:=’ ] < expression (IN) of jointtarget >
[ ’\’XPos ’:=’ < expression (IN) of jointtarget > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata > ’;’
Related information
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
277
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
1.102. MToolTCPCalib - Calibration of TCP for moving tool
Usage
MToolTCPCalib (Moving Tool TCP Calibration) is used to calibrate Tool Center Point TCP for a moving tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant, section Programming and testing).
Description
To define the TCP of a tool you need a world fixed tip within the robot’s working space.
Before using the instruction MToolTCPCalib some preconditions must be fulfilled:
•
The tool that is to be calibrated must be mounted on the robot and defined with correct
component robhold (TRUE).
•
If using the robot with absolute accuracy then the load and center of gravity for the
tool should already be defined. LoadIdentify can be used for the load definition.
•
tool0, wobj0, and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the actual tool as close as possible to the world fixed tip and define a
jointtarget for the first point p1.
•
Define the further three positions (p2, p3, and p4) all with different orientations.
xx0500002191
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
MToolTCPCalib.
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
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© Copyright 2004-2010 ABB. All rights reserved.
Definition of 4 jointtargets p1....p4, see figure below.
1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
Continued
Basic examples
Basic examples of the instruction MToolTCPCalib are illustrated below.
Example 1
! Created with actual TCP pointing at the world fixed tip
CONST jointtarget p1 := [...];
CONST jointtarget p2 := [...];
CONST jointtarget p3 := [...];
CONST jointtarget p4 := [...];
PERS tooldata tool1:= [TRUE, [[0, 0, 0], [1, 0, 0 ,0]], [0.001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
...
! Instructions for createing or ModPos of p1 - p4
MoveAbsJ p1, v10, fine, tool0;
MoveAbsJ p2, v10, fine, tool0;
MoveAbsJ p3, v10, fine, tool0;
MoveAbsJ p4, v10, fine, tool0;
...
MToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
The TCP value (tframe.trans) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max. error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
MToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
© Copyright 2004-2010 ABB. All rights reserved.
Data type: jointtarget
The first approach point.
Pos2
Data type: jointtarget
The second approach point.
Pos3
Data type: jointtarget
The third approach point.
Pos4
Data type: jointtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
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1 Instructions
1.102. MToolTCPCalib - Calibration of TCP for moving tool
RobotWare - OS
Continued
MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the tip.
Program execution
The system calculates and updates the TCP value in the wrist coordinate system
(tfame.trans) in the specified tooldata. The calculation is based on the specified 4
jointtarget. The remaining data in tooldata, such as tool orientation (tframe.rot), is not
changed.
Syntax
MToolTCPCalib
[ Pos1 ’:=’ ] < expression (IN) of jointtarget > ’,’
[ Pos2 ’:=’ ] < expression (IN) of jointtarget > ’,’
[ Pos3 ’:=’ ] < expression (IN) of jointtarget > ’,’
[ Pos4 ’:=’ ] < expression (IN) of jointtarget > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata > ’,’
[ MaxErr ’:=’ ] < variable (VAR) of num > ’,’
[ MeanErr’ :=’ ] < variable (VAR) of num > ’;’
280
For information about
See
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation for
stationary tool on page 504
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.103. Open - Opens a file or serial channel
RobotWare - OS
1.103. Open - Opens a file or serial channel
Usage
Open is used to open a file or serial channel for reading or writing.
Basic examples
Basic examples of the instruction Open are illustrated below.
See also More examples on page 283.
Example 1
VAR iodev logfile;
...
Open "HOME:" \File:= "LOGFILE1.DOC", logfile \Write;
The file LOGFILE1.DOC in unit HOME: is opened for writing. The reference name logfile
is used later in the program when writing to the file.
Example 2
VAR iodev logfile;
...
Open "LOGFILE1.DOC", logfile \Write;
Same result as example 1.The default directory is HOME:.
Arguments
Open Object [\File] IODevice [\Read] | [\Write] | [\Append] [\Bin]
Object
Data type: string
The I/O object (I/O device) that is to be opened, e.g. "HOME:", "TEMP:", "com1:" or
"pc:"(option).
© Copyright 2004-2010 ABB. All rights reserved.
The table describes different I/O devices on the robot controller.
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome1
"/hd0a/xxxx/HOME/"2 Flashdisk or Hard
Drive
"TEMP:" or disktemp1
"/hd0a/temp/"
Flashdisk or Hard
Drive
"RemovableDisk1:" or usbdisk11
"RemovableDisk2:" or usbdisk21
"RemovableDisk3:" or usbdisk31
"RemovableDisk4:" or usbdisk41
"RemovableDisk5:" or usbdisk51
"RemovableDisk6:" or usbdisk61
"RemovableDisk7:" or usbdisk71
"RemovableDisk8:" or usbdisk81
"RemovableDisk9:" or usbdisk91
"RemovableDisk10:" or usbdisk101
"/bd0/"
"/bd1/"
"/bd2/"
"/bd3/"
"/bd4/"
"/bd5/"
"/bd6/"
"/bd7/"
"/bd8/"
"/bd9/"
e.g. USB memory
stick3
"com1:"4
"com2:"4
"com3:"4
-
Serial channel
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1 Instructions
1.103. Open - Opens a file or serial channel
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Continued
I/O device name
"pc:"
Full file path
5
"/c:/temp/"
Type of I/O device
6
Mounted disk
1. RAPID string defining device name
2. "xxxx" means the system name defined when booting the system
3. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
4. User defined serial channel name defined in system parameters
5. Application protocol, server path defined in system parameters
6. Application protocol, server path defined in system parameters
The following table describes different I/O devices on the virtual controller.
I/O device name
Full file path
Type of I/O device
"HOME:" or diskhome1
"/xxxx/HOME/"2
"TEMP:" or disktemp
"/c:/temp/yyyy/"3 Hard Drive
"RemovableDisk1:" or usbdisk1
"RemovableDisk2:" or usbdisk2
"RemovableDisk3:" or usbdisk3
"RemovableDisk4:" or usbdisk4
"/xxxx/HOME/
RemovableDisk1/"
"/xxxx/HOME/
RemovableDisk2/"
"/xxxx/HOME/
RemovableDisk3/"
"/xxxx/HOME/
RemovableDisk4/"
e.g. USB memory stick4
1. RAPID string defining the device name
2. "xxxx" means the path to the system directory defined when creating the system
3. "yyyy" means a directory named as System ID
[\File]
Data type: string
The name of the file to be opened, e.g. "LOGFILE1.DOC" or "LOGDIR/LOGFILE1.DOC"
The complete path can also be specified in the argument Object, "HOME:/LOGDIR/
LOGFILE.DOC".
IODevice
Data type: iodev
A reference to the file or serial channel to open. This reference is then used for reading from
and writing to the file or serial channel.
[\Read]
Data type: switch
Opens a file or serial channel for reading. When reading from a file the reading is started from
the beginning of the file.
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© Copyright 2004-2010 ABB. All rights reserved.
4. Note! RemovableDisk1 could be e.g. USB memory on one system but USB floppy on
another.
1 Instructions
1.103. Open - Opens a file or serial channel
RobotWare - OS
Continued
[\Write]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then its contents
are deleted. Anything subsequently written is written at the start of the file.
[\Append]
Data type: switch
Opens a file or serial channel for writing. If the selected file already exists then anything
subsequently written is written at the end of the file.
Open a file or serial channel with \Append and without the \Bin arguments. The instruction
opens a character-based file or serial channel for writing.
Open a file or serial channel with \Append and \Bin arguments. The instruction opens a
binary file or serial channel for both reading and writing. The arguments \Read, \Write,
\Append are mutually exclusive. If none of these are specified then the instruction acts in the
same way as the \Write argument for character-based files or a serial channel (instruction
without \Bin argument) and in the same way as the \Append argument for binary files or a
serial channel (instruction with \Bin argument).
[\Bin]
Data type: switch
The file or serial channel is opened in a binary mode. If none of the arguments \Read,
\Write or \Append are specified then the instruction opens a binary file or serial channel
for both reading and writing, with the file pointer at the end of the file.
The Rewind instruction can be used to set the file pointer to the beginning of the file if
desirable.
The set of instructions to access a binary file or serial channel is different from the set of
instructions to access a character-based file.
More examples
© Copyright 2004-2010 ABB. All rights reserved.
More examples of how to use the instruction Open are illustrated below.
Example 1
VAR iodev printer;
...
Open "com2:", printer \Bin;
WriteStrBin printer, "This is a message to the printer\0D";
Close printer;
The serial channel com2: is opened for binary reading and writing. The reference name
printer is used later when writing to and closing the serial channel.
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1 Instructions
1.103. Open - Opens a file or serial channel
RobotWare - OS
Continued
Program execution
The specified file or serial channel is opened so that it is possible to read from or write to it.
It is possible to open the same physical file several times at the same time but each invocation
of the Open instruction will return a different reference to the file (data type iodev). E.g. it
is possible to have one write pointer and one different read pointer to the same file at the same
time.
The iodev variable used when opening a file or serial channel must be free from use. If it has
been used previously to open a file then this file must be closed prior to issuing a new Open
instruction with the same iodev variable.
At Program Stop and moved PP to Main, any open file or serial channel in the program task
will be closed and the I/O descriptor in the variable of type iodev will be reset. An exception
to the rule is variables that are installed shared in the system of type global VAR or LOCAL
VAR. Such file or serial channel belonging to the whole system will still be open.
At power fail restart, any open file or serial channel in the system will be closed and the I/O
descriptor in the variable of type iodev will be reset.
Error handling
If a file cannot be opened then the system variable ERRNO is set to ERR_FILEOPEN. This error
can then be handled in the error handler.
Syntax
Open
[Object’ :=’] <expression (IN) of string>
[’\’File’:=’ <expression (IN) of string>] ’,’
[IODevice ’:=’] <variable (VAR) of iodev>
[’\’Read] |
[’\’Write] |
[’\’Append]
Related information
For information about
See
Writing to, reading from and closing files Technical reference manual - RAPID overview,
or serial channels
section RAPID summary - Communication
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© Copyright 2004-2010 ABB. All rights reserved.
[’\’Bin] ’;’
1 Instructions
1.104. OpenDir - Open a directory
RobotWare - OS
1.104. OpenDir - Open a directory
Usage
OpenDir is used to open a directory for further investigation.
Basic examples
Basic examples of the instruction OpenDir are illustrated below.
Example 1
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
OpenDir directory, dirname;
WHILE ReadDir(directory, filename) DO
TPWrite filename;
ENDWHILE
CloseDir directory;
ENDPROC
This example prints out the names of all files or subdirectories under the specified directory.
Arguments
OpenDir Dev Path
Dev
Data type: dir
A variable with reference to the directory, fetched by OpenDir. This variable is then used for
reading from the directory.
Path
Data type: string
© Copyright 2004-2010 ABB. All rights reserved.
Path to the directory.
Limitations
Open directories should always be closed by the user after reading (instruction CloseDir).
Error handling
If the path points to a non-existing directory or if there are too many directories open at the
same time then the system variable ERRNO is set to ERR_FILEACC. This error can then be
handled in the error handler.
Syntax
OpenDir
[ Dev’:=’ ] < variable (VAR) of dir>’,’
[ Path’:=’ ] < expression (IN) of string>’;’
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1 Instructions
1.104. OpenDir - Open a directory
RobotWare - OS
Continued
Related information
See
Directory
dir - File directory structure on page 1103
Make a directory
MakeDir - Create a new directory on page 218
Remove a directory
RemoveDir - Delete a directory on page 355
Read a directory
ReadDir - Read next entry in a directory on page
944
Close a directory
CloseDir - Close a directory on page 56
Remove a file
RemoveFile - Delete a file on page 356
Rename a file
RenameFile - Rename a file on page 357
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
RobotWare - OS
1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
Usage
PackDNHeader is used to pack the header of a DeviceNet explicit message into a container
of type rawbytes.
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes.
Basic examples
Basic examples of the instruction PackDNHeader are illustrated below.
Example 1
VAR rawbytes raw_data;
PackDNHeader "0E", "6,20 01 24 01 30 06,9,4", raw_data;
Pack the header for DeviceNet explicit message with service code "0E" and path string
"6,20 01 24 01 30 06,9,4" into raw_data corresponding to get the serial number from
some I/O unit.
This message is ready to send without filling the message with additional data.
Example 2
VAR rawbytes raw_data;
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet explicit message with service code "10" and path string
"20 1D 24 01 30 64" into raw_data corresponding to set the filter time for the rising
edge on insignal 1 for some I/O unit.
© Copyright 2004-2010 ABB. All rights reserved.
This message must be increased with data for the filter time. This can be done with instruction
PackRawBytes starting at index RawBytesLen(raw_data)+1 (done after
PackDNHeader).
Arguments
PackDNHeader Service Path RawData
Service
Data type: string
The service to be done such as get or set attribute. To be specified with a hexadecimal code
in a string e.g. "IF".
String length
2 characters
Format
’0’ -’ 9’, ’a’ -’f’, ’A’ - ’F’
Range
"00" - "FF
The values for the Service is found in the EDS file. For a more detailed description see the
Open DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0.
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1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
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Continued
Path
Data type: string
The values for the Path is found in the EDS file. For a more detailed description see the Open
DeviceNet Vendor Association ODVA DeviceNet Specification revision 2.0.
Support for both long string format (e.g. "6,20 1D 24 01 30 64,8,1") and short string
format (e.g. "20 1D 24 01 30 64").
RawData
Data type: rawbytes
Variable container to be packed with message header data starting at index 1 in RawData.
Program execution
During program execution the DeviceNet message RawData container is:
•
first completely cleared
•
and then the header part is packed with data
Format DeviceNet Header
The instruction PackDNHeader will create a DeviceNet message header with following
format:
RawData
Header Format
No of
bytes
Note
Format
1
Internal IRC5 code for DeviceNet
Service
1
Hex code for service
Size of Path
1
In bytes
Path
x
ASCII chars
Syntax
PackDNHeader
[Service ´:=´ ] < expression (IN) of string> ´,´
[Path ´:=´ ] < expression (IN) of string> ´,´
[RawData ´:=´ ] < variable (VAR) of rawbytes> ´;´
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© Copyright 2004-2010 ABB. All rights reserved.
The data part of the DeviceNet message can afterwards be set with the instruction
PackRawBytes starting at index fetched with (RawBytesLen(my_rawdata)+1).
1 Instructions
1.105. PackDNHeader - Pack DeviceNet Header into rawbytes data
RobotWare - OS
Continued
Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data on
page 940
Clear the contents of rawbytes data ClearRawBytes - Clear the contents of rawbytes
data on page 49
CopyRawBytes - Copy the contents of rawbytes data
on page 67
Pack data to rawbytes data
PackRawBytes - Pack data into rawbytes data on
page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page 725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page 352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes data
on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview,
section RAPID summary - Mathematics - Bit
Functions
String functions
Technical reference manual - RAPID overview,
section RAPID Summary - String Functions
© Copyright 2004-2010 ABB. All rights reserved.
Copy the contents of rawbytes data
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1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
RobotWare - OS
1.106. PackRawBytes - Pack data into rawbytes data
Usage
PackRawBytes is used to pack the contents of variables of type num, dnum, byte, or string
into a container of type rawbytes.
Basic examples
Basic examples of the instruction PackRawBytes are illustrated below.
VAR rawbytes raw_data;
VAR num integer := 8;
VAR dnum bigInt := 4294967295;
VAR num float := 13.4;
VAR byte data1 := 122;
VAR byte byte1;
VAR string string1:="abcdefg";
PackDNHeader "10", "20 1D 24 01 30 64", raw_data;
Pack the header for DeviceNet into raw_data.
Then pack requested field bus data in raw_data with PackRawBytes. The example below
shows how different data can be added.
Example 1
PackRawBytes integer, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
DINT;
The contents of the next 4 bytes after the header in raw_data will be 8 decimal.
Example 2
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
UDINT;
The contents of the next 4 bytes after the header in raw_data will be 4294967295 decimal.
PackRawBytes bigInt, raw_data, (RawBytesLen(raw_data)+1) \IntX :=
LINT;
The contents of the next 8 bytes after the header in raw_data will be 4294967295 decimal.
Example 4
PackRawBytes float, raw_data, RawBytesLen(raw_data)+1) \Float4;
The contents of the next 4 bytes in raw_data will be 13.4 decimal.
Example 5
PackRawBytes data1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of the next byte in raw_data will be 122, the ASCII code for "z".
Example 6
PackRawBytes string1, raw_data, (RawBytesLen(raw_data)+1) \ASCII;
The contents of next 7 bytes in raw_data will be "abcdefg", coded in ASCII.
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© Copyright 2004-2010 ABB. All rights reserved.
Example 3
1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
RobotWare - OS
Continued
Example 7
byte1 := StrToByte("1F" \Hex);
PackRawBytes byte1, raw_data, (RawBytesLen(raw_data)+1) \Hex1;
The contents of the next byte in raw_data will be "1F", hexadecimal.
Arguments
PackRawBytes Value RawData [ \Network ] StartIndex
[ \Hex1 ] | [ \IntX ] | [ \Float4 ] | [ \ASCII ]
Value
Data type: anytype
Data to be packed into RawData.
Allowed data types are: num, dnum, byte, or string. Array can not be used.
RawData
Data type: rawbytes
Variable container to be packed with data.
[ \Network ]
Data type: switch
Indicates that integer and float shall be packed in big-endian (network order)
representation in RawData. ProfiBus and InterBus use big-endian.
Without this switch, integer and float will be packed in little-endian (not network order)
representation in RawData. DeviceNet uses little-endian.
Only relevant together with option parameter \IntX - UINT, UDINT, INT, DINT and
\Float4.
StartIndex
Data type: num
StartIndex between 1 and 1024 indicates where the first byte contained in Value shall be
© Copyright 2004-2010 ABB. All rights reserved.
placed in RawData.
[ \Hex1 ]
Data type: switch
The Value to be packed has byte format and shall be converted to hexadecimal format and
stored in 1 byte in RawData.
[ \IntX ]
Data type: inttypes
The Value to be packed has num or dnum format. It is an integer and shall be stored in
RawData according to this specified constant of data type inttypes .
See Predefined data on page 293.
[ \Float4 ]
Data type: switch
The Value to be packed has num format and shall be stored as float, 4 bytes, in RawData.
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1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
RobotWare - OS
Continued
[ \ASCII ]
Data type: switch
The Value to be packed has byte or string format.
If the Value to be packed has byte format then it will be stored in RawData as 1 byte
interpreting Value as ASCII code for a character.
If the Value to be packed has string format (1-80 characters) then it will be stored in
RawData as ASCII characters with the same number of characters as contained in Value.
String data is not NULL terminated by the system in data of type rawbytes. It is up to the
programmer to add string header if necessary (required for DeviceNet).
One of the arguments \Hex1, \IntX, \Float4, or \ASCII must be programmed.
The following combinations are allowed:
Data type of Value:
Allowed option parameters:
num *)
\IntX
dnum **)
\IntX
num
\Float4
string
\ASCII (1-80 characters)
byte
\Hex1 \ASCIIob
*) Must be an integer within the value range of selected symbolic constant USINT, UINT,
UDINT, SINT, INT or DINT.
**) Must be an integer within the value range of selected symbolic constant USINT, UINT,
UDINT, ULINT, SINT, INT, DINT or LINT.
Program execution
The current length of valid bytes in the RawData variable is set to:
•
(StartIndex + packed_number_of_bytes - 1)
•
The current length of valid bytes in the RawData variable is not changed if the
complete pack operation is done inside the old current length of valid bytes in the
RawData variable.
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© Copyright 2004-2010 ABB. All rights reserved.
During program execution the data is packed from the variable of type anytype into a
container of type rawbytes.
1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
RobotWare - OS
Continued
Predefined data
The following symbolic constants of the data type inttypes are predefined and can be used
to specify the integer in parameter \IntX.
Symbolic
constant
Constant
value
Integer format
Integer value range
USINT
1
Unsigned 1 byte integer
0 ... 255
UINT
2
Unsigned 2 byte integer
0 ... 65 535
UDINT
4
Unsigned 4 byte integer
0 ... 8 388 608 *)
0 ... 4 294 967 295 ****)
ULINT
8
Unsigned 8 byte integer
0 ... 4 503 599 627 370 496**)
SINT
-1
Signed 1 byte integer
- 128... 127
INT
-2
Signed 2 byte integer
- 32 768 ... 32 767
DINT
-4
Signed 4 byte integer
- 8 388 607 ... 8 388 608 *)
-2 147 483 648 ... 2 147 483
647 ***)
LINT
-8
Signed 8 byte integer
- 4 503 599 627 370 496... 4
503 599 627 370 496 **)
*) RAPID limitation for storage of integer in data type num.
**) RAPID limitation for storage of integer in data type dnum.
***) Range when using a dnum variable and inttype DINT.
****) Range when using a dnum variable and inttype UDINT.
Syntax
PackRawBytes
[Value ´:=´ ] < expression (IN) of anytype> ´,´
[RawData ´:=´ ] < variable (VAR) of rawbytes>
[ ’\’ Network ] ´,´
© Copyright 2004-2010 ABB. All rights reserved.
[StartIndex ´:=´ ] < expression (IN) of num>
[ ’\’ Hex1 ]
| [ ’\’ IntX’ :=’ < expression (IN) of inttypes>]
|[ ’\’ Float4 ]
| [ ’\’ ASCII]’ ;’
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1 Instructions
1.106. PackRawBytes - Pack data into rawbytes data
RobotWare - OS
Continued
Related information
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
Read rawbytes data
ReadRawBytes - Read rawbytes data on page
352
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from
rawbytes data on page 658
Bit/Byte Functions
Technical reference manual - RAPID overview,
section RAPID Summary - Mathematics Bit Functions
String functions
Technical reference manual - RAPID overview,
section RAPID Summary - String Functions
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.107. PathAccLim - Reduce TCP acceleration along the path
RobotWare - OS
1.107. PathAccLim - Reduce TCP acceleration along the path
Usage
PathAccLim (Path Acceleration Limitation) is used to set or reset limitations on TCP
acceleration and/or TCP deceleration along the movement path.
The limitation will be performed along the movement path, i.e. the acceleration in the path
frame. It is the tangential acceleration/deceleration in the path direction that will be limited.
The instruction does not limit the total acceleration of the equipment, i.e. the acceleration in
world frame, so it can not be directly used to protect the equipment from large accelerations.
© Copyright 2004-2010 ABB. All rights reserved.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
xx0500002184
Basic examples
Basic examples of the instruction PathAccLim are illustrated below.
See also More examples on page 296.
Example 1
PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4;
TCP acceleration and TCP deceleration are limited to 4 m/s2.
Example 2
PathAccLim FALSE, FALSE;
The TCP acceleration and deceleration is reset to maximum (default).
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1 Instructions
1.107. PathAccLim - Reduce TCP acceleration along the path
RobotWare - OS
Continued
Arguments
PathAccLim AccLim [\AccMax] DecelLim [\DecelMax]
AccLim
Data type: bool
TRUE if there is to be a limitation of the acceleration, FALSE otherwise.
[ \AccMax ]
Data type: num
The absolute value of the acceleration limitation in m/s2. Only to be used when AccLim is
TRUE.
DecelLim
Data type: bool
TRUE if there is to be a limitation of the deceleration, FALSE otherwise.
[ \DecelMax ]
Data type: num
The absolute value of the deceleration limitation in m/s2. Only to be used when DecelLim is
TRUE.
Program execution
The acceleration/deceleration limitations applies for the next executed robot segment and is
valid until a new PathAccLim instruction is executed.
•
at a cold start-up
•
when a new program is loaded
•
when starting program execution from the beginning.
If there is a combination of instructions AccSet and PathAccLim the system reduces the
acceleration/deceleration in the following order:
•
according AccSet
•
according PathAccLim
More examples
More examples of how to use the instruction PathAccLim are illustrated below.
xx0500002183
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© Copyright 2004-2010 ABB. All rights reserved.
The maximum acceleration/deceleration (PathAccLim FALSE, FALSE) are automatically
set
1 Instructions
1.107. PathAccLim - Reduce TCP acceleration along the path
RobotWare - OS
Continued
Example 1
MoveL p1, v1000, fine, tool0;
PathAccLim TRUE\AccMax := 4, FALSE;
MoveL p2, v1000, z30, tool0;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 4 m/s2 between p1 and p3.
Example 2
MoveL p1, v1000, fine, tool0;
MoveL p2, v1000, z30, tool0;
PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4;
MoveL p3, v1000, fine, tool0;
PathAccLim FALSE, FALSE;
TCP acceleration is limited to 3 m/s2 between p2’ and p3.
TCP deceleration is limited to 4 m/s2 between p2’ and p3.
Error handling
If the parameters \AccMax or \DecelMax is set to a value too low, the system variable
ERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the error handler.
Limitations
The minimum acceleration/deceleration allowed is 0.5 m/s2.
Syntax
PathAccLim
[ AccLim ’:=’ ] < expression (IN) of bool >
[´\’AccMax’ :=’ <expression (IN) of num >]’,’
[DecelLim ´:=’ ] < expression (IN) of bool>
© Copyright 2004-2010 ABB. All rights reserved.
[´\’DecelMax ´:=’ <expression (IN) of num >]’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Motion settings data
motsetdata - Motion settings data on page 1141
Reduction of acceleration
AccSet - Reduces the acceleration on page 15
3HAC 16581-1 Revision: J
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
1.108. PathRecMoveBwd - Move path recorder backwards
Usage
PathRecMoveBwd is used to move the robot backwards along a recorded path.
Basic examples
Basic examples of the instruction PathRecMoveBwd are illustrated below.
See also More examples on page 300.
Example 1
VAR pathrecid fixture_id;
PathRecMoveBwd \ID:=fixture_id \ToolOffs:=[0, 0, 10] \Speed:=v500;
The robot is moved backwards to the position in the program where the instruction
PathRecStart planted the fixture_id identifier. The TCP offset is 10 mm in Z direction
and the speed is set to 500 mm/s.
Arguments
PathRecMoveBwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move backward to. Data type pathrecid is a nonvalue type, only used as an identifier for naming the recording position.
•
Back to the position where the synchronized movement started
•
Back to the closest recorded ID position
[\ToolOffs]
Tool Offset
Data type: pos
Provides clearance offset for TCP during motion. A cartesian offset coordinate is applied to
the TCP coordinates. Positive Z offset value indicates clearance. This is useful when the robot
runs a process adding material. If running synchronized motion then all or none of the
mechanical units needs to use the argument. If no offset is desired for some of the mechanical
units then a zero offset can be applied. Even non TCP mechanical units need to use the
argument if a TCP robot in a different task is used.
[\Speed]
Data type: speeddata
Speed replaces the speed original used during forward motion. Speeddata defines the velocity
for the tool center point, the tool reorientation, and the external axis. If present, this speed will
be used throughout the backward movement. If omitted, the backward motion will execute
with the speed in the original motion instructions.
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© Copyright 2004-2010 ABB. All rights reserved.
If no ID position is specified then the backward movement is in a single system done to the
closest recorded ID position. But in a MultiMove Synchronized Mode, the backward
movements is done to the closest of the following positions:
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started then all move instructions will be recorded and the robot can be moved
backwards along its recorded path at any point by executing PathRecMoveBwd.
Synchronized motion
Running the path recorder in synchronization motion adds a few considerations.
•
All tasks involved in the synchronization recorded motion must order
PathRecMoveBwd before any of the robots start to move.
•
All synchronization handling is recorded and executed in reverse. For example, if
PathRecMoveBwd is ordered from within a synchronization block to an independent
position then the path recorder will automatically change state to independent at the
SyncMoveOn instruction.
•
SyncMoveOn is considered as a breakpoint without path identifier. That is, if the path
recorder has been started by means of PathRecStart and PathRecMoveBwd without
the optional argument \ID is executed within a synchronized motion block, then the
robot will move backwards to the position the robot was at when SyncMoveOn was
executed. Since the backward movement stops before SyncMoveOn, the state will be
changed to independent.
WaitSyncTask is considered as a breakpoint without path identifier. That is, if the
path recorder has been started by the means of PathRecStart and
PathRecMoveBwd is executed then the robot will move back no longer than to the
position the robot was at when WaitSyncTask was executed.
© Copyright 2004-2010 ABB. All rights reserved.
•
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299
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
More examples
More examples of how to use the instruction PathRecMoveBwd are illustrated below.
Example 1 - Independent motion
VAR pathrecid safe_id;
CONST robtarget p0 := [...];
...
CONST robtarget p4 := [...];
VAR num choice;
MoveJ p0, vmax, z50, tool1;
PathRecStart safe_id;
MoveJ p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
ERROR:
TPReadFK choice,"Go to
safe?",stEmpty,stEmpty,stEmpty,stEmpty,"Yes";
IF choice=5 THEN
IF PathRecValidBwd(\ID:=safe_id) THEN
StorePath;
PathRecMoveBwd \ID:=safe_id \ToolOffs:=[0, 0 , 10];
Stop;
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDIF
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1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
xx0500002135
© Copyright 2004-2010 ABB. All rights reserved.
This example shows how the path recorder can be utilized to extract the robot from narrow
spaces upon error without programming a designated path.
A part is being manufactured. At the approach point, p0, the path recorder is started and
given the path recorder identifier safe_id. Assume that when the robot moves from p3 to
p4 that a recoverable error arises. At that point the path is stored by executing StorePath.
By storing the path the error handler can start a new movement and later on restart the original
movement. When the path has been stored the path recorder is used to move the robot out to
the safe position, p0, by executing PathRecMoveBwd.
Note that a tool offset is applied to provide clearance from, for example, a newly added weld.
When the robot has been moved out the operator can do what is necessary to fix the error (for
example clean the torch of welding). Then the robot is moved back to the error location by
the means of PathRecMoveFwd. At the error location the path level is switched back to base
level by RestoPath and a retry attempt is made.
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301
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
Example 2 - Synchronized motion
T_ROB1
VAR pathrecid HomeROB1;
CONST robtarget pR1_10:=[...];
...
CONST robtarget pR1_60:=[...];
PathRecStart HomeROB1;
MoveJ pR1_10, v1000, z50, tGun;
MoveJ pR1_20, v1000, z50, tGun;
MoveJ pR1_30, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR1_40 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_50 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR1_60 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ID:= HomeROB1\ToolOffs:=[0,0,10];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB2
VAR pathrecid HomeROB2;
...
CONST robtarget pR2_50:=[...];
PathRecStart HomeROB2;
MoveJ pR2_10, v1000, z50, tGun;
MoveJ pR2_20, v1000, z50, tGun;
SyncMoveOn sync1, tasklist;
MoveL pR2_30 \ID:=1, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_40 \ID:=2, v1000, z50, tGun\wobj:=pos1;
MoveL pR2_50 \ID:=3, v1000, z50, tGun\wobj:=pos1;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,10];
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© Copyright 2004-2010 ABB. All rights reserved.
CONST robtarget pR2_10:=[...];
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,10];
RestoPath;
StartMove;
T_ROB3
VAR pathrecid HomePOS1;
CONST jointtarget jP1_10:=[...];
...
CONST jointtarget jP1_40:=[...];
PathRecStart HomePOS1;
MoveExtJ jP1_10, v1000, z50;
SyncMoveOn sync1, tasklist;
MoveExtJ jP1_20 \ID:=1, v1000, z50;
MoveExtJ jP1_30 \ID:=2, v1000, z50;
MoveExtJ jP1_40 \ID:=3, v1000, z50;
SyncMoveOff sync2;
ERROR
StorePath \KeepSync;
TEST ERRNO
CASE ERR_PATH_STOP:
PathRecMoveBwd \ToolOffs:=[0,0,0];
DEFAULT:
PathRecMoveBwd \ID:=HomePOS1\ToolOffs:=[0,0,0];
ENDTEST
!Perform service action
PathRecMoveFwd \ToolOffs:=[0,0,0];
© Copyright 2004-2010 ABB. All rights reserved.
RestoPath;
StartMove;
A system is consisting of three manipulators that all run in separate tasks. Assume that
T_ROB1 experiences an error ERR_PATH_STOP within the synchronized block, sync1. Upon
error it is desired to move back to the home position marked with the path recorder identifier
HomeROB1 to perform service of the robot’s external equipment. This is done by using
PathRecMoveBwd and suppling the pathrecid identifier.
Since the error occurred during synchronized motion it is necessary that the second TCP
robotT_ROB2 and the external axis T_POS1 also orders PathRecMoveBwd. These
manipulators do not have to move back further than before the synchronized motion started.
By not suppling PathRecMoveBwd at ERR_PATH_STOP with a path recorder identifier the
path recorder ability to stop after SyncMoveOn is utilized. Note that the external axis that does
not have a TCP still adds a zero tool offset to enable the possibility for the TCP robots to do
so.
The DEFAULT behavior in the ERROR handler in this example is that all manipulators first do
the synchronized movements backwards and then the independent movements backwards to
the start point of the recorded path. This is obtained by specifying \ID in PathRecMoveBwd
for all manipulators.
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303
1 Instructions
1.108. PathRecMoveBwd - Move path recorder backwards
Path Recovery
Continued
Limitations
Movements using the path recorder cannot be performed on base level, i.e. StorePath has
to be executed prior to PathRecMoveBwd.
It is never possible to move backwards through a SynchMoveOff statement.
It is never possible to move backwards through a WaitSyncTask statement.
SyncMoveOn must be preceded by at least one independent movement if it is desired to move
back to the position where the synchronized movement started.
If it is not desired to return to the point where PathRecMoveBwd was executed (by executing
PathRecMoveFwd) then the PathRecorder has to be stopped by the means of PathRecStop.
PathRecStop\Clear also clears the recorded path.
PathRecMoveBwd cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset or Step.
Syntax
PathRecMoveBwd
[ ´\’ ID ´:=’ < variable (VAR) of pathrecid > ]
[ ´\’ ToolOffs´:=’ <expression (IN) of pos> ]
[ ´\’ Speed‘:=’ <expression (IN) of speeddata> ]’;’
304
For information about
See
Path Recorder Identifier
pathrecid - Path recorder identifier on page 1158
Start - stop the path recorder
PathRecStart - Start the path recorder on page
308
PathRecStop - Stop the path recorder on page
311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward
path recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Move path recorder forward
PathRecMoveFwd - Move path recorder forward
on page 305
Store - restore paths
StorePath - Stores the path when an interrupt
occurs on page 521
RestoPath - Restores the path after an interrupt
on page 362
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Error Recovery
Technical reference manual - RAPID overview,
section Basic characteristics - Error recovery
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
1.109. PathRecMoveFwd - Move path recorder forward
Usage
PathRecMoveFwd is used to move the robot back to the position where PathRecMoveBwd
was executed. It is also possible to move the robot partly forward by supplying an identifier
that has been passed during the backward movement.
Basic examples
Basic examples of how to use the instruction PathRecMoveFwd are illustrated below.
See also More examples on page 306.
Example 1
PathRecMoveFwd;
The robot is moved back to the position where the path recorder started the backward
movement.
Arguments
PathRecMoveFwd [\ID] [\ToolOffs] [\Speed]
[\ID]
Identifier
Data type: pathrecid
Variable that specifies the ID position to move forward to. Data type pathrecid is a nonvalue type only used as an identifier for naming the recording position.
If no ID position is specified then the forward movement will always be done to interrupt
position on the original path.
[\ToolOffs]
Tool Offset
© Copyright 2004-2010 ABB. All rights reserved.
Data type: pos
Provides clearance offset for TCP during motion. A cartesian coordinate is applied to the TCP
coordinates. This is useful when the robot runs a process adding material.
[\Speed]
Data type: speeddata
Speed overrides the original speed used during forward motion. Speeddata defines the
velocity for the tool center point, the tool reorientation, and the external axis. If present, this
speed will be used throughout the forward movement. If omitted, the forward motion will
execute with the speed in the original motion instructions.
Program execution
The path recorder is activated with the PathRecStart instruction. After the recorder has
been started the robot can be moved backwards along its executed path by executing
PathRecMoveBwd. The robot can thereafter be ordered back to the position where the
backward execution started by calling PathRecMoveFwd. It is also possible to move the
robot partly forward by supplying an identifier that has been passed during the backward
movement.
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305
1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
Continued
More examples
More examples of how to use the instruction PathRecMoveFwd are illustrated below.
VAR pathrecid start_id;
VAR pathrecid mid_id;
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
PathRecStart start_id;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStart mid_id;
MoveL p3, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=start_id;
PathRecMoveFwd \ID:=mid_id;
PathRecMoveFwd;
RestoPath;
The example above will start the path recorder and the starting point will be tagged with the
path identifier start_id. Thereafter the robot will move forward with traditional move
instructions and then move back to the path recorder identifier start_id using the recorded
path. Finally it will move forward again in two steps by the means of PathRecMoveFwd.
Limitations
Movements using the path recorder have to be performed on trap-level, i.e. StorePath must
execute prior to PathRecMoveFwd.
To be able to execute PathRecMoveFwd a PathRecMoveBwd must have been executed
before.
If it is not desired to return to the point where PathRecMoveBwd was executed (by executing
PathRecMoveFwd) then the PathRecorder has to be stopped by the means of PathRecStop.
PathRecStop\Clear also clears recorded path.
PathRecMoveFwd cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset or Step.
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xx0500002133
1 Instructions
1.109. PathRecMoveFwd - Move path recorder forward
PathRecovery
Continued
Syntax
PathRecMoveFwd’ (’
[ ‘\’ ID‘ :=’ < variable (VAR) of pathid > ]
[ ‘\’ ToolOffs‘ :=’ <expression (IN) of pos> ]
[ ‘\’ Speed‘ :=’ <expression (IN) of speeddata> ]’;’
Related information
See
Path Recorder Identifiers
pathrecid - Path recorder identifier on page 1158
Start - stop the path recorder
PathRecStart - Start the path recorder on page 308
PathRecStop - Stop the path recorder on page 311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward path
recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Move path recorder backward
PathRecMoveBwd - Move path recorder backwards
on page 298
Store - restore paths
StorePath - Stores the path when an interrupt
occurs on page 521
RestoPath - Restores the path after an interrupt on
page 362
Other positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
Error Recovery
Technical reference manual - RAPID overview,
section RAPID summary - Error recovery
Technical reference manual - RAPID overview,
section Basic characteristics - Error recovery
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
307
1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
1.110. PathRecStart - Start the path recorder
Usage
PathRecStart is used to start recording the robot’s path. The path recorder will store path
information during execution of the RAPID program.
Basic examples
Basic examples of the instruction PathRecStart are illustrated below.
Example 1
VAR pathrecid fixture_id;
PathRecStart fixture_id;
The path recorder is started and the starting point (the instruction’s position in the RAPID
program) is tagged with the identifier fixture_id.
Arguments
PathRecStart ID
ID
Identifier
Data type: pathrecid
Variable that specifies the name of the recording start position. Data type pathrecid is a
non-value type only used as an identifier for naming the recording position.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
When the path recorder is ordered to start the robot path will be recorded internally in the
robot controller. The recorded sequence of program positions can be traversed backwards by
means of PathRecMoveBwd causing the robot to move backwards along its executed path.
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1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
Continued
More examples
More examples of how to use the instruction PathRecStart are illustrated below.
Example 1
VAR pathrecid origin_id;
VAR pathrecid corner_id;
VAR num choice;
MoveJ p1, vmax, z50, tool1;
PathRecStart origin_id;
MoveJ p2, vmax, z50, tool1;
PathRecStart corner_id;
MoveL p3, vmax, z50, tool1;
MoveAbsJ jt4, vmax, fine, tool1;
ERROR
TPReadFK choice,"Extract
to:",stEmpty,stEmpty,stEmpty,"Origin","Corner";
IF choice=4 OR choice=5 THEN
StorePath;
IF choice=4 THEN
PathRecMoveBwd \ID:=origin_id;
ELSE
PathRecMoveBwd \ID:=corner_id;
ENDIF
Stop;
!Fix problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
© Copyright 2004-2010 ABB. All rights reserved.
In the example above the path recorder is used for moving the robot to a service position if
an error during normal execution occurs.
The robot is executing along a path. After the position p1 the path recorder is started. After
the point p2 another path identifier is inserted. Assume that a recoverable error occurs while
moving from position p3 to position jt4. The error handler will now be invoked, and the user
can choose between extracting the robot to position Origin (point p1) or Corner (point p2).
Then the path level is switched with StorePath to be able to restart at the error location
later on. When the robot has backed out from the error location it’s up to the user solving the
error (usually fixing the robots surrounding equipment).
Then the robot is ordered back to the error location. The path level is switched back to normal,
and a retry attempt is made.
Limitations
The path recorder can only be started and will only record the path in the base path level, i.e.
movements at StorePath level are not recorded.
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309
1 Instructions
1.110. PathRecStart - Start the path recorder
Path Recovery
Continued
Syntax
PathRecStart
[ ID ’:=’] < variable (VAR) of pathrecid> ´;´
Related information
See
Path Recorder Identifiers
pathrecid - Path recorder identifier on page 1158
Stop the path recorder
PathRecStop - Stop the path recorder on page 311
Check for valid recorded path
PathRecValidBwd - Is there a valid backward path
recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Play the path recorder backward
PathRecMoveBwd - Move path recorder
backwards on page 298
Play the path recorder forward
PathRecMoveFwd - Move path recorder forward
on page 305
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
1.111. PathRecStop - Stop the path recorder
Usage
PathRecStop is used to stop recording the robot’s path.
Basic examples
Basic examples of the instruction PathRecStop are illustrated below.
See also More examples below.
Example 1
PathRecStop \Clear;
The path recorder is stopped and the buffer of stored path information is cleared.
Arguments
PathRecStop [\Clear]
[\Clear]
Data type: switch
Clear the recorded path.
Program execution
When the path recorder is ordered to stop the recording of the path will stop. The optional
argument \Clear will clear the buffer of stored path information preventing the recorded
path to be executed by mistake.
After the recorder has been stopped with PathRecStop, earlier recorded paths cannot be
used for back-up movements (PathRecMoveBwd). However, it is possible to use earlier
recorded paths if PathRecStart is ordered again from the same position that the path
recorder was stopped in. See the example below.
© Copyright 2004-2010 ABB. All rights reserved.
More examples
More examples of how to use the instruction PathRecStop are illustrated below.
LOCAL VAR pathrecid id1;
LOCAL VAR pathrecid id2;
LOCAL CONST robtarget p0:= [...];
......
LOCAL CONST robtarget p6 := [...];
PROC example1()
MoveL p0, vmax, z50, tool1;
PathRecStart id1;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStop;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStart id2;
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311
1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
Continued
MoveL p5, vmax, z50, tool1;
MoveL p6, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
PathRecMoveFwd;
RestoPath;
StartMove;
MoveL p7, vmax, z50, tool1;
ENDPROC
PROC example2()
MoveL p0, vmax, z50, tool1;
PathRecStart id1;
MoveL p1, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStop;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
PathRecStart id2;
MoveL p2, vmax, z50, tool1;
MoveL p5, vmax, z50, tool1;
MoveL p6, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
PathRecMoveFwd;
RestoPath;
StartMove;
MoveL p7, vmax, z50, tool1;
xx0500002101
The above examples describe recording of the robot path when the recording is stopped in the
middle of the sequence. In example1 the PathRecMoveBwd \ID:=id1; order is valid and
the robot will execute the following path: p6 -> p5 -> p2 -> p1 -> p0
The reason that the order is valid is due to the recorder being stopped and started in the exact
same robot position. If this behavior isn’t desirable the stop order should include the optional
argument \Clear. In that way the recorded path will be cleared and it will never be possible
to back-up to previous path recorder identifiers.
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© Copyright 2004-2010 ABB. All rights reserved.
ENDPROC
1 Instructions
1.111. PathRecStop - Stop the path recorder
Path Recovery
Continued
The only difference in example2 is where the recorder was started the second time. In this
case PathRecMoveBwd \ID:=id1 will cause an error. This is because no recorded path
exists between p4, p3 and p2. However, it is possible to execute PathRecMoveBwd
\ID:=id2.
Syntax
PathRecStop
[ ´\’switch Clear ] ´;’
Related information
See
Path Recorder Identifiers
pathrecid - Path recorder identifier on page 1158
Start the path recorder
PathRecStart - Start the path recorder on page 308
Check for valid recorded path
PathRecValidBwd - Is there a valid backward path
recorded on page 921
PathRecValidFwd - Is there a valid forward path
recorded on page 924
Play the recorder backward
PathRecMoveBwd - Move path recorder
backwards on page 298
Play the recorder forwards
PathRecMoveFwd - Move path recorder forward
on page 305
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
313
1 Instructions
1.112. PathResol - Override path resolution
RobotWare - OS
1.112. PathResol - Override path resolution
Usage
PathResol (Path Resolution) is used to override the configured geometric path sample time
defined in the system parameters for the mechanical units that are controlled from current
program task.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any motion tasks.
Description
The path resolution affects the accuracy of the interpolated path and the program cycle time.
The path accuracy is improved and the cycle time is often reduced when the parameter
PathSampleTime is decreased. A value for parameter PathSampleTime, which is too low,
may cause CPU load problems in some demanding applications. However, use of the standard
configured path resolution (PathSampleTime 100%) will avoid CPU load problems and
provide sufficient path accuracy in most situations.
Example of PathResol usage:
Dynamically critical movements (max payload, high speed, combined joint motions close to
the border of the work area) may cause CPU load problems. Increase the parameter
PathSampleTime.
Low performance external axes may cause CPU load problems during coordination. Increase
the parameter PathSampleTime.
Arc-welding with high frequency weaving may require high resolution of the interpolated
path. Decrease the parameter PathSampleTime.
Small circles or combined small movements with direction changes can decrease the path
performance quality and increase the cycle time. Decrease the parameter PathSampleTime.
Basic examples
Basic examples of the instruction PathResol are illustrated below.
MoveJ p1,v1000,fine,tool1;
PathResol 150;
With the robot at a stop point the path sample time is increased to 150 % of the configured.
Arguments
PathResol PathSampleTime
PathSampleTime
Data type: num
Override as a percent of the configured path sample time. 100% corresponds to the configured
path sample time. Within the range 25-400%.
A lower value of the parameter PathSampleTime improves the path resolution (path
accuracy).
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© Copyright 2004-2010 ABB. All rights reserved.
Gluing with large reorientations and small corner zones can cause speed variations. Decrease
the parameter PathSampleTime.
1 Instructions
1.112. PathResol - Override path resolution
RobotWare - OS
Continued
Program execution
The path resolutions of all subsequent positioning instructions are affected until a new
PathResol instruction is executed. This will affect the path resolution during all program
execution of movements (default path level and path level after StorePath) and also during
jogging.
In a MultiMove system at synchronized coordinated mode the following points are valid:
•
All mechanical units involved in synchronized coordinated mode will run with the
current path resolution for actual (used) motion planner.
•
New path resolution order against actual motion planner affects the synchronized
coordinated movement and future independent movement in that motion planner.
•
New path resolution order against another motion planner only affects future
independent movement in that motion planner.
About connection between program task and motion planner see Application manual MultiMove.
The default value for override of path sample time is 100%. This value is automatically set
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
The current override of path sample time can be read from the variable C_MOTSET (data type
motsetdata) in the component pathresol.
Limitation
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
© Copyright 2004-2010 ABB. All rights reserved.
PathResol cannot be executed in a RAPID routine connected to any of following special
system events: PowerOn, Stop, QStop, Restart, or Step.
Syntax
PathResol
[PathSampleTime ’:=’ ] < expression (IN) of num> ’;’
Related information
For information about
See
Positioning instructions
Technical reference manual - RAPID overview, section
Motion and I/O principles
Motion settings
Technical reference manual - RAPID overview, section
RAPID summary - Motion settings
Configuration of path resolution
Technical reference manual - System parameters,
section Motion Planner - CPU Load Equalization
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1 Instructions
1.113. PDispOff - Deactivates program displacement
RobotWare - OS
1.113. PDispOff - Deactivates program displacement
Usage
PDispOff (Program Displacement Off) is used to deactivate a program displacement.
Program displacement is activated by the instruction PDispSet or PDispOn and applies to
all movements until some other program displacement is activated or until program
displacement is deactivated.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction PDispOff are illustrated below.
Example 1
PDispOff;
Deactivation of a program displacement.
Example 2
MoveL p10, v500, z10, tool1;
PDispOn \ExeP:=p10, p11, tool1;
MoveL p20, v500, z10, tool1;
MoveL p30, v500, z10, tool1;
PDispOff;
MoveL p40, v500, z10, tool1;
A program displacement is defined as the difference between the positions p10 and p11. This
displacement affects the movement to p20 and p30 but not to p40.
Active program displacement is reset. This means that the program displacement coordinate
system is the same as the object coordinate system, and thus all programmed positions will
be related to the latter.
Syntax
PDispOff ´;’
Related information
316
For information about
See
Definition of program displacement using
two positions
PDispOn - Activates program displacement on
page 317
Definition of program displacement using
known frame
PDispSet - Activates program displacement
using known frame on page 321
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
1 Instructions
1.114. PDispOn - Activates program displacement
RobotWare - OS
1.114. PDispOn - Activates program displacement
Usage
PDispOn (Program Displacement On) is used to define and activate a program displacement
using two robot positions.
Program displacement is used, for example, after a search has been carried out or when
similar motion patterns are repeated at several different places in the program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction PDispOn are illustrated below.
See also More examples on page 319.
Example 1
MoveL p10, v500, z10, tool1;
PDispOn \ExeP:=p10, p20, tool1;
Activation of a program displacement (parallel displacement). This is calculated based on the
difference between positions p10 and p20.
Example 2
MoveL p10, v500, fine \Inpos := inpos50, tool1;
PDispOn *, tool1;
Activation of a program displacement (parallel displacement). Since a stop point that is
accurately defined has been used in the previous instruction the argument \ExeP does not
have to be used. The displacement is calculated on the basis of the difference between the
robot’s actual position and the programmed point (*) stored in the instruction.
Example 3
© Copyright 2004-2010 ABB. All rights reserved.
PDispOn \Rot \ExeP:=p10, p20, tool1;
Activation of a program displacement including a rotation. This is calculated based on the
difference between positions p10 and p20.
Arguments
PDispOn [\Rot] [\ExeP] ProgPoint Tool [\WObj]
[ \Rot ]
Rotation
Data type: switch
The difference in the tool orientation is taken into consideration and this involves a rotation
of the program.
[ \ExeP ]
Executed Point
Data type: robtarget
The new robot position used for calculation of the displacement. If this argument is omitted
then the robot’s current position at the time of the program execution is used.
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1 Instructions
1.114. PDispOn - Activates program displacement
RobotWare - OS
Continued
ProgPoint
Programmed Point
Data type: robtarget
The robot’s original position at the time of programming.
Tool
Data type: tooldata
The tool used during programming, i.e. the TCP to which the ProgPoint position is related.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the ProgPoint position is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. However, if a stationary TCP or coordinated external axes are used then this
argument must be specified.
The arguments Tool and \WObj are used both to calculate the ProgPoint during
programming and to calculate the current position during program execution if no \ExeP
argument is programmed.
Program execution
xx0500002186
Program displacement is activated when the instruction PDispOn is executed and remains
active until some other program displacement is activated (the instruction PDispSet or
PDispOn) or until program displacement is deactivated (the instruction PDispOff).
Only one program displacement can be active at the same time. Several PDispOn
instructions, on the other hand, can be programmed one after the other and in this case the
different program displacements will be added.
Program displacement is calculated as the difference between ExeP and ProgPoint. If ExeP
has not been specified then the current position of the robot at the time of the program
execution is used instead. Since it is the actual position of the robot that is used, the robot
should not move when PDispOn is executed.
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© Copyright 2004-2010 ABB. All rights reserved.
Program displacement means that the ProgDisp coordinate system is translated in relation
to the object coordinate system. Since all positions are related to the ProgDisp coordinate
system, all programmed positions will also be displaced. See figure below, which shows
parallel displacement of a programmed position using program displacement.
1 Instructions
1.114. PDispOn - Activates program displacement
RobotWare - OS
Continued
If the argument \Rot is used then the rotation is also calculated based on the tool orientation
at the two positions. The displacement will be calculated in such a way that the new position
(ExeP) will have the same position and orientation in relation to the displaced coordinate
system, ProgDisp, as the old position (ProgPoint) had in relation to the original object
coordinate system. See the figure below, which shows translation and rotation of a
programmed position.
xx0500002187
The program displacement is automatically reset
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
More examples
More examples of how to use the instruction PDispOn are illustrated below.
Example 1
PROC draw_square()
PDispOn *, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
MoveL *, v500, z10, tool1;
© Copyright 2004-2010 ABB. All rights reserved.
MoveL *, v500, z10, tool1;
PDispOff;
ENDPROC
...
MoveL p10, v500, fine \Inpos := inpos50, tool1;
draw_square;
MoveL p20, v500, fine \Inpos := inpos50, tool1;
draw_square;
MoveL p30, v500, fine \Inpos := inpos50, tool1;
draw_square;
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1 Instructions
1.114. PDispOn - Activates program displacement
RobotWare - OS
Continued
The routine draw_square is used to execute the same motion pattern at three different
positions based on the positions p10, p20, and p30. See the figure below, which shows that
when using program displacement the motion patterns can be reused.
xx0500002185
Example 2
SearchL sen1, psearch, p10, v100, tool1\WObj:=fixture1;
PDispOn \ExeP:=psearch, *, tool1 \WObj:=fixture1;
A search is carried out in which the robot’s searched position is stored in the position
psearch. Any movement carried out after this starts from this position using a program
displacement (parallel displacement). The latter is calculated based on the difference between
the searched position and the programmed point (*) stored in the instruction. All positions are
based on the fixture1 object coordinate system.
Syntax
PDispOn
[ [ ’\’ Rot ]
[’\’ ExeP ’:=’ < expression (IN) of robtarget>]’,’]
[ ProgPoint’ :=’ ] < expression (IN) of robtarget> ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata>
[ ´\’WObj’ :=’ < persistent (PERS) of wobjdata> ] ´;’
320
For information about
See
Deactivation of program displacement
PDispOff - Deactivates program displacement
on page 316
Definition of program displacement using
known frame
PDispSet - Activates program displacement
using known frame on page 321
Coordinate systems
Technical reference manual - System
parameters, section Motion and I/O principles Coordinate systems
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.115. PDispSet - Activates program displacement using known frame
RobotWare - OS
1.115. PDispSet - Activates program displacement using known frame
Usage
PDispSet (Program Displacement Set) is used to define and activate a program
displacement using known frame.
Program displacement is used, for example, when similar motion patterns are repeated at
several different places in the program.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction PDispSet are illustrated below.
Example 1
VAR pose xp100 := [ [100, 0, 0], [1, 0, 0, 0] ];
...
PDispSet xp100;
Activation of the xp100 program displacement meaning that:
•
The ProgDisp coordinate system is displaced 100 mm from the object coordinate
system in the direction of the positive x-axis (see figure below).
•
As long as this program displacement is active all positions will be displaced 100 mm
in the direction of the x-axis.
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows a 100 mm program displacement along the x-axis.
xx0500002199
Arguments
PDispSet DispFrame
DispFrame
Displacement Frame
Datatype: pose
The program displacement is defined as data of the type pose.
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1 Instructions
1.115. PDispSet - Activates program displacement using known frame
RobotWare - OS
Continued
Program execution
Program displacement involves translating and/or rotating the ProgDisp coordinate system
relative to the object coordinate system. Since all positions are related to the ProgDisp
coordinate system, all programmed positions will also be displaced. See the figure below,
which shows translation and rotation of a programmed position.
xx0500002204
Program displacement is activated when the instruction PDispSet is executed and remains
active until some other program displacement is activated (the instruction PDispSet or
PDispOn) or until program displacement is deactivated (the instruction PDispOff).
Only one program displacement can be active at the same time. Program displacements
cannot be added to one another using PDispSet.
The program displacement is automatically reset
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
PDispSet
Related information
For information about
See
Deactivation of program displacement
PDispOff - Deactivates program displacement
on page 316
Definition of program displacement using PDispOn - Activates program displacement on
two positions
page 317
322
Definition of data of the type pose
pose - Coordinate transformations on page 1162
Coordinate systems
Technical reference manual - RAPID overview,
section Motion and I/O principles - Coordinate
systems
Examples of how program displacement
can be used
PDispOn - Activates program displacement on
page 317
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ DispFrame ’:=’ ] < expression (IN) of pose> ’;’
1 Instructions
1.116. ProcCall - Calls a new procedure
RobotWare - OS
1.116. ProcCall - Calls a new procedure
Usage
A procedure call is used to transfer program execution to another procedure. When the
procedure has been fully executed the program execution continues with the instruction
following the procedure call.
It is usually possible to send a number of arguments to the new procedure. These control the
behavior of the procedure and make it possible for the same procedure to be used for different
things.
Basic examples
Basic examples of the instruction ProcCall are illustrated below.
Example 1
weldpipe1;
Calls the weldpipe1 procedure.
Example 2
errormessage;
Set do1;
...
PROC errormessage()
TPWrite "ERROR";
ENDPROC
The errormessage procedure is called. When this procedure is ready the program
execution returns to the instruction following the procedure call, Set do1.
Arguments
Procedure { Argument }
© Copyright 2004-2010 ABB. All rights reserved.
Procedure
Identifier
The name of the procedure to be called.
Argument
Data type: In accordance with the procedure declaration.
The procedure arguments (in accordance with the parameters of the procedure).
Basic examples
Basic examples of the instruction ProcCall are illustrated below.
Example 1
weldpipe2 10, lowspeed;
Calls the weldpipe2 procedure including two arguments.
Example 2
weldpipe3 10 \speed:=20;
Calls the weldpipe3 procedure including one mandatory and one optional argument.
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1 Instructions
1.116. ProcCall - Calls a new procedure
RobotWare - OS
Continued
Limitations
The procedure’s arguments must agree with its parameters:
•
All mandatory arguments must be included.
•
They must be placed in the same order.
•
They must be of the same data type.
•
They must be of the correct type with respect to the access-mode (input, variable, or
persistent).
A routine can call a routine which, in turn, calls another routine, etc. A routine can also call
itself, i.e. a recursive call. The number of routine levels permitted depends on the number of
parameters. More than 10 levels are usually permitted.
Syntax
(EBNF)
<procedure> [ <argument list> ] ’;’
<procedure> ::= <identifier>
Related information
See
Arguments, parameters
Technical reference manual - RAPID overview,
section Basic characteristics - Routines
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
1.117. ProcerrRecovery - Generate and recover from process-move error
Usage
ProcerrRecovery can be used to generate process error during robot movement and get the
possibility to handle the error and restart the process and the movement from an ERROR
handler.
Basic examples
Basic examples of the instruction ProcerrRecovery are illustrated below.
See also More examples on page 327.
The examples below are not realistic but are shown for pedagogic reasons.
Example 1
MoveL p1, v50, z30, tool2;
ProcerrRecovery \SyncOrgMoveInst;
MoveL p2, v50, z30, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StartMove;
RETRY;
ENDIF
The robot movement stops on its way to p1 and the program execution transfers to the ERROR
handler in the routine that created the actual path on which the error occurred, in this case the
path to MoveL p1. The movement is restarted with StartMove and the execution is
continued with RETRY.
Example 2
MoveL p1, v50, fine, tool2;
ProcerrRecovery \SyncLastMoveInst;
© Copyright 2004-2010 ABB. All rights reserved.
MoveL p2, v50, z30, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StartMove;
RETRY;
ENDIF
The robot movement stops at once on its way to p2. The program execution transfers to the
ERROR handler in the routine where the program is currently executing or is going to execute
a move instruction when the error occurred, in this case MoveL p2. The movement is
restarted with StartMove and the execution is continued with RETRY.
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1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
Continued
Arguments
ProcerrRecovery[\SyncOrgMoveInst] | [\SyncLastMoveInst]
[\ProcSignal]
[\SyncOrgMoveInst]
Data type: switch
The error can be handled in the routine that created the actual path on which the error
occurred.
[\SyncLastMoveInst]
Data type: switch
The error can be handled in the routine where the program is currently executing a move
instruction when the error occurred.
If the program is currently not executing a move instruction when the error occurred then the
transfer of the execution to the ERROR handler will be delayed until the program executes the
next move instruction. This means that the transfer to the ERROR handler will be delayed if
the robot is in a stop point or between the prefetch point and the middle of the corner path.
The error can be handled in that routine.
[\ProcSignal]
Data type: signaldo
Optional parameter that let the user turn on/off the use of the instruction. If this parameter is
used and the signal value is 0, an recoverable error will be thrown, and no process error will
be generated.
Program execution
•
At once the robot is stopped on its path.
•
The variable ERRNO is set to ERR_PATH_STOP.
•
The execution is transferred to some ERROR handler according the rules for
asynchronously raised errors.
This instruction does nothing in any step mode.
For description of asynchronously raised errors that are generated with ProcerrRecovery
see RAPID kernel reference/Error recovery/Asynchronously raised errors.
ProcerrRecovery can also be used in MultiMove system to transfer the execution to the
ERROR handler in several program tasks if running in synchronized mode.
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© Copyright 2004-2010 ABB. All rights reserved.
Execution of ProcerrRecovery in continuous mode results in the following:
1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
Continued
More examples
More examples of how to use the instruction ProcerrRecovery are illustrated below.
Example with ProcerrRecovery\SyncOrgMoveInst
MODULE user_module
VAR intnum proc_sup_int;
PROC main()
...
MoveL p1, v1000, fine, tool1;
do_process;
...
ENDPROC
PROC do_process()
my_proc_on;
MoveL p2, v200, z10, tool1;
MoveL p3, v200, fine, tool1;
my_proc_off;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
my_proc_on;
StartMove;
RETRY;
ENDIF
ENDPROC
TRAP iprocfail
my_proc_off;
ProcerrRecovery \SyncOrgMoveInst;
© Copyright 2004-2010 ABB. All rights reserved.
ENDTRAP
PROC my_proc_on()
SetDO do_myproc, 1;
CONNECT proc_sup_int WITH iprocfail;
ISignalDI di_proc_sup, 1, proc_sup_int;
ENDPROC
PROC my_proc_off()
SetDO do_myproc, 0;
IDelete proc_sup_int;
ENDPROC
ENDMODULE
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1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
Continued
Asynchronously raised errors generated by ProcerrRecovery with switch
\SyncOrgMoveInst can, in this example, be treated in the routine do_process because the
path on which the error occurred is always created in the routine do_process.
A process flow is started by setting the signal do_myproc to 1. The signal di_proc_sup
supervise the process, and an asynchronous error is raised if di_proc_sup becomes 1. In
this simple example the error is resolved by setting do_myproc to 1 again before resuming
the movement.
Example with ProcerrRecovery\SyncLastMoveInst
MODULE user_module
PROC main()
...
MoveL p1, v1000, fine, tool1;
do_process;
...
ENDPROC
PROC do_process()
proc_on;
proc_move p2, v200, z10, tool1;
proc_move p3, v200, fine, tool1;
proc_off;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
p4 := CRobT(\Tool:=tool1);
! Move to service station and fix the problem
MoveL p4, v200, fine, tool1;
RestoPath;
proc_on;
StartMoveRetry;
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDPROC
ENDMODULE
MODULE proc_module (SYSMODULE, NOSTEPIN)
VAR intnum proc_sup_int;
VAR num try_no := 0;
TRAP iprocfail
proc_off;
ProcerrRecovery \SyncLastMoveInst;
ENDTRAP
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1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
Continued
PROC proc_on()
SetDO do_proc, 1;
CONNECT proc_sup_int WITH iprocfail;
ISignalDI di_proc_sup, 1, proc_sup_int;
ENDPROC
PROC proc_off()
SetDO do_proc, 0;
IDelete proc_sup_int;
ENDPROC
PROC proc_move (robtarget ToPoint, speeddata Speed, zonedata Zone,
PERS tooldata Tool)
MoveL ToPoint, Speed, Zone, Tool;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
try_no := try_no + 1;
IF try_no < 4 THEN
proc_on;
StartMoveRetry;
ELSE
RaiseToUser \Continue;
ENDIF
ENDPROC
ENDMODULE
© Copyright 2004-2010 ABB. All rights reserved.
Asynchronously raised errors generated by ProcerrRecovery with switch
\SyncLastMoveInst can in this example be treated in the routine proc_move because all
move instructions are always created in the routine proc_move. When program pointer is in
routine do_process the transfer to ERROR handler will be delayed until running the next
MoveL in routine proc_move. Note that the movements are always stopped at once.
A process flow is started by setting the signal do_myproc to 1. The signal di_proc_sup
supervise the process, and an asynchronous error is raised if di_proc_sup becomes 1. In
this simple example the error is resolved by setting do_myproc to 1 again before resuming
the movement.
When using predefined NOSTEPIN routine we recommend using the option switch parameter
\SyncLastMoveInst because then the predefined routine can make the decision to handle
some error situation within the routine while others must be handled by the end user.
Error handling
Following recoverable errors can be generated. The errors can be handled in an error handler.
If the optional parameter \ProcSignal is used and if the signal is off when the instruction
is executed, the system variable ERRNO is set to ERR_PROCSIGNAL_OFF and the execution
continues in the error handler.
If there is no contact with the I/O unit, the system variable ERRNO is set to ERR_NORUNUNIT
and the execution continues in the error handler.
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1 Instructions
1.117. ProcerrRecovery - Generate and recover from process-move error
RobotWare - OS
Continued
Limitations
Error recovery from asynchronously raised process errors can only be done if the motion task
with the process move instruction is executing on base level when the process error occurs.
So error recovery can not be done if the program task with the process instruction executes in:
•
any event routine
•
any routine handler (ERROR, BACKWARD or UNDO)
•
user execution level (service routine)
See RAPID reference manual - RAPID kernel, Error recovery, Asynchronously raised errors.
If no error handler with a StartMove + RETRY or a StartMoveRetry is used, the program
execcution will hang. The only way to reset this is to do a PP to main.
Syntax
ProcerrRecovery
[ ’\’ SyncOrgMoveInst ] | [’ \’ SyncLastMoveInst ]
[ ’\’ ProcSignal’ :=’ ] < variable (VAR) of signaldo > ’;’
Related information
See
Error handlers
Technical reference manual - RAPID overview,
section Basic Characteristics - Error Recovery
Asynchronously raised errors
RAPID reference manual - RAPID kernel - Error
recover
Propagates an error to user level
RaiseToUser - Propagates an error to user level
on page 337
Resume movement and program
execution
StartMoveRetry - Restarts robot movement and
execution on page 489
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
RobotWare - OS
1.118. PulseDO - Generates a pulse on a digital output signal
Usage
PulseDO is used to generate a pulse on a digital output signal.
Basic examples
Basic examples of the instruction PulseDO are illustrated below.
Example 1
PulseDO do15;
A pulse with a pulse length of 0.2 s is generated on the output signal do15.
Example 2
PulseDO \PLength:=1.0, ignition;
A pulse of length 1.0 s is generated on the signal ignition.
Example 3
! Program task MAIN
PulseDO \High, do3;
! At almost the same time in program task BCK1
PulseDO \High, do3;
Positive pulse (value 1) is generated on the signal do3 from two program tasks at almost the
same time. It will result in one positive pulse with a pulse length longer than the default 0.2
s or two positive pulses after each other with a pulse length of 0.2 s.
Arguments
PulseDO [ \High ] [ \PLength ] Signal
[ \High ]
High level
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Specifies that the signal value should always be set to high (value 1) when the instruction is
executed independently of its current state.
[ \PLength ]
Pulse Length
Data type: num
The length of the pulse in seconds (0.001 - 2000 s). If the argument is omitted a 0.2 second
pulse is generated.
Signal
Data type: signaldo
The name of the signal on which a pulse is to be generated.
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1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
RobotWare - OS
Continued
Program execution
The next instruction after PulseDO is executed directly after the pulse starts. The pulse can
then be set/reset without affecting the rest of the program execution.
xx0500002217
The next instruction is executed directly after the pulse starts. The pulse can then be set/reset
without affecting the rest of the program execution.
Limitations
The length of the pulse has a resolution off 0.001 seconds. Programmed values that differ
from this are rounded off.
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© Copyright 2004-2010 ABB. All rights reserved.
The figure below shows examples of generation of pulses on a digital output signal.
1 Instructions
1.118. PulseDO - Generates a pulse on a digital output signal
RobotWare - OS
Continued
Error handling
Following a recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
Syntax
PulseDO
[ ’\’High]
[ ’\’PLength’ :=’ < expression (IN) of num >] ´,’
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’
Related information
See
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID summary - Input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - I/O principles
Configuration of I/O
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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333
1 Instructions
1.119. RAISE - Calls an error handler
RobotWare-OS
1.119. RAISE - Calls an error handler
Usage
RAISE is used to create an error in the program and then to call the error handler of the
routine.
RAISE can also be used in the error handler to propagate the current error to the error handler
of the calling routine.
This instruction can, for example, be used to jump back to a higher level in the structure of
the program, e.g. to the error handler in the main routine if an error occurs at a lower level.
Basic examples
Basic examples of the instruction RAISE are illustrated below.
See also More examples on page 335.
Example 1
MODULE MainModule .
VAR errnum ERR_MY_ERR := -1;
PROC main()
BookErrNo ERR_MY_ERR;
IF di1 = 0 THEN
RAISE ERR_MY_ERR;
ENDIF
ERROR
IF ERRNO = ERR_MY_ERR THEN
TPWrite "di1 equals 0";
ENDPROC
ENDMODULE
For this implementation di1 equals 0 is regarded as an error. RAISE will force the execution
to the error handler. In this example the user has created his own error number to handle the
specific error. BookErrNo belongs to the base functionality Advanced RAPID.
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© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
1 Instructions
1.119. RAISE - Calls an error handler
RobotWare-OS
Continued
Arguments
RAISE [ Error no. ]
Error no.
Data type: errnum
Error number: Any number between 1 and 90 which the error handler can use to locate the
error that has occurred (the ERRNO system variable).
It is also possible to book an error number outside the range 1-90 with the instruction
BookErrNo.
The error number must be specified outside the error handler in a RAISE instruction in order
to be able to transfer execution to the error handler of that routine.
If the instruction is present in a routine’s error handler then the error is propagated to the error
handler of the calling routine. In this case the error number does not have to be specified.
More examples
More examples of the instruction RAISE are illustrated below.
Example 1
MODULE MainModule
VAR num value1 := 10;
VAR num value2 := 0;
PROC main()
routine1;
ERROR
IF ERRNO = ERR_DIVZERO THEN
value2 := 1;
RETRY;
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDPROC
PROC routine1()
value1 := 5/value2;!This will lead to an error when value2 is
equal to 0.
ERROR
RAISE;
ENDPROC
ENDMODULE
In this example the division with zero will result in an error. In the ERROR-handler RAISE will
propagate the error to the ERROR-handler in the calling routine "main". The same error
number remains active. RETRY will re-run the whole routine "routine1".
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1 Instructions
1.119. RAISE - Calls an error handler
RobotWare-OS
Continued
Program execution
Program execution continues in the routine’s error handler. After the error handler has been
executed the program execution can continue with:
•
the routine that called the routine in question (RETURN).
•
the error handler of the routine that called the routine in question (RAISE).
A RAISE instruction in a routine’s error handler also has another feature. It can be used for
long jump (see“ Error Recovery With Long Jump”). With a long jump it is possible to
propagate an error from an error handler from a deep nested call chain to a higher level in one
step.
If the RAISE instruction is present in a trap routine, the error is dealt with by the system’s
error handler.
Error handling
If the error number is out of range then the system variable ERRNO is set to ERR_ILLRAISE
(see "Data types - errnum"). This error can be handled in the error handler.
Syntax
(EBNF)
RAISE [<error number>] ’;’
<error number> ::= <expression>
336
For information about
See
Error handling
Technical reference manual - System parameters,
section Basic Characteristics - Error Recovery
Error recovery with long jump
Technical reference manual - System parameters,
section Basic Characteristics - Error Recovery
Booking error numbers
BookErrNo - Book a RAPID system error number
on page 30
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.120. RaiseToUser - Propagates an error to user level
RobotWare - OS
1.120. RaiseToUser - Propagates an error to user level
Usage
RaiseToUser is used in an error handler in nostepin routines to propagate the current error
or any other defined error to the error handler at user level. User level is in this case the first
routine in a call chain above a nostepin routine.
Basic examples
Basic examples of the instruction RaiseToUser are illustrated below.
Example 1
MODULE MyModule
VAR errnum ERR_MYDIVZERO:= -1;
PROC main()
BookErrNo ERR_MYDIVZERO;
...
routine1;
...
ERROR
IF ERRNO = ERR_MYDIVZERO THEN
TRYNEXT;
ELSE
RETRY;
ENDIF
ENDPROC
ENDMODULE
MODULE MySysModule (SYSMODULE, NOSTEPIN, VIEWONLY)
PROC routine1()
© Copyright 2004-2010 ABB. All rights reserved.
...
routine2;
...
UNDO
! Free allocated resources
ENDPROC
PROC routine2()
VAR num n:=0;
...
reg1:=reg2/n;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
RaiseToUser \Continue \ErrorNumber:=ERR_MYDIVZERO;
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1.120. RaiseToUser - Propagates an error to user level
RobotWare - OS
Continued
ELSE
RaiseToUser \BreakOff;
ENDIF
ENDPROC
ENDMODULE
The division by zero in routine2 will propagate up to the error handler in main routine with
the errno set to ERR_MYDIVZERO. The TRYNEXT instruction in main error handler will then
cause the program execution to continue with the instruction after the division by zero in
routine2. The \Continue switch controls this behavior.
If any other errors occur in routine2 then the \BreakOff switch forces the execution to
continue from the error handler in the main routine. In this case the undo handler in routine1
will be executed while raising it to user level. The RETRY instruction in the error handler in
the main routine will execute routine1 from the beginning once again.
The undo handler in routine1 will also be executed in the \Continue case if a following RAISE
or RETURN is done on the user level.
Arguments
RaiseToUser[ \Continue] | [ \BreakOff][ \ErrorNumber]
[\Continue]
Data type: switch
Continue the execution in the routine that caused the error.
[\BreakOff]
Data type:switch
Break off the call chain and continue the execution at the user level. Any undo handler in the
call chain will be executed apart from the undo handler in the routine that raised the error.
One of the arguments \Continue or \BreakOff must be programmed to avoid an execution
error.
Data type: errnum
Any number between 1 and 90 that the error handler can use to locate the error that has
occurred (the ERRNO system variable).
It is also possible to book an error number outside the range 1-90 with the instruction
BookErrNo.
If the argument \ErrorNumber is not specified then the original error number propagates to
the error handler in the routine at user level.
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© Copyright 2004-2010 ABB. All rights reserved.
[\ErrorNumber]
1 Instructions
1.120. RaiseToUser - Propagates an error to user level
RobotWare - OS
Continued
Program execution
RaiseToUser can only be used in an error handler in a nostepin routine.
Program execution continues in the error handler of the routine at user level. The error
number remains active if the optional parameter \ErrorNumber is not present. The system’s
error handler deals with the error if there is no error handler on user level. The system’s error
handler is called if none of the argument \Continue or \BreakOff is specified.
There are two different behaviors after the error handler has been executed. The program
execution continues in the routine with RaiseToUser if the \Continue switch is on. The
program execution continues at the user level if the \BreakOff switch is on.
Program execution can continue with:
•
the instruction that caused the error (RETRY)
•
the following instruction (TRYNEXT)
•
the error handler of the routine that called the routine at user level (RAISE)
•
the routine that called the routine at user level (RETURN)
Error handling
If the error number is out of range then the system variable ERRNO is set to ERR_ILLRAISE
(see "Data types - errnum"). The system’s error handler deals with this error.
Syntax
RaiseToUser
[ ‘\’Continue ]
´|’ [ ‘\’BreakOff ]
[ ‘\’ErrorNumber’ :=’ ] < expression (IN) of errnum>‘;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Error handling
Technical reference manual - RAPID overview,
section Basic Characteristics - Error Recovery
Undo handling
Technical reference manual - RAPID overview,
section Basic Characteristics - UNDO
Booking error numbers
BookErrNo - Book a RAPID system error number
on page 30
3HAC 16581-1 Revision: J
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1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
RobotWare - OS
1.121. ReadAnyBin - Read data from a binary serial channel or file
Usage
ReadAnyBin (Read Any Binary) is used to read any type of data from a binary serial channel
or file.
Basic examples
Basic examples of the instruction ReadAnyBin are illustrated below.
See also More examples on page 341.
Example 1
VAR iodev channel2;
VAR robtarget next_target;
...
Open "com2:", channel2 \Bin;
ReadAnyBin channel2, next_target;
The next robot target to be executed, next_target, is read from the channel referred to by
channel2.
Arguments
ReadAnyBin IODevice Data [\Time]
IODevice
Data type: iodev
The name (reference) of the binary serial channel or file to be read.
Data
Data type: ANYTYPE
The VAR or PERS to which the read data will be stored.
Data type: num
The max. time for the reading operation (timeout) in seconds. If this argument is not specified
then the max. time is set to 60 seconds. To wait forever, use the predefined constant
WAIT_MAX.
If this time runs out before the read operation is finished then the error handler will be called
with the error code ERR_DEV_MAXTIME. If there is no error handler then the execution will
be stopped.
The timeout function is also in use during program stop and will be noticed by the RAPID
program at program start.
Program execution
As many bytes as are required for the specified data are read from the specified binary serial
channel or file.
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© Copyright 2004-2010 ABB. All rights reserved.
[\Time]
1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
RobotWare - OS
Continued
More examples
More examples of the instruction ReadAnyBin are illustrated below.
Example 1
CONST num NEW_ROBT:=12;
CONST num NEW_WOBJ:=20;
VAR iodev channel;
VAR num input;
VAR robtarget cur_robt;
VAR wobjdata cur_wobj;
Open "com2:", channel\Bin;
! Wait for the opcode character
input := ReadBin (channel \Time:= 0.1);
TEST input
CASE NEW_ROBT:
ReadAnyBin channel, cur_robt;
CASE NEW_WOBJ:
ReadAnyBin channel, cur_wobj;
ENDTEST
Close channel;
As a first step the opcode of the message is read from the serial channel. According to this
opcode a robtarget or a wobjdata is read from the serial channel.
Error handling
If an error occurs during reading then the system variable ERRNO is set to ERR_FILEACC.
If timeout before the read operation is finished then the system variable ERRNO is set to
ERR_DEV_MAXTIME.
© Copyright 2004-2010 ABB. All rights reserved.
If there is a checksum error in the data read then the system variable ERRNO is set to
ERR_RANYBIN_CHK.
If the end of the file is detected before all the bytes are read then the system variable ERRNO
is set to ERR_RANYBIN_EOF.
These errors can then be dealt with by the error handler.
Limitations
This instruction can only be used for serial channels or files that have been opened for binary
reading.
The data to be read by this instruction ReadAnyBin must be a value data type such as num,
bool, or string. Record, record component, array, or array element of these value data types
can also be used. Entire data or partial data with semi-value or non-value data types cannot
be used.
NOTE!
The VAR or PERS variable, for storage of the read data, can be updated in several steps.
Therefore, always wait until the whole data structure is updated before using read data from
a TRAP or another program task.
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1 Instructions
1.121. ReadAnyBin - Read data from a binary serial channel or file
RobotWare - OS
Continued
Because WriteAnyBin-ReadAnyBin are designed to only handle internal binary controller
data with serial channel or files between or within IRC5 control systems, no data protocol is
released and the data cannot be interpreted on any PC.
Control software development can break the compatibility so it is not possible to use
WriteAnyBin-ReadAnyBin between different software versions of RobotWare. If a
WriteAnyBin to file is done with RobotWare version 5.07, the file cannot be read by
instruction ReadAnyBin with RobotWare version 5.08. And the opposite case, if a
WriteAnyBin to file is done with RobotWare version 5.08, the file cannot be read by
instruction ReadAnyBin with RobotWare version 5.07.
Version 0 for IRC5 controller software equal or less than RW5.07
Version 1 for IRC5 controller software equal or greater than RW5.08
Always compatible within all revisions of any software versions.
Syntax
ReadAnyBin
[IODevice’:=’] <variable (VAR) of iodev>’,’
[Data’:=’] <var or pers (INOUT) of ANYTYPE>
[’\’Time’:=’ <expression (IN) of num>]’;’
Related information
See
Opening, etc. of serial channels or files
Technical reference manual - RAPID overview,
section RAPID summary - Communication
Write data to a binary serial channel or
file
WriteAnyBin - Writes data to a binary serial
channel or file on page 713
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.122. ReadBlock - read a block of data from device
Sensor Interface
1.122. ReadBlock - read a block of data from device
Usage
ReadBlock is used to read a block of data from a device connected to the serial sensor
interface. The data is stored in a file.
The sensor interface communicates with two sensors over serial channels using the RTP1
transport protocol.
This is an example of a sensor channel configuration.
COM_PHY_CHANNEL:
•
Name “COM1:”
•
Connector “COM1”
•
Baudrate 19200
COM_TRP:
•
Name “sen1:”
•
Type “RTP1”
•
PhyChannel “COM1”
Basic examples
Basic examples of the instruction ReadBlock are illustrated below.
Example 1
CONST string SensorPar := "flp1:senpar.cfg";
CONST num ParBlock:= 1;
! Connect to the sensor device "sen1:" (defined in sio.cfg).
SenDevice "sen1:";
© Copyright 2004-2010 ABB. All rights reserved.
! Read sensor parameters from sensor datablock 1
! and store on flp1:senpar.cfg
ReadBlock "sen1:", ParBlock, SensorPar;
Arguments
ReadBlock device BlockNo FileName [ \TaskName ]
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
BlockNo
Data type: num
The argument BlockNo is used to select the data block in the sensor to be read.
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1 Instructions
1.122. ReadBlock - read a block of data from device
Sensor Interface
Continued
FileName
Data type: string
The argument FileName is used to define a file to which data is written from the data block
in the sensor selected by the BlockNo argument.
[ \TaskName ]
Data type: string
The argument TaskName makes it possible to access devices in other RAPID tasks.
Fault management
Error constant (ERRNO value)
Description
SEN_NO_MEAS
Measurement failure
SEN_NOREADY
Sensor unable to handle command
SEN_GENERRO
General sensor error
SEN_BUSY
Sensor busy
SEN_UNKNOWN
Unknown sensor
SEN_EXALARM
External sensor error
SEN_CAALARM
Internal sensor error
SEN_TEMP
Sensor temperature error
SEN_VALUE
Illegal communication value
SEN_CAMCHECK
Sensor check failure
SEN_TIMEOUT
Communication error
Syntax
ReadBlock
[ device ‘:=’ ] < expression(IN) of string>’,’
[ BlockNo’ :=’ ] < expression (IN) of num > ‘,’
[ FileName’ :=’ ] < expression (IN) of string > ‘,’
Related information
344
For information about
See
Connect to a sensor device
SenDevice - connect to a sensor device on page 425
Write a sensor variable
WriteVar - write variable on page 729
Read a sensor variable
ReadVar - Read variable from a device on page 958
Write a sensor data block
WriteBlock - write block of data to device on page 719
Configuration of sensor communication
Technical reference manual - System parameters, section
Communication
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ TaskName’ :=’ < expression (IN) of string > ] ‘;’
1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
RobotWare - OS
1.123. ReadCfgData - Reads attribute of a system parameter
Usage
ReadCfgData is used to read one attribute of a system parameter (configuration data).
Besides to reading named parameters it is also possible to search for unnamed parameters.
Basic examples
Basic examples of the instruction ReadCfgData are illustrated below. Both of these
examples show how to read named parameters.
Example 1
VAR num offset1;
...
ReadCfgData "/MOC/MOTOR_CALIB/rob1_1","cal_offset",offset1;
Reads the value of the calibration offset for axis 1 for rob_1 into the num variable offset1.
Example 2
VAR string io_unit;
...
ReadCfgData "/EIO/EIO_SIGNAL/process_error","Unit",io_unit;
Reads the name of the I/O unit where the signal process_error is defined into the string
variable io_unit.
Arguments
ReadCfgData InstancePath Attribute CfgData [\ListNo]
InstancePath
Data type: string
Specifies a path to the parameter to be accessed.
© Copyright 2004-2010 ABB. All rights reserved.
For named parameters the format of this string is /DOMAIN/TYPE/ParameterName.
For unnamed parameters the format of this string is /DOMAIN/TYPE/Attribute/
AttributeValue.
Attribute
Data type: string
The name of the attribute of the parameter to be read.
CfgData
Data type: any type
The variable where the attribute value will be stored. Depending on the attribute type the valid
types are bool, num, or string.
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1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
RobotWare - OS
Continued
[\ListNo]
Data type: num
Variable holding the instance number of the Attribute + AttributeValue to be found.
First occurrence of the Attribute + AttributeValue has an instance number 0. If more
instances are searched for then the returned value in \ListNo will be incremented with 1.
Otherwise, if there are no more instances then the returned value will be -1. The predefined
constant END_OF_LIST can be used to check if more instances are to be search for.
Program execution
The value of the attribute specified by the Attribute argument is stored in the variable
specified by the CfgData argument.
If using format /DOMAIN/TYPE/ParameterName in InstancePath, only named
parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME.
For unnamed parameters use the optional parameter \ListNo to selects from which instance
to read the attribute value. It is updated after each successful read to the next available
instance.
More examples
More examples of the instruction ReadCfgdata are illustrated below. Both these examples
show how to read unnamed parameters.
Example 1
VAR num list_index;
VAR string read_str;
...
list_index:=0;
ReadCfgData "/EIO/EIO_CROSS/Act1/do_13", "Res", read_str,
\ListNo:=list_index;
Reads the resultant signal for the unnamed digital actor signal di_13 and places the name in
the string variable read_str.
In this example domain EIO has the following cfg code:
EIO_CROSS:
-Res "di_1" -Act1 "do_2"
-Res "di_2" -Act1 "do_2"
-Res "di_13" -Act1 "do_13"
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© Copyright 2004-2010 ABB. All rights reserved.
TPWrite "Resultant signal for signal do_13 is: " + read_str;
1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
RobotWare - OS
Continued
Example 2
VAR num list_index;
VAR string read_str;
...
list_index:=0;
WHILE list_index <> END_OF_LIST DO
ReadCfgData "/EIO/EIO_SIGNAL/Unit/USERIO", "Name", read_str,
\ListNo:=list_index;
IF list_index <> END_OF_LIST THEN
TPWrite "Signal: " + read_str;
ENDIF
ENDWHILE
Read the names of all signals defined for the I/O unit USERIO.
In this example domain EIO has the following cfg code:
EIO_SIGNAL:
-Name "USERDO1" -SignalType "DO" -Unit "USERIO" -UnitMap "0"
-Name "USERDO2" -SignalType "DO" -Unit "USERIO" -UnitMap "1"
-Name "USERDO3" -SignalType "DO" -Unit "USERIO" -UnitMap "2"
Error handling
If it is not possible to find the data specified with “InstancePath + Attribute” in the
configuration database then the system variable ERRNO is set to ERR_CFG_NOTFND.
If the data type for parameter CfgData is not equal to the real data type for the found data
specified with“InstancePath + Attribute” in the configuration database then the system
variable ERRNO is set to ERR_CFG_ILLTYPE.
If trying to read internal data then the system variable ERRNO is set to ERR_CFG_INTERNAL.
© Copyright 2004-2010 ABB. All rights reserved.
If variable in argument \ListNo has a value outside range of available instances (0 ... n)
when executing the instruction then ERRNO is set to ERR_CFG_OUTOFBOUNDS.
These errors can then be handled in the error handler.
Limitations
The conversion from system parameter units (m, radian, second, etc.) to RAPID program
units (mm, degree, second, etc.) for CfgData of data type num must be done by the user in
the RAPID program.
If using format /DOMAIN/TYPE/ParameterName in InstancePath then only named
parameters can be accessed, i.e. parameters where the first attribute is name, Name, or NAME.
RAPID strings are limited to 80 characters. In some cases this can be in theory too small for
the definition InstancePath, Attribute or CfgData.
Predefined data
The predefined constant END_OF_LIST with value -1 can be used to stop reading when no
more instances can be found.
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1 Instructions
1.123. ReadCfgData - Reads attribute of a system parameter
RobotWare - OS
Continued
Syntax
ReadCfgData
[ InstancePath ’:=’ ] < expression (IN) of string >’,’
[ Attribute’ :=’ ] < expression (IN) of string >’,’
[ CfgData’ :=’ ] < variable (VAR) of anytype >
[’\’ListNo’:=’ < variable (VAR) of num >]’;’
Related information
See
Definition of string
string - Strings on page 1195
Write attribute of a system parameter
WriteCfgData - Writes attribute of a system
parameter on page 721
Get robot name in current task
RobName - Get the TCP robot name on page 966
Configuration
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
For information about
348
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1 Instructions
1.124. ReadErrData - Gets information about an error
RobotWare - OS
1.124. ReadErrData - Gets information about an error
Usage
ReadErrData is to be used in a trap routine, to get information (domain, type, number and
intermixed strings %s etc.) about an error, a state change, or a warning that caused the trap
routine to be executed.
Basic examples
Basic examples of the instruction ReadErrData are illustrated below.
See also More examples on page 350
Example 1
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
VAR trapdata err_data;
VAR string string1;
VAR string string2;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number,
err_type \Str1:=string1 \Str2:=string2;
ENDTRAP
When an error is trapped to the trap routine trap_err the error domain, the error number,
the error type, and the two first intermixed strings in the error message are saved into
appropriate variables.
© Copyright 2004-2010 ABB. All rights reserved.
Arguments
ReadErrData TrapEvent ErrorDomain ErrorId ErrorType
[\Str1] [\Str2] [\Str3] [\Str4] [\Str5]
TrapEvent
Data type: trapdata
Variable containing the information about what caused the trap to be executed.
ErrorDomain
Data type: errdomain
Variable to store the error domain to which the error, state change, or warning that occurred
belongs. Ref. to predefined data of type errdomain.
ErrorId
Data type: num
Variable to store the number of the error that occurred. The error number is returned without
the first digit (error domain) and without the initial zeros of the complete error number.
E.g. 10008 Program restarted is returned as 8.
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1 Instructions
1.124. ReadErrData - Gets information about an error
RobotWare - OS
Continued
ErrorType
Data type: errtype
Variable to store the type of event such as error, state change, or warning that occurred. Ref.
to predefined data of type errtype.
[ \Str1 ] ... [ \Str5 ]
Data type: string
Update the specified string variable with argument that is intermixed in the error message.
There could be up to five arguments in a message of type %s, %f, %d or %ld, which always
will be converted to a string at execution of this instruction. Str1 will hold the first argument,
Str2 will hold the second argument, and so on. Information about how many arguments there
are in a message is found in Operating manual - Trouble shooting. The intermixed arguments
is marked as arg in that document.
Program execution
The ErrorDomain, ErrorId, ErrorType and Str1 ... Str5 variables are updated
according to the contents of TrapEvent.
If different events are connected to the same trap routine then the program must make sure
that the event is related to error monitoring. This can be done by testing that INTNO matches
the interrupt number used in the instruction IError;
More examples
More examples of the instruction ReadErrData are illustrated below.
Example 1
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interupt;
...
IDelete err_interrupt;
...
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
! Set domain no 1 ... 11
SetGO go_err1, err_domain;
! Set error no 1 ...9999
SetGO go_err2, err_number;
ENDTRAP
When an error occurs (only errors, not warning or state change) the error number is retrieved
in the trap routine and its value is used to set 2 groups of digital output signals.
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© Copyright 2004-2010 ABB. All rights reserved.
...
1 Instructions
1.124. ReadErrData - Gets information about an error
RobotWare - OS
Continued
Limitation
It is not possible obtain information about internal errors.
Syntax
ReadErrData
[TrapEvent ’:=’] <variable (VAR) of trapdata>’,’
[ErrorDomain’ :=’] <variable (VAR) of errdomain>’,’
[ErrorId’:=’] <variable (VAR) of num>’,’
[ErrorType’ :=’] <variable (VAR) of errtype>
[‘\’Str1 ´:=’<variable (VAR) of string>]
[‘\’Str2 ´:=’<variable (VAR) of string>]
[‘\’Str3 ´:=’<variable (VAR) of string>]
[‘\’Str4 ´:=’<variable (VAR) of string>]
[‘\’Str5 ´:=’<variable (VAR) of string>]’;’
Related information
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
Error domains, predefined constants
errdomain - Error domain on page 1106
Error types, predefined constants
errtype - Error type on page 1115
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
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
351
1 Instructions
1.125. ReadRawBytes - Read rawbytes data
RobotWare - OS
1.125. ReadRawBytes - Read rawbytes data
Usage
ReadRawBytes is used to read data of type rawbytes from a device opened with Open\Bin.
Basic examples
Basic examples of the instruction ReadRawBytes are illustrated below.
Example 1
VAR iodev io_device;
VAR rawbytes raw_data_out;
VAR rawbytes raw_data_in;
VAR num float := 0.2;
VAR string answer;
ClearRawBytes raw_data_out;
PackDNHeader "10", "20 1D 24 01 30 64", raw_data_out;
PackRawBytes float, raw_data_out, (RawBytesLen(raw_data_out)+1)
\Float4;
Open "/FC1:/dsqc328_1", io_device \Bin;
WriteRawBytes io_device, raw_data_out;
ReadRawBytes io_device, raw_data_in \Time:=1;
Close io_device;
UnpackRawBytes raw_data_in, 1, answer \ASCII:=10;
In this example raw_data_out is cleared and then packed with DeviceNet header and a float
with value 0.2.
After having closed the device "/FC1:/dsqc328_1", the read data is unpacked as a string
of characters and stored in answer.
Arguments
ReadRawBytes IODevice RawData [\Time]
IODevice
Data type: iodev
IODevice is the identifier of the device from which data shall be read.
RawData
Data type: rawbytes
RawData is the data container that stores read data from IODevice starting at index 1.
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© Copyright 2004-2010 ABB. All rights reserved.
A device, "/FC1:/dsqc328_1", is opened and the current valid data in raw_data_out is
written to the device. Then the program waits for at most 1 second to read from the device,
which is stored in the raw_data_in.
1 Instructions
1.125. ReadRawBytes - Read rawbytes data
RobotWare - OS
Continued
[\Time]
Data type: num
The max. time for the reading operation (timeout) in seconds (resolution 0,001s). If this
argument is not specified then the max. time is set to 60 seconds. To wait forever, use the
predefined constant WAIT_MAX.
If this time runs out before the reading operation is finished then the error handler will be
called with the error code ERR_DEV_MAXTIME. If there is no error handler then the execution
will be stopped.
The timeout function is also in use during program stop and will be noticed by the RAPID
program at program start.
Program execution
During program execution the data is read from the device indicated by IODevice.
If using WriteRawBytes for field bus commands such as DeviceNet then the field bus
always sends an answer. The answer must be handled in RAPID with the ReadRawBytes
instruction.
The current length of valid bytes in the RawData variable is set to the read number of bytes.
The data starts at index 1 in RawData.
Error handling
If an error occurs during reading then the system variable ERRNO is set to ERR_FILEACC.
If time out before the read operation is finished then nothing in the variable RawData is
affected, and the system variable ERRNO is set to ERR_DEV_MAXTIME.
These errors can then be dealt with by the error handler.
Syntax
ReadRawBytes
[IODevice ’:=’ ] < variable (VAR) of iodev>’ ,’
© Copyright 2004-2010 ABB. All rights reserved.
[RawData ’:=’ ] < variable (VAR) of rawbytes> ’,’
[ ’\’ Time ´:=’ < expression (IN) of num>] ’;’
Related information
For information about
See
rawbytes data
rawbytes - Raw data on page 1165
Get the length of rawbytes data
RawBytesLen - Get the length of rawbytes data
on page 940
Clear the contents of rawbytes data
ClearRawBytes - Clear the contents of
rawbytes data on page 49
Copy the contents of rawbytes data
CopyRawBytes - Copy the contents of
rawbytes data on page 67
Pack DeviceNet header into rawbytes
data
PackDNHeader - Pack DeviceNet Header into
rawbytes data on page 287
Pack data into rawbytes data
PackRawBytes - Pack data into rawbytes data
on page 290
Write rawbytes data
WriteRawBytes - Write rawbytes data on page
725
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353
1 Instructions
1.125. ReadRawBytes - Read rawbytes data
RobotWare - OS
Continued
See
Unpack data from rawbytes data
UnpackRawBytes - Unpack data from rawbytes
data on page 658
© Copyright 2004-2010 ABB. All rights reserved.
For information about
354
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1 Instructions
1.126. RemoveDir - Delete a directory
RobotWare - OS
1.126. RemoveDir - Delete a directory
Usage
RemoveDir is used to remove a directory.
The user must have write and execute permission for the directory and the directory must be
empty.
Basic examples
Basic examples of the instruction RemoveDir are illustrated below.
Example 1
RemoveDir "HOME:/mydir";
In this example the mydir directory under HOME: is deleted.
Arguments
RemoveDir Path
Path
Data type: string
The name of the directory to be removed, specified with full or relative path.
Error handling
If the directory does not exist, or the directory is not empty, or the user does not have write
and execute permission to the library then the system variable ERRNO is set to ERR_FILEACC.
This error can then be handled in the error handler.
Syntax
RemoveDir
[ Path’:=’ ] < expression (IN) of string>’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Directory
dir - File directory structure on page 1103
Open a directory
OpenDir - Open a directory on page 285
Read a directory
ReadDir - Read next entry in a directory on
page 944
Close a directory
CloseDir - Close a directory on page 56
Make a directory
MakeDir - Create a new directory on page
218
Rename a file
RenameFile - Rename a file on page 357
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
3HAC 16581-1 Revision: J
355
1 Instructions
1.127. RemoveFile - Delete a file
RobotWare - OS
1.127. RemoveFile - Delete a file
Usage
RemoveFile is used to remove a file. The user must have write and execute permission for
the directory where the file resides and the user must have write permission for the file itself.
Basic examples
Basic examples of the instruction RemoveFile are illustrated below.
Example 1
RemoveFile "HOME:/mydir/myfile.log";
In this example the file myfile.log in directory mydir on disk HOME: is deleted.
Arguments
RemoveFile Path
Path
Data type: string
The name of the file to be deleted, specified with full or relative path.
Error handling
If the file does not exist then the system variable ERRNO is set to ERR_FILEACC. This error
can then be handled in the error handler.
Syntax
RemoveFile
[ Path’:=’ ] < expression (IN) of string>’;’
356
For information about
See
Make a directory
MakeDir - Create a new directory on page
218
Remove a directory
RemoveDir - Delete a directory on page 355
Rename a file
RenameFile - Rename a file on page 357
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.128. RenameFile - Rename a file
RobotWare - OS
1.128. RenameFile - Rename a file
Usage
RenameFile is used to give a new name to an existing file. It can also be used to move a file
from one place to another in the directory structure.
Basic examples
Basic examples of the instruction RenameFile are illustrated below.
Example 1
RenameFile "HOME:/myfile", "HOME:/yourfile;
The file myfile is given the name yourfile.
RenameFile "HOME:/myfile", "HOME:/mydir/yourfile";
The file myfile is given the name yourfile and is moved to the directory mydir.
Arguments
RenameFile OldPath NewPath
OldPath
Data type: string
The complete path of the file to be renamed.
NewPath
Data type: string
The complete path of the renamed file.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
The file specified in OldPath will be given the name specified in NewPath. If the path in
NewPath is different from the path in OldPath then the file will also be moved to the new
location.
Error Handling
If the file specified in NewPath already exists then the system variable ERRNO is set to
ERR_FILEEXIST. This error can then be handled in the error handler.
Syntax
RenameFile
[ OldPath’ :=’ ] < expression (IN) of string > ’,’
[ NewPath’ :=’ ] < expression (IN) of string >’;’
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357
1 Instructions
1.128. RenameFile - Rename a file
RobotWare - OS
Continued
Related information
See
Make a directory
MakeDir - Create a new directory on page
218
Remove a directory
RemoveDir - Delete a directory on page 355
Remove a file
RemoveFile - Delete a file on page 356
Copy a file
CopyFile - Copy a file on page 65
Check file type
IsFile - Check the type of a file on page 878
Check file size
FileSize - Retrieve the size of a file on page
842
Check file system size
FSSize - Retrieve the size of a file system on
page 848
© Copyright 2004-2010 ABB. All rights reserved.
For information about
358
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1 Instructions
1.129. Reset - Resets a digital output signal
RobotWare - OS
1.129. Reset - Resets a digital output signal
Usage
Reset is used to reset the value of a digital output signal to zero.
Basic examples
Basic examples of the instruction Reset are illustrated below.
Example 1
Reset do15;
The signal do15 is set to 0.
Example 2
Reset weld;
The signal weld is set to 0.
Arguments
Reset Signal
Signal
Data type: signaldo
The name of the signal to be reset to zero.
Program execution
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then this instruction causes the physical channel to be set to 1.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
© Copyright 2004-2010 ABB. All rights reserved.
ERR_NORUNUNIT if there is no contact with the unit.
Syntax
Reset
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’
Related information
For information about
See
Setting a digital output signal
Set - Sets a digital output signal on page 427
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O principles - I/O principles
Configuration of I/O
Technical reference manual - System
parameters
3HAC 16581-1 Revision: J
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1 Instructions
1.130. ResetPPMoved - Reset state for the program pointer moved in manual mode
RobotWare - OS
1.130. ResetPPMoved - Reset state for the program pointer moved in manual mode
Usage
ResetPPMoved reset state for the program pointer moved in manual mode.
PPMovedInManMode returns TRUE if the user has moved the program pointer while the
controller is in manual mode - that is, the operator key is at Man Reduced Speed or Man Full
Speed. The program pointer moved state is reset when the key is switched from Auto to Man,
or when using the instruction ResetPPMoved.
Basic examples
Basic example of the instruction ResetPPMoved is illustrated below.
Example 1
IF PPMovedInManMode() THEN
WarnUserOfPPMovement;
! DO THIS ONLY ONCE
ResetPPMoved;
DoJob;
ELSE
DoJob;
ENDIF
Program execution
Resets state for the program pointer moved in manual mode for current program task.
Syntax
ResetPPMoved’;’
360
For information about
See
Test whether program pointer has been
moved in manual mode
PPMovedInManMode - Test whether the
program pointer is moved in manual mode on
page 936
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.131. ResetRetryCount - Reset the number of retries
RobotWare - OS
1.131. ResetRetryCount - Reset the number of retries
Usage
ResetRetryCount is used to reset the number of retries that has been done from an error
handler. The maximum number of retries that can be done is defined in the configuration.
Basic examples
Basic examples of the instruction ResetRetryCount are illustrated below.
Example 1
VAR num myretries := 0;
...
ERROR
IF myretries > 2 THEN
ResetRetryCount;
myretries := 0;
TRYNEXT;
ENDIF
myretries:= myretries + 1;
RETRY;
...
This program will retry the faulty instruction 3 times and then try the next instruction. The
internal system retry counter is reset before trying the next instruction (even if this is done by
the system at TRYNEXT).
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
For every RETRY made from an error handler an internal system counter will check that the
maximum number of retries, specified in the configuration, isn’t exceeded. Executing the
instruction ResetRetryCount will reset the counter and make it possible to redo a
maximum number of retries again.
Syntax
ResetRetryCount ’;’
Related information
For information about
See
Error handlers
Technical reference manual - RAPID overview, section
Basic Characteristics - Error Recovery
Resume execution after an error
RETRY - Resume execution after an error on page 364
Configure maximum number of
retries
Technical reference manual - System parameters,
section System Misc
Number of remaining retries
RemainingRetries - Remaining retries left to do on page
963
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1 Instructions
1.132. RestoPath - Restores the path after an interrupt
RobotWare - OS
1.132. RestoPath - Restores the path after an interrupt
Usage
RestoPath is used to restore a path that was stored at a previous stage using the instruction
StorePath.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction RestoPath are illustrated below.
See also More examples below.
Example 1
RestoPath;
Restores the path that was stored earlier using StorePath.
Program execution
The current movement path of the robot and the external axes are deleted and the path stored
earlier using StorePath is restored. Note that nothing moves until the instruction
StartMove is executed or a return is made using RETRY from an error handler.
More examples
More examples of how to use the instruction RestoPath are illustrated below.
Example 1
ArcL p100, v100, seam1, weld5 \Weave:=weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
© Copyright 2004-2010 ABB. All rights reserved.
StartMoveRetry;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL pclean, v100, fine, gun1;
...
MoveL p1, v100, fine, gun1;
RestoPath;
ENDPROC
In the event of a welding error the program execution continues in the error handler of the
routine which in turn calls gun_cleaning. The movement path being executed at the time
is then stored and the robot moves to the position pclean where the error is rectified. When
this has been done, the robot returns to the position where the error occurred, p1, and stores
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1 Instructions
1.132. RestoPath - Restores the path after an interrupt
RobotWare - OS
Continued
the original movement once again. The weld then automatically restarts, meaning that the
robot is first reversed along the path before welding starts and ordinary program execution
can continue.
Limitations
Only the movement path data is stored with the instruction StorePath. If the user wants to
order movements on the new path level then the actual stop position must be stored directly
after StorePath and before RestoPath make a movement to the stored stop position on the
path.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point, otherwise restart after
power failure will not be possible.
RestoPath cannot be executed in a RAPID routine connected to any of following special
system events: PowerOn, Stop, QStop, Restart or Step.
Syntax
RestoPath´;´
Related information
See
Storing paths
StorePath - Stores the path when an interrupt occurs on
page 521
More examples
StorePath - Stores the path when an interrupt occurs on
page 521
PathRecStart - Start the path recorder on page 308
SyncMoveSuspend - Set independent-semicoordinated
movements on page 543
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
363
1 Instructions
1.133. RETRY - Resume execution after an error
RobotWare - OS
1.133. RETRY - Resume execution after an error
Usage
The RETRY instruction is used to resume program execution after an error starting with (reexecuting) the instruction that caused the error.
Basic examples
Basic examples of the instruction RETRY are illustrated below.
Example 1
reg2 := reg3/reg4;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
reg4 :=1;
RETRY;
ENDIF
An attempt is made to divide reg3 by reg4. If reg4 is equal to 0 (division by zero) then a
jump is made to the error handler, which initializes reg4. The RETRY instruction is then used
to jump from the error handler and another attempt is made to complete the division.
Program execution
Program execution continues with (re-executes) the instruction that caused the error.
Error handling
Limitations
The instruction can only exist in a routine’s error handler. If the error was created using a
RAISE instruction then program execution cannot be restarted with a RETRY instruction. Then
the instruction TRYNEXT should be used.
Syntax
RETRY ’;’
Related information
364
For information about
See
Error handlers
Technical reference manual - RAPID overview,
section Basic Characteristics-Error Recovery
Configure maximum number of retries
Technical reference manual - System
parameters, section System Misc
Continue with the next instruction
TRYNEXT - Jumps over an instruction which has
caused an error on page 636
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
If the maximum number of retries (4 retries) is exceeded then the program execution stops
with an error message. The maximum number of retries can be configured in System
Parameters (type System Misc).
1 Instructions
1.134. RETURN - Finishes execution of a routine
RobotWare - OS
1.134. RETURN - Finishes execution of a routine
Usage
RETURN is used to finish the execution of a routine. If the routine is a function then the
function value is also returned.
Basic examples
Basic examples of the instruction RETURN are illustrated below.
Example 1
errormessage;
Set do1;
...
PROC errormessage()
IF di1=1 THEN
RETURN;
ENDIF
TPWrite "Error";
ENDPROC
The errormessage procedure is called. If the procedure arrives at the RETURN instruction
then program execution returns to the instruction following the procedure call, Set do 1.
Example 2
FUNC num abs_value(num value)
IF value<0 THEN
RETURN -value;
ELSE
RETURN value;
ENDIF
ENDFUNC
© Copyright 2004-2010 ABB. All rights reserved.
The function returns the absolute value of a number.
Arguments
RETURN [ Return value ]
Return value
Data type: According to the function declaration.
The return value of a function.
The return value must be specified in a RETURN instruction present in a function.
If the instruction is present in a procedure or trap routine then a return value shall not be
specified.
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365
1 Instructions
1.134. RETURN - Finishes execution of a routine
RobotWare - OS
Continued
Program execution
The result of the RETURN instruction may vary depending on the type of routine it is used in:
•
Main routine: If a program has run mode single cycle then the program stops.
Otherwise, program execution continues with the first instruction of the main routine.
•
Procedure: Program execution continues with the instruction following the procedure
call.
•
Function: Returns the value of the function.
•
Trap routine: Program execution continues from where the interrupt occurred.
•
Error handler in a procedure: Program execution continues with the routine that called
the routine with the error handler (with the instruction following the procedure call).
•
Error handler in a function: The function value is returned.
Syntax
(EBNF)
RETURN [ <expression> ]’;’
Related information
See
Functions and Procedures
Technical reference manual - RAPID overview,
section Basic characteristics - Routines
Trap routines
Technical reference manual - RAPID overview,
section Basic characteristics - Interrupts
Error handlers
Technical reference manual - RAPID overview,
section Basic characteristics - Error recovery
© Copyright 2004-2010 ABB. All rights reserved.
For information about
366
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1 Instructions
1.135. Rewind - Rewind file position
RobotWare - OS
1.135. Rewind - Rewind file position
Usage
Rewind sets the file position to the beginning of the file.
Basic examples
Basic examples of the instruction Rewind are illustrated below.
See also More examples on page 367.
Example 1
Rewind iodev1;
The file referred to by iodev1 will have the file position set to the beginning of the file.
Arguments
Rewind IODevice
IODevice
Data type: iodev
Name (reference) of the file to be rewound.
Program execution
The specified file is rewound to the beginning.
More examples
More examples of the instruction Rewind are illustrated below.
Example 1
! IO device and numeric variable for use together with a binary
! file
VAR iodev dev;
© Copyright 2004-2010 ABB. All rights reserved.
VAR num bindata;
! Open the binary file with \Write switch to erase old contents
Open "HOME:"\File := "bin_file",dev \Write;
Close dev;
! Open the binary file with \Bin switch for binary read and write
! acess
Open "HOME:"\File := "bin_file",dev \Bin;
WriteStrBin dev,"Hello world";
! Rewind the file pointer to the beginning of the binary file
! Read contents of the file and write the binary result on TP
! (gives 72 101 108 108 111 32 119 111 114 108 100 )
Rewind dev;
bindata := ReadBin(dev);
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367
1 Instructions
1.135. Rewind - Rewind file position
RobotWare - OS
Continued
WHILE bindata <> EOF_BIN DO
TPWrite " " \Num:=bindata; bindata := ReadBin(dev);
ENDWHILE
! Close the binary file
Close dev;
The instruction Rewind is used to rewind a binary file to the beginning so that the contents
of the file can be read back with ReadBin
Limitations
For theVirtual Controller there is a limitation, if the used file has been opened with a
\Bin or \Bin \Append switch, a Rewind before any type of aWrite instruction will be
ineffective. The writing will be done at the end of the file.
Error handling
If an error occurs during the rewind then the system variable ERRNO is set to ERR_FILEACC.
This error can then be handled in the error handler.
Syntax
Rewind [IODevice ’:=’] <variable (VAR) of iodev>’;’
Related information
See
Opening, etc. of files
Technical reference manual - RAPID overview ,
section RAPID summary - Communication
© Copyright 2004-2010 ABB. All rights reserved.
For information about
368
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1 Instructions
1.136. RMQEmptyQueue - Empty RAPID Message Queue
RobotWare - OS
1.136. RMQEmptyQueue - Empty RAPID Message Queue
Usage
RMQEmptyQueue empties the RAPID Message Queue (RMQ) in the task that is executing the
instruction.
Basic examples
A basic example of the instruction RMQEmptyQueue is illustrated below.
Example
RMQEmptyQueue;
The RMQEmptyQueue instruction removes all messages from RMQ in the executing task.
Program execution
The RAPID Message Queue owned by the executing task is emptied. The instruction can be
used on all execution levels.
Limitations
RMQEmptyQueue only empties the RAPID Message Queue in the task that is executing the
instruction. All other RAPID Message Queues are left as is.
Syntax
RMQEmptyQueue ';'
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
rmqmessage data type
rmqmessage - RAPID Message Queue
message on page 1173.
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386.
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371.
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380.
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377.
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167.
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964.
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1 Instructions
1.136. RMQEmptyQueue - Empty RAPID Message Queue
RobotWare - OS
Continued
For information about
See
Receive message from RMQ
RMQReadWait - Returns message from
RMQ on page 383.
© Copyright 2004-2010 ABB. All rights reserved.
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue
page 373.
370
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1 Instructions
1.137. RMQFindSlot - Find a slot identity from the slot name
FlexPendant Interface, PC Interface, or Multitasking
1.137. RMQFindSlot - Find a slot identity from the slot name
Usage
RMQFindSlot (RAPID Message Queue Find Slot) is used to find the slot identity to an RMQ
configured for a RAPID task, or the slot identity to a Robot Application Builder client.
Basic examples
Basic examples of the instruction RMQFindSlot name are illustrated below.
Example 1
VAR rmqslot myrmqslot;
RMQFindSlot myrmqslot, "RMQ_T_ROB2";
Get the identity number for the RMQ "RMQ_T_ROB2" configured for the RAPID task
"T_ROB2".
Arguments
RMQFindSlot Slot Name
Slot
Data type: rmqslot
The variable in which the numeric identifier is returned.
Name
Data type: string
The name of the client to find the identity number for. The name must be right regarding small
and big letters. If the RAPID task is named T_ROB1, and using the name RMQ_t_rob1 for
the RMQ, this will end up in a error (see error handling chapter below.)
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
The RMQFindSlot instruction is used to find the slot identity for a named RMQ or Robot
Application Builder client.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_RMQ_NAME
The given slot name is not valid or not found.
Syntax
RMQFindSlot
[ Slot ‘:=’ ] < variable (VAR) of rmqslot > ’,’
[ Name ‘:=’ ] < expression (IN) of string >‘;‘
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371
1 Instructions
1.137. RMQFindSlot - Find a slot identity from the slot name
FlexPendant Interface, PC Interface, or Multitasking
Continued
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390
Extract the header data from a rmqmessage RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
RMQ Slot
rmqslot - Identity number of an RMQ client on
page 1174
© Copyright 2004-2010 ABB. All rights reserved.
Extract the data from a rmqmessage
372
3HAC 16581-1 Revision: J
1 Instructions
1.138. RMQGetMessage - Get an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
1.138. RMQGetMessage - Get an RMQ message
Usage
RMQGetMessage (RAPID Message Queue Get Message) is used to fetch the first RMQ
message from the queue for the actual program task.
Basic examples
Basic examples of the instruction RMQGetMessage are illustrated below.
See also More examples on page 374.
Example 1
TRAP msghandler
VAR rmqmessage myrmqmsg;
RMQGetMessage myrmqmsg;
...
ENDTRAP
In the TRAP routine msghandler the rmqmessage is fetched from the RMQ and copied to
the variable myrmqmsg.
Arguments
RMQGetMessage Message
Message
Data type: rmqmessage
Variable for storage of the RMQ message.
The maximum size of the data that can be received in a rmqmessage is about 3000 bytes.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The instruction RMQGetMessage is used to get the first message from the queue of the task
executing the instruction. If there is a message, it will be copied to the Message variable, and
then removed from the queue to make room for new messages. The instruction is only
supported on the TRAP level.
Continues on next page
3HAC 16581-1 Revision: J
373
1 Instructions
1.138. RMQGetMessage - Get an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
More examples
More examples of how to use the instruction RMQGetMessage are illustrated below.
Example 1
RECORD mydatatype
int x;
int y;
ENDRECORD
VAR intnum msgreceive;
VAR mydatatype mydata;
PROC main()
! Setup interrupt
CONNECT msgreceive WITH msghandler;
! Order cyclic interrupt to occur for data type mydatatype
IRMQMessage mydata, msgreceive;
WHILE TRUE DO
! Performing cycle
...
ENDWHILE
ENDPROC
TRAP msghandler
VAR rmgmessage message;
VAR rmqheader header;
! Get the RMQ message
RMQGetMessage message;
RMQGetMsgHeader message \Header:=header;
IF header.datatype = "mydatatype" AND header.ndim = 0 THEN
! Copy the data from the message
RMQGetMsgData message, mydata;
ELSE
TPWrite "Received a type not handled or with wrong dimension";
ENDIF
ENDTRAP
When a new message is received, the TRAP routine msghandler is executed and the new
message is copied to the variable message (instruction RMQGetMessage). Then the RMQ
header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data
type and has the right dimension, the data is copied to the variable mydata (instruction
RMQGetMsgData).
Continues on next page
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3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
! Copy RMQ header information
1 Instructions
1.138. RMQGetMessage - Get an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_RMQ_NOMSG
No message for the moment in the queue. If executing
RMQGetMessage twice in a TRAP routine, this can happen. The
error can also be generated if there is a power failure between
the TRAP being ordered and the instruction RMQGetMessage
being executed.The messages in the RMQ will be lost at power
fail.
ERR_RMQ_INVMSG
This error will be thrown if the message is invalid. This may for
instance happen if a PC application sends a corrupt message.
Limitations
RMQGetMessage is not supported on the user execution level (i.e. in service routines) or
normal execution level.
The maximum size of the data that can be received in a rmqmessage is about 3000 bytes.
A recommendation is to reuse a variable of the data type rmqmessage as much as possible
to save RAPID memory.
Syntax
RMQGetMessage
[ Message ‘:=’ ] < variable (VAR) of rmqmessage >‘;‘
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
Continues on next page
3HAC 16581-1 Revision: J
375
1 Instructions
1.138. RMQGetMessage - Get an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
See
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
© Copyright 2004-2010 ABB. All rights reserved.
For information about
376
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1 Instructions
1.139. RMQGetMsgData - Get the data part from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
1.139. RMQGetMsgData - Get the data part from an RMQ message
Usage
RMQGetMsgData (RAPID Message Queue Get Message Data) is used to get the actual data
within the RMQ message.
Basic examples
Basic examples of the instruction RMQGetMsgData are illustrated below.
See also More Examples.
Example 1
VAR rmqmessage myrmqmsg;
VAR num data;
...
RMQGetMsgData myrmqmsg, data;
! Handle data
Data of the data type num is fetched from the variable myrmqmsg and stored in the variable
data.
Arguments
RMQGetMsgData Message Data
Message
Data type: rmqmessage
Varible containing the received RMQ message.
Data
Data type: anytype
Variable of the expected data type, used for storage of the received data.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The instruction RMQGetMsgData is used to get the actual data within the RMQ message,
convert it from ASCII character format to binary data, compile the data to see if it is possible
to store it in the variable specified in the instruction, and then copy it to the variable.
Continues on next page
3HAC 16581-1 Revision: J
377
1 Instructions
1.139. RMQGetMsgData - Get the data part from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
More examples
More examples of how to use the instruction RMQGetMsgData are illustrated below.
Example 1
RECORD mydatatype
int x;
int y;
ENDRECORD
VAR intnum msgreceive;
VAR mydatatype mydata;
PROC main()
! Setup interrupt
CONNECT msgreceive WITH msghandler;
! Order cyclic interrupt to occur for data type mydatatype
IRMQMessage mydata, msgreceive;
WHILE TRUE DO
! Performing cycle
...
ENDWHILE
ENDPROC
TRAP msghandler
VAR rmgmessage message;
VAR rmqheader header;
! Get the RMQ message
RMQGetMessage message;
RMQGetMsgHeader message \Header:=header;
IF header.datatype = "mydatatype" AND header.ndim = 0 THEN
! Copy the data from the message
RMQGetMsgData message, mydata;
ELSE
TPWrite "Received a type not handled or with wrong dimension";
ENDIF
ENDTRAP
When a new message is received, the TRAP routine msghandler is executed and the new
message is copied to the variable message (instruction RMQGetMessage). Then the RMQ
header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data
type and has the right dimension, the data is copied to the variable mydata (instruction
RMQGetMsgData).
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
! Copy RMQ header information
1 Instructions
1.139. RMQGetMsgData - Get the data part from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_RMQ_VALUE
The received message and the data type used in argument
Data does not have the same data type.
ERR_RMQ_DIM
The data types are equal, but the dimensions differ between the
data in the message and the variable used in argument Data.
ERR_RMQ_MSGSIZE
The size of the received data is bigger than the maximum
configured size for the RMQ for the receiving task.
ERR_RMQ_INVMSG
This error will be thrown if the message is invalid. This may for
instance happen if a PC application sends a corrupt message.
Syntax
RMQGetMsgData
[ Message ‘:=’ ] < variable (VAR) of rmqmessage > ’,’
[ Data ‘:=’ ] < reference (VAR) of anytype >‘;‘
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386
© Copyright 2004-2010 ABB. All rights reserved.
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
3HAC 16581-1 Revision: J
379
1 Instructions
1.140. RMQGetMsgHeader - Get header information from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
1.140. RMQGetMsgHeader - Get header information from an RMQ message
Usage
RMQGetMsgHeader (RAPID Message Queue Get Message Header) get the header
information within the received RMQ message and store it in variables of type rmqheader,
rmqslot or num.
Basic examples
Basic examples of the instruction RMQGetMsgHeader are illustrated below.
See also More examples on page 381.
Example 1
VAR rmqmessage myrmqmsg;
VAR rmqheader myrmqheader;
...
RMQGetMsgHeader myrmqmsg, \Header:=myrmqheader;
In this example the variable myrmqheader is filled with data copied from the rmqheader
part of the variable myrmqmsg.
Example 2
VAR rmqmessage rmqmessage1;
VAR rmqheader rmqheader1;
VAR rmqslot rmqslot1;
VAR num userdef := 0;
...
RRMQGetMsgHeader rmqmessage1 \Header:=rmqheader1
\SenderId:=rmqslot1 \UserDef:=userdef;
In this example the variables rmqheader1, rmqslot1 and userdef are filled with data
copied from the variable rmqmessage1.
RMQGetMsgHeader Message [\Header] [\SenderId] [\UserDef]
Message
Data type: rmqmessage
Variable containing the received RMQ message from which the information about the
message should be copied.
[\Header]
Data type: rmqheader
Variable for storage of the RMQ header information that is copied from the variable specified
as the parameter Message.
[\SenderId]
Data type: rmqslot
Variable for storage of the sender identity information that is copied from the variable
specified as the parameter Message.
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© Copyright 2004-2010 ABB. All rights reserved.
Arguments
1 Instructions
1.140. RMQGetMsgHeader - Get header information from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
[\UserDef]
User Defined data
Data type: num
Variable for storage of user-defined data that is copied from the variable specified as the
parameter Message. To get any valid data in this variable, the sender needs to specify that
this should be included when sending an RMQ message. If it is not used, the value will be set
to -1.
Program execution
The instruction RMQGetMsgHeader gets the header information within the received RMQ
message and copies it to to variables of type rmqheader, rmqslot or num depending on
what arguments are used.
More examples
More examples of how to use the instruction RMQGetMsgHeader are illustrated below.
Example 1
RECORD mydatatype
int x;
int y;
ENDRECORD
VAR intnum msgreceive;
VAR mydatatype mydata;
PROC main()
! Setup interrupt
CONNECT msgreceive WITH msghandler;
! Order cyclic interrupt to occur for data type mydatatype
IRMQMessage mydata, msgreceive;
© Copyright 2004-2010 ABB. All rights reserved.
WHILE TRUE DO
! Performing cycle
...
ENDWHILE
ENDPROC
TRAP msghandler
VAR rmgmessage message;
VAR rmqheader header;
! Get the RMQ message
RMQGetMessage message;
! Copy RMQ header information
RMQGetMsgHeader message \Header:=header;
Continues on next page
3HAC 16581-1 Revision: J
381
1 Instructions
1.140. RMQGetMsgHeader - Get header information from an RMQ message
FlexPendant Interface, PC Interface, or Multitasking
Continued
IF header.datatype = "mydatatype" AND header.ndim = 0 THEN
! Copy the data from the message
RMQGetMsgData message, mydata;
ELSE
TPWrite "Received a type not handled or with wrong dimension";
ENDIF
ENDTRAP
When a new message is received, the TRAP routine msghandler is executed and the new
message is copied to the variable message (instruction RMQGetMessage). Then the RMQ
header data is copied (instruction RMQGetMsgHeader). If the message is of the expected data
type and has the right dimension, the data is copied to the variable mydata (instruction
RMQGetMsgData).
Syntax
RMQGetMsgHeader
[ Message ‘:=’ ] < variable (VAR) of rmqmessage > ’,’
[ ‘\’ Header‘ :=’ < variable (VAR) of rmqheader >
[ ‘\’ SenderId‘ :=’ < variable (VAR) of rmqslot >
[ ‘\’ UserDef‘ :=’ < variable (VAR) of num >‘;‘
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
382
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964
RMQ Slot
rmqslot - Identity number of an RMQ client on
page 1174
RMQ Header
rmqmessage - RAPID Message Queue
message on page 1173
RMQ Message
rmqheader - RAPID Message Queue
Message header on page 1171
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.141. RMQReadWait - Returns message from RMQ
RobotWare - OS
1.141. RMQReadWait - Returns message from RMQ
Usage
RMQReadWait is used in synchronous mode to receive any type of message.
Basic examples
A basic example of the instruction RMQReadWait is illustrated below.
See also More examples on page 383.
Example
VAR rmqmessage myrmqmsg;
RMQReadWait myrmqmsg;
The first message in the queue is received in the variable myrmqmsg.
Arguments
RMQReadWait Message [\TimeOut]
Message
Data type: rmqmessage
The variable in which the received message is placed.
[\Timeout]
Data type: num
The maximum amount of time [s] that program execution waits for a message. If this time
runs out before the condition is met, the error handler will be called, if there is one, with the
error code ERR_RMQ_TIMEOUT. If there is no error handler, the execution will be stopped. It
is possible to set the timeout to 0 (zero) seconds, so that there is no wait at all.
© Copyright 2004-2010 ABB. All rights reserved.
If the parameter \Timeout is not used, the waiting time is 60 sec. To wait forever, use the
predefined constant WAIT_MAX.
Program execution
All incoming messages are queued and RMQReadWait handles the messages in FIFO order,
one message at a time. It is the users responsibility to avoid a full queue and to be prepared
to handle any type of message supported by RAPID Message Queue.
More examples
More examples of how to use the instruction RMQReadWait are illustrated below.
Example 1
VAR rmqmessage myrmqmsg;
RMQReadWait myrmqmsg \TimeOut:=30;
The first message in the queue is received in the variable myrmqmsg. If no message is
received within 30 seconds the program execution is stopped.
Continues on next page
3HAC 16581-1 Revision: J
383
1 Instructions
1.141. RMQReadWait - Returns message from RMQ
RobotWare - OS
Continued
Example 2
PROC main()
VAR rmqmessage myrmqmsg;
FOR i FROM 1 TO 25 DO
RMQReadWait myrmqmsg \TimeOut:=30;
...
ENDFOR
ERROR
IF ERRNO = ERR_RMQ_TIMEOUT THEN
TPWrite "ERR_RMQ_TIMEOUT error reported";
...
ENDIF
ENDPROC
Messages are received from the queue and stored in the variable myrmqmsg. If receiving a
message takes longer than 30 seconds, the error handler is called.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
Error code
Description
ERR_RMQ_TIMEOUT
No answer has been received within the time-out time
ERR_RMQ_INVMSG
This error will be thrown if the message is invalid. This can for
example happen if a PC application sends a corrupt message
Limitations
based mode will cause a fatal runtime error.
RMQReadWait is not supported in trap execution level or user execution level. Executing this
instruction in either of these levels will cause a fatal runtime error.
Syntax
RMQReadWait
[ Message ':=' ] < variable (VAR) of rmqmessage>
[ '\' TimeOut':=' < expression (IN) of num > ] ';'
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Description of task execution modes
Technical reference manual - System
parameters, section Topic Controller, Type
Task.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
RMQReadWait is only supported in synchronous mode. Executing this instruction in interrupt
1 Instructions
1.141. RMQReadWait - Returns message from RMQ
RobotWare - OS
Continued
For information about
See
rmqmessage data type
rmqmessage - RAPID Message Queue
message on page 1173.
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386.
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client.
RMQFindSlot - Find a slot identity from the
slot name on page 371.
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380.
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377.
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167.
Get the slot name from a specified slot
identity
RMQGetSlotName - Get the name of an
RMQ client on page 964.
Empty RAPID Message Queue
RMQEmptyQueue - Empty RAPID Message
Queue on page 369
rmqmessage - RAPID Message Queue
message on page 1173
© Copyright 2004-2010 ABB. All rights reserved.
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue
page 373.
3HAC 16581-1 Revision: J
385
1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
1.142. RMQSendMessage - Send an RMQ data message
Usage
RMQSendMessage (RAPID Message Queue Send Message) is used to send data to an RMQ
configured for a RAPID task, or to a Robot Application Builder client.
Basic examples
Basic examples of the instruction RMQSendMessage are illustrated below.
See also More examples on page 387.
Example 1
VAR rmqslot destination_slot;
VAR string data:="Hello world";
..
RMQFindSlot destination_slot,"RMQ_Task2";
RMQSendMessage destination_slot,data;
The example shows how to send the value in the variable data to the RAPID task "Task2"
with the configured RMQ "RMQ_Task2".
Example 2
VAR rmqslot destination_slot;
CONST robtarget p5:=[ [600, 500, 225.3], [1, 0, 0, 0], [1, 1, 0,
0], [ 11, 12.3, 9E9, 9E9, 9E9, 9E9] ];
VAR num my_id:=1;
..
RMQFindSlot destination_slot,"RMQ_Task2";
RMQSendMessage destination_slot, p5 \UserDef:=my_id;
The example shows how to send the value in the constant p5 to the RAPID task "Task2"
with the configured RMQ "RMQ_Task2". A user-defined number is also sent. This number
can be used by the receiver as an identifier.
Arguments
RMQSendMessage Slot SendData [\UserDef]
Slot
Data type: rmqslot
The identity slot number of the client that should receive the message.
SendData
Data type: anytype
Reference to a variable, persistent or constant containing the data to be sent to the client with
identity as in argument Slot.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
my_id:=my_id + 1;
1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
Continued
[\UserDef]
User Defined data
Data type: num
Data specifying user-defined information to the receiver of the SendData, i.e the client with
identity number as in variable Slot. The value must be an integer between 0 and 32767.
Program execution
The instruction RMQSendMessage is used to send data to a specified client. The instruction
packs the indata in a storage container and sends it.
If the receiving client is not interested in receiving messages, i.e has not setup any interrupt
to occur for the data type specified in the RMQSendMessage instruction or is not waiting in
an RMQSendWait instruction, the message will be discarded, and a warning will be generated.
Not all data types can be sent with the instruction (see limitations).
More examples
More examples of how to use the instruction RMQSendMessage are illustrated below.
Example 1
MODULE SenderMod
RECORD msgrec
num x;
num y;
ENDRECORD
PROC main()
VAR rmqslot destinationSlot;
VAR msgrec msg :=[0, 0, 0];
! Connect to a Robot Application Builder client
© Copyright 2004-2010 ABB. All rights reserved.
RMQFindSlot destinationSlot ”My_RAB_client”;
! Perform cycle
WHILE TRUE DO
! Update msg with valid data
...
! Send message
RMQSendMessage destinationSlot, msg;
...
ENDWHILE
Continues on next page
3HAC 16581-1 Revision: J
387
1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
Continued
ERROR
IF ERRNO = ERR_RMQ_INVALID THEN
! Handle destination client lost
WaitTime 1;
! Reconnect to Robot Application Builder client
RMQFindSlot destinationSlot ”My_RAB_client”;
! Avoid execution stop due to retry count exceed
ResetRetryCount;
RETRY;
ELSIF ERRNO = ERR_RMQ_FULL THEN
! Handle destination queue full
WaitTime 1;
! Avoid execution stop due to retry count exceed
ResetRetryCount;
RETRY;
ENDIF
ENDPROC
ENDMODULE
The example shows how to use instruction RMQSendMessage with errorhandling of occuring
run-time errors. The program sends user-defined data of the type msgrec to a Robot
Application Builder client called "My_RAB_client".
Error handling
ERR_RMQ_MSGSIZE
The size of message is too big. Either the data exceeds the
maximum allowed message size, or the receiving client is not
configured to receive the size of the data that is sent.
ERR_RMQ_FULL
The destination message queue is full
ERR_RMQ_INVALID
The destination slot has not been connected or the destination
slot is no longer available. If not connected, a call to
RMQFindSlot must be done. If not available, the reason is that
a remote client has disconnected from the controller.
Limitations
It is not possible to set up interrupts, or send or receive data instances of data types that are
of non-value, semi-value types or data type motsetdata.
The maximum size of data that can be sent to a Robot Application Builder client is about 5000
bytes. The maximum size of data that can be received by a RMQ and stored in a rmqmessage
data type is about 3000 bytes. The size of the data that can be received by an RMQ can be
configured (default size 400, max size 3000).
Syntax
RMQSendMessage
[ Slot ‘:=’ ] < variable (VAR) of rmqslot > ’,’
[ SendData‘ :=’ ] < reference (REF) of anytype >
[ ‘\’ UserDef‘ :=’ < expression (IN) of num > ] ‘;‘
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© Copyright 2004-2010 ABB. All rights reserved.
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
1 Instructions
1.142. RMQSendMessage - Send an RMQ data message
FlexPendant Interface, PC Interface, or Multitasking
Continued
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Send data to the queue of a RAPID task or
RMQSendWait - Send an RMQ data
Robot Application Builder client, and wait for message and wait for a response on page
an answer from the client
390
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
RMQGetSlotName - Get the name of an
RMQ client on page 964
RMQ Slot
rmqslot - Identity number of an RMQ client on
page 1174
© Copyright 2004-2010 ABB. All rights reserved.
Get the slot name from a specified slot
identity
3HAC 16581-1 Revision: J
389
1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
1.143. RMQSendWait - Send an RMQ data message and wait for a response
Usage
With the RMQSendWait (RAPID Message Queue Send Wait) instruction it is possible to send
data to an RMQ or to a Robot Application Builder client, and wait for an answer from the
specified client. If using this instruction, the user needs to know what kind of data type will
be sent in the answer from the client.
Basic examples
Basic examples of the instruction RMQSendWait are illustrated below.
See also More examples on page 393.
Example 1
VAR rmqslot destination_slot;
VAR string sendstr:="This string is from T_ROB1";
VAR rmqmessage receivemsg;
VAR num mynum;
..
RMQFindSlot destination_slot, "RMQ_T_ROB2";
RMQSendWait destination_slot, sendstr, receivemsg, mynum;
RMQGetMsgData receivemsg, mynum;
Example 2
VAR rmqslot rmqslot1;
VAR string mysendstr;
VAR rmqmessage rmqmessage1;
VAR string receivestr;
VAR num mysendid:=1;
..
mysendstr:="Message from Task1";
RMQFindSlot rmqslot1, "RMQ_Task2";
RMQSendWait rmqslot1, mysendstr \UserDef:=mysendid, rmqmessage1,
receivestr \TimeOut:=20;
RMQGetMsgData rmqmessage1, receivestr;
mysendid:=mysendid + 1;
The example shows how to send the data in the variable mysendstr to the RAPID task
"Task2" with the configured RMQ "RMQ_Task2". A user-defined number is also sent. This
number can be used by the receiver as an identifier and must be bounced back to the sender
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© Copyright 2004-2010 ABB. All rights reserved.
The example shows how to send the data in the variable sendstr to the RAPID task
"T_ROB2" with the configured RMQ "RMQ_T_ROB2". Now the instruction RMQSendWait
waits for a reply from the task "T_ROB2". The instruction in "T_ROB2" needs to send data
that is stored in a num data type to terminate the waiting instruction RMQSendWait. When the
message has been received, the data is copied to the variable mynum from the variable
receivemsg with the instruction RMQGetMsgData.
1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
Continued
to terminate the waiting RMQSendWait instruction. Another demand to terminate the waiting
instruction is that the right data type is sent from the client. That data type is specified by the
variable receivestr in the RMQSendWait instruction. After the message has been received,
the actual data is copied to the variable receivestr with the instruction RMQGetMsgData.
Arguments
RMQSendWait Slot SendData [\UserDef] Message ReceiveDataType
[\TimeOut]
Slot
Data type: rmqslot
The identity number of the client that should receive the message.
SendData
Data type: anytype
Reference to a variable, persistent or constant containing the data to be sent to the client with
identity number as in the variable Slot.
[\UserDef]
User Defined data
Data type: num
Data specifying user-defined information to the receiver of the SendData, that is, the client
with the identity number as in the variable Slot. If using this optional argument, the
RMQSendWait instruction will only terminate if the ReceiveDataType and the specified
UserDef is as specified in the message answer. The value must be an integer between 0 and
32767.
Message
Data type: rmqmessage
The variable in which the received message is placed.
© Copyright 2004-2010 ABB. All rights reserved.
ReceiveDataType
Data type: anytype
A reference to a persistent, variable or constant of the data type that the instruction is waiting
for. The actual data is not copied to this variable when the RMQSendWait is executed. This
argument is only used to specify the actual data type the RMQSendWait instruction is waiting
for.
[\Timeout]
Data type: num
The maximum amount of time [s] that program execution waits for an answer. If this time
runs out before the condition is met, the error handler will be called, if there is one, with the
error code ERR_RMQ_TIMEOUT. If there is no error handler, the execution will be stopped.
If the parameter \Timeout is not used, the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX.
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391
1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
Continued
Program execution
The instruction RMQSendWait sends data and waits for an answer from the client with the
specified slot identity. The answer must be an rmqmessage from the client that got the
message and the answer must be of the same data type that is specified in the argument
ReceiveDataType. The message will be sent in the same way as when using
RMQSendMessage, i.e.the receiver will get a normal RAPID Message Queue message. It is
the responsibility of the sender that the receiver knows that a reply is needed. If the optional
argument UserDef is used in the RMQSendWait, the demand is that the receiving client uses
the same UserDef in the answer.
If the receiving client is not interested in receiving messages, that is, has not set up any
interrupt to occur for the data type specified in the RMQSendWait instruction, the message
will be discarded, and a warning will be generated. The instruction returns an error after the
time used in the argument TimeOut, or the default time-out time 60 s. This error can be dealt
with in an error handler.
The RMQSendWait instruction has the highest priority if a message is received and it fits the
description for both the expected answer and a message connected to a TRAP routine (see
instruction IRMQMessage).
If a power failure occurs when waiting for an answer from the client, the variable used in the
argument Slot is set to 0 and the instruction is executed again. The instruction will then fail
due to an invalid slot identity and the error handler will be called, if there is one, with the error
code ERR_RMQ_INVALID. The slot identity can be reinitialized there.
© Copyright 2004-2010 ABB. All rights reserved.
Not all data types can be sent with the instruction (see limitations).
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1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
Continued
More examples
More examples of how to use the instruction RMQSendWait are illustrated below.
Example 1
MODULE RMQ_Task1_mod
PROC main()
VAR rmqslot destination_slot;
VAR string mysendstr:="String sent from RMQ_Task1_mod";
VAR string myrecstr;
VAR rmqmessage recmsg;
VAR rmqheader header;
!Get slot identity to client called RMQ_Task2
RMQFindSlot destination_slot, "RMQ_Task2";
WHILE TRUE DO
! Do something
...
!Send data in mysendstr, wait for an answer of type string
RMQSendWait destination_slot, mysendstr, recmsg, myrecstr;
!Get information about the received message
RMQGetMsgHeader recmsg \Header:=header;
IF header.datatype = "string" AND header.ndim = 0 THEN
! Copy the data in recmsg
RMQGetMsgData recmsg, myrecstr;
TPWrite "Received string: " + myrecstr;
ELSE
© Copyright 2004-2010 ABB. All rights reserved.
TPWrite "Not a string that was received";
ENDIF
ENDWHILE
ENDPROC
ENDMODULE
The data in the variable mysendstr is sent to the RAPID task "Task2" with the configured
RAPID Message Queue "RMQ_Task2" with the instruction RMQSendWait. The answer from
the RAPID task "Task2" should be a string (specified of the data type of the variable
myrecstr). The RMQ message received as an answer is received in the variable recmsg.
The use of the variable myrecstr in the call to RMQSendWait is just specification of the data
type the sender is expecting as an answer. No valid data is placed in the variable in the
RMQSendWait call.
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3HAC 16581-1 Revision: J
393
1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_RMQ_MSGSIZE
The size of message is too big. Either the data exceeds the
maximum allowed message size, or the receiving client is not
configured to receive the size of the data that is sent.
ERR_RMQ_FULL
The destination message queue is full.
ERR_RMQ_INVALID
The rmqslot has not been initialized, or the destination slot is
no longer available. This can happen if the destination slot is a
remote client and the remote client has disconnected from the
controller. RMQSendWait was interrupted by a power failure,
and at restart the rmqslot is set to 0.
ERR_RMQ_TIMEOUT
No answer has been received within the time-out time.
ERR_RMQ_INVMSG
This error will be thrown if the message is invalid. This may for
instance happen if a PC application sends a corrupt message.
Limitations
It is not allowed to execute RMQSendWait in synchronous mode. That will cause a fatal
runtime error.
It is not possible to set up interrupts, or send or receive data instances of data types that are
of non-value, semi-value types or data type motsetdata.
The maximum size of data that can be sent to a Robot Application Builder client is about 5000
bytes. The maximum size of data that can be received by an RMQ and stored in an
rmqmessage data type is about 3000 bytes. The size of the data that can be received by an
RMQ can be configured (default size 400, max size 3000).
Syntax
RMQSendWait
[ Slot ‘:=’ ] < variable (VAR) of rmqslot > ’,’
[ ‘\’ UserDef‘ :=’ < expression (IN) of num > ] ’,’
[ Message‘ :=’ ] < variable (VAR) of rmqmessage > ’,’
[ ReceiveDataType‘ :=’ ] < reference (REF) of anytype > ’,’
[ ‘\’ Timeout‘ :=’ < expression (IN) of num > ] ‘;‘
Related information
For information about
See
Description of the RAPID Message Queue
functionality
Application manual - Robot communication
and I/O control, section RAPID Message
Queue.
Find the identity number of a RAPID
Message Queue task or Robot Application
Builder client
RMQFindSlot - Find a slot identity from the
slot name on page 371
Send data to the queue of a RAPID task or
Robot Application Builder client
RMQSendMessage - Send an RMQ data
message on page 386
Get the first message from a RAPID Message RMQGetMessage - Get an RMQ message on
Queue.
page 373
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
[ SendData‘ :=’ ] < reference (REF) of anytype >
1 Instructions
1.143. RMQSendWait - Send an RMQ data message and wait for a response
FlexPendant Interface, PC Interface, or Multitasking
Continued
For information about
See
Extract the header data from an
rmqmessage
RMQGetMsgHeader - Get header
information from an RMQ message on page
380
Extract the data from an rmqmessage
RMQGetMsgData - Get the data part from an
RMQ message on page 377
Order and enable interrupts for a specific data IRMQMessage - Orders RMQ interrupts for a
type
data type on page 167
RMQGetSlotName - Get the name of an
RMQ client on page 964
RMQ Slot
rmqslot - Identity number of an RMQ client on
page 1174
RMQ Message
rmqmessage - RAPID Message Queue
message on page 1173
© Copyright 2004-2010 ABB. All rights reserved.
Get the slot name from a specified slot
identity
3HAC 16581-1 Revision: J
395
1 Instructions
1.144. Save - Save a program module
RobotWare - OS
1.144. Save - Save a program module
Usage
Save is used to save a program module.
The specified program module in the program memory will be saved with the original
(specified in Load or StartLoad) or specified file path.
It is also possible to save a system module at the specified file path.
Basic examples
Basic examples of the instruction Save are illustrated below.
See also More examples on page 397.
Example 1
Load "HOME:/PART_B.MOD";
...
Save "PART_B";
Load the program module with the file name PART_B.MOD from HOME: into the program
memory.
Save the program module PART_B with the original file path HOME: and with the original file
name PART_B.MOD.
Arguments
Save [\TaskRef]|[\TaskName] ModuleName [\FilePath] [\File]
[\TaskRef]
Task Reference
Data type: taskid
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id.
[\TaskName]
Data type: string
The program task name in which the program module should be saved.
If none of the arguments \TaskRef or \TaskName is specified then the specified program
module in the current (executing) program task will be saved.
ModuleName
Data type: string
The program module to save.
[\FilePath]
Data type: string
The file path and the file name to the place where the program module is to be saved. The file
name shall be excluded when the argument \File is used.
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© Copyright 2004-2010 ABB. All rights reserved.
The program task identity in which the program module should be saved.
1 Instructions
1.144. Save - Save a program module
RobotWare - OS
Continued
[\File]
Data type: string
When the file name is excluded in the argument \FilePath it must be specified with this
argument.
The argument \FilePath \File can only be omitted for program modules loaded with
Load or StartLoad-WaitLoad and the program module will be stored at the same
destination as specified in these instructions. To store the program module at another
destination it is also possible to use the argument \FilePath \File.
The argument \FilePath \File must be used to be able to save a program module that
previously was loaded from the FlexPendant, external computer, or system configuration.
Program execution
Program execution waits for the program module to finish saving before proceeding with the
next instruction.
More examples
More examples of how to use the instruction Save are illustrated below.
Example 1
Save "PART_A" \FilePath:="HOME:/DOORDIR/PART_A.MOD";
Save the program module PART_A to HOME: in the file PART_A.MOD and in the directory
DOORDIR.
Example 2
Save "PART_A" \FilePath:="HOME:" \File:="DOORDIR/PART_A.MOD";
Same as in the above example 1 but another syntax.
Example 3
© Copyright 2004-2010 ABB. All rights reserved.
Save \TaskRef:=TSK1Id, "PART_A" \FilePath:="HOME:/DOORDIR/
PART_A.MOD";
Save program module PART_A in program task TSK1 to the specified destination. This is an
example where the instruction Save is executing in one program task and the saving is done
in another program task.
Example 4
Save \TaskName:="TSK1", "PART_A" \FilePath:="HOME:/DOORDIR/
PART_A.MOD";
Save program module PART_A in program task TSK1 to the specified destination. This is
another example of where the instruction Save is executing in one program task and the
saving is done in another program task.
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1 Instructions
1.144. Save - Save a program module
RobotWare - OS
Continued
Limitations
TRAP routines, system I/O events, and other program tasks cannot execute during the saving
operation. Therefore, any such operations will be delayed.
The save operation can interrupt update of PERS data done step by step from other program
tasks. This will result in inconsistent whole PERS data.
A program stop during execution of the Save instruction can result in a guard stop with
motors off. The error message "20025 Stop order timeout" will be displayed on the
FlexPendant.
Avoid ongoing robot movements during the saving.
Error handling
If the program task name in argument \TaskName cannot be found in the system, the system
variable ERRNO is set to ERR_TASKNAME.
If the program module cannot be saved because there is no module name, unknown, or
ambiguous module name then the system variable ERRNO is set to ERR_MODULE.
If the save file cannot be opened because of denied permission, no such directory, or no space
left on device then the system variable ERRNO is set to ERR_IOERROR.
If argument \FilePath is not specified for program modules loaded from the FlexPendant,
System Parameters, or an external computer then the system variable ERRNO is set to
ERR_PATH.
The errors above can be handled in the error handler.
Syntax
Save
[[ ’\’ TaskRef ’:=’ <variable (VAR) of taskid>]
|[ ’\’ TaskName’ :=’ <expression (IN) of string>] ’,’]
[ ModuleName’ :=’ ] <expression (IN) of string>
Related information
398
For information about
See
Program tasks
taskid - Task identification on page 1203
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ FilePath’ :=’<expression (IN) of string> ]
[ ’\’ File’ :=’ <expression (IN) of string>] ’;’
1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
1.145. SCWrite - Send variable data to a client application
Usage
SCWrite (Superior Computer Write) is used to send the name, type, dimension, and value of
a persistent variable to a client application. It is possible to send both single variables and
arrays of variables.
Basic examples
Basic examples of the instruction instruction name are illustrated below.
Example 1
PERS num cycle_done;
PERS num numarr{2}:=[1,2];
SCWrite cycle_done;
The name, type, and value of the persistent variable cycle_done is sent to all client
applications.
Example 2
SCWrite \ToNode := "138.221.228.4", cycle_done;
The name, type, and value of the persistent variable cycle_done is sent to all client
applications. The argument \ToNode will be ignored.
Example 3
SCWrite numarr;
The name, type, dim, and value of the persistent variable numarr is sent to all client
applications.
Example 4
© Copyright 2004-2010 ABB. All rights reserved.
SCWrite \ToNode := "138.221.228.4", numarr;
The name, type, dim, and value of the persistent variable numarr is sent to all client
applications. The argument \ToNode will be ignored.
Arguments
SCWrite [ \ToNode ] Variable
[\ToNode]
Data type: datatype
The argument will be ignored.
Variable
Data type: anytype
The name of a persistent variable.
Program execution
The name, type, dim, and value of the persistent variable is sent to all client applications.
‘dim’ is the dimension of the variable and is only sent if the variable is an array.
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1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
Continued
Error handling
The SCWrite instruction will return an error in the following cases:
The variable could not be sent to the client. This can have the following cause:
•
The SCWrite messages comes so close so that they cannot be sent to the client.
Solution: Put in a WaitTime instruction between the SCWrite instructions.
•
The variable value is too large decreasing the size of the ARRAY or RECORD.
•
The error message will be:
41473 System access error
Failed to send YYYYYY
Where YYYY is the name of the variable.
When an error occurs the program halts and must be restarted. The ERRNO system variable
will contain the value ERR_SC_WRITE.
The SCWrite instruction will not return an error if the client application may, for example,
be closed down or the communication is down. The program will continue executing.
SCWrite error recovery
To avoid stopping the program when a error occurs in a SCWrite instruction it has to be
handled by an error handler. The error will only be reported to the log, and the program will
continue running.
© Copyright 2004-2010 ABB. All rights reserved.
Remember that the error handling will make it more difficult to find errors in the client
communication since the error is never reported to the display on the FlexPendant (but it can
be found in the log).
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3HAC 16581-1 Revision: J
1 Instructions
1.145. SCWrite - Send variable data to a client application
PC interface/backup
Continued
Using RobotWare 5.0 or later
The RAPID program looks as follows:
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002139
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
1.146. SearchC - Searches circularly using the robot
Usage
SearchC (Search Circular) is used to search for a position when moving the tool center point
(TCP) circularly.
During the movement the robot supervises a digital input signal. When the value of the signal
changes to the requested one the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for surface
detection. The outline coordinates of a work object can be obtained using the SearchC
instruction.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
When using search instructions it is important to configure the I/O system to have a very short
time from setting the physical signal to the system to get information about the setting (use I/
O unit with interrupt control, not poll control). How to do this can differ between fieldbuses.
If using DeviceNet then the ABB units DSQC 651 (AD Combi I/O) and DSQC 652 (Digital
I/O) will give short times since they are using connection type Change of State. If using other
fieldbuses make sure to configure the network in a proper way to get the right conditions.
Basic examples
Basic examples of the instruction SearchC are illustrated below.
See also More examples on page 406.
Example 1
SearchC di1, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10 at a speed of v100.
When the value of the signal di1 changes to active the position is stored in sp.
Example 1
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© Copyright 2004-2010 ABB. All rights reserved.
SearchC \Stop, di2, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10. When the value of the
signal di2 changes to active the position is stored in sp and the robot stops immediately.
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
Arguments
SearchC [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchPoint CirPoint ToPoint [\ID] Speed [\V] | [\T] Tool
[\WObj] [\Corr]
[ \Stop ]
Stiff Stop
Data type: switch
The robot movement is stopped as quickly as possible without keeping the TCP on the path
(hard stop) when the value of the search signal changes to active. However, the robot is
moved a small distance before it stops and is not moved back to the searched position, i.e. to
the position where the signal changed.
-
WARNING!
To stop the searching with stiff stop (switch \Stop) is only allowed if the TCP-speed is lower
than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable
direction.
[ \PStop ]
Path Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft
stop), when the value of the search signal changes to active. However, the robot is moved a
distance before it stops and is not moved back to the searched position, i.e. to the position
where the signal changed.
[ \SStop ]
© Copyright 2004-2010 ABB. All rights reserved.
Soft Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP close to or on
the path (soft stop) when the value of the search signal changes to active. However, the robot
is moved only a small distance before it stops and is not moved back to the searched position,
i.e. to the position where the signal changed. SStop is faster then PStop. But when the robot
is running faster than 100 mm/s it stops in the direction of the tangent of the movement which
causes it to marginally slide of the path.
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint.
If the argument \Stop, \PStop, \SStop, or \Sup is omitted (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup)
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint)
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted then only the positive edge of the signal is valid for a
search hit, and a signal supervision will be activated at the beginning of a search process. This
means that if the signal has a positive value already at the beginning of the search process or
the communication with the signal is lost, then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). However, the robot is moved a small
distance before it stops and is not moved back to the start position. A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be dealt with by the error handler.
SearchPoint
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
CirPoint
Data type: robtarget
The circle point of the robot. See the instruction MoveC for a more detailed description of
circular movement. The circle point is defined as a named position or stored directly in the
instruction (marked with an * in the instruction).
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). SearchC always uses a stop
point as zone data for the destination.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: robtarget
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the external axes and the tool reorientation.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination position.
© Copyright 2004-2010 ABB. All rights reserved.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot positions in the instruction are
related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified for a linear movement relative to the work object to be performed.
[ \Corr ]
Correction
Data type: switch
When this argument is present the correction data written to a corrections entry by the
instruction CorrWrite will be added to the path and destination position.
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
Program execution
See the instruction MoveC for information about circular movement.
The movement is always ended with a stop point, i.e. the robot stops at the destination point.
When a flying search is used, i.e. the \Sup argument is specified or none switch at all is
specified, the robot movement always continues to the programmed destination point. When
a search is made using the switch \Stop, \PStop, or \SStop the robot movement stops
when the first search hit is detected.
The SearchC instruction returns the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002237
More examples
More examples of how to use the instruction SearchC are illustrated below.
Example 1
SearchC \Sup, di1\Flanks, sp, cirpoint, p10, v100, probe;
The TCP of the probe is moved circularly towards the position p10. When the value of the
signal di1 changes to active or passive the position is stored in sp. If the value of the signal
changes twice then program generates an error.
Limitations
Zone data for the positioning instruction that precedes SearchC must be used carefully. The
start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figure below illustrates an example of something that may go wrong
when zone data other than fine is used.
The instruction SearchC should never be restarted after the circle point has been passed.
Otherwise the robot will not take the programmed path (positioning around the circular path
in another direction compared to that which is programmed).
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© Copyright 2004-2010 ABB. All rights reserved.
General limitations according to instruction MoveC.
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
The figure shows how a match is made on the wrong side of the object because the wrong
zone data was used.
xx0500002238
WARNING!
Limitations for searching if coordinated synchronized movements:
•
•
If using SearchL, SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup. Besides that, only possible to do error recovery with TRYNEXT.
It’s possible to use all searching functionality, if using some of the instructions
SearchL, SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t possible to store current path with instruction StorePath.
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
© Copyright 2004-2010 ABB. All rights reserved.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop) 1-3 mm
•
with TCP on path (switch \PStop) 15-25 mm
•
with TCP near path (switch \SStop) 4-8 mm
Limitations for searching on a conveyor:
•
a search will stop the robot when hit or if the search fails, so make the search in the
same direction as the conveyor moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
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1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost. This generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward: During backward execution the instruction carries out the
movement without any signal supervision.
Syntax
SearchC
[ ’\’ Stop’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’ ] | [ ’\’
Sup ’,’ ]
[ Signal’:=’ ] < variable (VAR) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’:=’ ] < var or pers (INOUT) of robtarget > ’,’
[ ToPoint’:=’ ] < expression (IN) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed’:=’ ] < expression (IN) of speeddata >
[ ’\’ V ’:=’ < expression (IN) of num > ]|
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’:=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’
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© Copyright 2004-2010 ABB. All rights reserved.
[ CirPoint’:=’ ] < expression (IN) of robtarget > ’,’
1 Instructions
1.146. SearchC - Searches circularly using the robot
RobotWare - OS
Continued
Related information
See
Linear searches
SearchL - Searches linearly using the robot on page
416
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Moves the robot circularly
MoveC - Moves the robot circularly on page 236
Circular movement
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning during
program execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview,
section RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
1.147. SearchExtJ - Search with one or several mechanical units without TCP
Usage
SearchExtJ (Search External Joints) is used to search for an external axes position when
moving only linear or rotating external axes. The external axes can belong to one or several
mechanical units without TCP.
During the movement the system supervises a digital input signal. When the value of the
signal changes to the requested one the system immediately reads the current position.
This instruction can only be used if:
•
The actual program task is defined as a Motion Task
•
The task controls one or several mechanical units without TCP
When using search instructions it is important to configure the I/O system to have a very short
time delay from setting the physical signal until the system gets the information about the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet, the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give a short time delay since they are using the connection type Change of
State. If using other fieldbuses, make sure the network is properly configured in order to get
the correct conditions.
Basic examples
Basic examples of the instruction SearchExtJ are illustrated below.
See also More examples on page 413.
Example 1
SearchExtJ di1, searchp, jpos10, vrot20;
Example 2
SearchExJ \Stop, di2, posx, jpos20, vlin50;
The mec. unit with linear axis is moved towards the position jpos20. When the value of the
signal di2 changes to active, the position is stored in posx and the ongoing movement is
stopped immediately.
Arguments
SearchExtJ [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchJointPos ToJointPos [\ID] [\UseEOffs] Speed [\T]
[ \Stop ]
Stiff Stop
Data type: switch
The movement is stopped as quickly as possible with hard stop when the value of the search
signal changes to active. However, the external axes are moved a small distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
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© Copyright 2004-2010 ABB. All rights reserved.
The mec. unit with rotational axes is moved towards the position jpos10 at a speed of
vrot20. When the value of the signal di1 changes to active, the position is stored in
searchp.
1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
Continued
[ \PStop ]
Path Stop
Data type: switch
The movement is stopped with path stop (Program Stop) when the value of the search signal
changes to active. However, the external axes are moved a rather long distance before they
stop and are not moved back to the searched position, i.e. to the position where the signal
changed.
[ \SStop ]
Soft Stop
Data type: switch
The movement is stopped as quickly as possible with fast soft stop when the value of the
search signal changes to active. However, the external axes are moved only a small distance
before they stop and are not moved back to the searched position, i.e. to the position where
the signal changed.
Stop is faster compare to SStop. SStop is faster compare to PStop.
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search a recoverable error is generated with the mec. units in the
ToJointPos.
© Copyright 2004-2010 ABB. All rights reserved.
If the argument \Stop, \PStop, \SStop or \Sup is omitted (no switch used at all):
•
The movement continues (flying search) to the position specified in the ToJointPos
argument (same as with argument \Sup)
•
An error is reported for one search hit but is not reported for more than one search hit
(the first search hit is returned as the SearchJointPos)
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal already has the positive value at the beginning of a search process or the
communication with the signal is lost, the movement is stopped as quickly as possible with
soft stop. A user recovery error (ERR_SIGSUPSEARCH) will be generated and can be
handled in the error handler.
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1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
Continued
SearchJointPos
Data type: jointtarget
The position of the external axes when the search signal has been triggered. The position
takes any active ExtOffs into consideration.
ToJointPos
Data type: jointtarget
The destination point for the external axes. It is defined as a named position or stored directly
in the instruction (marked with an * in the instruction). SearchExtJ always uses a stop point
as zone data for the destination.
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
[ \UseEOffs ]
Use External Offset
Data type: switch
The offset for external axes, setup by instruction EOffsSet, is activated for SearchExtJ
instruction when the argument UseEOffs is used. See instruction EOffsSet for more
information about external offset.
Speed
Data type: speeddata
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the mec. units move.
It is then substituted for the corresponding speed data.
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© Copyright 2004-2010 ABB. All rights reserved.
The speed data that applies to movements. Speed data defines the velocity of the linear or
rotating external axis.
1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
Continued
Program execution
See the instruction MoveExtJ for information about movement of mechanical units without
TCP.
The movement always ends with a stop point, i.e. the external axes stop at the destination
point. If a flying search is used, that is, the \Sup argument is specified or no switch is
specified the movement always continues to the programmed destination point. If a search is
made using the switch \Stop, \PStop or \SStop, the movement stops when the first search
hit is detected.
The SearchExtJ instruction stores the position of the external axes when the value of the
digital signal changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is only stored
when the signal is changed the first time).
xx0500002243
More examples
More examples of how to use the instruction SearchExtJ are illustrated below.
Example 1
SearchExtJ \Sup, di1\Flanks, searchp,jpos10, vrot20;
© Copyright 2004-2010 ABB. All rights reserved.
The mec. unit is moved towards the position jpos10. When the value of the signal di1
changes to active or passive, the position is stored in searchp. If the value of the signal
changes twice, the program generates an error after the search process is finished.
Example 2
SearchExtJ \Stop, di1, sp, jpos20, vlin50;
MoveExtJ sp, vlin50, fine \Inpos := inpos50;
A check on the signal dil will be made at the beginning of the search process and if the signal
already has a positive value or the communication with the signal is lost, the movement stops.
Otherwise the mec. unit is moved towards the position jpos20. When the value of the signal
di1 changes to active, the position is stored in sp. The mec. unit is moved back to this point
using an accurately defined stop point.
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413
1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
Continued
Error handling
An error is reported during a search when:
•
No signal detection occurred - this generates the error ERR_WHLSEARCH.
•
More than one signal detection occurred – this generates the error
ERR_WHLSEARCH, but only if the \Sup argument is used.
•
The signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH, but only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH: No position
is returned and the movement always stops as quickly as possible at the beginning of
the search movement. The system variable ERRNO is set to ERR_SIGSUPSEARCH
and the error can be handled in the error handler of the routine.
•
Instruction backward: During backward execution, the instruction just carries out
the movement without any signal supervision.
Example
VAR num fk;
...
MoveExtJ jpos10, vrot100, fine;
SearchExtJ \Stop, di1, sp, jpos20, vrot5;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
MoveExtJ jpos10, vrot50, fine;
RestoPath;
RETRY;
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchExtJ instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveExtJ jpos10, vrot50, fine;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
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© Copyright 2004-2010 ABB. All rights reserved.
StorePath;
1 Instructions
1.147. SearchExtJ - Search with one or several mechanical units without TCP
RobotWare - OS
Continued
If the signal is already active at the beginning of the search process or the communication
with the signal is lost, a user dialog will be activated (TPReadFK ...;). Reset the signal and
push YES on the user dialog and the mec. unit moves back to jpos10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process, the mec. unit searches from
position jpos10 to jpos20. If no signal detection occurs, the robot moves back to jpos10
and tries once more.
Limitations
Limitations for searching if coordinated synchronized movements:
•
If using SearchL, SearchC or SearchExtJ for one program task and some other
move instruction in another program task, it is only possible to use flying search with
switch \Sup. Besides that, it is only possible to do error recovery with TRYNEXT.
•
It is possible to use all searching functions if using some of the instructions SearchL,
SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hits from the same digital input signal.
This will generate search hits synchronously in all search instructions. Any error
recovery must also be the same in all involved program tasks.
•
While searching is active, it isn’t possible to store current path with instruction
StorePath.
Syntax
SearchExtJ
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldi >
[‘\’ Flanks]’,’
[ SearchJointPos’ :=’ ] < var or pers (INOUT) of jointtarget > ’,’
[ ToJointPos’
:=’ ] < expression (IN) of jointtarget >
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ ’\’ UseEOffs’ ,’ ]
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’;’
Related information
For information about
See
Move mec. units without TCP
MoveExtJ - Move one or several mechanical units
without TCP on page 250
Definition of jointtarget
jointtarget - Joint position data on page 1129
Definition of velocity
speeddata - Speed data on page 1185
Using error handlers
Technical reference manual - RAPID overview, section
RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview, section
Motion and I/O principles
3HAC 16581-1 Revision: J
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
1.148. SearchL - Searches linearly using the robot
Usage
SearchL (Search Linear) is used to search for a position when moving the tool center point
(TCP) linearly.
During the movement the robot supervises a digital input signal. When the value of the signal
changes to the requested one the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for surface
detection. Using the SearchL instruction the outline coordinates of a work object can be
obtained.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
When using search instructions it is important to configure the I/O system to have a very short
time from setting the physical signal to the system to getting the information regarding the
setting (use I/O unit with interrupt control, not poll control). How to do this can differ between
fieldbuses. If using DeviceNet the ABB units DSQC 651 (AD Combi I/O) and DSQC 652
(Digital I/O) will give short times since they are using connection type Change of State. If
using other fieldbuses make sure to configure the network in a proper way to get right
conditions.
Basic examples
Basic examples of the instruction SearchL are illustrated below.
See also More examples on page 420.
Example 1
SearchL di1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of v100. When
the value of the signal di1 changes to active the position is stored in sp.
SearchL \Stop, di2, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10. When the value of the
signal di2 changes to active the position is stored in sp and the robot stops immediately.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Example 2
1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
Arguments
SearchL [\Stop] | [\PStop] | [\SStop] | [\Sup] Signal [\Flanks]
SearchPoint ToPoint [\ID] Speed [\V] | [\T] Tool [\WObj]
[\Corr]
[ \Stop ]
Stiff Stop
Data type: switch
The robot movement is stopped as quickly as possible without keeping the TCP on the path
(hard stop) when the value of the search signal changes to active. However, the robot is
moved a small distance before it stops and is not moved back to the searched position, i.e. to
the position where the signal changed.
-
WARNING!
To stop the searching with stiff stop (switch \Stop) is only allowed if the TCP-speed is lower
than 100 mm/s. At a stiff stop with higher speeds some axes can move in unpredictable
directions.
[ \PStop ]
Path Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP on the path (soft
stop) when the value of the search signal changes to active. However, the robot is moved a
distance before it stops and is not moved back to the searched position, i.e. to the position
where the signal changed.
[ \SStop ]
© Copyright 2004-2010 ABB. All rights reserved.
Soft Stop
Data type: switch
The robot movement is stopped as quickly as possible while keeping the TCP close to or on
the path (soft stop) when the value of the search signal changes to active. However, the robot
is only moved a small distance before it stops and is not moved back to the searched position,
i.e. to the position where the signal changed. SStop is faster than PStop. But when the robot
is running faster than 100 mm/s it stops in the direction of the tangent of the movement which
causes it to marginally slide off the path.
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
[ \Sup ]
Supervision
Data type: switch
The search instruction is sensitive to signal activation during the complete movement (flying
search), i.e. even after the first signal change has been reported. If more than one match
occurs during a search then a recoverable error is generated with the robot in the ToPoint.
If the argument \Stop, \PStop, \SStop, or \Sup is omitted then (no switch used at all):
•
the movement continues (flying search) to the position specified in the ToPoint
argument (same as with argument \Sup)
•
error is reported for none search hit but is not reported for more than one search hit
(first search hit is returned as the SearchPoint)
Signal
Data type: signaldi
The name of the signal to supervise.
[ \Flanks ]
Data type: switch
The positive and the negative edge of the signal is valid for a search hit.
If the argument \Flanks is omitted, only the positive edge of the signal is valid for a search
hit and a signal supervision will be activated at the beginning of a search process. This means
that if the signal has the positive value already at the beginning of a search process or the
communication with the signal is lost then the robot movement is stopped as quickly as
possible, while keeping the TCP on the path (soft stop). A user recovery error
(ERR_SIGSUPSEARCH) will be generated and can be handled in the error handler.
SearchPoint
The position of the TCP and external axes when the search signal has been triggered. The
position is specified in the outermost coordinate system taking the specified tool, work object,
and active ProgDisp/ExtOffs coordinate system into consideration.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction). SearchL always uses a stop
point as zone data for the destination.
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: robtarget
1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the external axes, and the tool reorientation.
[ \V ]
Velocity
Data type: num
This argument is used to specify the velocity of the TCP in mm/s directly in the instruction.
It is then substituted for the corresponding velocity specified in the speed data.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified for a linear movement relative to the work object to be performed.
© Copyright 2004-2010 ABB. All rights reserved.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
Program execution
See the instruction MoveL for information about linear movement.
The movement always ends with a stop point, i.e. the robot stops at the destination point. If a
flying search is used, i.e. the \Sup argument is specified or none switch at all is specified
then the robot movement always continues to the programmed destination point. If a search
is made using the switch \Stop, \PStop, or \SStop the robot movement stops when the
first search hit is detected.
The SearchL instruction stores the position of the TCP when the value of the digital signal
changes to the requested one, as illustrated in figure below.
The figure shows how flank-triggered signal detection is used (the position is stored when the
signal is changed the first time only).
xx0500002243
More examples
More examples of how to use the instruction SearchL are illustrated below.
Example 1
SearchL \Sup, di1\Flanks, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10. When the value of the
signal di1 changes to active or passive the position is stored in sp. If the value of the signal
changes twice then the program generates an error after the search process is finished.
SearchL \Stop, di1, sp, p10, v100, tool1;
MoveL sp, v100, fine \Inpos := inpos50, tool1;
PDispOn *, tool1;
MoveL p100, v100, z10, tool1;
MoveL p110, v100, z10, tool1;
MoveL p120, v100, z10, tool1;
PDispOff;
At the beginning of the search process, a check on the signal di1 will be done and if the signal
already has a positive value or the communication with the signal is lost, the robot stops.
Otherwise the TCP of tool1 is moved linearly towards the position p10. When the value of
the signal di1 changes to active, the position is stored in sp. The robot is moved back to
this point using an accurately defined stop point. Using program displacement, the robot then
moves relative to the searched position, sp.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Example 2
1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
Limitations
Zone data for the positioning instruction that precedes SearchL must be used carefully. The
start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction but a point along the
real robot path. The figures below illustrate examples of things that may go wrong when zone
data other than fine is used.
The following figure shows that a match is made on the wrong side of the object because the
wrong zone data was used.
xx0500002244
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002245
© Copyright 2004-2010 ABB. All rights reserved.
The following figure shows that no match was detected because the wrong zone data was
used.
xx0500002246
Limitations for searching if coordinated synchronized movements:
•
If using SearchL, SearchC or SearchExtJ for one program task and some other
move instruction in other program task, it is only possible to use flying search with
switch \Sup. Besides that, only possible to do error recovery with TRYNEXT.
•
It’s possible to use all searching functionality, if using some of the instructions
SearchL, SearchC or SearchExtJ in all involved program tasks with coordinated
synchronized movements and generate search hit from same digital input signal. This
will generate search hit synchronously in all search instructions. Any error recovery
must also be the same in all involved program tasks.
While searching is active, it isn’t allowed to store current path with instruction StorePath.
Repetition accuracy for search hit position with TCP speed 20 - 1000 mm/s 0.1 - 0.3 mm.
Typical stop distance using a search velocity of 50 mm/s:
•
without TCP on path (switch \Stop) 1-3 mm
•
with TCP on path (switch \PStop) 15-25 mm
•
with TCP near path (switch \SStop) 4-8 mm
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
Limitations for searching on a conveyor:
•
a search will stop the robot when hit or if the search fails, so make the search in the
same direction as the conveyor moves and continue after the search-stop with a move
to a safe position. Use error handling to move to a safe position when search fails.
•
the repetition accuracy for the search hit position will be poorer when searching on a
conveyor and depends on the speed of the conveyor and how stabil the speed is.
Error handling
An error is reported during a search when:
•
no signal detection occurred - this generates the error ERR_WHLSEARCH.
•
more than one signal detection occurred – this generates the error
ERR_WHLSEARCH only if the \Sup argument is used.
•
the signal already has a positive value at the beginning of the search process or the
communication with the signal is lost - this generates the error
ERR_SIGSUPSEARCH only if the \Flanks argument is omitted.
Errors can be handled in different ways depending on the selected running mode:
•
Continuous forward / Instruction forward / ERR_WHLSEARCH: No position is
returned and the movement always continues to the programmed destination point.
The system variable ERRNO is set to ERR_WHLSEARCH and the error can be
handled in the error handler of the routine.
•
Continuous forward / Instruction forward / ERR_SIGSUPSEARCH No position is
returned and the movement always stops as quickly as possible at the beginning of the
search path. The system variable ERRNO is set to ERR_SIGSUPSEARCH and the
error can be handled in the error handler of the routine.
•
Instruction backward: During backward execution the instruction carries out the
movement without any signal supervision.
Example
© Copyright 2004-2010 ABB. All rights reserved.
VAR num fk;
...
MoveL p10, v100, fine, tool1;
SearchL \Stop, di1, sp, p20, v100, tool1;
...
ERROR
IF ERRNO=ERR_WHLSEARCH THEN
StorePath;
MoveL p10, v100, fine, tool1;
RestoPath;
RETRY;
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
ELSEIF ERRNO=ERR_SIGSUPSEARCH THEN
TPWrite "The signal of the SearchL instruction is already
high!";
TPReadFK fk,"Try again after manual reset of signal
?","YES","stEmpty","stEmpty","stEmpty","NO";
IF fk = 1 THEN
MoveL p10, v100, fine, tool1;
RETRY;
ELSE
Stop;
ENDIF
ENDIF
If the signal is already active at the beginning of the search process or the communication
with the signal is lost then a user dialog will be activated (TPReadFK ...;). Reset the signal
and push YES on the user dialog, and the robot moves back to p10 and tries once more.
Otherwise program execution will stop.
If the signal is passive at the beginning of the search process then the robot searches from
position p10 to p20. If no signal detection occurs then the robot moves back to p10 and tries
once more.
Syntax
SearchL
[ ’\’ Stop ’,’ ] | [ ’\’ PStop ’,’] | [ ’\’ SStop ’,’] | [ ’\’
Sup ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldi >
[‘\’ Flanks]’,’
[ SearchPoint’ :=’ ] < var or pers (INOUT) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ V ’:=’ < expression (IN) of num > ] |
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[ Tool ´:=´ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’
Related information
For information about
See
Circular searches
SearchC - Searches circularly using the robot on page
402
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page 77
Moves the robot linearly
MoveL - Moves the robot linearly on page 264
Linear movement
Technical reference manual - RAPID overview, section
Motion and I/O principles - Positioning during program
execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of tools
tooldata - Tool data on page 1207
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1 Instructions
1.148. SearchL - Searches linearly using the robot
RobotWare - OS
Continued
See
Definition of work objects
wobjdata - Work object data on page 1224
Using error handlers
Technical reference manual - RAPID overview, section
RAPID summary - Error recovery
Motion in general
Technical reference manual - RAPID overview, section
Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
424
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1 Instructions
1.149. SenDevice - connect to a sensor device
Sensor Interface
1.149. SenDevice - connect to a sensor device
Usage
SenDevice is used to connect to a sensor device connected to the serial sensor interface.
The sensor interface communicates with sensors over serial channels using the RTP1
transport protocol.
This is an example of a sensor channel configuration.
COM_PHY_CHANNEL:
•
Name “COM1:”
•
Connector “COM1”
•
Baudrate 19200
COM_TRP:
•
Name “sen1:”
•
Type “RTP1”
•
PhyChannel “COM1”
Basic examples
Basic examples of the instruction SenDevice are illustrated below.
Example 1
! Define variable numbers
CONST num SensorOn := 6;
CONST num XCoord := 8;
CONST num YCoord := 9;
CONST num ZCoord := 10;
VAR pos SensorPos;
! Connect to the sensor device“ sen1:” (defined in sio.cfg).
© Copyright 2004-2010 ABB. All rights reserved.
SenDevice "sen1:";
! Request start of sensor meassurements
WriteVar "sen1:", SensorOn, 1;
! Read a cartesian position from the sensor.
SensorPos.x := ReadVar "sen1:", XCoord;
SensorPos.y := ReadVar "sen1:", YCoord;
SensorPos.z := ReadVar "sen1:", ZCoord;
! Stop sensor
WriteVar "sen1:", SensorOn, 0;
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425
1 Instructions
1.149. SenDevice - connect to a sensor device
Sensor Interface
Continued
Arguments
SenDevice device
device
Data type: string
The I/O device name configured in sio.cfg for the sensor used.
Syntax
ReadBlock
[ device‘ :=’ ] < expression(IN) of string>’,’
[ BlockNo’ :=’ ] < expression (IN) of num > ‘,’
[ FileName’ :=’ ] < expression (IN) of string > ‘;’
Related information
See
Write a sensor variable
WriteVar - write variable on page 729
Read a sensor variable
ReadVar - Read variable from a device on page 958
Write a sensor data block
WriteBlock - write block of data to device on page 719
Configuration of sensor communication
Technical reference manual - System parameters, section
Communication
© Copyright 2004-2010 ABB. All rights reserved.
For information about
426
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1 Instructions
1.150. Set - Sets a digital output signal
RobotWare - OS
1.150. Set - Sets a digital output signal
Usage
Set is used to set the value of a digital output signal to one.
Basic examples
Basic examples of the instruction Set are illustrated below.
Example 1
Set do15;
The signal do15 is set to 1.
Example 2
Set weldon;
The signal weldon is set to 1.
Arguments
Set Signal
Signal
Data type: signaldo
The name of the signal to be set to one.
Program execution
There is a short delay before the signal physically gets its new value. If you do not want the
program execution to continue until the signal has got its new value then you can use the
instruction SetDO with the optional parameter \Sync.
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then this instruction causes the physical channel to be set to zero.
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT if there is no contact with the unit.
Syntax
Set
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’;’
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1 Instructions
1.150. Set - Sets a digital output signal
RobotWare - OS
Continued
Related information
For information about
See
Setting a digital output signal to zero
Reset - Resets a digital output signal on page
359
Change the value of a digital output signal SetDO - Changes the value of a digital output
signal on page 440
Technical reference manual - RAPID overview,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System
parameters
© Copyright 2004-2010 ABB. All rights reserved.
Input/Output instructions
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1 Instructions
1.151. SetAllDataVal - Set a value to all data objects in a defined set
RobotWare - OS
1.151. SetAllDataVal - Set a value to all data objects in a defined set
Usage
SetAllDataVal(Set All Data Value) makes it possible to set a new value to all data objects
of a certain type that match the given grammar.
Basic examples
Basic examples of the instruction SetAllDataVal are illustrated below.
VAR mydata mydata0:=0;
...
SetAllDataVal "mydata"\TypeMod:="mytypes"\Hidden,mydata0;
This will set all data objects of data type mydata in the system to the same value that the
variable mydata0 has (in the example to 0). The user defined data type mydata is defined in
the module mytypes.
Arguments
SetAllDataVal Type [\TypeMod] [\Object] [\Hidden] Value
Type
Data type: string
The type name of the data objects to be set.
[ \TypeMod ]
Type Module
Data type: string
The module name where the data type is defined if using user defined data types.
[ \Object ]
© Copyright 2004-2010 ABB. All rights reserved.
Data type: string
The default behavior is to set all data object of the data type above but this option makes it
possible to name one or several objects with a regular expression. (see also instruction
SetDataSearch)
[ \Hidden ]
Data type: switch
This also matches data objects that are in routines (routine data or parameters) hidden by
some routine in the call chain.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the object to be set.
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429
1 Instructions
1.151. SetAllDataVal - Set a value to all data objects in a defined set
RobotWare - OS
Continued
Program running
The instruction will fail if the specification for Type or TypeMod is wrong.
If the matching data object is an array then all elements of the array will be set to the specified
value.
If the matching data object is read-only data then the value will not be changed.
If the system doesn’t have any matching data objects then the instruction will accept it and
return successfully.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai.
It is not possible to set a value to a variable declared as LOCAL in a built in RAPID module.
Syntax
SetAllDataVal
[ Type ’:=’ ] < expression (IN) of string >
[’\’TypeMod’ :=’<expression (IN) of string>]
[’\’Object’ :=’<expression (IN) of string>]
[’\’Hidden ] ’,’
[ Value ’:=’] <variable (VAR) of anytype>’;’
430
For information about
See
Define a symbol set in a search
session
SetDataSearch - Define the symbol set in a search
sequence on page 433
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page 110
Set the value of a data object
SetDataVal - Set the value of a data object on page 437
The related data type datapos
datapos - Enclosing block for a data object on page 1101
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.152. SetAO - Changes the value of an analog output signal
RobotWare - OS
1.152. SetAO - Changes the value of an analog output signal
Usage
SetAO is used to change the value of an analog output signal.
Basic examples
Basic examples of the instruction SetAO are illustrated below.
See also More examples on page 432.
Example 1
SetAO ao2, 5.5;
The signal ao2 is set to 5.5.
Arguments
SetAO Signal Value
Signal
Data type: signalao
The name of the analog output signal to be changed.
Value
Data type: num
The desired value of the signal.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
The programmed value is scaled (in accordance with the system parameters) before it is sent
on the physical channel. A diagram of how analog signal values are scaled is shown in the
figure below.
xx0500002408
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431
1 Instructions
1.152. SetAO - Changes the value of an analog output signal
RobotWare - OS
Continued
Error handling
Following recoverable error can be generated. The error can be handled in an error handler.
The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_AO_LIM
if the programmed Value argument for the specified analog output signal Signal is outside
limits.
More examples
More examples of the instruction SetAO are illustrated below.
Example 1
SetAO weldcurr, curr_outp;
The signal weldcurr is set to the same value as the current value of the variable curr_outp.
Syntax
SetAO
[ Signal ’:=’ ] < variable (VAR) of signalao > ’,’
[ Value ’:=’ ] < expression (IN) of num > ’;’
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID Summary - Input and output signals
Input/Output functionality in general Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O principles
Technical reference manual - System parameters
© Copyright 2004-2010 ABB. All rights reserved.
Configuration of I/O
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1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
RobotWare - OS
1.153. SetDataSearch - Define the symbol set in a search sequence
Usage
SetDataSearch is used together with function GetNextSym to retrieve data objects from
the system.
Basic examples
Basic examples of the instruction SetDataSearch are illustrated below.
Example 1
VAR datapos block;
VAR string name;
...
SetDataSearch "robtarget"\InTask;
WHILE GetNextSym(name,block \Recursive) DO
...
This session will find all robtarget’s object in the task.
Arguments
SetDataSearch Type [\TypeMod] [\Object] [\PersSym]
[\VarSym][\ConstSym] [\InTask] | [\InMod]
[\InRout][\GlobalSym] | [\LocalSym]
Type
Data type: string
The data type name of the data objects to be retrieved.
[ \TypeMod ]
Type Module
Data type: string
© Copyright 2004-2010 ABB. All rights reserved.
The module name where the data type is defined, if using user defined data types.
[ \Object ]
Data type: string
The default behavior is to set all data objects of the data type above, but this option makes it
possible to name one or several data objects with a regular expression.
A regular expression is a powerful mechanism to specify a grammar to match the data object
names. The string could consist of either ordinary characters and meta characters. A meta
character is a special operator used to represent one or more ordinary characters in the string
with the purpose to extend the search. It is possible to see if a string matches a specified
pattern as a whole or search within a string for a substring matching a specified pattern.
Within a regular expression all alphanumeric characters match themselves. That is to say that
the pattern "abc" will only match a data object named "abc". To match all data object names
containing the character sequence "abc" it is necessary to add some meta characters. The
regular expression for this is ".*abc.*".
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3HAC 16581-1 Revision: J
433
1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
RobotWare - OS
Continued
The available meta character set is shown below.
Expression
Meaning
.
Any single character.
[s]
Any single character in the non-empty set s, where s is a
sequence of characters. Ranges may be specified as c-c.
[^s]
Any single character not in the set s.
r*
Zero or more occurrences of the regular expression r.
r+
One or more occurrences of the regular expression r
r?
Zero or one occurrence of the regular expression r.
(r)
The regular expression r. Used for separate that regular
expression from another.
r | r’
The regular expressions r or r’.
.*
Any character sequence (zero, one, or several characters).
The default behavior is to accept any symbols but if one or several of following PersSym,
VarSym, or ConstSym is specified then only symbols that match the specification are
accepted:
[ \PersSym ]
Persistent Symbols
Data type: switch
Accept persistent variable (PERS) symbols.
[ \VarSym ]
Variable Symbols
Data type: switch
Accept variable (VAR) symbols.
[ \ConstSym ]
Data type: switch
Accept constant (CONST) symbols.
If not one of the flags \InTask or \InMod are specified then the search is started at system
level. The system level is the root to all other symbol definitions in the symbol tree. At the
system level all build- in symbols are located plus the handle to the task level. At the task
level all loaded global symbols are located plus the handle to the modules level.
If the \Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the system level.
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© Copyright 2004-2010 ABB. All rights reserved.
Constant Symbols
1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
RobotWare - OS
Continued
[ \InTask ]
In Task
Data type: switch
Start the search at the task level. At the task level all loaded global symbols are located plus
the handle to the modules level.
If the \Recursive flag is set in GetNextSym then the search session will enter all loaded
modules and routines below the task level.
[ \InMod ]
In Module
Data type: string
Start the search at the specified module level. At the module level all loaded global and local
symbols declared in the specified module are located plus the handle to the routines level.
If the \Recursive flag is set in GetNextSym then the search session will enter all loaded
routines below the specified module level (declared in the specified module).
[ \InRout ]
In Routine
Data type: string
Search only at the specified routine level.
The module name for the routine must be specified in the argument \InMod.
The default behavior is to match both local and global module symbols, but if one of
following \GlobalSym or \LocalSym is specified then only symbols that match the
specification are accepted:
[ \GlobalSym ]
Global Symbols
Data type: switch
© Copyright 2004-2010 ABB. All rights reserved.
Skip local module symbols.
[ \LocalSym ]
Local Symbols
Data type: switch
Skip global module symbols.
Program running
The instruction will fail if the specification for one of Type, TypeMod, InMod, or InRout is
wrong.
If the system doesn’t have any matching objects the instruction will accept it and return
successfully but the first GetNextSym will return FALSE.
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1 Instructions
1.153. SetDataSearch - Define the symbol set in a search sequence
RobotWare - OS
Continued
Limitations
Array data objects cannot be defined in the symbol search set and cannot be found in a search
sequence.
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then there are no search hits for signal signaldi and if searching
for num then there are no search hits for signals signalgi or signalai.
Installed built-in symbols declared as LOCAL will never be found, irrespective of use of
argument \GlobalSym, \LocalSym or none of these.
Installed built-in symbols declared as global or as TASK will always be found, irrespective of
use of argument \GlobalSym, \LocalSym or none of these.
It is not possible to use SetDataSearch for searching for data of some ALIAS data type
defined with RAPID code. No limitation for predefined ALIAS data type.
Syntax
SetDataSearch
[ Type ’:=’ ] < expression (IN) of string >
[’\’TypeMod ’:=’<expression (IN) of string>]
[’\’Object ’:=’<expression (IN) of string>]
[’\’PersSym ]
[’\’VarSym ]
[’\’ConstSym ]
[’\’InTask ]
| [’\’InMod’ :=’<expression (IN) of string>]
[’\’InRout ’:=’<expression (IN) of string>]
[’\’GlobalSym ]
| [’\’LocalSym]’ ;’
436
For information about
See
Get next matching symbol
GetNextSym - Get next matching symbol on page 855
Get the value of a data object
GetDataVal - Get the value of a data object on page
110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on page
1101
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.154. SetDataVal - Set the value of a data object
RobotWare - OS
1.154. SetDataVal - Set the value of a data object
Usage
SetDataVal (Set Data Value) makes it possible to set a value for a data object that is
specified with a string variable.
Basic examples
Basic examples of the instruction SetDataVal are illustrated below.
Example 1
VAR num value:=3;
...
SetDataVal "reg"+ValToStr(ReadNum(mycom)),value;
This will set the value 3 to a register with a number that is received from the serial channel
mycom.
Example 2
VAR datapos block;
VAR bool truevar:=TRUE;
...
SetDataSearch "bool" \Object:="my.*" \InMod:="mymod"\LocalSym;
WHILE GetNextSym(name,block) DO
SetDataVal name\Block:=block,truevar;
ENDWHILE
This session will set all local bool that begin with my in the module mymod to TRUE.
Example 3
VAR string StringArrVar_copy{2};
...
StringArrVar_copy{1} := "test1";
© Copyright 2004-2010 ABB. All rights reserved.
StringArrVar_copy{2} := "test2";
SetDataVal "StringArrVar", StringArrVar_copy;
This session will set the array StringArrVar to contain the two strings test1 and test2.
Arguments
SetDataVal Object [\Block]|[\TaskRef]|[\TaskName] Value
Object
Data type: string
The name of the data object.
[ \Block ]
Data type: datapos
The enclosed block to the data object. This can only be fetched with the GetNextSym
function.
If this argument is omitted then the value of the visible data object in the current program
execution scope will be set.
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1 Instructions
1.154. SetDataVal - Set the value of a data object
RobotWare - OS
Continued
[\TaskRef]
Task Reference
Data type: taskid
The program task identity in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
For all program tasks in the system the predefined variables of the data type taskid will be
available. The variable identity will be "taskname"+"Id", e.g. for the T_ROB1 task the variable
identity will be T_ROB1Id.
[\TaskName]
Data type: string
The program task name in which to search for the data object specified. When using this
argument, you may search for PERS or TASK PERS declarations in other tasks, any other
declarations will result in an error.
Value
Data type: anytype
Variable which holds the new value to be set. The data type must be the same as the data type
for the data object to be set. The set value must be fetched from a variable but can be stored
in a variable or persistent.
Error handling
•
the data object is non-existent
•
the data object is read-only data
•
the data object is routine data or routine parameter and not located in the current active
routine
•
searching in other tasks for other declarations then PERS or TASK PERS
When using the arguments TaskRef or TaskName you may search for PERS or TASK PERS
declarations in other tasks, any other declarations will result in an error and the system
variable ERRNO is set to ERR_SYM_ACCESS. Searching for a PERS declared as LOCAL in other
tasks will also result in an error and the system variable ERRNO is set to ERR_SYM_ACCESS.
The system variable ERRNO is set to ERR_INVDIM if the data object and the variable used in
argument Value have different dimensions.
The error can be handled in the error handler of the routine.
Limitations
For a semivalue data type it is not possible to search for the associated value data type. E.g.
if searching for dionum then no search hit for signal signaldi will be obtained and if
searching for num then no search hit for signals signalgi or signalai will be obtained.
It is not possible to set a value to a variable declared as LOCAL in a built-in RAPID module.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
The system variable ERRNO is set to ERR_SYM_ACCESS if:
1 Instructions
1.154. SetDataVal - Set the value of a data object
RobotWare - OS
Continued
Syntax
SetDataVal
[ Object ’:=’ ] < expression (IN) of string >
[’\’Block’ :=’<variable (VAR) of datapos>]
|[ ’\’TaskRef’ :=’ <variable (VAR) of taskid>]
|[ ’\’TaskName’ :=’ <expression (IN) of string>] ’,’]
[ Value ’:=’ ] <variable (VAR) of anytype>]’;’
Related information
For information about
See
Define a symbol set in a search session SetDataSearch - Define the symbol set in a
search sequence on page 433
GetNextSym - Get next matching symbol on page
855
Get the value of a data object
GetDataVal - Get the value of a data object on
page 110
Set the value of many data objects
SetAllDataVal - Set a value to all data objects in a
defined set on page 429
The related data type datapos
datapos - Enclosing block for a data object on
page 1101
© Copyright 2004-2010 ABB. All rights reserved.
Get next matching symbol
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1 Instructions
1.155. SetDO - Changes the value of a digital output signal
RobotWare - OS
1.155. SetDO - Changes the value of a digital output signal
Usage
SetDO is used to change the value of a digital output signal, with or without a time delay or
synchronization.
Basic examples
Basic examples of the instruction SetDO are illustrated below.
Example 1
SetDO do15, 1;
The signal do15 is set to 1.
Example 2
SetDO weld, off;
The signal weld is set to off.
Example 3
SetDO \SDelay := 0.2, weld, high;
The signal weld is set to high with a delay of 0.2 s. However, program execution continues
with the next instruction.
Example 4
SetDO \Sync ,do1, 0;
The signal do1 is set to 0. Program execution waits until the signal is physically set to the
specified value.
Arguments
SetDO [ \SDelay ]|[ \Sync ] Signal Value
[ \SDelay ]
Data type: num
Delays the change for the amount of time given in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the given time delay the signal is changed
without the rest of the program execution being affected.
[ \Sync ]
Synchronization
Data type: switch
If this argument is used then the program execution will wait until the signal is physically set
to the specified value.
Signal
Data type: signaldo
The name of the signal to be changed.
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Signal Delay
1 Instructions
1.155. SetDO - Changes the value of a digital output signal
RobotWare - OS
Continued
Value
Data type: dionum
The desired value of the signal 0 or 1.
Specified Value
Set digital output to
0
0
Any value except 0
1
Program execution
The true value depends on the configuration of the signal. If the signal is inverted in the
system parameters then the value of the physical channel is the opposite.
If neither of the arguments \SDelay or \Sync are used then the signal will be set as fast as
possible, and the next instruction will be executed at once without waiting for the signal to be
physically set.
Limitations
If a SetDO with a \SDelay argument is followed by a new SetDO on the same signal, with
or without \SDelay argument, then the first SetDO will be cancelled if the second SetDO is
executed before the delay time of the first SetDO have expired.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
© Copyright 2004-2010 ABB. All rights reserved.
Syntax
SetDO
[ ’\’ SDelay ’:=’ < expression (IN) of num > ’,’ ]
|[ ’\’ Sync ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signaldo > ’,’
[ Value ’:=’ ] < expression (IN) of dionum > ’;’
Related information
For information about
See
Input/Output instructions
Technical reference manual - RAPID overview,
section RAPID Summary - input and output signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O Principles
Configuration of I/O
Technical reference manual - System parameters
3HAC 16581-1 Revision: J
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
1.156. SetGO - Changes the value of a group of digital output signals
Usage
SetGO is used to change the value of a group of digital output signals with or without a time
delay.
Basic examples
Basic examples of the instruction SetGO are illustrated below.
Example 1
SetGO go2, 12;
The signal go2 is set to 12. If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
7 are set to zero while outputs 8 and 9 are set to one.
Example 2
SetGO \SDelay := 0.4, go2, 10;
The signal go2 is set to 10. If go2 comprises 4 signals, e.g. outputs 6-9, then outputs 6 and
8 are set to zero while outputs 7 and 9 are set to one with a delay of 0.4 s. However program
execution continues with the next instruction.
Example 3
SetGO go32, 4294967295;
The signal go32 is set to 4294967295. go32 comprises 32 signals, which are all set to one.
Arguments
SetGO [ \SDelay ] Signal Value | Dvalue
[ \SDelay ]
Signal Delay
Delays the change for the period of time stated in seconds (max. 2000 s). Program execution
continues directly with the next instruction. After the specified time delay the value of the
signals is changed without the rest of the program execution being affected.
If the argument is omitted then the signal values are changed directly.
Signal
Data type: signalgo
The name of the signal group to be changed.
Value
Data type: num
The desired value of the signal group (a positive integer) is shown in the table below.
The permitted value is dependent on the number of signals in the group. A num datatype can
hold the value for a group of 23 signals or less.
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Data type: num
1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
Continued
Dvalue
Data type: dnum
The desired value of the signal group (a positive integer) is shown in the table below.
© Copyright 2004-2010 ABB. All rights reserved.
The permitted value is dependent on the number of signals in the group. A dnum datatype can
hold the value for a group of 32 signals or less.
No. of signals
Permitted Value
Permitted Dvalue
1
0-1
0-1
2
0-3
0-3
3
0-7
0-7
4
0-15
0-15
5
0-31
0-31
6
0-63
0-63
7
0-127
0-127
8
0-255
0-255
9
0-511
0-511
10
0-1023
0-1023
11
0-2047
0-2047
12
0-4095
0-4095
13
0-8191
0-8191
14
0-16383
0-16383
15
0-32767
0-32767
16
0-65535
0-65535
17
0-131071
0-131071
18
0-262143
0-262143
19
0-524287
0-524287
20
0-1048575
0-1048575
21
0-2097151
0-2097151
22
0-4194303
0-4194303
23
0-8388607
0-8388607
24
*
0-16777215
25
*
0-33554431
26
*
0-67108863
27
*
0-134217727
28
*
0-268435455
29
*
0-536870911
30
*
0-1073741823
31
*
0-2147483647
32
*
0-4294967295
*) The Value argument of type num can only hold up to 23 signals compared to the Dvalue
argument of typednum that can hold up to 32 signals.
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1 Instructions
1.156. SetGO - Changes the value of a group of digital output signals
RobotWare - OS
Continued
Program execution
The programmed value is converted to an unsigned binary number. This binary number is sent
on the signal group with the result that individual signals in the group are set to 0 or 1. Due
to internal delays the value of the signal may be undefined for a short period of time.
Limitations
Maximum number of signals that can be used for a group is 23 if argument Value is used and
32 if argument Dvalue is used. This limitation is valid for all instructions and functions using
group signals.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_NORUNUNIT
if there is no contact with the unit.
ERR_ARGVALERR
if the value for the SDelay argument exceeds the maximum value allowed (2000 s).
ERR_GO_LIM
if the programmed Value or Dvalue argument for the specified digital group output signal
Signal is outside limits.
Syntax
SetGO
[ ’\’ SDelay ’:=’ < expression (IN) of num > ’,’ ]
[ Signal ’:=’ ] < variable (VAR) of signalgo > ’,’
[ Value ’:=’ ] < expression (IN) of num >
| [ Dvalue’ :=’ ] < expression (IN) of dnum > ’;’
For information about
See
Other input/output instructions
Technical reference manual - RAPID overview,
section RAPID Summary - Input and output
signals
Input/Output functionality in general
Technical reference manual - RAPID overview,
section Motion and I/O Principles - I/O principles
Configuration of I/O (system parameters) Technical reference manual - System parameters
444
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Related information
1 Instructions
1.157. SetSysData - Set system data
RobotWare - OS
1.157. SetSysData - Set system data
Usage
SetSysData activates the specified system data name for the specified data type.
With this instruction it is possible to change the current active Tool, Work Object, or PayLoad
for the robot in actual or connected motion task.
Basic examples
Basic examples of the instruction SetSysData are illustrated below.
Example 1
SetSysData tool5;
The tool tool5 is activated.
SetSysData tool0 \ObjectName := "tool6";
The tool tool6 is activated.
SetSysData anytool \ObjectName := "tool2";
The tool tool2 is activated.
Arguments
SetSysData SourceObject [\ObjectName]
SourceObject
Data type: anytype
Persistent variable that should be active as current system data.
© Copyright 2004-2010 ABB. All rights reserved.
The data type of this argument also specifies the type of system data to be activated for the
robot in actual or connected motion task.
Data type
Type of system data
tooldata
Tool
wobjdata
Work Object
loaddata
Payload
Entire array or record component can not be used.
[ \ObjectName ]
Data type: string
If this optional argument is specified then it specifies the name of the data object to be active
(overrides name specified in argument SourceObject). The data type of the data object to
be active is always fetched from the argument SourceObject.
Program execution
The current active system data object for the Tool, Work Object, or PayLoad is set according
to the arguments.
Note that this instruction only activates a new data object (or the same as before) and never
changes the value of any data object.
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1 Instructions
1.157. SetSysData - Set system data
RobotWare - OS
Continued
Syntax
SetSysData
[ SourceObject’:=’] < persistent(PERS) of anytype>
[’\’ObjectName’:=’ < expression (IN) of string> ] ’;’
Related information
See
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Definition of payload
loaddata - Load data on page 1132
Get system data
GetSysData - Get system data on page 113
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.158. SingArea - Defines interpolation around singular points
RobotWare - OS
1.158. SingArea - Defines interpolation around singular points
Usage
SingArea is used to define how the robot is to move in the proximity of singular points.
SingArea is also used to define linear and circular interpolation for robots with less than six
axes.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction SingArea are illustrated below.
Example 1
SingArea \Wrist;
The orientation of the tool may be changed slightly in order to pass a singular point (axes 4
and 6 in line).
Robots with less than six axes may not be able to reach an interpolated tool orientation. By
using SingArea \Wrist the robot can achieve the movement but the orientation of the tool
will be slightly changed.
Example 2
SingArea \Off;
The tool orientation is not allowed to differ from the programmed orientation. If a singular
point is passed then one or more axes may perform a sweeping movement resulting in a
reduction in velocity.
Robots with less than six axes may not be able to reach a programmed tool orientation. As a
result the robot will stop.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
SingArea [\Wrist]|[\Off]
[ \Wrist ]
Data type: switch
The tool orientation is allowed to differ somewhat in order to avoid wrist singularity. Used
when axes 4 and 6 are parallel (axis 5 at 0 degrees). Also used for linear and circular
interpolation of robots with less than six axes where the tool orientation is allowed to differ.
[ \Off ]
Data type: switch
The tool orientation is not allowed to differ. Used when no singular points are passed or when
the orientation is not permitted to be changed.
If none of the arguments are specified the system will be set to \Off.
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1 Instructions
1.158. SingArea - Defines interpolation around singular points
RobotWare - OS
Continued
Program execution
If the arguments \Wrist is specified then the orientation is joint-interpolated to avoid
singular points. In this way the TCP follows the correct path, but the orientation of the tool
deviates somewhat. This will also happen when a singular point is not passed.
The specified interpolation applies to all subsequent movements until a new SingArea
instruction is executed.
The movement is only affected on execution of linear or circular interpolation.
By default, program execution automatically uses the Off argument for robots with six axes.
Robots with less than six axes may use either the Off argument or the /Wrist argument by
default. This is automatically set in event routine SYS_RESET.
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Syntax
SingArea
[ ’\’ Wrist ] | [’\’ Off ] ’;’
Related information
See
Singularity
Technical reference manual - RAPID overview,
section Motion and I/O principles - Singularities
Interpolation
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning
during program execution
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.159. SkipWarn - Skip the latest warning
RobotWare-OS
1.159. SkipWarn - Skip the latest warning
Usage
SkipWarn (Skip Warning) is used to skip the latest generated warning message to be stored
in the Event Log during execution in running mode continuously or cycle (no warnings
skipped in FWD or BWD step).
With SkipWarn it is possible to repeatedly do error recovery in RAPID without filling the
Event Log with only warning messages.
Basic examples
Basic examples of the instruction SkipWarn are illustrated below.
Example 1
%"notexistingproc"%;
nextinstruction;
ERROR
IF ERRNO = ERR_REFUNKPRC THEN
SkipWarn;
TRYNEXT;
ENDIF
ENDPROC
The program will execute the nextinstruction and no warning message will be stored in
the Event Log.
Syntax
SkipWarn ’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Error recovery
Technical reference manual - RAPID overview, section
RAPID Summary - Error Recovery
Technical reference manual - RAPID overview, section
Basic Characteristics - Error Recovery
Error number
errnum - Error number on page 1108
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1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
1.160. SocketAccept - Accept an incoming connection
Usage
SocketAccept is used to accept incoming connection requests. SocketAccept can only be
used for server applications.
Basic examples
Basic examples of the instruction SocketAccept are illustrated below.
See also More examples on page 451.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket,"192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1. After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept waits for any incoming
connections, accepts the connection request, and returns a client socket for the established
connection.
Arguments
SocketAccept Socket ClientSocket [\ClientAddress] [ \Time ]
Socket
The server sockets that are waiting for incoming connections. The socket must already be
created, bounded, and ready for listening.
ClientSocket
Data type: socketdev
The returned new client socket that will be updated with the accepted incoming connection
request.
[\ClientAddress]
Data type: string
The variable that will be updated with the IP-address of the accepted incoming connection
request.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: socketdev
1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
Continued
[\Time]
Data type: num
The maximum amount of time [s] that program execution waits for incoming connections. If
this time runs out before any incoming connection then the error handler will be called, if
there is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler then the
execution will be stopped.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX.
Program execution
The server socket will wait for any incoming connection requests. When accepting the
incoming connection request the instruction is ready and the returned client socket is by
default connected and can be used in SocketSend and SocketReceive instructions.
More examples
More examples of the instruction SocketAccept are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string receive_string;
VAR string client_ip;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE TRUE DO
SocketAccept server_socket, client_socket
\ClientAddress:=client_ip;
© Copyright 2004-2010 ABB. All rights reserved.
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with ip-address "
+client_ip;
! Wait for client acknowledge
...
SocketClose client_socket;
ENDWHILE
ERROR
RETRY;
UNDO
SocketClose server_socket;
SocketClose client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1. After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address. SocketAccept will accept the incoming
connection from some client and store the client address in the string client_ip. Then the
server receives a string message from the client and stores the message in receive_string.
Then the server responds with the message " Hello client with ip-address
xxx.xxx.x.x" and closes the client connection.
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3HAC 16581-1 Revision: J
451
1 Instructions
1.160. SocketAccept - Accept an incoming connection
Socket Messaging
Continued
After that the server is ready for a connection from the same or some other client in the WHILE
loop. If PP is moved to main in the program then all open sockets are closed (SocketClose
can always be done even if the socket is not created).
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time out time
Syntax
SocketAccept
[ Socket ´:=´ ] < variable (VAR) of socketdev > ’,’
[ ClientSocket ´:=´ ] < variable (VAR) of socketdev >
[ ’\’ ClientAddress ´:=´ < variable (VAR) of string> ]
[ ’\’ Time ´:=´ < expression (IN) of num > ] ’;’
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
452
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example of server socket application
SocketReceive - Receive data from remote
computer on page 464
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
1.161. SocketBind - Bind a socket to my IP-address and port
Usage
SocketBind is used to bind a socket to the specified server IP-address and port number.
SocketBind can only be used for server applications.
Basic examples
Basic examples of the instruction SocketBind are illustrated below.
Example 1
VAR socketdev server_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1. The server socket can now be used in an SocketListen instruction to listen
for incoming connections on this port and address.
Arguments
SocketBind Socket LocalAddress LocalPort
Socket
Data type: socketdev
The server socket to bind. The socket must be created but not already bound.
LocalAddress
Data type: string
The server network address to bind the socket to. The only valid addresses are any public
LAN addresses or the controller service port address 192.168.125.1.
© Copyright 2004-2010 ABB. All rights reserved.
LocalPort
Data type: num
The server port number to bind the socket to. Generally ports 1025-4999 are free to use. Ports
below 1025 can already be taken.
Program execution
The server socked is bound to the specified server port and IP-address.
An error is generated if the specified port is already in use.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Continues on next page
3HAC 16581-1 Revision: J
453
1 Instructions
1.161. SocketBind - Bind a socket to my IP-address and port
Socket Messaging
Continued
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created)
Use SocketCreate to create a new socket.
ERR_SOCK_ADDR_INUSE
The address and port is already in use and can not be used
again. Use a different port number..
Syntax
SocketBind
[ Socket ´:=´ ] < variable (VAR) of socketdev > ’,’
[ LocalAddress ´:=´ ] < expression (IN) of string > ’,’
[ LocalPort ´:=´ ] < expression (IN) of num > ’;’
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
454
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
1.162. SocketClose - Close a socket
Usage
SocketClose is used when a socket connection is no longer going to be used.
After a socket has been closed it cannot be used in any socket call except SocketCreate.
Basic examples
Basic examples of the instruction SocketClose are illustrated below.
Example 1
SocketClose socket1;
The socket is closed and can not be used anymore.
Arguments
SocketClose Socket
Socket
Data type: socketdev
The socket to be closed.
Program execution
The socket will be closed and its allocated resources will be released.
Any socket can be closed at any time. The socket can not be used after closing. However it
can be reused for a new connection after a call to SocketCreate.
Limitations
Closing the socket connection immediately after sending the data with SocketSend can lead
to loss of sent data. This is because TCP/IP socket has built-in functionality to resend the data
if there is some communication problem.
© Copyright 2004-2010 ABB. All rights reserved.
To avoid such problems with loss of data, do the following before SocketClose:
•
handshake the shutdown or
•
WaitTime 2
Avoid fast loops with SocketCreate ... SocketClose, because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketClose
[ Socket ’:=’ ] < variable (VAR) of socketdev > ’;’
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455
1 Instructions
1.162. SocketClose - Close a socket
Socket Messaging
Continued
Related information
See
Socket communication in general
Application manual - Robot communication and I/
O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to a remote computer
(only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections on
page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450t
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
© Copyright 2004-2010 ABB. All rights reserved.
For information about
456
3HAC 16581-1 Revision: J
1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
1.163. SocketConnect - Connect to a remote computer
Usage
SocketConnect is used to connect the socket to a remote computer in a client application.
Basic examples
Basic examples of the instruction SocketConnect are illustrated below.
See also More examples on page 458.
Example 1
SocketConnect socket1, "192.168.0.1", 1025;
Trying to connect to a remote computer at ip-address 192.168.0.1 and port 1025.
Arguments
SocketConnect Socket Address Port [\Time]
Socket
Data type: socketdev
The client socket to connect. The socket must be created but not already connected.
Address
Data type: string
The address of the remote computer. The remote computer must be specified as an IP address.
It is not possible to use the name of the remote computer.
Port
Data type: num
The port on the remote computer. Generally ports 1025-4999 are free to use. Ports below 1025
can already be taken.
© Copyright 2004-2010 ABB. All rights reserved.
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the connection to be
accepted or denied. If this time runs out before the condition is met then the error handler will
be called, if there is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler
then the execution will be stopped.
If parameter \Time is not used the waiting time is 60 s. To wait forever, use the predefined
constant WAIT_MAX.
Program execution
The socket tries to connect to the remote computer on the specified address and port. The
program execution will wait until the connection is established, failed, or a timeout occurs.
Continues on next page
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457
1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
Continued
More examples
More examples of the instruction SocketConnect are illustrated below.
Example 1
VAR num retry_no := 0;
VAR socketdev my_socket;
...
SocketCreate my_socket;
SocketConnect my_socket, "192.168.0.1", 1025;
...
ERROR
IF ERRNO = ERR_SOCK_TIMEOUT THEN
IF retry_no < 5 THEN
WaitTime 1;
retry_no := retry_no + 1;
RETRY;
ELSE
RAISE;
ENDIF
ENDIF
A socket is created and tries to connect to a remote computer. If the connection is not
established within the default time-out time, i.e. 60 seconds, then the error handler retries to
connect. Four retries are attemped then the error is reported to the user.
Error handling
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
ERR_SOCK_TIMEOUT
The connection was not established within the time-out time.
Syntax
SocketConnect
[ Socket ´:=´ ] < variable (VAR) of socketdev > ’,’
[ Address ´:=´ ] < expression (IN) of string > ’,’
[ Port ´:=´ ] < expression (IN) of num >
[ ’\’ Time ´:=´ < expression (IN) of num > ] ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
1 Instructions
1.163. SocketConnect - Connect to a remote computer
Socket Messaging
Continued
Related information
Described in:
Socket communication in general
Application manual - Robot communication and
I/O control
Create a new socket
SocketCreate - Create a new socket on page 460
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
459
1 Instructions
1.164. SocketCreate - Create a new socket
Socket Messaging
1.164. SocketCreate - Create a new socket
Usage
SocketCreate is used to create a new socket for connection based communication.
The socket messaging is of stream type protocol TCP/IP with delivery guarantee. Both server
and client application can be developed. Datagram protocol UDP/IP with broadcast is not
supported.
Basic examples
Basic examples of the instruction SocketCreate are illustrated below.
Example 1
VAR socketdev socket1;
...
SocketCreate socket1;
A new socket device is created and assigned into the variable socket1.
Arguments
SocketCreate Socket
Socket
Data type: socketdev
The variable for storage of the system’s internal socket data.
Program execution
The instruction creates a new socket device.
The socket must not already be in use. The socket is in use between SocketCreate and
SocketClose.
Any number of sockets can be declared but it is only possible to use 8 sockets at the same
time.
Avoid fast loops with SocketCreate ... SocketClose, because the socket is not really
closed until a certain time (TCP/IP functionality).
Syntax
SocketCreate
[ Socket ’:=’ ] < variable (VAR) of socketdev > ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
Limitations
1 Instructions
1.164. SocketCreate - Create a new socket
Socket Messaging
Continued
Related information
See
Socket communication in general
Application manual - Robot communication and
I/O control, section Socket Messaging
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
461
1 Instructions
1.165. SocketListen - Listen for incoming connections
Socket Messaging
1.165. SocketListen - Listen for incoming connections
Usage
SocketListen is used to start listening for incoming connections, i.e. start acting as a server.
SocketListen can only used for server applications.
Basic examples
Basic examples of the instruction SocketListen are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
...
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
WHILE listening DO;
! Waiting for a connection request
SocketAccept server_socket, client_socket;
A server socket is created and bound to port 1025 on the controller network address
192.168.0.1. After execution of SocketListen the server socket starts to listen for
incoming connections on this port and address.
Arguments
SocketListen Socket
Socket
Data type: socketdev
Program execution
The server socket start listening for incoming connections. When the instruction is ready the
socket is ready to accept an incoming connection.
Use the SocketBind and SocketListen instructions in the startup of the program to
associate a local address with a socket and then listen for incoming connections on the
specified port. This is recommended to do only once for each socket and port that is used.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED
The socket is closed (has been closed or is not created).
Use SocketCreate to create a new socket.
Syntax
SocketListen
[ Socket ’:=’ ] < variable (VAR) of socketdev > ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
The server socket that should start listening for incoming connections. The socket must
already be created and bound.
1 Instructions
1.165. SocketListen - Listen for incoming connections
Socket Messaging
Continued
Related information
See
Socket communication in general
Application manual - Robot communication and
I/O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Send data to remote computer
SocketSend - Send data to remote computer on
page 469
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
463
1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
1.166. SocketReceive - Receive data from remote computer
Usage
SocketReceive is used for receiving data from a remote computer. SocketReceive can
be used both for client and server applications.
Basic examples
Basic examples of the instruction SocketReceive are illustrated below.
See also More examples on page 466.
Example 1
VAR string str_data;
...
SocketReceive socket1 \Str := str_data;
Receive data from a remote computer and store it in the string variable str_data.
Arguments
SocketReceive Socket [ \Str ] | [ \RawData ] | [ \Data ]
[\ReadNoOfBytes] [\NoRecBytes] [\Time]
Socket
Data type: socketdev
In a client application where the socket receives the data, the socket must already be created
and connected.
In a server application where the socket receives the data, the socket must already be
accepted.
[ \Str ]
Data type: string
[ \RawData ]
Data type: rawbytes
The variable in which the received rawbytes data should be stored. Max. number of
rawbytes 1024 can be handled.
[ \Data ]
Data type: array of byte
The variable in which the received byte data should be stored. Max. number of byte 1024
can be handled.
Only one of the optional parameters \Str, \RawData, and \Data can be used at the same
time.
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© Copyright 2004-2010 ABB. All rights reserved.
The variable in which the received string data should be stored. Max. number of characters
80 can be handled.
1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
Continued
[ \ReadNoOfBytes ]
Read number of Bytes
Data type: num
The number of bytes to read. The minimum value of bytes to read is 1, and the maximum
amount is the value of the size of the data type used, i.e. 80 bytes if using a variable of the
data type string.
If communicating with a client that always sends a fixed number of bytes, this optional
parameter can be used to specify that the same amount of bytes should be read for each
SocketReceive instruction.
If the sender sends RawData, the receiver needs to specify that 4 bytes should be received for
each rawbytes sent.
[ \NoRecBytes ]
Number Received Bytes
Data type: num
Variable for storage of the number of bytes needed from the specified socketdev.
The same result can also be achieved with
•
function StrLen on varable in argument \Str
•
function RawBytesLen on variable in argument \RawData
[ \Time ]
Data type: num
The maximum amount of time [s] that program execution waits for the data to be received. If
this time runs out before the data is transferred then the error handler will be called, if there
is one, with the error code ERR_SOCK_TIMEOUT. If there is no error handler then the
execution will be stopped.
© Copyright 2004-2010 ABB. All rights reserved.
If parameter \Time is not used then the waiting time is 60 s. To wait forever, use the
predefined constant WAIT_MAX.
Program execution
The execution of SocketReceive will wait until the data is available or fail with a timeout
error.
The amount of bytes read is specified by the the data type used in the instruction. If using a
string data type to receive data in, 80 bytes is received if there is 80 bytes that can be read.
If using optional argument ReadNoOfBytes the user can specify how many bytes that should
be received for each SocketReceive.
The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
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1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
Continued
It is possible to mix the used data type (string, rawbytes, or array of byte) between
SocketSend and SocketReceive.
More examples
More examples of the instruction SocketReceive are illustrated below.
Example 1
VAR socketdev server_socket;
VAR socketdev client_socket;
VAR string client_ip;
PROC server_messaging()
VAR string receive_string;
...
! Create, bind, listen and accept of sockets in error handlers
SocketReceive client_socket \Str := receive_string;
SocketSend client_socket \Str := "Hello client with
ip-address "+client_ip;
! Wait for acknowlegde from client
...
SocketClose server_socket;
SocketClose client_socket;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=SOCK_CLOSED THEN
server_recover;
RETRY;
ELSE
! No error recovery handling
PROC server_recover()
SocketClose server_socket;
SocketClose client_socket;
SocketCreate server_socket;
SocketBind server_socket, "192.168.0.1", 1025;
SocketListen server_socket;
SocketAccept server_socket,
client_socket\ClientAddress:=client_ip;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
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© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
ENDPROC
1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
Continued
ENDIF
ENDPROC
This is an example of a server program with creation, binding, listening, and accepting of
sockets in error handlers. In this way the program can handle power fail restart.
In the procedure server_recover, a server socket is created and bound to port 1025 on the
controller network address 192.168.0.1. After execution of SocketListen the server
socket starts to listen for incoming connections on this port and address. SocketAccept will
accept the incoming connection from some client and store the client address in the string
client_ip.
In the communication procedure server_messaging the server receives a string message
from the client and stores the message in receive_string. Then the server responds with
the message "Hello client with ip-address xxx.xxx.x.x".
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
ERR_SOCK_TIMEOUT
No data was received within the time out time.
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It is up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend SocketReceive in the client or server program must be completed before next sequence of
SocketSend - SocketReceive).
© Copyright 2004-2010 ABB. All rights reserved.
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The maximum size of the data that can be received in one call is limited to 1024 bytes.
Syntax
SocketReceive
[ Socket ’:=’ ] < variable (VAR) of socketdev >
[ ’\’ Str’ :=’ < variable (VAR) of string > ]
| [ ’\’ RawData ´:=´ < variable (VAR) of rawbytes > ]
| [ ’\’ Data ´:=´ < array {*} (VAR) of byte > ]
[ ’\’ ReadNoOfBytes’ :=’ < expression (IN) of num > ]
[ ’\’ NoRecBytes’ :=’ < variable (VAR) of num > ]
[ ’\’ Time ´:=´ < expression (IN) of num > ] ’;’
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467
1 Instructions
1.166. SocketReceive - Receive data from remote computer
Socket Messaging
Continued
Related information
For information about
See
Socket communication in general
Application manual - Robot communication and I/
O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page 460
Connect to remote computer (only client) SocketConnect - Connect to a remote computer
on page 457
SocketSend - Send data to remote computer on
page 469
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address and
port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example client socket application
SocketSend - Send data to remote computer on
page 469
© Copyright 2004-2010 ABB. All rights reserved.
Send data to remote computer
468
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1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
1.167. SocketSend - Send data to remote computer
Usage
SocketSend is used to send data to a remote computer. SocketSend can be used both for
client and server applications.
Basic examples
Basic examples of the instruction SocketSend are illustrated below.
See also More examples on page 470.
Example 1
SocketSend socket1 \Str := "Hello world";
Sends the message "Hello world" to the remote computer.
Arguments
SocketSend Socket [ \Str ] | [ \RawData ] | [ \Data] [ \NoOfBytes ]
Socket
Data type: socketdev
In client application the socket to send from must already be created and connected.
In server application the socket to send to must already be accepted.
[ \Str ]
Data type: string
The string to send to the remote computer.
[ \RawData ]
Data type: rawbytes
The rawbytes data to send to the remote computer.
© Copyright 2004-2010 ABB. All rights reserved.
[ \Data ]
Data type: array of byte
The data in the byte array to send to the remote computer.
Only one of the option parameters \Str, \RawData, or \Data can be used at the same time.
[ \NoOfBytes ]
Data type: num
If this argument is specified only this number of bytes will be sent to the remote computer.
The call to SocketSend will fail if \NoOfBytes is larger than the actual number of bytes in
the data structure to send.
If this argument is not specified then the whole data structure (valid part of rawbytes) will
be sent to the remote computer.
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1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
Continued
Program execution
The specified data is sent to the remote computer. If the connection is broken an error is
generated.
The data that is transferred on the cable is always bytes, max. 1024 bytes in one message. No
header is added by default to the message. The usage of any header is reserved for the actual
application.
Parameter
Input data
Cable data
Output data
\Str
1 char
1 byte (8 bits)
1 char
\RawData
1 rawbytes
1 byte (8 bits)
1 rawbytes
\Data
1 byte
1 byte (8 bits)
1 byte
It’s possible to mix the used data type (string, rawbytes, or array of byte) between
SocketSend and SocketReceive.
More examples
More examples of the instruction SocketSend are illustrated below.
Example 1
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Create and connect the socket in error handlers
SocketSend client_socket \Str := "Hello server";
SocketReceive client_socket \Str := receive_string;
...
SocketClose client_socket;
ERROR
© Copyright 2004-2010 ABB. All rights reserved.
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
client_recover;
RETRY;
ELSE
! No error recovery handling
ENDIF
ENDPROC
PROC client_recover()
SocketClose client_socket;
SocketCreate client_socket;
SocketConnect client_socket, "192.168.0.2", 1025;
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
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1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
Continued
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
RETURN;
ELSE
! No error recovery handling
ENDIF
ENDPROC
This is an example of a client program with creation and connection of socket in error
handlers. In this way the program can handle power fail restart.
In the procedure client_recover the client socket is created and connected to a remote
computer server with IP-address 192.168.0.2 on port 1025.
In the communication procedure client_messaging the client sends "Hello server" to
the server and the server responds with "Hello client" to the client, which is stored in the
variable receive_string.
Example 2
VAR socketdev client_socket;
VAR string receive_string;
PROC client_messaging()
...
! Send cr and lf to the server
SocketSend client_socket \Str := "\0D\0A";
...
ENDPROC
This is an example of a client program that sends non printable characters (binary data) in a
string. This can be useful if communicating with sensors or other clients that requires such
characters.
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
The following recoverable errors can be generated. The errors can be handled in an ERROR
handler. The system variable ERRNO will be set to:
ERR_SOCK_CLOSED
The socket is closed. Broken connection.
Limitations
There is no built-in synchronization mechanism in Socket Messaging to avoid received
messages that are compounded of several sent messages. It’s up to the programmer to handle
the synchronization with “Ack” messages (one sequence of SocketSend SocketReceive in the client or server program must be completed before the next sequence
of SocketSend - SocketReceive).
All sockets are closed after power fail restart. This problem can be handled by error recovery.
See example above.
Avoid fast loops with SocketCreate ... SocketClose because the socket is not really
closed until a certain time (TCP/IP functionality).
The size of the data to send is limited to 1024 bytes.
Continues on next page
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1 Instructions
1.167. SocketSend - Send data to remote computer
Socket Messaging
Continued
Syntax
SocketSend
[ Socket ´:=´ ] < variable (VAR) of socketdev >
[ \Str ´:=´ < expression (IN) of string > ]
| [ \RawData ´:=´ < variable (VAR) of rawdata > ]
| [ \Data ´:=´ < array {*} (IN) of byte > ]
[ ’\’ NoOfBytes ´:=´ < expression (IN) of num > ] ’;’
Related information
See
Socket communication in general
Application manual - Robot communication and
I/O control, section Socket Messaging
Create a new socket
SocketCreate - Create a new socket on page
460
Connect to remote computer (only client)
SocketConnect - Connect to a remote computer
on page 457
Receive data from remote computer
SocketReceive - Receive data from remote
computer on page 464
Close the socket
SocketClose - Close a socket on page 455
Bind a socket (only server)
SocketBind - Bind a socket to my IP-address
and port on page 453
Listening connections (only server)
SocketListen - Listen for incoming connections
on page 462
Accept connections (only server)
SocketAccept - Accept an incoming connection
on page 450
Get current socket state
SocketGetStatus - Get current socket state on
page 973
Example server socket application
SocketReceive - Receive data from remote
computer on page 464
Use of non printable characters (binary
data) in string literals.
Technical reference manual - RAPID kernel,
section String literals
© Copyright 2004-2010 ABB. All rights reserved.
For information about
472
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1 Instructions
1.168. SoftAct - Activating the soft servo
RobotWare - OS
1.168. SoftAct - Activating the soft servo
Usage
SoftAct (Soft Servo Activate) is used to activate the so called “soft” servo on any axis of the
robot or external mechanical unit.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any motion tasks.
Basic examples
Basic examples of the instruction SoftAct are illustrated below.
Example 1
SoftAct 3, 20;
Activation of soft servo on robot axis 3 with softness value 20%.
Example 2
SoftAct 1, 90 \Ramp:=150;
Activation of the soft servo on robot axis 1 with softness value 90% and ramp factor 150%.
Example 3
SoftAct \MechUnit:=orbit1, 1, 40 \Ramp:=120;
Activation of soft servo on axis 1 for the mechanical unit orbit1 with softness value 40%
and ramp factor 120%.
Arguments
SoftAct[\MechUnit] Axis Softness [\Ramp]
[ \MechUnit ]
Mechanical Unit
© Copyright 2004-2010 ABB. All rights reserved.
Data type: mecunit
The name of the mechanical unit. If this argument is omitted then it means activation of the
soft servo for specified robot axis in the current program task.
Axis
Data type: num
Number of the robot or external axis to work with soft servo.
Softness
Data type: num
Softness value in percent (0 - 100%). 0% denotes min. softness (max. stiffness), and 100%
denotes max. softness.
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100%). The ramp factor is used to control the engagement of the
soft servo. A factor 100% denotes the normal value; with greater values the soft servo is
engaged more slowly (longer ramp). The default value for ramp factor is 100 %.
Continues on next page
3HAC 16581-1 Revision: J
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1 Instructions
1.168. SoftAct - Activating the soft servo
RobotWare - OS
Continued
Program execution
Softness is activated at the value specified for the current axis. The softness value is valid for
all movement until a new softness value is programmed for the current axis or until the soft
servo is deactivated by the instruction SoftDeact.
Limitations
Soft servo for any robot or external axis is always deactivated when there is a power failure.
This limitation can be handled in the user program when restarting after a power failure.
The same axis must not be activated twice unless there is a moving instruction in between.
Thus, the following program sequence should be avoided. Otherwise there will be a jerk in
the robot movement:
SoftAct n , x ;
SoftAct n , y ;
(n = robot axis n, x, and y softness values)
Syntax
SoftAct
[’\’MechUnit ’:=’ < variable (VAR) of mecunit>´,´]
[Axis ’:=’ ] < expression (IN) of num> ’,’
[Softness’:=’ ] < expression (IN) of num> ´,´
[ ’\’Ramp’:=’ < expression (IN) of num> ]’;’
474
For information about
See
Deactivate soft servo
SoftDeact - Deactivating the soft servo on page
475
Behavior with the soft servo engaged
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, section Axes Configuration - Soft
servo
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.169. SoftDeact - Deactivating the soft servo
RobotWare - OS
1.169. SoftDeact - Deactivating the soft servo
Usage
SoftDeact (Soft Servo Deactivate) is used to deactivate the so called “soft” servo.
Basic examples
Basic examples of the instruction SoftDeact are illustrated below.
Example 1
SoftDeact;
Deactivating the soft servo on all axes.
Example 2
SoftDeact \Ramp:=150;
Deactivating the soft servo on all axes, with ramp factor 150 %.
Arguments
SoftDeact
[\Ramp]
[ \Ramp ]
Data type: num
Ramp factor in percent (>= 100 %). The ramp factor is used to control the deactivating of the
soft servo. A factor 100% denotes the normal value. With greater values the soft servo is
deactivated more slowly (longer ramp). The default value for ramp factor is 100 %.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
The soft servo is deactivated for the mechanical units that are controlled from current
program task. If SoftDeact is done from a non-motion task, the soft servo is deactivated for
the mechanical unit controlled by the connected motion task. Executing a SoftDeact when
in synchronized movement mode, soft servo will be deactivated for all mechanical units that
are synchronized.
When deactivating soft servo with SoftDeact the robot will move to the programmed
position even if the robot has moved out of position during soft servo activation.
Syntax
SoftDeact
[ ’\’Ramp ’:=’ < expression (IN) of num> ]’;’
Related information
For information about
See
Activating the soft servo
SoftAct - Activating the soft servo on page 473
3HAC 16581-1 Revision: J
475
1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
1.170. SpeedRefresh - Update speed override for ongoing movement
Usage
SpeedRefresh is used to change the movement speed for the ongoing robot movement in
current motion program task. With this instruction it is possible to create some type of coarse
speed adaptation from some sensor input.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
any Motion tasks.
Basic examples
Basic examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR num change_speed:=70;
SpeedRefresh change_speed;
This will change the current speed override to 70%.
Arguments
SpeedRefresh Override
Override
Data type: num
The speed override value within range 0 ... 100 %.
Program execution
The actual speed override value for the ongoing movements of robot and external units in
current motion program task will be updated.
All speed data components for any mechanical units in current motion task will be influenced.
If the override speed used for the instruction SpeedRefresh exceeds the value set from the
FlexPendant, the lowest value will be used. This means, that the speed can not be increased
above the speed set from the FlexPendant.
If a PP to main is done or if a new program is loaded, the speed that was set with
SpeedRefresh will be resetted, and the speed set from the FlexPendant will be applied.
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© Copyright 2004-2010 ABB. All rights reserved.
This speed override value generated with this instruction will replace any speed override
value generated from FlexPendant for this motion task (no influence on other motion tasks).
1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
Continued
More examples
More examples of the instruction SpeedRefresh are illustrated below.
Example 1
VAR intnum time_int;
VAR num override;
...
CONNECT time_int WITH speed_refresh;
ITimer 0.1, time_int;
ISleep time_int;
...
MoveL p1, v100, fine, tool2;
! Read current speed override set from FlexPendant
override := CSpeedOverride (\CTask);
IWatch time_int;
MoveL p2, v100, fine, tool2;
IDelete time_int;
! Reset to FlexPendant old speed override
WaitTime 0.5;
SpeedRefresh override;
...
TRAP speed_refresh
VAR speed_corr;
! Analog input signal value from sensor, value 0 ... 10
speed_corr := (ai_sensor * 10);
SpeedRefresh speed_corr;
ERROR
IF ERRNO = ERR_SPEED_REFRESH_LIM THEN
IF speed_corr > 100 speed_corr := 100;
© Copyright 2004-2010 ABB. All rights reserved.
IF speed_corr < 0 speed_corr := 0;
RETRY;
ENDIF
ENDTRAP
During the robot movement from position p1 to p2, the speed override value is updated every
0.1 s in the TRAP speed_refresh. The analog input signal ai_sensor is used for
calculation of Overide value for the instruction SpeedRefresh. There is no TRAP
execution before and after the robot movement between p1 and p2. The manual speed
override from FlexPendant is restored. After that the robot has to reach p2.
Error handling
If Override has a value outside the range of 0 to 100 % then the ERRNO variable will be s et
to ERR_SPEED_REFRESH_LIM. This error is recoverable and can be handled in the ERROR
handler.
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477
1 Instructions
1.170. SpeedRefresh - Update speed override for ongoing movement
RobotWare - OS
Continued
Limitations
Note that with SpeedRefresh the speed override will not be done momentary. Instead there
will be a lag of 0,3 - 0,5 seconds between order and influence on the physical robot.
The user is responsible to reset the speed override value from the RAPID program after the
SpeedRefresh sequence.
The override speed can not be increased above the speed override set from the FlexPendant.
If SpeedRefresh is used in the START or in the RESET event routine, the speed that is set
is always the actual FlexPendant speed override.
Syntax
SpeedRefresh
[ Override ’:=’ ] < expression (IN) of num > ’;’
Related information
See
Positioning instructions
Technical reference manual - RAPID
overview, section RAPID summary - Motion
Definition of velocity
speeddata - Speed data on page 1185
Read current speed override
CSpeedOverride - Reads the current override
speed on page 810
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
1.171. SpyStart - Start recording of execution time data
Usage
SpyStart is used to start the recording of instruction and time data during execution.
The execution data will be stored in a file for later analysis.
The stored data is intended for debugging RAPID programs, specifically for multi-tasking
systems (only necessary to have SpyStart - SpyStop in one program task).
Basic examples
Basic examples of the instruction SpyStart are illustrated below.
Example 1
SpyStart "HOME:/spy.log";
Starts recording the execution time data in the file spy.log on the HOME: disk.
Arguments
SpyStart File
File
Data type: string
The file path and the file name to the file that will contain the execution data.
Program execution
The specified file is opened for writing and the execution time data begins recording in the
file.
© Copyright 2004-2010 ABB. All rights reserved.
Recording of execution time data is active until:
•
execution of instruction SpyStop
•
starting program execution from the beginning
•
loading a new program
•
next warm start-up
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Error handling
If the file in the SpyStart instruction can’t be opened then the system variable ERRNO is set
to ERR_FILEOPEN (see "Data types - errnum"). This error can then be handled in the error
handler.
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479
1 Instructions
1.171. SpyStart - Start recording of execution time data
RobotWare - OS
Continued
File format
TASK
INSTR
IN
CODE
OUT
MAIN
FOR i FROM 1 TO 3 DO
0
READY
0
MAIN
mynum:=mynum+i;
1
READY
1
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
2
MAIN
mynum:=mynum+i;
2
READY
2
MAIN
ENDFOR
2
READY
3
MAIN
SetDo1,1;
3
READY
3
MAIN
IF di1=0 THEN
3
READY
4
MAIN
MoveL p1, v1000, fine, tool0;
4
WAIT
14
MAIN
MoveL p1, v1000, fine, tool0;
111
READY
111
MAIN
ENDIF
108
READY
108
MAIN
MoveL p2, v1000, fine, tool0;
111
WAIT
118
MAIN
MoveL p2, v1000, fine, tool0;
326
READY
326
MAIN
SpyStop;
326
READY
SYSTEM
TRAP
SYSTEM
TRAP
TASK column shows executed program task.
INSTR column shows executed instruction in specified program task.
IN column shows the time in ms when entering the executed instruction.
CODE column shows if the instruction is READY or the instruction WAIT for completion at
OUT time.
All times are given in ms (relative values).
SYSTEM TRAP means that the system is doing something else than execution of RAPID
instructions.
If the procedure calls to some NOSTEPIN procedure (module) then the output list shows only
the name of the called procedure. This is repeated for every executed instruction in the
NOSTEPIN routine.
Syntax
SpyStart
[File’:=’]<expression (IN) of string>’;’
Related information
480
For information about
See
Stop recording of execution data
SpyStop - Stop recording of time execution
data on page 481
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
OUT column shows the time in ms upon leaving the executed instruction.
1 Instructions
1.172. SpyStop - Stop recording of time execution data
RobotWare - OS
1.172. SpyStop - Stop recording of time execution data
Usage
SpyStop is used to stop the recording of time data during execution.
The data, which can be useful for optimizing the execution cycle time, is stored in a file for
later analysis.
Basic examples
Basic examples of the instruction SpyStop are illustrated below.
See also More examples on page 481.
Example 1
SpyStop;
Stops recording the execution time data in the file specified by the previous SpyStart
instruction.
Program execution
The execution data recording is stopped and the file specified by the previous SpyStart
instruction is closed. If no SpyStart instruction has been executed before then the SpyStop
instruction is ignored.
More examples
More examples of the instruction SpyStop are illustrated below.
Example 1
IF debug = TRUE SpyStart "HOME:/spy.log";
produce_sheets;
IF debug = TRUE SpyStop;
© Copyright 2004-2010 ABB. All rights reserved.
If the debug flag is true then start recording execution data in the file spy.log on the HOME:
disk. Perform actual production; stop recording, and close the file spy.log.
Limitations
Avoid using the floppy disk (option) for recording since writing to the floppy is very time
consuming.
Never use the spy function in production programs because the function increases the cycle
time and consumes memory on the mass memory device in use.
Syntax
SpyStop’;’
Related information
For information about
See
Start recording of execution data
SpyStart - Start recording of execution time data
on page 479
3HAC 16581-1 Revision: J
481
1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
1.173. StartLoad - Load a program module during execution
Usage
StartLoad is used to start the loading of a program module into the program memory during
execution.
When loading is in progress other instructions can be executed in parallel. The loaded module
must be connected to the program task with the instruction WaitLoad before any of its
symbols/routines can be used.
The loaded program module will be added to the modules already existing in the program
memory.
A program or system module can be loaded in static (default) or dynamic mode. Depending
on the used mode, some operations will unload the module or not affect the module at all.
Static mode
The following table shows how two different operations affect a static loaded program or
system modules.
Set PP to main from TP
Open new RAPID program
Program Module
Not affected
Unloaded
System Module
Not affected
Not affected
Dynamic mode
The following table shows how two different operations affect a dynamic loaded program or
system modules.
Set PP to main from TP
Open new RAPID program
Program Module
Unloaded
Unloaded
System Module
Unloaded
Unloaded
© Copyright 2004-2010 ABB. All rights reserved.
Both static and dynamic loaded modules can be unloaded by the instruction UnLoad.
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1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
Continued
Basic examples
Basic examples of the instruction StartLoad are illustrated below.
See also More examples on page 484.
Example 1
VAR loadsession load1;
! Start loading of new program module PART_B containing routine
routine_b in dynamic mode
StartLoad \Dynamic, diskhome \File:="PART_B.MOD", load1;
! Executing in parallel in old module PART_A containing routine_a
%"routine_a"%;
! Unload of old program module PART_A
UnLoad diskhome \File:="PART_A.MOD";
! Wait until loading and linking of new program module PART_B is
ready
WaitLoad load1;
! Execution in new program module PART_B
%"routine_b"%;
Starts the loading of program module PART_B.MOD from diskhome into the program
memory with instruction StartLoad. In parallel with the loading the program executes
routine_a in module PART_A.MOD. Then instruction WaitLoad waits until the loading
and linking is finished. The module is loaded in dynamic mode.
Variable load1 holds the identity of the load session updated by StartLoad and referenced
by WaitLoad.
© Copyright 2004-2010 ABB. All rights reserved.
To save linking time the instruction UnLoad and WaitLoad can be combined in the
instruction WaitLoad by using the option argument \UnLoadPath.
Arguments
StartLoad [\Dynamic] FilePath [\File] LoadNo
[\Dynamic]
Data type: switch
The switch enables loading of a program module in dynamic mode. Otherwise the loading is
in static mode.
FilePath
Data type: string
The file path and the file name to the file that will be loaded into the program memory. The
file name shall be excluded when the argument \File is used.
[\File]
Data type: string
When the file name is excluded in the argument FilePath it must be defined with this
argument.
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1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
Continued
LoadNo
Data type: loadsession
This is a reference to the load session that should be used in the instruction WaitLoad to
connect the loaded program module to the program task.
Program execution
Execution of StartLoad will only order the loading and then proceed directly with the next
instruction without waiting for the loading to be completed.
The instruction WaitLoad will then wait at first for the loading to be completed if it is not
already finished, and then it will be linked and initialized. The initiation of the loaded module
sets all variables at module level to their initial values.
Unresolved references will default be accepted for this loading operation StartLoad WaitLoad, but it will be a run time error on execution of an unresolved reference.
To obtain a good program structure that is easy to understand and maintain, all loading and
unloading of program modules should be done from the main module, which is always
present in the program memory during execution.
For loading of program that contains a main procedure to a main program (with another
main procedure), see instruction Load.
More examples
More examples of how to use the instruction StartLoad are illustrated below.
Example 1
StartLoad \Dynamic, "HOME:/DOORDIR/DOOR1.MOD", load1;
Loads the program module DOOR1.MOD from the HOME: at the directory DOORDIR into the
program memory. The program module is loaded in dynamic mode.
Example 2
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Example 3
StartLoad "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
Same as in examples 1 and 2 above but the module is loaded in static mode.
Example 4
StartLoad \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD", load1;
WaitLoad load1;
is the same as
Load \Dynamic, "HOME:" \File:="/DOORDIR/DOOR1.MOD";
Error handling
If the file specified in the instruction cannot be found then the system variable ERRNO is set
to ERR_FILNOTFND. This error can then be handled in the error handler.
If the variable specified in argument LoadNo is already in use then the system variable
ERRNO is set to ERR_LOADNO_INUSE. This error can then be handled in the error handler.
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© Copyright 2004-2010 ABB. All rights reserved.
Same as in example 1 but with another syntax.
1 Instructions
1.173. StartLoad - Load a program module during execution
RobotWare - OS
Continued
Syntax
StartLoad
[´\´Dynamic ´,´]
[FilePath’ :=’] <expression (IN) of string>
[’\’File ’:=’ <expression (IN) of string> ] ’,’
[LoadNo ’:=’] <variable (VAR) of loadsession>’;’
Related information
See
Connect the loaded module to the task
WaitLoad - Connect the loaded module to the task
on page 682
Load session
loadsession - Program load session on page 1138
Load a program module
Load - Load a program module during execution
on page 208
Unload a program module
UnLoad - UnLoad a program module during
execution on page 655
Cancel loading of a program module
CancelLoad - Cancel loading of a module on page
35
Procedure call with Late binding
Technical reference manual - RAPID overview,
section Basic characteristics - Routines Procedure call
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
485
1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
1.174. StartMove - Restarts robot movement
Usage
StartMove is used to resume robot, external axes movement and belonging process after
the movement has been stopped
•
by the instruction StopMove.
•
after execution of StorePath ... RestoPath sequence.
•
after asynchronously raised movements errors, such as ERR_PATH_STOP or specific
process error after handling in the ERROR handler.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for restart of the movement in that task.
•
any other task for restart of the movements in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, for restart of the movement in that task.
•
non motion task, for restart of the movement in the connected motion task. Besides
that, if movement is restarted in one connected motion task belonging to a coordinated
synchronized task group, the movement is restarted in all the cooperating tasks.
Basic examples
Basic examples of the instruction StartMove are illustrated below.
Example 1
StopMove;
WaitDI ready_input,1;
StartMove;
The robot starts to move again when the input ready_input is set.
...
MoveL p100, v100, z10, tool1;
StorePath;
p:= CRobT(\Tool:=tool1);
! New temporary movement
MoveL p1, v100, fine, tool1;
...
MoveL p, v100, fine, tool1;
RestoPath;
StartMove;
...
After moving back to a stopped position p (in this example equal to p100), the robot starts to
move again on the basic path level.
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© Copyright 2004-2010 ABB. All rights reserved.
Example 2
1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
Continued
Arguments
StartMove [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Restart the movement of all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
Program execution
Any processes associated with the stopped movement are restarted at the same time that the
motion resumes.
To restart a MultiMove application in synchronized coordinated mode, StartMove must be
executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are restarted.
In a base system without the switch \AllMotionTasks, the movements for following
mechanical units are restarted:
•
always the mechanical units in the main task, independent of which task executes the
StartMove instruction.
In a MultiMove system without the switch \AllMotionTasks the movements for the
following mechanical units are restarted:
•
the mechanical units in the motion task executing StartMove.
•
the mechanical units in the motion task that are connected to the non motion task
executing StartMove. Besides that, if mechanical units are restarted in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are restarted in all the cooperated tasks.
© Copyright 2004-2010 ABB. All rights reserved.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST.
If the robot is in a hold state at the time StartMove is executed then the system variable
ERRNO is set to ERR_STARTMOVE
If the program execution is stopped several times while regaining path movement with
StartMove then the system variable ERRNO is set to ERR_PROGSTOP
If the robot is moving at the time StartMove is executed then the system variable ERRNO is
set to ERR_ALRDY_MOVING.
These errors can then be handled in the error handler:
•
at ERR_PATHDIST move the robot closer to the path before attempting RETRY.
•
at ERR_STARTMOVE, ERR_PROGSTOP, or ERR_ALRDY_MOVING wait some time before
attempting RETRY.
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487
1 Instructions
1.174. StartMove - Restarts robot movement
RobotWare - OS
Continued
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove StartMove sequence against some motion task.
It is not possible to do any error recovery if StartMove is executed in any error handler.
Syntax
StartMove
[’\’AllMotionTasks]’;’
Related information
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMoveRetry - Restarts robot movement and execution
on page 489
More examples
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
1.175. StartMoveRetry - Restarts robot movement and execution
Usage
StartMoveRetry is used to resume robot and external axes movements and belonging
processes and also retry the execution from an ERROR handler.
This instruction can be used in an ERROR handler in the following types of program tasks:
•
main task T_ROB1 in a base system
•
any motion task in a MultiMove system
Basic examples
Basic examples of the instruction StartMoveRetry are illustrated below.
Example 1
VAR robtarget p_err;
...
MoveL p1\ID:=50, v1000, z30, tool1 \WObj:=stn1;
...
ERROR
IF ERRNO = ERR_PATH_STOP THEN
StorePath;
p_err := CRobT(\Tool:= tool1 \WObj:=wobj0);
! Fix the problem
MoveL p_err, v100, fine, tool1;
RestoPath;
StartMoveRetry;
ENDIF
ENDPROC
© Copyright 2004-2010 ABB. All rights reserved.
This is an example from a MultiMove system with coordinated synchronized movements
(two robots working on some rotated work object).
During the movement to position p1, the other cooperated robot gets some process error so
that the coordinated synchronized movements stops. This robots then gets the error
ERR_PATH_STOP, and the execution is transferred to the ERROR handler.
In the ERROR handler, do the following:
•
StorePath stores the original path, goes to a new path level, and sets the MultiMove
system in independent mode.
•
If there are problems with the robot then initiate movements on the new path level.
•
Before RestoPath go back to the error position.
•
RestoPath goes back to the original path level and sets the MultiMove system back
to synchronized mode again.
•
StartMoveRetry restarts the interrupted movement and any process. It also transfers
the execution back to resume the normal execution.
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3HAC 16581-1 Revision: J
489
1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
Continued
Program execution
StartMoveRetry does the following sequence:
•
regain to path
•
restart any processes associated with the stopped movement
•
restart the interrupted movement
•
RETRY of the program execution
StartMoveRetry does the same as StartMove and RETRY together in one indivisible
operation.
Only the mechanical units in the program task that execute StartMoveRetry are restarted.
Limitations
Can only be used in an ERROR handler in a motion task.
In a MultiMove system executing coordinated synchronized movements the following
programming rules must be followed in the ERROR handler:
•
StartMoveRetry must be used in all cooperated program tasks.
•
If need movement is needed in any ERROR handler then the instructions
StorePath ... RestoPath must be used in all cooperated program tasks.
•
The program must move the robot back to the error position before RestoPath is
executed if the robot was moved on the StorePath level.
Error handling
If the robot is too far from the path (more than 10 mm or 20 degrees) to perform a restart of
the interrupted movement then the system variable ERRNO is set to ERR_PATHDIST.
If the robot is in hold state at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_STARTMOVE.
If the program execution is stopped several times during the regain to path movement with
If the robot is moving at the time StartMoveRetry is executed then the system variable
ERRNO is set to ERR_ALRDY_MOVING.
It is not possible to do any error recovery from these errors because StartMoveRetry can
only be executed in some error handler.
Syntax
StartMoveRetry ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
StartMoveRetry then the system variable ERRNO is set to ERR_PROGSTOP.
1 Instructions
1.175. StartMoveRetry - Restarts robot movement and execution
RobotWare - OS
Continued
Related information
For information about
See
Stopping movements
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restarts robot movement on page 486
Resume execution after an error RETRY - Resume execution after an error on page 364
StorePath - Stores the path when an interrupt occurs on
page 521
RestoPath - Restores the path after an interrupt on page
362
© Copyright 2004-2010 ABB. All rights reserved.
Store/restore path
3HAC 16581-1 Revision: J
491
1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
1.176. STCalib - Calibrate a Servo Tool
Usage
STCalib is used to calibrate the distance between the tool tips. This is necessary after tip
change or tool change, and it is recommended after performing a tip dress or after using the
tool for a while.
Note! The tool performs two close/open movements during the calibration. The first close
movement will detect the tip contact position.
Basic examples
Basic examples of the instruction STCalib are illustrated below.
Example 1
VAR num curr_tip_wear;
VAR num retval;
CONST num max_adjustment := 20;
STCalib gun1 \ToolChg;
Calibrate a servo gun after a toolchange. Wait until the gun calibration has finished before
continuing with the next Rapid instruction.
Example 2
STCalib gun1 \ToolChg \Conc;
Calibrate a servo gun after a toolchange. Continue with the next Rapid instruction without
waiting for the gun calibration to be finished.
Example 3
STCalib gun1 \TipChg;
Calibrate a servo gun after a tipchange.
Example 4
Calibrate a servo gun after tip wear. Save the tip wear in variable curr_tip_wear.
Example 5
STCalib gun1 \TipChg \RetPosAdj:=retval;
IF retval > max_adjustment THEN
TPWrite "The tips are lost!";
...
Calibrate a servo gun after a tipchange. Check if the tips are missing.
Example 6
STCalib gun1 \TipChg \PrePos:=10;
Calibrate a servo gun after a tipchange. Move fast to position 10 mm then start to search for
contact position with slower speed.
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© Copyright 2004-2010 ABB. All rights reserved.
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear;
1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
Continued
Example 7
Example of non valid combination:
STCalib gun1 \TipWear \RetTipWear := curr_tip_wear \Conc;
Perform a tip wear calibration. Continue with the next Rapid instruction without waiting for
the gun calibration to be finished. The parameter curr_tip_wear will in this case not hold
any valid value since the \Conc switch is used (The next Rapid instruction will start to
execute before the calibration process is finished).
Arguments
STCalib ToolName [\ToolChg] | [\TipChg] | [\TipWear] [\RetTipWear]
[\RetPosAdj] [\PrePos] [\Conc]
ToolName
Data type: string
The name of the mechanical unit.
[\ToolChg]
Data type: switch
Calibration after a tool change.
[\TipChg]
Data type: switch
Calibration after a tip change.
[\TipWear]
Data type: switch
Calibration after tip wear.
[\RetTipWear]
Data type: num
© Copyright 2004-2010 ABB. All rights reserved.
The achieved tip wear [mm].
[\RetPosAdj]
Data type: num
The positional adjustment since the last calibration [mm].
[\PrePos]
Data type: num
The position to move with high speed before the search for contact position with slower speed
is started [mm].
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when, for example, two guns are controlled at the same
time.
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1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
Continued
Program execution
Calibration modes
If the mechanical unit exists then the servo tool is ordered to calibrate. The calibration is done
according to the switches, see below. If the RetTipWear parameter is used then the tip wear
is updated.
Calibration after toolchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will remain unchanged.
Calibration after tipchange:
The tool will close with slow speed waiting for tips in contact to open fast, close fast to a low
force, and open again in one sequence. The tip wear will be reset.
Calibration after tipwear:
The tool will close with high speed to the contact position, open fast, close fast to a low force,
and open again in one sequence. The tip wear will be updated.
NOTE! If the switch Conc is used then the instruction will be considered ready once started
and therefore the return value RetTipWear will not be available. In this case the
RetTipWear will be returned by the function STIsOpen. For more details, see
RobotWare OS functions - STIsOpen.
Positional adjustment
The optional argument RetPosAdj can be used to detect, for example, if the tips are lost after
a tip change. The parameter will hold the value of the positional adjustment since the last
calibration. The value can be negative or positive.
In order to speed up the calibration it is possible to define a pre-position. When the calibration
starts the gun arm will run fast to the pre-position, stop, and then continue slowly*) forward
in order to detect the tip contact position. If a pre-position is used then select it carefully! It
is important that the tips do not get in contact until after the pre-position is reached!
Otherwise the accuracy of the calibration will become poor and motion supervision errors
may possibly occur. A pre-position will be ignored if it is larger than the current gun position
(in order not to slow down the calibration).
*) The second movement will also be fast if the \TipWear option is used.
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© Copyright 2004-2010 ABB. All rights reserved.
Using a pre-position
1 Instructions
1.176. STCalib - Calibrate a Servo Tool
Servo Tool Control
Continued
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN.
If the gun is not open when STCalib is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN.
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and there is an emergency stop, the
instruction will be finished, and the system variable ERRNO is set to ERR_SGUN_ESTOP. Note
that if the instruction is invoked from the main task then the program pointer will be stopped
at the instruction, and the instruction will be restarted from the beginning at program restart.
If the argument PrePos is specified with a value less than zero then the system variable
ERRNO is set to ERR_SGUN_NEGVAL.
If the instruction is invoked from a background task and the system is in motors off state then
the system variable ERRNO will be set to ERR_SGUN_MOTOFF.
All above errors can be handled in a RAPID error handler.
Syntax
STCalib
[ ’ToolName’ :=’ ] < expression (IN) of string > ‘,’
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ToolChg] | [’\’TipChg] | [ ’\’TipWear]
[’ \’RetTipWear’ :=’ < variable or persistent(INOUT) of num >
]’;’
[ ’\’RetPosAdj’ :=’ < variable or persistent(INOUT) of num > ]’;’
[ ’\’PrePos’ :=’ < expression (IN) of num > ]’
[ ’\’Conc’ ];’
Related information
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
Close a servo tool
STClose - Close a Servo Tool on page 496
3HAC 16581-1 Revision: J
495
1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
1.177. STClose - Close a Servo Tool
Usage
STClose is used to close the Servo Tool.
Basic examples
Basic examples of the instruction STClose are illustrated below.
Example 1
VAR num curr_thickness1;
VAR num curr_thickness2;
STClose gun1, 1000, 5;
Close the servo gun with tip force 1000 N and plate thickness 5 mm. Wait until the gun is
closed before continuing with the next Rapid instruction.
Example 2
STClose gun1, 2000, 3\RetThickness:=curr_thickness;
Close the servo gun with tip force 2000 N and plate thickness 3 mm. Get the measured
thickness in variable curr_thickness.
Example 3
Concurrent mode:
STClose gun1, 1000, 5 \Conc;
STClose gun2, 2000, 3 \Conc;
Close the servo gun1 with tip force 1000 N and plate thickness 5 mm. Continue the program
execution without waiting for gun1 to be closed, and close the servo gun2 with tip force
2000 N and plate thickness 3 mm. Continue the execution of the Rapid program without
waiting for gun2 to be closed.
Example 4
IF curr_thickness1 < 0.2 Set weld_start1;
ENDIF
IF STIsClosed (gun2)\RetThickness:=curr_thickness2 THEN
IF curr_thickness2 < 0.2 Set weld_start2;
ENDIF
Get the measured thickness in the function STIsClosed variable curr_thickness1 and
curr_thickness2.
Example 5
Example of non valid combination:
STClose gun1, 2000, 3\RetThickness:=curr_thickness \Conc;
Close the servo gun and continue with the Rapid program execution. The parameter
curr_thickness will in this case not hold any valid value since the \Conc switch is used
(The next Rapid instruction will start to execute before the gun is closed).
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© Copyright 2004-2010 ABB. All rights reserved.
IF STIsClosed (gun1)\RetThickness:=curr_thickness1 THEN
1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
Continued
Arguments
STClose ToolName TipForce Thickness [\RetThickness][\Conc]
ToolName
Data type: string
The name of the mechanical unit.
TipForce
Data type: num
The desired tip force [N].
Thickness
Data type: num
The expected contact position for the servo tool [mm].
[\RetThickness]
Data type: num
The achieved thickness [mm], will only get a value if the \Conc switch is not used.
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when e.g. two guns are controlled at the same time.
Program execution
If the mechanical unit exists then the servo tool is ordered to close to the expected thickness
and force.
© Copyright 2004-2010 ABB. All rights reserved.
The closing will start to move the tool arm to the expected contact position (thickness). The
movement is stopped in this position, and a switch from position control mode to force
control mode is done.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
When the desired tip force is achieved the instruction is ready and the achieved thickness is
returned if the optional argument RetThickness is specified.
NOTE! If the switch Conc is used then the instruction will be considered to be ready once
started and therefore the return value RetThickness will not be available. In this case the
RetThickness will be returned by the function STIsClosed. For more details see
RobotWare OS functions - STIsClosed.
It is possible to close the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm.
For more details see Servo tool motion control.
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497
1 Instructions
1.177. STClose - Close a Servo Tool
Servo Tool Control
Continued
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN.
If the gun is not open when STClose is invoked then the system variable ERRNO is set to
ERR_SGUN_NOTOPEN.
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
If the instruction is invoked from a background task and if there is an emergency stop then
the instruction will be finished and the system variable ERRNO is set to ERR_SGUN_ESTOP.
Note that if the instruction is invoked from the main task then the program pointer will be
stopped at the instruction, and the instruction will be restarted from the beginning at program
restart.
If the instruction is invoked from a background task and if the system is in motors off state
then the system variable ERRNO will be set to ERR_SGUN_MOTOFF.
All errors above can be handled in a Rapid error handler.
Syntax
STClose
[ ’ToolName ’:=’ ] < expression (IN) of string > ‘,’
[ ’Tipforce’ :=’ ] < expression (IN) of num > ‘,’
[‘\’ ’RetThickness’ :=’ < variable or persistent (INOUT) of num
> ]
[’\’Conc]
Related information
498
For information about
See
Open a servo tool
STOpen - Open a Servo Tool on page 513
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[ ’Thickness’ :=’] < expression (IN) of num > ]
1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
1.178. StepBwdPath - Move backwards one step on path
Usage
StepBwdPath is used to move the TCP backwards on the robot path from a RESTART event
routine.
It is up to the user to introduce a restart process flag so StepBwdPath in the RESTART event
routine is only executed at process restart and not at all program restarts.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction StepBwdPath are illustrated below.
Example 1
StepBwdPath 30, 1;
Move backwards 30 mm in 1 second.
Arguments
StepBwdPath StepLength StepTime
StepLength
Data type: num
Specifies the distance, in millimeters, to move backwards during this step. This argument
must be a positive value.
StepTime
Data type: num
Specifies the time, in seconds, the movement will take. This argument must have a positive
value.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The robot moves back on its path for the specified distance. The path is exactly the same in
the reverse way as it was before the stop occurred. In the case of a quick stop or emergency
stop, the RESTART event routine is called after the regain phase has completed so the robot
will already be back on its path when this instruction is executed.
The actual speed for this movement is the lowest of:
•
StepLength / StepTime
•
The programmed speed on the segment
•
250 mm/s
Following properties are valid in MultiMove System - Synchronized Coordinated
Movements:
•
All involved mechanical units are moved backward simultaneously and coordinated
•
Each executed StepBwdPath in any involved program task results in one new
backward movement step (without need of any StartMove)
•
To restart and continue the interrupted process movements, instruction StartMove
must be executed in all involved program tasks
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499
1 Instructions
1.178. StepBwdPath - Move backwards one step on path
RobotWare - OS
Continued
Limitations
After the program has been stopped it is possible to step backwards on the path with the
following limits:
•
The 1st StepBwdPath movements step will be reduced to the current segment for the
robot
•
Further StepBwdPath movements steps will be limited to the segment before the
previous segment (possible to step backward within two segment before the interupted
segment).
If an attempt is made to move beyond these limits then the error handler will be called with
ERRNO set to ERR_BWDLIMIT.
Syntax
StepBwdPath
[ StepLength’:=’ ] < expression (IN) of num >’,’
[ StepTime ’:=’ ] < expression (IN) of num >’;’
Related information
See
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principle
Positioning instructions
Technical reference manual - RAPID overview,
section RAPID summary - Motion
© Copyright 2004-2010 ABB. All rights reserved.
For information about
500
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1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
1.179. STIndGun - Sets the gun in independent mode
Usage
STIndGun (Servo Tool independent gun) is used to set the gun in independent mode and
thereafter move the gun to a specified independent position. The gun will stay in independent
mode until the instruction STIndGunReset is executed.
During independent mode the control of the gun is separated from the robot. The gun can be
closed, opened, calibrated, or moved to a new independent position, but it will not follow
coordinated robot movements.
Independent mode is useful if the gun performs a task that is independent of the robot’s task,
e.g. tip dressing of a stationary gun.
Basic examples
Basic examples of the instruction STIndGun are illustrated below.
Example 1
This procedure could be run from a background task while the robot in the main task can
continue with, for example, move instructions.
PROC tipdress()
! Note that the gun will move to current robtarget position, if
! already in independent mode.
STIndGunReset gun1;
...
STIndGun gun1, 30;
StClose gun1, 1000, 5;
WaitTime 10;
STOpen gun1;
...
© Copyright 2004-2010 ABB. All rights reserved.
STIndGunReset gun1;
ENDPROC
Independent mode is activated and the gun is moved to an independent position (30 mm).
During independent mode the instructions StClose, WaitTime, and STOpen are executed
without interfering with robot motion. The instruction StIndGunReset will take the gun out
of independent mode and move the gun to current robtarget position.
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3HAC 16581-1 Revision: J
501
1 Instructions
1.179. STIndGun - Sets the gun in independent mode
Servo Tool Control
Continued
xx0500002342
The position p1 depends on the position of the gun given in the robtarget just performed by
the robot.
Arguments
STIndGun ToolName GunPos
ToolName
Data type: string
The name of the mechanical unit.
GunPos
Data type: num
The position (stroke) of the servo gun in mm.
Syntax
STIndGun
[ ToolName ’:=’ ] < expression (IN) of string > ‘,’
© Copyright 2004-2010 ABB. All rights reserved.
[ GunPos ’:=’ < expression (IN) of num > ]’;’
502
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1 Instructions
1.180. STIndGunReset - Resets the gun from independent mode
Servo Tool Control
1.180. STIndGunReset - Resets the gun from independent mode
Usage
STIndGunReset (Servo Tool independent gun reset) is used to reset the gun from
independent mode and thereafter move the gun to current robtarget position.
Basic examples
Basic examples of the instruction STIndGunReset are illustrated below.
STIndGunReset gun1;
Arguments
STIndGunReset ToolName
ToolName
Data type: string
The name of the mechanical unit.
Program execution
The instruction will reset the gun from independent mode and move the gun to current
robtarget position. During this movement the coordinated speed of the gun must be zero
otherwise an error will occur. The coordinated speed will be zero if the robot is standing still
or if the current robot movement includes a “zero movement” from the gun.
Syntax
STIndGunReset
© Copyright 2004-2010 ABB. All rights reserved.
[ToolName ´:=´]<expression (IN) of string>´;´
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1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
Usage
SToolRotCalib (Stationary Tool Rotation Calibration) is used to calibrate the TCP and
rotation of a stationary tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant, section Programming and testing).
Description
To define the TCP and rotation of a stationary tool, you need a movable pointing tool mounted
on the end effector of the robot.
•
The stationary tool that is to be calibrated must be mounted stationary and defined
with the correct component robhold (FALSE).
•
The pointing tool (robhold TRUE) must be defined and calibrated with the correct
TCP values.
•
If using the robot with absolute accuracy then the load and center of gravity for the
pointing tool should be defined. LoadIdentify can be used for the load definition.
•
The pointing tool, wobj0, and PDispOff must be activated before jogging the robot.
•
Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool
(origin of the tool coordinate system) and define a robtarget for the reference point
RefTip.
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive z-axis of the tool coordinate system, and define
a robtarget for point ZPos.
•
Jog the robot without changing the tool orientation so the TCP of the pointing tool is
pointing at some point on the positive x-axis of the tool coordinate system, and define
a robtarget for point XPos.
As a help for pointing out the positive z-axis and x-axis, some type of elongator tool can be
used.
Definition of robtargets RefTip, ZPos, and XPos. See figure below.
xx0500002343
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© Copyright 2004-2010 ABB. All rights reserved.
Before using the instruction SToolRotCalib, some preconditions must be fulfilled:
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
Continued
NOTE!
It is not recommended to modify the positions RefTip, ZPos, and XPos in the instruction
SToolRotCalib.
Basic examples
Basic examples of the instruction SToolRotCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary tool
! coordinate system
CONST robtarget pos_tip := [...];
CONST robtarget pos_z := [...];
CONST robtarget pos_x := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]],
0, 0], [1, 0, 0, 0], 0, 0, 0]];
[0, [0,
!Instructions for creating or ModPos of pos_tip, pos_z and pos_x
MoveJ pos_tip, v10, fine, point_tool;
MoveJ pos_z, v10, fine, point_tool;
MoveJ pos_x, v10, fine, point_tool;
SToolRotCalib pos_tip, pos_z, pos_x, tool1;
The position of the TCP (tframe.trans) and the tool orientation (tframe.rot) of tool1
in the world coordinate system is calculated and updated.
Arguments
SToolRotCalib RefTip ZPos XPos Tool
RefTip
© Copyright 2004-2010 ABB. All rights reserved.
Data type: robtarget
The point where the TCP of the pointing tool is pointing at the stationary tool TCP to
calibrate.
ZPos
Data type: robtarget
The elongator point that defines the positive z direction.
XPos
Data type: robtarget
The elongator point that defines the positive x direction.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
Continues on next page
3HAC 16581-1 Revision: J
505
1 Instructions
1.181. SToolRotCalib - Calibration of TCP and rotation for stationary tool
RobotWare - OS
Continued
Program execution
The system calculates and updates the TCP (tframe.trans) and the tool orientation
(tfame.rot) in the specified tooldata. The calculation is based on the specified 3
robtarget. The remaining data in tooldata is not changed.
Syntax
SToolRotCalib
[ RefTip ’:=’ ] < expression (IN) of robtarget > ’,’
[ ZPos ’:=’ ] < expression (IN) of robtarget > ’,’
[ XPos ’:=’ ] < expression (IN) of robtarget > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata > ’;’
Related information
See
Calibration of TCP for a moving tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP for a stationary tool
MToolTCPCalib - Calibration of TCP for moving
tool on page 278
© Copyright 2004-2010 ABB. All rights reserved.
For information about
506
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1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
Usage
SToolTCPCalib (Stationary Tool TCP Calibration) is used to calibrate the Tool Center Point
- TCP for a stationary tool.
The position of the robot and its movements are always related to its tool coordinate system,
i.e. the TCP and tool orientation. To get the best accuracy it is important to define the tool
coordinate system as correctly as possible.
The calibration can also be done with a manual method using the FlexPendant (described in
Operating manual - IRC5 with FlexPendant, section Programming and testing).
Description
To define the TCP of a stationary tool, you need a movable pointing tool mounted on the end
effector of the robot.
© Copyright 2004-2010 ABB. All rights reserved.
Before using the instruction SToolTCPCalib, some preconditions must be fulfilled:
•
The stationary tool that is to be calibrated must be mounted stationary and defined
with the correct component robhold (FALSE).
•
The pointing tool (robhold TRUE) must be defined and calibrated with the correct
TCP values.
•
If using the robot with absolute accuracy then the load and center of gravity for the
pointing tool should be defined. LoadIdentify can be used for the load definition.
•
The pointing tool, wobj0 and PDispOff, must be activated before jogging the robot.
•
Jog the TCP of the pointing tool as close as possible to the TCP of the stationary tool
and define a robtarget for the first point p1.
•
Define the further three positions p2, p3, and p4, all with different orientations.
•
It is recommended that the TCP is pointed out with different orientations to obtain a
reliable statistical result. However, it is not necessary.
Definition of 4 robtargets p1...p4. See figure below.
xx0500002344
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1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
Continued
NOTE!
It is not recommended to modify the positions Pos1 to Pos4 in the instruction
SToolTCPCalib.
The reorientation between the 4 positions should be as big as possible, putting the robot in
different configurations.Its also good practice to check the quality of the TCP after a
calibration. Which can be performed by reorientation of the tool to check if the TCP is
standing still.
Basic example
Basic examples of the instruction SToolTCPCalib are illustrated below.
Example 1
! Created with pointing TCP pointing at the stationary TCP
CONST robtarget p1 := [...];
CONST robtarget p2 := [...];
CONST robtarget p3 := [...];
CONST robtarget p4 := [...];
PERS tooldata tool1:= [ FALSE, [[0, 0, 0], [1, 0, 0 ,0]], [0,001,
[0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0]];
VAR num max_err;
VAR num mean_err;
! Instructions for creating or ModPos of p1 - p4
MoveJ p1, v10, fine, point_tool;
MoveJ p2, v10, fine, point_tool;
MoveJ p3, v10, fine, point_tool;
MoveJ p4, v10, fine, point_tool;
The TCP value (tframe.trans) of tool1 will be calibrated and updated. max_err and
mean_err will hold the max error in mm from the calculated TCP and the mean error in mm
from the calculated TCP, respectively.
Arguments
SToolTCPCalib Pos1 Pos2 Pos3 Pos4 Tool MaxErr MeanErr
Pos1
Data type: robtarget
The first approach point.
Pos2
Data type: robtarget
The second approach point.
Pos3
Data type: robtarget
The third approach point.
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© Copyright 2004-2010 ABB. All rights reserved.
SToolTCPCalib p1, p2, p3, p4, tool1, max_err, mean_err;
1 Instructions
1.182. SToolTCPCalib - Calibration of TCP for stationary tool
RobotWare - OS
Continued
Pos4
Data type: robtarget
The fourth approach point.
Tool
Data type: tooldata
The persistent variable of the tool that is to be calibrated.
MaxErr
Data type: num
The maximum error in mm for one approach point.
MeanErr
Data type: num
The average distance that the approach points are from the calculated TCP, i.e. how accurately
the robot was positioned relative to the stationary TCP.
Program execution
The system calculates and updates the TCP value in the world coordinate system
(tfame.trans) in the specified tooldata. The calculation is based on the specified 4
robtarget. The remaining data in tooldata, such as tool orientation (tframe.rot), is not
changed.
Syntax
SToolTCPCalib
[ Pos1 ’:=’ ] < expression (IN) of robtarget > ’,’
[ Pos2 ’:=’ ] < expression (IN) of robtarget > ’,’
[ Pos3 ’:=’ ] < expression (IN) of robtarget > ’,’
[ Pos4 ’:=’ ] < expression (IN) of robtarget > ’,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata > ’,’
© Copyright 2004-2010 ABB. All rights reserved.
[ MaxErr ’:=’ ] < variable (VAR) of num > ’,’
[ MeanErr’ :=’ ] < variable (VAR) of num > ’;’
Related information
For information about
See
Calibration of TCP for a moving tool
SToolTCPCalib - Calibration of TCP for stationary
tool on page 507
Calibration of rotation for a moving tool
MToolRotCalib - Calibration of rotation for moving
tool on page 275
Calibration of TCP and rotation for a
stationary tool
SToolRotCalib - Calibration of TCP and rotation
for stationary tool on page 504
3HAC 16581-1 Revision: J
509
1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
1.183. Stop - Stops program execution
Usage
Stop is used to stop the program execution. Any movement performed at the time will be
finished before the Stop instruction is ready.
Basic examples
Basic examples of the instruction Stop are illustrated below.
See also More examples on page 512.
Example 1
TPWrite "The line to the host computer is broken";
Stop;
Program execution stops after a message has been written on the FlexPendant.
Arguments
Stop [ \NoRegain ] | [ \AllMoveTasks ]
[ \NoRegain ]
Data type: switch
Specifies for the next program start, whether or not the affected mechanical unit should return
to the stop position.
If the argument \NoRegain is set then the robot and external axes will not return to the stop
position (if they have been jogged away from it).
If the argument is omitted and if the robot or external axes have been jogged away from the
stop position then the robot displays a question on the FlexPendant. The user can then answer
whether or not the robot should return to the stop position.
[ \AllMoveTasks ]
Specifies that programs in all running normal tasks besides the actual task should be stopped.
If the argument is omitted then only the program in the task that executes the instruction will
be stopped.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
Continued
Program execution
The instruction stops program execution when the affected mechanical units in the actual
motion task have reached zero speed for the movement it is performing at the time, and stands
still. Program execution can then be restarted from the next instruction.
If the instruction is used without any switches then only the program in that task will be
affected.
If the AllMoveTasks switch is used in a task (Normal, Static, or Semistatic) then the
program in that task and all normal tasks will stop. See more about declaration of tasks in
documentation for System Parameters
The NoRegain switch is only possible to use in motion tasks since it only concerns the
motion path.
If there is a Stop instruction in some event routine then the execution of the routine will be
stopped, and the execution continue as described in TABLE 1.
If there is a Stop\AllMoveTasks instruction in some event routine in a MultiMove
system, then the task containing the instruction continue as described in TABLE 1 and all
other motion tasks executing an event routine continues as described in TABLE 2 (same
affect as for normal program stop during execution of the event routine).
© Copyright 2004-2010 ABB. All rights reserved.
TABLE 1
Event routines
Affect by Stop instruction
POWER ON
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order..
START
The execution is stopped. STOP event
routines are executed. The execution does not
continue in the event routine at the next start
order.
RESTART
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
STOP
The execution is stopped. No other event
routines are executed. The execution does not
continue in the event routine at the next start
order.
QSTOP
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
RESET
The execution is stopped. STOP event routines
are executed. The execution does not
continue in the event routine at the next start
order.
Continues on next page
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1 Instructions
1.183. Stop - Stops program execution
RobotWare - OS
Continued
TABLE 2
Event routines
Affect by Stop \AllMoveTasks
POWER ON
The POWER ON event routine completes its
execution. No STOP event routines are
executed.
START
The execution is stopped, and continues at the
next ordered start. No STOP event routines
are executed.
RESTART
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
STOP
The STOP event routine completes its
execution.
QSTOP
The QSTOP event routine completes its
execution.
RESET
The execution is stopped, and continues at the
next ordered start. No STOP event routines are
executed.
More examples
More examples of how to use the instruction Stop are illustrated below.
Example 1
MoveL p1, v500, fine, tool1;
TPWrite "Jog the robot to the position for pallet corner 1";
Stop \NoRegain;
p1_read := CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL p2, v500, z50, tool1;
Syntax
Stop
[ ’\’ NoRegain ]’|’
[ ’\’ AllMoveTasks ]’;’
Related information
512
For information about
See
Terminating program execution
EXIT - Terminates program execution on page
105
Only stopping robot movements
StopMove - Stops robot movement on page
515
Stop program for debugging
Break - Break program execution on page 32
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Program execution stops with the robot at p1. The operator jogs the robot to p1_read. For
the next program start the robot does not regain to p1, so the position p1_read can be stored
in the program.
1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
1.184. STOpen - Open a Servo Tool
Usage
STOpen is used to open the Servo Tool.
Basic examples
Basic examples of the instruction STOpen are illustrated below.
Example 1
STOpen gun1;
Open the servo tool gun1. Wait until the gun is opened before continuing with the next Rapid
instruction.
Example 2
STOpen gun1 \Conc;
Open the servo tool gun1. Continue with the next Rapid instruction without waiting for the
gun to be opened.
Example 3
STOpen "SERVOGUN"\WaitZeroSpeed;
Stop the servo tool SERVOGUN, wait until any coordinated movement has finished, and then
open the servo tool SERVOGUN.
Arguments
STOpen ToolName
ToolName
Data type: string
The name of the mechanical unit.
[\WaitZeroSpeed]
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Stop the servo tool, wait until any coordinated movement has finished, and then open the
servo tool.
[\Conc]
Data type: switch
Subsequent instructions are executed while the gun is moving. The argument can be used to
shorten cycle time. This is useful when, for example, two guns are controlled at the same
time.
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1 Instructions
1.184. STOpen - Open a Servo Tool
Servo Tool Control
Continued
Program execution
If the mechanical unit exists then the servo tool is ordered to open. The tip force is reduced
to zero and the tool arm is moved back to the pre_close position.
The tool arm is moved with max speed and acceleration as it is defined in the system
parameters for the corresponding external axis. As for other axes movements, the speed is
reduced in manual mode.
It is possible to open the tool during a programmed robot movement as long as the robot
movement does not include a movement of the tool arm. If the tool is opened during such
movement then an error 50251 Tool opening failed will be displayed. The switch
WaitZeroSpeed can be used to reduce the risk for this error.
If the switch Conc is used then the instruction will be considered to be ready before the servo
tool is opened. It is recommended that the function STIsOpen is used after STOpen to avoid
any problems in concurrent mode.
For more details, see Servo tool motion control.
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN.
If the servo tool mechanical unit is not activated then the system variable ERRNO is set to
ERR_SGUN_NOTACT. Use instruction ActUnit to activate the servo tool.
If the servo tool position is not initialized then the system variable ERRNO is set to
ERR_SGUN_NOTINIT. The servo tool position must be initialized the first time the gun is
installed or after a fine calibration is made. Use the service routine ManServiceCalib, or
perform a tip change calibration. The tip wear will be reset.
If the servo tool tips are not synchronized then the system variable ERRNO is set to
ERR_SGUN_NOTSYNC. The servo tool tips must be synchronized if the revolution counter has
been lost and/or updated. No process data such as tip wear will be lost.
NOTE!
If the instruction is invoked from a background task and there is an emergency stop then the
instruction will be finished without an error.
Syntax
STOpen
[ ’ToolName ’:=’ ] < expression (IN) of string > ‘,’
[ ’\’WaitZeroSpeed]‘ ,’
[’\’Conc]’
Related information
514
For information about
See
Close a servo tool
STClose - Close a Servo Tool on page 496
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
All above errors can be handled in a RAPID error handler.
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
1.185. StopMove - Stops robot movement
Usage
StopMove is used to stop robot and external axes movements and any belonging process
temporarily. If the instruction StartMove is given then the movement and process resumes.
This instruction can, for example, be used in a trap routine to stop the robot temporarily when
an interrupt occurs.
For base system it is possible to use this instruction in the following type of program tasks:
•
main task T_ROB1 for stopping the movement in that task.
•
any other task for stopping the movements in the main task.
For MultiMove systems it is possible to use this instruction in following type of program
tasks:
•
motion task for stopping the movement in that task.
•
non-motion task for stopping the movement in the connected motion task. Besides
that, if movement is stopped in one motion task belonging to a coordinated
synchronized task group then the movement is stopped in all the cooperated tasks.
Basic examples
Basic examples of the instruction StopMove are illustrated below.
See also More examples on page 517.
Example 1
StopMove;
WaitDI ready_input, 1;
StartMove;
The robot movement is stopped until the input, ready_input is set.
Arguments
© Copyright 2004-2010 ABB. All rights reserved.
StopMove [\Quick] [\AllMotionTasks]
[\Quick]
Data type: switch
Stops the robot on the path as fast as possible.
Without the optional parameter \Quick, the robot stops on the path, but the braking distance
is longer (same as for normal Program Stop).
[\AllMotionTasks]
Data type: switch
Stop the movement of all mechanical units in the system. The switch [\AllMotionTasks]
can only be used from a non-motion program task.
Continues on next page
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515
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
Continued
Program execution
The movements of the robot and external axes stop without the brakes being engaged. Any
processes associated with the movement in progress are stopped at the same time as the
movement is stopped.
Program execution continues after waiting for the robot and external axes to stop (standing
still).
With the switch \AllMotionTasks (only allowed from non-motion program task) the
movements for all mechanical units in the system are stopped.
In a base system without the switch \AllMotionTasks, the movements for the following
mechanical units are stopped:
•
always the mechanical units in the main task, independent of which task executes the
StopMove instruction.
In a MultiMove system without the switch \AllMotionTasks, the movements for the
following mechanical units are stopped:
•
the mechanical units in the motion task executing StopMove.
•
the mechanical units in the motion task that are connected to the non-motion task
executing StopMove. Besides that, if mechanical units are stopped in one connected
motion task belonging to a coordinated synchronized task group then the mechanical
units are stopped in all the cooperated tasks.
The StopMove state in the motion task generated from the motion task itself will
automatically be reset when starting that task from the beginning.
•
if normal non-motion task, at the start of that task from the beginning.
•
if semi-static non-motion task, at power fail restart when the task is starting from the
beginning.
•
if static non-motion task, at installation start when the task is starting from the
beginning.
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516
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© Copyright 2004-2010 ABB. All rights reserved.
The StopMove state in connected motion task, generated from the some non-motion task,
will automatically be reset:
1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
Continued
More examples
More examples of the instruction StopMove are illustrated below.
Example 1
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
ISignalDI di1,1,intno1;
TRAP go_to_home_pos
VAR robtarget p10;
StopMove;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
Move L p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
When the input di1 is set to 1 an interrupt is activated which in turn activates the interrupt
routine go_to_home_pos. The current movement is stopped, and the robot moves instead to
the home position. When di1 is set to 0 the robot returns to the position at which the interrupt
occurred and continues to move along the programmed path.
Example 2
VAR intnum intno1;
...
CONNECT intno1 WITH go_to_home_pos;
© Copyright 2004-2010 ABB. All rights reserved.
ISignalDI di1,1,intno1;
TRAP go_to_home_pos ()
VAR robtarget p10;
StorePath;
p10:=CRobT(\Tool:=tool1 \WObj:=wobj0);
MoveL home,v500,fine,tool1;
WaitDI di1,0;
MoveL p10,v500,fine,tool1;
RestoPath;
StartMove;
ENDTRAP
Similar to the previous example but the robot does not move to the home position until the
current movement instruction is finished.
Limitations
Only one of several non-motion tasks is allowed at the same time to do StopMove StartMove sequence against some motion task.
Continues on next page
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1 Instructions
1.185. StopMove - Stops robot movement
RobotWare - OS
Continued
Syntax
StopMove
[’\’Quick]
[’\’AllMotionTasks]’;’
Related information
See
Continuing a movement
StartMove - Restarts robot movement on page 486
StartMoveRetry - Restarts robot movement and
execution on page 489
Store - restore path
StorePath - Stores the path when an interrupt occurs
on page 521
RestoPath - Restores the path after an interrupt on
page 362
© Copyright 2004-2010 ABB. All rights reserved.
For information about
518
3HAC 16581-1 Revision: J
1 Instructions
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
1.186. StopMoveReset - Reset the system stop move state
Usage
StopMoveReset is used to reset the system stop move state without starting any movements.
Asynchronously raised movements errors, such as ERR_PATH_STOP or specific process error
during the movements, can be handled in the ERROR handler. When such an error occurs the
movements are stopped at once, and the system stop move flag is set for actual program tasks.
This means that the movement is not restarted if doing any program start while program
pointer is inside the ERROR handler.
Restart of the movements after such movement error will be done after one of these action:
•
Execute StartMove or StartMoveRetry.
•
Execute StopMoveReset and the movement will restart at the next program start.
Basic examples
Basic examples of the instruction StopMoveReset are illustrated below.
Example 1
...
ArcL p101, v100, seam1, weld1, weave1, z10, gun1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
! Execute something but without any restart of the movement
! ProgStop - ProgStart must be allowed
...
! No idea to try to recover from this error, so let the error
! stop the program
...
© Copyright 2004-2010 ABB. All rights reserved.
! Reset the move stop flag, so it’s possible to manual restart
! the program and the movement after that the program has
! stopped
StopMoveReset;
ENDIF
ENDPROC
After that above ERROR handler has executed the ENDPROC, the program execution stops and
the pointer is at the beginning of the ArcL instruction. Next program start restarts the program
and movement from the position where the original movement error occurred.
Arguments
StopMoveReset [\AllMotionTasks]
[\AllMotionTasks]
Data type: switch
Reset the system stop move state for all mechanical units in the system. The switch
[\AllMotionTasks] can only be used from a non-motion program task.
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1 Instructions
1.186. StopMoveReset - Reset the system stop move state
RobotWare - OS
Continued
Program execution
To reset a MultiMove application in synchronized coordinated mode, StopMoveReset must
be executed in all motion tasks that are involved in coordination.
With the switch \AllMotionTasks (only allowed from non-motion program task) the reset
is done for all all mechanical units in the system.
In a base system without the switch \AllMotionTasks, the reset is always done for the main
task, independent of which task that executes the StopMoveReset instruction.
For base system it is possible to use StopMoveReset in the following type of program tasks:
•
main task T_ROB1 to reset the stop move state in that task.
•
any other task to reset the stop move state in the main task.
For MultiMove system it is possible to use this instruction in the following type of program
tasks:
•
motion task, to reset the stop move state in that task.
•
non motion task, to reset the stop move state in the connected motion task. Besides
that, if the reset of the stop move state in one connected motion task belonging to a
coordinated synchronized task group, the stop move state is reset in all the cooperating
tasks.
Syntax
StopMoveReset
[’\’AllMotionTasks]’;’
520
For information about
See
Stop the movement
StopMove - Stops robot movement on page 515
Continuing a movement
StartMove - Restarts robot movement on page
486
StartMoveRetry - Restarts robot movement and
execution on page 489
Store - restore path
StorePath - Stores the path when an interrupt
occurs on page 521
RestoPath - Restores the path after an interrupt
on page 362
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
1.187. StorePath - Stores the path when an interrupt occurs
Usage
StorePath is used to store the movement path being executed, e.g. when an error or interrupt
occurs. The error handler or a trap routine can then start a new temporary movement and
finally restart the original movement that was stored earlier.
For example, this instruction can be used to go to a service position or to clean the gun when
an error occurs.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction StorePath are illustrated below.
See also More examples on page 522.
Example 1
StorePath;
The current movement path is stored for later use. Set the system to independent movement
mode.
Example 2
StorePath \KeepSync;
The current movement path is stored for later use. Keep synchronized movement mode.
Arguments
StorePath [\KeepSync]
[\KeepSync]
Keep Synchronization
© Copyright 2004-2010 ABB. All rights reserved.
Data type: switch
Keeps synchronized movement mode after the StorePath \KeepSync. The KeepSync
switch can only be used if the system is in synchronized movement mode before the
StorePath \KeepSync call.
Without the optional parameter \KeepSync, in a MultiMove coordinated synchronized
system, the system is set to independent-semicoordinated movement mode. After execution
of StorePath in all involved tasks, the system is in semicoordinated mode if further on use
of coordinated work object. Otherwise it is in independent mode. If in semicoordinated mode
it is recommended to always start with a movement in the mechanical unit that controls the
user frame before WaitSyncTask in all involved tasks.
Program execution
The current movement path of the robot and external axes are saved. After this, another
movement can be started in a trap routine or in an error handler. When the reason for the error
or interrupt has been rectified then the saved movement path can be restarted.
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3HAC 16581-1 Revision: J
521
1 Instructions
1.187. StorePath - Stores the path when an interrupt occurs
RobotWare - OS
Continued
More examples
More examples of how to use the instruction StorePath are illustrated below.
Example 1
TRAP machine_ready
VAR robtarget p1;
StorePath;
p1 := CRobT();
MoveL p100, v100, fine, tool1;
...
MoveL p1, v100, fine, tool1;
RestoPath;
StartMove;
ENDTRAP
When an interrupt occurs that activates the trap routine machine_ready, the movement path
which the robot is executing at the time is stopped at the end of the instruction (ToPoint) and
stored. After this the robot remedies the interrupt by, for example, replacing a part in the
machine. Then the normal movement is restarted.
Limitations
Only the movement path data is stored with the instruction StorePath.
If the user wants to order movements on the new path level then the actual stop position must
be stored directly after StorePath and before RestoPath makes a movement to the stored
stop position on the path.
Only one movement path can be stored at a time.
Syntax
StorePath
Related information
522
For information about
See
Restoring a path
RestoPath - Restores the path after an interrupt on page
362
More examples
RestoPath - Restores the path after an interrupt on page
362
PathRecStart - Start the path recorder on page 308
SyncMoveResume - Set synchronized coordinated
movements on page 541
SyncMoveSuspend - Set independent-semicoordinated
movements on page 543
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
[’\’KeepSync]’;’
1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
1.188. STTune - Tuning Servo Tool
Usage
STTune is used to tune/change a servo tool parameter. The parameter is changed temporarily
from the original value, which is set up in the system parameters. The new tune value will be
active immediately after executing the instruction.
STTune is useful in tuning procedures. A tuning procedure is typically used to find an optimal
value for a parameter. An experiment (i.e. a program execution with a servo tool movement)
is repeated when using different parameter tune values.
STTune shall not be used during calibration or tool closure.
Basic examples
Basic examples of the instruction STTune are illustrated below.
Example 1
STTune SEOLO_RG, 0.050, CloseTimeAdjust;
The servo tool parameter CloseTimeAdjust is temporarily set to 0.050 seconds.
Arguments
STTune MecUnit TuneValue Type
MecUnit
Data type: mecunit
The name of the mechanical unit.
TuneValue
Data type: num
New tuning value.
Type
© Copyright 2004-2010 ABB. All rights reserved.
Data type: tunegtype
Parameter type. Servo tool parameters available for tuning are RampTorqRefOpen,
RampTorqRefClose, KV, SpeedLimit, CollAlarmTorq, CollContactPos,
CollisionSpeed, CloseTimeAdjust, ForceReadyDelayT, PostSyncTime,
CalibTime, CalibForceLow, CalibForceHigh. These types are predefined in the system
parameters and defines the original values.
Description
RampTorqRefOpen
Tunes the system parameter Ramp when decrease force, which decides how fast force
is released while opening the tool. The unit is Nm/s and a typical value 200.
Corresponding system parameter: topic Motion, type Force master, parameter
ramp_torque_ref_opening.
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3HAC 16581-1 Revision: J
523
1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
Continued
RampTorqRefClose
Tunes the system parameter Ramp when increase force, which decides how fast force
is built up while opening the tool. The unit is Nm/s and a typical value 80.
Corresponding system parameter: topic Motion, type Force master, parameter
ramp_torque_ref_closing.
KV
Tunes the system parameter KV, which is used for speed limitation. The unit is Nms/rad and
a typical value 1. For more details, see the external axis documentation.
Corresponding system parameter: topic Motion, type Force master, parameter Kv.
SpeedLimit
Tunes the system parameter Speed limit, which is used for speed limitation. The unit is
rad/s (motor speed) and a typical value 60. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion, type Force master, parameter
speed_limit.
CollAlarmTorq
Tunes the system parameter Collision alarm torque, which is used for the automatic
calibration of new tips. The unit is Nm (motor torque) and a typical value 1. For more details,
see the external axis documentation.
Corresponding system parameter: topic Motion, type Force master, parameter
alarm_torque.
CollContactPos
Tunes the system parameter Collision delta pos, which is used for automatic calibration
of new tips. The unit is m and a typical value 0,002. For more details, see the external axis
documentation.
CollisionSpeed
Tunes the system parameter Collision speed, which is used for automatic calibration of
new tips. The unit is m/s and a typical value 0,02. For more details, see the external axis
documentation.
Corresponding system parameter: topic Motion, type Force master, parameter col_speed.
CloseTimeAdjust
Constant time adjustment (s), positive or negative, of the moment when the tool tips reaches
contact during a tool closure. May be used to delay the closing slightly when the synchronized
pre-closing is used for welding.
Corresponding system parameter: topic Motion, type SG process, parameter
min_close_time_adjust.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Corresponding system parameter: topic Motion, type Force master, parameter
distance_to_contact_position.
1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
Continued
ForceReadyDelayT
Constant time delay (s) before sending the weld ready signal after reaching the programmed
force.
Corresponding system parameter: topic Motion, type SG process, parameter
pre_sync_delay_time.
PostSyncTime
Release time anticipation (s) of the next robot movement after a weld. This tune type can be
tuned to synchronize the gun opening with the next robot movement. The synchronization
may fail if the parameters is set too high.
Corresponding system parameter: topic Motion, type SG process, parameter
post_sync_time.
CalibTime
The wait time (s) during a calibration before the positional tool tip correction is done. For best
results do not use too low a value like 0.5 s.
Corresponding system parameter: topic Motion, type SG process, parameter calib_time.
CalibForceLow
The minimum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the minimum programmed weld force.
Corresponding system parameter: topic Motion, type SG process, parameter
calib_force_low.
CalibForceHigh
The maximum tip force (N) used during a TipWear calibration. For best result of the thickness
detection it is recommended to use the max programmed weld force.
Corresponding system parameter: topic Motion, type SG process, parameter
calib_force_high.
Program execution
© Copyright 2004-2010 ABB. All rights reserved.
The specified tuning type and tuning value are activated for the specified mechanical unit.
This value is applicable for all movements until a new value is programmed for the current
mechanical unit or until the tuning types and values are reset using the instruction
STTuneReset.
The original tune values may be permanently changed in the system parameters.
The default servo tool tuning values are automatically set
•
by executing instruction STTuneReset.
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Error handling
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN.
The error can be handled in a Rapid error handler.
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1 Instructions
1.188. STTune - Tuning Servo Tool
Servo Tool Control
Continued
Syntax
STTune
[ MecUnit ’:=’ ] < variable (VAR) of mecunit > ‘,’
[ TuneValue’ :=’ ] < expression (IN) of num > ‘,’
[ ’Type ’:=’] < expression (IN) of tunegtype > ]’;’
Related information
See
Restore of servo tool parameters
TuneReset - Resetting servo tuning on page 637
Tuning of servo tool
Application manual - Additional axes and stand
alone controller
© Copyright 2004-2010 ABB. All rights reserved.
For information about
526
3HAC 16581-1 Revision: J
1 Instructions
1.189. STTuneReset - Resetting Servo tool tuning
Servo Tool Control
1.189. STTuneReset - Resetting Servo tool tuning
Usage
STTuneReset is used to restore original values of servo tool parameters if they have been
changed by the STTune instruction.
Basic examples
Basic examples of the instruction STTuneReset are illustrated below.
Example 1
STTuneReset SEOLO_RG;
Restore original values of servo tool parameters for the mechanical unit SEOLO_RG.
Arguments
STTuneReset MecUnit
MecUnit
Data type: mecunit
The name of the mechanical unit.
Program execution
The original servo tool parameters are restored.
This is also achieved
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
Error handling
© Copyright 2004-2010 ABB. All rights reserved.
If the specified servo tool name is not a configured servo tool then the system variable ERRNO
is set to ERR_NO_SGUN.
The error can be handled in a Rapid error handler.
Syntax
STTuneReset
[ MecUnit ’:=’ ] < variable (VAR) of mecunit > ‘,’
Related information
For information about
See
Tuning of servo tool parameters
STTune - Tuning Servo Tool on page 523
Tuning of servo tool parameters
Application manual - Additional axes and stand
alone controller
3HAC 16581-1 Revision: J
527
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
1.190. SyncMoveOff - End coordinated synchronized movements
Usage
SyncMoveOff is used to end a sequence of synchronized movements and, in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point, and then the motion planners for the involved program tasks are set to independent
mode.
The instruction SyncMoveOff can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task.
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet.
Basic examples
Basic examples of the instruction SyncMoveOff are illustrated below.
See also More examples on page 530.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
...
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOff with identity sync2 waits until the other
tasks reach SyncMoveOff with the same identity sync2. At that synchronization point
sync2, the motion planners for the involved program tasks are set to independent mode.
After that, both task T_ROB1 and T_ROB2 continue their execution.
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© Copyright 2004-2010 ABB. All rights reserved.
SyncMoveOff sync2;
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
Continued
Arguments
SyncMoveOff SyncID [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variables that specify the name of the unsynchronization (meeting) point. Data type
syncident is a non-value type. It is only used as an identifier for naming the
unsynchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task (VAR syncident ...).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the unsynchronization point. The
time-out is defined in seconds (resolution 0,001s).
If this time runs out before all program tasks have reached the unsynchronization point then
the error handler will be called, if there is one, with the error code ERR_SYNCMOVEOFF. If
there is no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait forever.
Program execution
The program task that first reaches SyncMoveOff waits until all other specified tasks reach
SyncMoveOff with the same SyncID identity. At that SyncID unsynchronization point the
motion planner for the involved program tasks is set to independent mode. After that,
involved program tasks continue their execution.
© Copyright 2004-2010 ABB. All rights reserved.
The motion planner for the involved program tasks are set to unsynchronized mode. This
means the following:
•
All RAPID program tasks and all movements from these tasks are working
independently of each other again.
•
Any move instruction must not be marked with any ID number. See instruction
MoveL.
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instructions SyncMoveOn and SyncMoveOff will still work with the reduced
number of program tasks, even for only one program task.
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3HAC 16581-1 Revision: J
529
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
Continued
More examples
More examples of how to use the instruction SyncMoveOff are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
© Copyright 2004-2010 ABB. All rights reserved.
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
Continued
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2 ;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other, programmed with corner path for the preceding movements for saving cycle
time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2.
Then the program tasks are waiting at SyncMoveOff with identity sync3 for each other,
programmed with a necessary stop point for the preceding movements. After that, the motion
planner for the involved program tasks is set to independent mode.
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOff sync3 \TimeOut := 60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEOFF THEN
© Copyright 2004-2010 ABB. All rights reserved.
RETRY;
ENDIF
The program task waits for an instruction SyncMoveOff and for some other program task to
reach the same synchronization point sync3. After waiting 60 seconds, the error handler is
called with ERRNO equal to ERR_SYNCMOVEOFF. Then the instruction SyncMoveOff is
called again for an additional wait of 60 seconds.
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3HAC 16581-1 Revision: J
531
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
Continued
Example 3
!Example with with semicoordinated and syncronized movement
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
...
MoveL p1_90, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p1_100 \ID:=10, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
WaitSyncTask sync3, task_list;
MoveL p1_120, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL p1_130, v100, fine, tcp1 \WOBJ:= rob2_obj;
WaitSyncTask sync4, task_list;
...
ENDPROC
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
..
PROC main()
MoveL p_fine, v1000, fine, tcp2;
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p2_100 \ID:=10, v100, fine, tcp2;
SyncMoveOff sync3;
MoveL p2_100, v100, fine, tcp2;
WaitSyncTask sync3, task_list;
WaitSyncTask sync4, task_list;
MoveL p2_110, v100, z10, tcp2;
...
ENDPROC
When switching between semicoordinated to syncronized movement, a WaitSyncTask is
needed (when using identity sync1).
When switching between syncronized to semicoordinated movement, the task that move the
work object (rob2_obj) needs to move to the desired position. After that a WaitSyncTask
is needed (identity sync3) before the semicoordinated movement.
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© Copyright 2004-2010 ABB. All rights reserved.
...
1 Instructions
1.190. SyncMoveOff - End coordinated synchronized movements
RW-MRS Synchronized
Continued
Error handling
If time-out is reached because SyncMoveOff is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEOFF.
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOff instruction can only be executed if all involved robots stand still in a stop
point.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOff cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveOff
[ SyncID ’:=’ ] < variable (VAR) of syncident>
[ ’\’TimeOut’ :=’ < expression (IN) of num> ] ’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
Start coordinated synchronized movements
SyncMoveOn - Start coordinated synchronized movements on page 534
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
robots
Application manual - MultiMove
3HAC 16581-1 Revision: J
533
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
1.191. SyncMoveOn - Start coordinated synchronized movements
Usage
SyncMoveOn is used to start a sequence of synchronized movements and in most cases,
coordinated movements. First, all involved program tasks will wait to synchronize in a stop
point and then the motion planner for the involved program tasks is set to synchronized mode.
The instruction SyncMoveOn can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task.
WARNING!
To reach safe synchronization functionality every meeting point (parameter SyncID) must
have a unique name. The name of the meeting point must also be the same for all the program
tasks that should meet in the meeting point.
Basic examples
Basic examples of the instruction SyncMoveOn are illustrated below.
See also More examples on page 536.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
!Program example in task T_ROB2
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
...
SyncMoveOn sync1, task_list;
...
SyncMoveOff sync2;
...
The program task that first reaches SyncMoveOn with identity sync1 waits until the other
task reaches its SyncMoveOn with the same identity sync1. At that synchronization point,
sync1, the motion planner for the involved program tasks is set to synchronized mode. After
that, both task T_ROB1 and T_ROB2 continue their execution, synchronized until they reach
SyncMoveOff with the same identity sync2.
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© Copyright 2004-2010 ABB. All rights reserved.
...
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
Arguments
SyncMoveOn SyncID TaskList [\TimeOut]
SyncID
Synchronization Identity
Data type: syncident
Variable that specifies the name of the synchronization (meeting) point. Data type
syncident is a non-value type that is only used as an identifier for naming the
synchronization point.
The variable must be defined and have an equal name in all cooperated program tasks. It is
recommended to always define the variable global in each task (VAR syncident ...).
TaskList
Data type: tasks
Persistent variable that in a task list (array) specifies the name (string) of the program tasks
that should meet in the synchronization point with name according argument SyncID.
The persistent variable must be defined and have equal name and equal contents in all
cooperated program tasks. It is recommended to always define the variable global in the
system (PERS tasks ...).
[\TimeOut]
Data type: num
The max. time to wait for the other program tasks to reach the synchronization point. The
time-out is defined in seconds (resolution 0.001s).
If this time runs out before all program tasks have reached the synchronization point then the
error handler will be called, if there is one, with the error code ERR_SYNCMOVEON. If there is
no error handler then the execution will be stopped.
If this argument is omitted then the program task will wait for ever.
© Copyright 2004-2010 ABB. All rights reserved.
Program execution
The program task that first reaches SyncMoveOn waits until all other specified tasks reach
their SyncMoveOn with the same SyncID identity. At that SyncID synchronization point the
motion planner for the involved program tasks is set to synchronized mode. After that,
involved program tasks continue their execution.
The motion planner for the involved program tasks is set to synchronized mode. This means
the following:
•
Each movement instruction in any program task in the TaskList is working
synchronous with movement instructions in other program tasks in the TaskList.
•
All cooperated movement instructions are planned and interpolated in the same
Motion Planner.
•
All movements start and end at the same time. The movement that takes the longest
time will be the speed master with reduced speed in relation to the work object for the
other movements.
•
All cooperated move instruction must be marked with the same ID number. See
instruction MoveL.
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535
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
It is possible to exclude program tasks for testing purpose from FlexPendant - Task Selection
Panel. The instruction SyncMoveOn will still work with the reduced number of program tasks
even for only one program task.
More examples
More examples of how to use the instruction SyncMoveOn are illustrated below.
Example 1
!Program example in task T_ROB1
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
!Program example in task T_ROB2
PERS tasks task_list{2} := [["T_ROB1"], ["T_ROB2"]];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, obj2;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, obj2;
syncmove;
...
ENDPROC
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© Copyright 2004-2010 ABB. All rights reserved.
ENDPROC
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
PROC syncmove()
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, obj2;
MoveL * \ID:=20, v100, fine, obj2;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
First, program tasks T_ROB1 and T_ROB2 are waiting at WaitSyncTask with identity sync1
for each other. They are programmed with corner path for the preceding movements for
saving cycle time.
Then the program tasks are waiting at SyncMoveOn with identity sync2 for each other. They
are programmed with a necessary stop point for the preceding movements. After that the
motion planner for the involved program tasks is set to synchronized mode.
After that, T_ROB2 is moving the obj2 to ID point 10 and 20 in world coordinate system
while T_ROB1 is moving the tcp1 to ID point 10 and 20 on the moving object obj2.
Example 2
!Program example with use of time-out function
VAR syncident sync3;
...
SyncMoveOn sync3, task_list \TimeOut :=60;
...
ERROR
IF ERRNO = ERR_SYNCMOVEON THEN
RETRY;
© Copyright 2004-2010 ABB. All rights reserved.
ENDIF
The program task waits for instruction SyncMoveOn for the program task T_ROB2 to reach
the same synchronization point sync3. After waiting 60 seconds, the error handler is called
with ERRNO equal to ERR_SYNCMOVEON. Then the instruction SyncMoveOn is called again for
an additional wait of 60 seconds.
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537
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
Example 3- Program example with three tasks
!Program example in task T_ROB1
PERS tasks task_list1 {2} :=[["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} :=[["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
SyncMoveOff sync2;
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB2
PERS tasks task_list1 {2} := [["T_ROB1"], ["T_ROB2"]];
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync1;
...
VAR syncident sync5;
...
SyncMoveOn sync1, task_list1;
...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
!Program example in task T_ROB3
PERS tasks task_list2 {3} := [["T_ROB1"], ["T_ROB2"], ["T_ROB3"]];
VAR syncident sync3;
VAR syncident sync4;
VAR syncident sync5;
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© Copyright 2004-2010 ABB. All rights reserved.
SyncMoveOff sync2;
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
...
WaitSyncTask sync3, task_list2;
SyncMoveOn sync4, task_list2;
...
SyncMoveOff sync5;
...
In this example, at first, program task T_ROB1 and T_ROB2 are moving synchronized and
T_ROB3 is moving independent. Further on in the program all three tasks are moving
synchronized. To prevent the instruction of SyncMoveOn to be executed in T_ROB3 before
the first synchronization of T_ROB1 and T_ROB2 have ended, the instruction WaitSyncTask
is used.
Error handling
If time-out is reached because SyncMoveOn is not ready in time then the system variable
ERRNO is set to ERR_SYNCMOVEON.
This error can be handled in the ERROR handler.
Limitations
The SyncMoveOn instruction can only be executed if all involved robots stand still in a stop
point.
Only one coordinated synchronized movement group can be active at the same time.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveOn cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
© Copyright 2004-2010 ABB. All rights reserved.
SyncMoveOn
[ SyncID ´:=’ ] < variable (VAR) of syncident> ´,’
[ TaskList ‘:=’ ] < persistent array {*} (PERS) of tasks> ´,’
[ ´\’TimeOut ´:=’ < expression (IN) of num > ]’;’
Related information
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point
on page 1200
End coordinated synchronized movements
SyncMoveOff - End coordinated synchronized movements on page 528
Set independent movements
SyncMoveUndo - Set independent
movements on page 545
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
MultiMove system with option Coordinated
Robots
Application manual - MultiMove
Continues on next page
3HAC 16581-1 Revision: J
539
1 Instructions
1.191. SyncMoveOn - Start coordinated synchronized movements
RW-MRS Independent
Continued
See
Wait for synchronized tasks
WaitSyncTask - Wait at synchronization point
for other program tasks on page 688
© Copyright 2004-2010 ABB. All rights reserved.
For information about
540
3HAC 16581-1 Revision: J
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
1.192. SyncMoveResume - Set synchronized coordinated movements
Usage
SyncMoveResume is used to go back to synchronized movements from independent
movement mode. The instruction can only be used on StorePath level, e.g. after a
StorePath \KeepSync has been executed and the system is in independent motion mode
after SyncMoveSuspend has been executed. To be able to use the instruction the system must
have been in synchronized motion mode before executing the StorePath and
SyncMoveSuspend instruction.
The instruction SyncMoveResume can only be used in a MultiMove system with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task.
Basic examples
Basic examples of the instruction SyncMoveResume are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
© Copyright 2004-2010 ABB. All rights reserved.
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
3HAC 16581-1 Revision: J
541
1 Instructions
1.192. SyncMoveResume - Set synchronized coordinated movements
Path Recovery
Continued
Program execution
SyncMoveResume forces resume of synchronized mode when system is in independent
movement mode on StorePath level.
SyncMoveResume is required in all tasks that were executing in synchronized movement
before entering independent movement mode. If one Motion task executes a
SyncMoveResume then that task will wait until all tasks that earlier were in synchronized
movement mode execute a SyncMoveResume instruction. After that, involved program tasks
continue their execution.
Limitations
The SyncMoveResume can only be used to go back to synchronized movement mode and can
only be used on StorePath level.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveResume cannot be executed in a RAPID routine connected to any of the following
special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveResume ’;’
542
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
SyncMoveOn - Start coordinated synchronized
movements on page 534
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Suspends synchronized movements
SyncMoveSuspend - Set independent-semicoordinated movements on page 543
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Usage
SyncMoveSuspend is used to suspend synchronized movements mode and set the system to
independent-semicoordinated movement mode. The instruction can only be used on
StorePath level, e.g. after a StorePath or StorePath \KeepSync has been executed and
the system is in synchronized movement mode.
The instruction SyncMoveSuspend can only be used in a MultiMove System with options
Coordinated Robots and Path Recovery and only in program tasks defined as Motion Task.
Basic examples
Basic examples of the instruction SyncMoveSuspend are illustrated below.
Example 1
ERROR
StorePath \KeepSync;
! Save position
p11 := CRobT(\Tool:=tool2);
! Move in syncronized motion mode
MoveL p12\ID:=111, v50, fine, tool2;
SyncMoveSuspend;
! Move in independent mode somewhere, e.g. to a cleaning station
p13 := CRobT();
MoveL p14, v100, fine, tool2;
! Do something at cleaning station
MoveL p13, v100, fine, tool2;
SyncMoveResume;
! Move in syncronized motion mode back to start position p11
MoveL p11\ID:=111, fine, z20, tool2;
© Copyright 2004-2010 ABB. All rights reserved.
RestoPath;
StartMove;
RETRY;
Some kind of recoverable error occurs. The system is kept in synchronized mode, and a
synchronized movement is done to a point, e.g. moving backwards on path. After that, an
independent movement is done to a cleaning station. Then the robot is moved back to the
point where the error occurred and the program continues where it was interrupted by the
error.
Continues on next page
3HAC 16581-1 Revision: J
543
1 Instructions
1.193. SyncMoveSuspend - Set independent-semicoordinated movements
Path Recovery
Continued
Program execution
SyncMoveSuspend forces reset of synchronized movements and sets the system to
independent-semicoordinated movement mode.
SyncMoveSuspend is required in all synchronized Motion tasks to set the system in
independent-semicoordinated movement mode. If one Motion tasks executes a
SyncMoveSuspend then that task waits until the other tasks have executed a
SyncMoveSuspend instruction.
After execution of SyncMoveSuspend in all involved tasks, the system is in semicoordinated
mode if it further uses a coordinated work object. Otherwise, it is in independent mode. If in
semicoordinated mode, it is recommended to always start with a movement in the mechanical
unit that controls the user frame before WaitSyncTask in all involved tasks.
Limitations
The SyncMoveSuspend instruction suspends synchronized mode only on StorePath level.
After returning from StorePath level, the system is set to the mode that it was in before the
StorePath.
If this instruction is preceded by a move instruction then that move instruction must be
programmed with a stop point (zonedata fine), not a fly-by point. Otherwise restart after
power failure will not be possible.
SyncMoveSuspend cannot be executed in a RAPID routine connected to any of the
following special system events: PowerOn, Stop, QStop, Restart, Reset, or Step.
Syntax
SyncMoveSuspend’ ;’
544
For information about
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized movement
mode on page 888
Stores the path
StorePath - Stores the path when an interrupt
occurs on page 521
Restores the path
RestoPath - Restores the path after an interrupt on
page 362
Resume synchronized movements
SyncMoveResume - Set synchronized
coordinated movements on page 541
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.194. SyncMoveUndo - Set independent movements
RobotWare - OS
1.194. SyncMoveUndo - Set independent movements
Usage
SyncMoveUndo is used to force a reset of synchronized coordinated movements and set the
system to independent movement mode.
The instruction SyncMoveUndo can only be used in a MultiMove system with option
Coordinated Robots and only in program tasks defined as Motion Task.
Basic examples
Basic examples of the instruction SyncMoveUndo are illustrated below.
Example 1
Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PROC main()
...
MoveL p_zone, vmax, z50, tcp1;
WaitSyncTask sync1, task_list;
MoveL p_fine, v1000, fine, tcp1;
syncmove;
...
ENDPROC
PROC syncmove()
© Copyright 2004-2010 ABB. All rights reserved.
SyncMoveOn sync2, task_list;
MoveL * \ID:=10, v100, z10, tcp1 \WOBJ:= rob2_obj;
MoveL * \ID:=20, v100, fine, tcp1 \WOBJ:= rob2_obj;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
If the program is stopped while the execution is inside the procedure syncmove and the
program pointer is moved out of the procedure syncmove then all instruction inside the UNDO
handler is executed. In this example, the instruction SyncMoveUndo is executed and the
system is set to independent movement mode.
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1 Instructions
1.194. SyncMoveUndo - Set independent movements
RobotWare - OS
Continued
Program execution
Force reset of synchronized coordinated movements and set the system to independent
movement mode.
It is enough to execute SyncMoveUndo in one program task to set the whole system to the
independent movement mode. The instruction can be executed several times without any
error if the system is already in independent movement mode.
The system is set to the default independent movement mode also
•
at a cold start-up.
•
when a new program is loaded.
•
when starting program execution from the beginning.
•
when moving program pointer to the beginning.
Syntax
SyncMoveUndo ’;’
Related information
See
Specify cooperated program tasks
tasks - RAPID program tasks on page 1204
Identity for synchronization point
syncident - Identity for synchronization point on
page 1200
Start coordinated synchronized
movements
SyncMoveOn - Start coordinated synchronized
movements on page 534
End coordinated synchronized
movements
SyncMoveOff - End coordinated synchronized
movements on page 528
Test if in synchronized mode
IsSyncMoveOn - Test if in synchronized
movement mode on page 888
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.195. SystemStopAction - Stop the robot system
RobotWare - OS
1.195. SystemStopAction - Stop the robot system
Usage
SystemStopAction can be used to stop the robot system in different ways depending how
serious the error or problem is.
Basic examples
Basic examples of the instruction SystemStopAction are illustrated below.
Example 1
SystemStopAction \Stop;
This will stop program execution and robot movements in all motion tasks. No specific action
is needed to be done before restarting the program execution.
Example 2
SystemStopAction \StopBlock;
This will stop program execution and robot movements in all motion tasks. All program
pointers must be moved before the program execution can be restarted.
Example 3
SystemStopAction \Halt;
This will result in motors off, stop program execution, and robot movements in all motion
tasks. Motors on must be done before the program execution can be restarted.
Arguments
SystemStopAction [\Stop] [\StopBlock] [\Halt]
[\Stop]
Data type: switch
\Stop is used to stop program execution and robot movements in all motion tasks. No
© Copyright 2004-2010 ABB. All rights reserved.
specific action is needed to be done before restart of the program execution.
[\StopBlock]
Data type: switch
\StopBlock is used stop program execution and robot movements in all motion tasks. All
program pointers must be moved before the program execution can be restarted.
[\Halt]
Data type: switch
\Halt will result in motors off state, stop of program execution and robot movements in all
motion tasks. Motors on must be done before the program execution can be restarted.
Limitations
If the robot is performing a circular movement during a SystemStopAction \StopBlock
then the program pointer and the robot have to be moved to the beginning of the circular
movement before the program execution is restarted.
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1 Instructions
1.195. SystemStopAction - Stop the robot system
RobotWare - OS
Continued
Syntax
SystemStopAction
[ ’\’Stop ]
| [ ’\’StopBlock ]
| [ ’\’Halt ]’;’
Related information
See
Stop program execution
Stop - Stops program execution on page 510
Terminate program execution
EXIT - Terminates program execution on
page 105
Only stop robot movements
StopMove - Stops robot movement on page
515
Write some error message
ErrLog - Write an error message on page 94
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.196. TEST - Depending on the value of an expression ...
RobotWare - OS
1.196. TEST - Depending on the value of an expression ...
Usage
TEST is used when different instructions are to be executed depending on the value of an
expression or data.
If there are not too many alternatives then the IF..ELSE instruction can also be used.
Basic examples
Basic examples of the instruction TEST are illustrated below.
Example 1
TEST reg1
CASE 1,2,3 :
routine1;
CASE 4 :
routine2;
DEFAULT :
TPWrite "Illegal choice";
Stop;
ENDTEST
Different instructions are executed depending on the value of reg1. If the value is 1-3
routine1 is executed. If the value is 4, routine2 is executed. Otherwise, an error message
is printed and execution stops.
Arguments
TEST Test data {CASE Test value {, Test value} : ...}
...] ENDTEST
[ DEFAULT:
Test data
Data type: All
© Copyright 2004-2010 ABB. All rights reserved.
The data or expression with which the test value will be compared.
Test value
Data type: Same as test data
The value which the test data must have for the associated instructions to be executed.
Program execution
The test data is compared with the test values in the first CASE condition. If the comparison
is true then the associated instructions are executed. After that, program execution continues
with the instruction following ENDTEST.
If the first CASE condition is not satisfied then other CASE conditions are tested and so on. If
none of the conditions are satisfied then the instructions associated with DEFAULT are
executed (if this is present).
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1 Instructions
1.196. TEST - Depending on the value of an expression ...
RobotWare - OS
Continued
Syntax
(EBNF)
TEST <expressio
{( CASE<test value> { ’,’ <test value> } ’:’
<instruction list> ) | <CSE> }
[ DEFAULT ’:’ <instruction list> ]
ENDTEST
<test value> ::= <expression>
Related information
See
Expressions
Technical reference manual - RAPID Instructions,
Functions and Data types, section Basic characteristics - Expressions
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.197. TestSignDefine - Define test signal
RobotWare - OS
1.197. TestSignDefine - Define test signal
Usage
TestSignDefine is used to define one test signal for the robot motion system.
A test signal continuously mirrors some specified motion data stream. For example, torque
reference for some specified axis. The actual value at a certain time can be read in RAPID
with the function TestSignRead.
Only test signals for external axes can be reached. Test signals are also available on request
for the robot axes and for not predefined test signals for external axes.
Basic examples
Basic examples of the instruction TestSignDefine are illustrated below.
Example 1
TestSignDefine 1, resolver_angle, Orbit, 2, 0.1;
Test signal resolver_angle connected to channel 1 will give the value of the resolver angle
for external axis 2 on the orbit manipulator, sampled at 100 ms rate.
Arguments
TestSignDefine Channel SignalId MechUnit Axis SampleTime
Channel
Data type: num
The channel numbers 1-12 to be used for the test signal. The same number must be used in
the function TestSignRead for reading the actual value of the test signal.
SignalId
Data type: testsignal
© Copyright 2004-2010 ABB. All rights reserved.
The name or number of the test signal. Refer to predefined constants described in data type
testsignal.
MechUnit
Mechanical Unit
Data type: mecunit
The name of the mechanical unit.
Axis
Data type: num
The axis number within the mechanical unit.
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1 Instructions
1.197. TestSignDefine - Define test signal
RobotWare - OS
Continued
SampleTime
Data type: num
Sample time in seconds.
For sample time < 0.004 s, the function TestSignRead returns the mean value of the latest
available internal samples as shown in the table below.
Sample Time in
seconds
Result from TestSignRead
0
Mean value of the latest 8 samples generated each 0.5 ms
0.001
Mean value of the latest 4 samples generated each 1 ms
0.002
Mean value of the latest 2 samples generated each 2 ms
Greater or equal to 0.004 Momentary value generated at specified sample time
0.1
Momentary value generated at specified sample time 100 ms
Program execution
The definition of test signal is activated and the robot system starts the sampling of the test
signal.
The sampling of the test signal is active until:
•
A new TestSignDefine instruction for the actual channel is executed.
•
All test signals are deactivated with execution of instruction TestSignReset.
•
All test signals are deactivated with a warm start of the system.
Error handling
If there is an error in the parameter MechUnit then the variable ERRNO is set to
ERR_UNIT_PAR. If there is an error in the parameter Axis then ERRNO is set to
ERR_AXIS_PAR.
Syntax
[ Channel ’:=’ ] < expression (IN) of num>’ ,’
[ SignalId’ :=’ ] < expression (IN) of testsignal> ’,’
[ MechUnit’ :=’ ] < variable (VAR) of mecunit> ’,’
[ Axis ’:=’ ] < expression (IN) of num> ’,’
[ SampleTime’ :=’ ] < expression (IN) of num > ’;’
Related information
552
For information about
See
Test signal
testsignal - Test signal on page 1206
Read test signal
TestSignRead - Read test signal value on page
1020
Reset test signals
TestSignReset - Reset all test signal definitions on
page 553
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
TestSignDefine
1 Instructions
1.198. TestSignReset - Reset all test signal definitions
RobotWare - OS
1.198. TestSignReset - Reset all test signal definitions
Usage
TestSignReset is used to deactivate all previously defined test signals.
Basic examples
Basic examples of the instruction TestSignReset are illustrated below.
Example 1
TestSignReset;
Deactivate all previously defined test signals.
Program execution
The definitions of all test signals are deactivated, and the robot system stops the sampling of
any test signals.
The sampling of defined test signals is active until:
•
A warm start of the system
•
Execution of this instruction TestSignReset
Syntax
TestSignReset’;’
Related information
See
Define test signal
TestSignDefine - Define test signal on page 551
Read test signal
TestSignRead - Read test signal value on page
1020
© Copyright 2004-2010 ABB. All rights reserved.
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3HAC 16581-1 Revision: J
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1 Instructions
1.199. TextTabInstall - Installing a text table
RobotWare - OS
1.199. TextTabInstall - Installing a text table
Usage
TextTabInstall is used to install a text table in the system.
Basic examples
Basic examples of the instruction TextTabInstall are illustrated below.
Example 1
! System Module with Event Routine to be executed at event
! POWER ON, RESET or START
PROC install_text()
IF TextTabFreeToUse("text_table_name") THEN
TextTabInstall "HOME:/text_file.eng";
ENDIF
ENDPROC
The first time the event routine install_text is executed the function
TextTabFreeToUse returns TRUE, and the text file text_file.eng is installed in the
system. After that, the installed text strings can be fetched from the system to RAPID by the
functions TextTabGet and TextGet.
The next time the event routine install_text is executed, the function
TextTabFreeToUse returns FALSE, and the installation is not repeated.
Arguments
TextTabInstall File
File
Data type: string
Limitations
Limitations for installation of text tables (text resources) in the system:
•
It is not possible to install the same text table more than once in the system.
•
It is not possible to uninstall (free) a single text table from the system. The only way
to uninstall text tables from the system is to cold start the system. All text tables (both
system and user defined) will then be uninstalled.
Error handling
If the file in the TextTabInstall instruction cannot be opened then the system variable
ERRNO is set to ERR_FILEOPEN. This error can then be handled in the error handler.
Syntax
TextTabInstall
[ File ’:=’ ] < expression (IN) of string >’;’
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© Copyright 2004-2010 ABB. All rights reserved.
The file path and the file name to the file that contains text strings to be installed in the system.
1 Instructions
1.199. TextTabInstall - Installing a text table
RobotWare - OS
Continued
Related information
See
Test whether text table is free
TextTabFreeToUse - Test whether text table is free on
page 1024
Format of text files
Technical reference manual - RAPID kernel, section
Text files
Get text table number
TextTabGet - Get text table number on page 1026
Get text from system text tables
TextGet - Get text from system text tables on page 1022
String functions
Technical reference manual - RAPID overview, section
Basic RAPID summary - String Functions
Definition of string
string - Strings on page 1195
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.200. TPErase - Erases text printed on the FlexPendant
1.200. TPErase - Erases text printed on the FlexPendant
Usage
TPErase (FlexPendant Erase) is used to clear the display of the FlexPendant.
Basic examples
Basic examples of the instruction TPErase are illustrated below.
Example 1
TPErase;
TPWrite "Execution started";
The FlexPendant display is cleared before Execution started is written.
Program execution
The FlexPendant display is completely cleared of all text. The next time text is written it will
be entered on the uppermost line of the display.
Syntax
TPErase;
Related information
See
Writing on the FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
© Copyright 2004-2010 ABB. All rights reserved.
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1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
RobotWare - OS
1.201. TPReadDnum - Reads a number from the FlexPendant
Usage
TPReadDnum (FlexPendant Read Numerical) is used to read a number from the FlexPendant
Basic examples
Basic examples of the instruction TPReadDnum are illustrated below.
Example 1
VAR dnum value;
TPReadDnum value, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in value.
Arguments
TPReadDnum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: dnum
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters row).
[\MaxTime]
© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
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1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
RobotWare - OS
Continued
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that support termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler, unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime, DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action..
Reference to TPReadFK about description of concurrent TPReadFK or TPReadDnum request
on FlexPendant from same or other program tasks.
Error handling
If time out (parameter \MaxTime) before input from the operator, the system variable ERRNO
is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak) before an input from the operator, the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a Flex Pendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
Syntax
TPReadDnum
[TPAnswer’:=’] <var or pers (INOUT) of dnum>’,’
[TPText’:=’] <expression (IN) of string>
[’\’MaxTime’:=’ <expression (IN) of num>]
[’\’DIBreak’:=’ <variable (VAR) of signaldi>]
[’\’DOBreak’:=’ <variable (VAR) of signaldo>]
[’\’BreakFlag’:=’ <var or pers (INOUT) of errnum>] ’;’
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© Copyright 2004-2010 ABB. All rights reserved.
If digital input set (parameter \DIBreak) before input from the operator, the system variable
ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
1 Instructions
1.201. TPReadDnum - Reads a number from the FlexPendant
RobotWare - OS
Continued
Related information
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
© Copyright 2004-2010 ABB. All rights reserved.
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559
1 Instructions
1.202. TPReadFK - Reads function keys
RobotWare - OS
1.202. TPReadFK - Reads function keys
Usage
TPReadFK (FlexPendant Read Function Key) is used to write text on the functions keys and
to find out which key is depressed.
Basic examples
Basic examples of the instruction TPReadFK are illustrated below.
See also More examples on page 562.
Example 1
TPReadFK reg1, "More?", stEmpty, stEmpty, stEmpty, "Yes", "No";
The text More? is written on the FlexPendant display and the function keys 4 and 5 are
activated by means of the text strings Yes and No respectively (see figure below ). Program
execution waits until one of the function keys 4 or 5 is pressed. In other words, reg1 will be
assigned 4 or 5 depending on which of the keys are pressed.
The figure shows that the operator can put in information via the function keys.
xx0500002345
Arguments
TPAnswer
Data type: num
The variable for which, depending on which key is pressed, the numeric value 1..5 is returned.
If the function key 1 is pressed then 1 is returned, and so on.
TPText
Data type: string
The information text to be written on the display (a maximum of 80 characters, with 40
characters/row).
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© Copyright 2004-2010 ABB. All rights reserved.
TPReadFK TPAnswer TPText TPFK1 TPFK2 TPFK3 TPFK4 TPFK5 [\MaxTime]
[\DIBreak] [\DOBreak] [\BreakFlag]
1 Instructions
1.202. TPReadFK - Reads function keys
RobotWare - OS
Continued
TPFKx
Function key text
Data type: string
The text to be written on the appropriate function key (a maximum of 45 characters). TPFK1
is the left-most key.
Function keys without text are specified by the predefined string constant stEmpty with
value empty string (“”).
[\MaxTime]
Data type: num
The maximum amount of time in seconds that program execution waits. If no function key is
pressed within this time then the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_MAXTIME can be used to test whether
or not the maximum time has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no function key is pressed when
the signal is set to 1 (or is already 1) then the program continues to execute in the error handler
unless the BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to
test whether or not this has occurred.
[\DOBreak]
Digital Output Break
Data type: signaldo
© Copyright 2004-2010 ABB. All rights reserved.
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1) then the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime, DIBreak, or DOBreak is used. If this
optional variable is omitted then the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK, and ERR_TP_DOBREAK can be used to select the
reason.
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1 Instructions
1.202. TPReadFK - Reads function keys
RobotWare - OS
Continued
Program execution
The information text is always written on a new line. If the display is full of text then this
body of text is moved up one line first. There can be up to 7 lines above the new written text.
Text is written on the appropriate function keys.
Program execution waits until one of the activated function keys are pressed.
Description of concurrent TPReadFK or TPReadNum request on FlexPendant (TP request)
from the same or other program tasks:
•
New TP request from other program tasks will not take focus (new put in queue)
•
New TP request from TRAP in the same program task will take focus (old put in
queue)
•
Program stop take focus (old put in queue)
•
New TP request in program stop state takes focus (old put in queue)
More examples
More examples of how to use the instruction TPReadFK are illustrated below.
Example 1
VAR errnum errvar;
...
TPReadFK reg1, "Go to service position?", stEmpty, stEmpty,
stEmpty, "Yes","No"
\MaxTime:= 600
\DIBreak:= di5\BreakFlag:= errvar;
IF reg1 = 4 OR errvar = ERR_TP_DIBREAK THEN
MoveL service, v500, fine, tool1;
Stop;
ENDIF
The robot is moved to the service position if the forth function key ("Yes") is pressed or if
the input 5 is activated. If no answer is given within 10 minutes then the execution is
terminated.
Error handling
If there is a timeout (parameter \MaxTime) before an input from the operator then the system
variable ERRNO is set to ERR_TP_MAXTIME, and the execution continues in the error handler.
If digital input is set (parameter \DIBreak) before an input from the operator then the system
variable ERRNO is set to ERR_TP_DIBREAK, and the execution continues in the error handler.
If a digital output occurred (parameter \DOBreak) before an input from the operator then the
system variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error
handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction then the system variable
ERRNO is set to ERR_TP_NO_CLIENT, and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
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© Copyright 2004-2010 ABB. All rights reserved.
IF errvar = ERR_TP_MAXTIME EXIT;
1 Instructions
1.202. TPReadFK - Reads function keys
RobotWare - OS
Continued
Limitations
Avoid using too small of a value for the timeout parameter \MaxTime when TPReadFK is
frequently executed, for example in a loop. It can result in an unpredictable behavior of the
system performance, like slowing the FlexPendant response.
Predefined data
CONST string stEmpty := "";
The predefined constant stEmpty should be used for Function Keys without text. Using
stEmpty instead of "" saves about 80 bytes for every Function Key without text.
Syntax
TPReadFK
[TPAnswer ’:=’] <var or pers (INOUT) of num>’,’
[TPText ’:=’] <expression (IN) of string>’,’
[TPFK1 ’:=’] <expression (IN) of string>’,’
[TPFK2 ’:=’] <expression (IN) of string>’,’
[TPFK3 ’:=’] <expression (IN) of string>’,’
[TPFK4 ’:=’] <expression (IN) of string>’,’
[TPFK5 ’:=’] <expression (IN) of string>
[’\’MaxTime’:=’ <expression (IN) of num>]
[’\’DIBreak’:=’ <variable (VAR) of signaldi>]
[’\’DOBreak’:=’ <variable (VAR) of signaldo>]
[’\’BreakFlag’:=’ <var or pers (INOUT) of errnum>]’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
Replying via the FlexPendant
Operating manual - IRC5 with FlexPendant,
section Running in production
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
RobotWare - OS
1.203. TPReadNum - Reads a number from the FlexPendant
Usage
TPReadNum (FlexPendant Read Numerical) is used to read a number from the FlexPendant.
Basic examples
Basic examples of the instruction TPReadNum are illustrated below.
See also More examples on page 565.
Example 1
TPReadNum reg1, "How many units should be produced?";
The text How many units should be produced? is written on the FlexPendant display.
Program execution waits until a number has been input from the numeric keyboard on the
FlexPendant. That number is stored in reg1.
Arguments
TPReadNum TPAnswer TPText [\MaxTime] [\DIBreak] [\DOBreak]
[\BreakFlag]
TPAnswer
Data type: num
The variable for which the number input via the FlexPendant is returned.
TPText
Data type: string
The information text to be written on the FlexPendant (a maximum of 80 characters with 40
characters per row).
[\MaxTime]
The maximum amount of time that program execution waits. If no number is input within this
time, the program continues to execute in the error handler unless the BreakFlag is used (see
below). The constant ERR_TP_MAXTIME can be used to test whether or not the maximum time
has elapsed.
[\DIBreak]
Digital Input Break
Data type: signaldi
The digital signal that may interrupt the operator dialog. If no number is input when the signal
is set to 1 (or is already 1), the program continues to execute in the error handler unless the
BreakFlag is used (see below). The constant ERR_TP_DIBREAK can be used to test whether
or not this has occurred.
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Data type: num
1 Instructions
1.203. TPReadNum - Reads a number from the FlexPendant
RobotWare - OS
Continued
[\DOBreak]
Digital Output Break
Data type: signaldo
The digital signal that supports termination request from other tasks. If no button is selected
when the signal is set to 1 (or is already 1), the program continues to execute in the error
handler unless the BreakFlag is used (see below). The constant ERR_TP_DOBREAK can be
used to test whether or not this has occurred.
[\BreakFlag]
Data type: errnum
A variable that will hold the error code if MaxTime, DIBreak or DOBreak is used. If this
optional variable is omitted, the error handler will be executed. The constants
ERR_TP_MAXTIME, ERR_TP_DIBREAK and ERR_TP_DOBREAK can be used to select the
reason.
Program execution
The information text is always written on a new line. If the display is full of text, this body of
text is moved up one line first. There can be up to 7 lines above the new text written.
Program execution waits until a number is typed on the numeric keyboard (followed by Enter
or OK) or the instruction is interrupted by a time out or signal action.
Reference to TPReadFK about description of concurrent TPReadFK or TPReadNum request
on FlexPendant from same or other program tasks.
More examples
More examples of how to use the instruction TPReadNum are illustrated below.
Example 1
TPReadNum reg1, "How many units should be produced?";
FOR i FROM 1 TO reg1 DO
© Copyright 2004-2010 ABB. All rights reserved.
produce_part;
ENDFOR
The text How many units should be produced? is written on the FlexPendant display.
The routine produce_part is then repeated the number of times that is input via the
FlexPendant.
Error handling
If timeout occurs (parameter \MaxTime) before input from the operator, the system variable
ERRNO is set to ERR_TP_MAXTIME and the execution continues in the error handler.
If the digital input (parameter \DIBreak) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DIBREAK and the execution continues in the error handler.
If the digital output (parameter \DOBreak) is set before an input from the operator, the system
variable ERRNO is set to ERR_TP_DOBREAK and the execution continues in the error handler.
If there is no client, e.g. a FlexPendant, to take care of the instruction, the system variable
ERRNO is set to ERR_TP_NO_CLIENT and the execution continues in the error handler.
These situations can then be dealt with by the error handler.
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1.203. TPReadNum - Reads a number from the FlexPendant
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Continued
Syntax
TPReadNum
[TPAnswer’:=’] <var or pers (INOUT) of num>’,’
[TPText’:=’] <expression (IN) of string>
[’\’MaxTime’:=’ <expression (IN) of num>]
[’\’DIBreak’:=’ <variable (VAR) of signaldi>]
[’\’DOBreak’:=’ <variable (VAR) of signaldo>]
[’\’BreakFlag’:=’ <var or pers (INOUT) of errnum>] ’;’
Related information
See
Writing to and reading from the
FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
Entering a number on the FlexPendant
Operating manual - IRC5 with FlexPendant,
section Running in production
Examples of how to use the arguments
MaxTime, DIBreak and BreakFlag
TPReadFK - Reads function keys on page 560
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1 Instructions
1.204. TPShow - Switch window on the FlexPendant
RobotWare - OS
1.204. TPShow - Switch window on the FlexPendant
Usage
TPShow (FlexPendant Show) is used to select FlexPendant window from RAPID.
Basic examples
Basic examples of the instruction TPShow are illustrated below.
Example 1
TPShow TP_LATEST;
The latest used FlexPendant Window before the current FlexPendant window will be active
after execution of this instruction.
Arguments
TPShow Window
Window
Data type: tpnum
The window TP_LATEST will show the latest used FlexPendant window before current
FlexPendant window.
Predefined data
CONST tpnum TP_LATEST := 2;
Program execution
The selected FlexPendant window will be activated.
Syntax
TPShow
© Copyright 2004-2010 ABB. All rights reserved.
[Window’:=’] <expression (IN) of tpnum> ´;’
Related information
For information about
See
Communicating using the FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
FlexPendant Window number
tpnum - FlexPendant window number on page
1211
Clean up the Operator window
TPErase - Erases text printed on the
FlexPendant on page 556
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1 Instructions
1.205. TPWrite - Writes on the FlexPendant
RobotWare - OS
1.205. TPWrite - Writes on the FlexPendant
Usage
TPWrite (FlexPendant Write) is used to write text on the FlexPendant. The value of certain
data can be written as well as text.
Basic examples
Basic examples of the instruction TPWrite are illustrated below.
Example 1
TPWrite "Execution started";
The text Execution started is written on the FlexPendant.
Example 2
TPWrite "No of produced parts="\Num:=reg1;
If, for example, reg1 holds the value 5 then the text No of produced parts=5 is written
on the FlexPendant.
Arguments
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient] | [\Dnum]
String
Data type: string
The text string to be written (a maximum of 80 characters, with 40 characters/row).
[\Num]
Numeric
Data type: num
The data whose numeric value is to be written after the text string.
[\Bool]
© Copyright 2004-2010 ABB. All rights reserved.
Boolean
Data type: bool
The data whose logical value is to be written after the text string.
[\Pos]
Position
Data type: pos
The data whose position is to be written after the text string.
[\Orient]
Orientation
Data type: orient
The data whose orientation is to be written after the text string.
[\Dnum]
Numeric
Data type: dnum
The data whose numeric value is to be written after the text string.
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1.205. TPWrite - Writes on the FlexPendant
RobotWare - OS
Continued
Program execution
Text written on the FlexPendant always begins on a new line. When the display is full of text
(11 lines) then this text is moved up one line first.
If one of the arguments \Num, \Dnum, \Bool, \Pos, or \Orient is used then its value is
first converted to a text string before it is added to the first string. The conversion from value
to text string takes place as follows:
Argument
Value
Text string
\Num
23
"23"
\Num
1.141367
"1.14137"
\Bool
TRUE
"TRUE"
\Pos
[1817.3,905.17,879.11]
"[1817.3,905.17,879.11]"
\Orient
[0.96593,0,0.25882,0]
"[0.96593,0,0.25882,0]"
\Dnum
4294967295
"4294967295"
The value is converted to a string with standard RAPID format. This means, in principle, 6
significant digits. If the decimal part is less than 0.000005 or greater than 0.999995 then the
number is rounded to an integer.
Limitations
The arguments \Num, \Dnum, \Bool, \Pos, and \Orient are mutually exclusive and thus
cannot be used simultaneously in the same instruction.
Syntax
TPWrite
[TPText’:=’] <expression (IN) of string>
[’\’Num’:=’ <expression (IN) of num> ]
| [’\’Bool’:=’ <expression (IN) of bool> ]
© Copyright 2004-2010 ABB. All rights reserved.
| [’\’Pos’:=’ <expression (IN) of pos> ]
| [’\’Orient’:=’ <expression (IN) of orient> ]
| [’\’Dnum’:=’ <expression (IN) of dnum> ]’;’
Related information
For information about
See
Clearing and reading the FlexPendant
Technical reference manual - RAPID overview,
section RAPID summary - Communication
Clean up the Operator window
TPErase - Erases text printed on the FlexPendant
on page 556
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1 Instructions
1.206. TriggC - Circular robot movement with events
RobotWare - OS
1.206. TriggC - Circular robot movement with events
Usage
TriggC (Trigg Circular) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is moving on a circular path.
One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip,
TriggInt, TriggCheckIO, TriggSpeed, or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggC.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggC are illustrated below.
See also More examples on page 574.
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggC p2, p3, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1.
xx0500002267
Arguments
TriggC [\Conc] CirPoint ToPoint [\ID] Speed [\T] Trigg_1 [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool
[\WObj] [ \Corr ]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument is usually not
used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by
points. This is useful when the programmed points are very close together at high speeds. The
argument is also useful when, for example, communicating with external equipment and
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© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of fixed position I/O event.
1 Instructions
1.206. TriggC - Circular robot movement with events
RobotWare - OS
Continued
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure, or error 40082 Deceleration limit.
When using the argument \Conc, the number of movement instructions in succession is
limited to 5. In a program section that includes StorePath-RestoPath, movement
instructions with the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
system.
CirPoint
Data type: robtarget
The circle point of the robot. See the instruction MoveC for a more detailed description of
circular movement. The circle point is defined as a named position or stored directly in the
instruction (marked with an * in the instruction).
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if coordinated synchronized movement,
and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
© Copyright 2004-2010 ABB. All rights reserved.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
Data type: num
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
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1.206. TriggC - Circular robot movement with events
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Continued
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheck, TriggSpeed, or
TriggRampAO.
[ \T6 ]
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO ,TriggSpeed,
or TriggRampAO.
[ \T7 ]
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
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© Copyright 2004-2010 ABB. All rights reserved.
Trigg 6
1 Instructions
1.206. TriggC - Circular robot movement with events
RobotWare - OS
Continued
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified for a linear movement relative to the work object to be performed.
© Copyright 2004-2010 ABB. All rights reserved.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
See the instruction MoveC for information about circular movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During stepping the execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backward, no trigger activities at all are
carried out.
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1.206. TriggC - Circular robot movement with events
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Continued
More examples
More examples of how to use the instruction TriggC are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggC p1, p2, v500, trigg1, fine, gun1;
TriggC p3, p4, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point
p2 or p4 respectively.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions result in out of limit for the analog signal together
with the programmed Speed in this instruction, then the system variable ERRNO is set to
ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the used Event Preset Time in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
Limitations
General limitations according to instruction MoveC.
If the current start point deviates from the usual point so that the total positioning length of
the instruction TriggC is shorter than usual then it may happen that several or all of the
trigger conditions are fulfilled immediately and at the same position. In such cases, the
sequence in which the trigger activities are carried out will be undefined. The program logic
in the user program may not be based on a normal sequence of trigger activities for an
“incomplete movement”.
WARNING!
The instruction TriggC should never be started from the beginning with the robot in position
after the circle point. Otherwise, the robot will not take the programmed path (positioning
around the circular path in another direction compared to that which is programmed).
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These errors can be handled in the error handler.
1 Instructions
1.206. TriggC - Circular robot movement with events
RobotWare - OS
Continued
Syntax
TriggC
[ ’\’ Conc ’,’]
[ CirPoint’ :=’ ] < expression (IN) of robtarget > ’,’
[ ToPoint’ :=’ ] < expression (IN) of robtarget > ’,’
[ ’\’ ID ’:=’ < expression (IN) of identno >] ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ] ’,’
[Trigg_1 ’:=’ ] < variable (VAR) of triggdata >
[ ’\’ T2 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T3 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T4 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T5 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T6 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T7 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T8 ’:=’ < variable (VAR) of triggdata > ] ´,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ]’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Joint movement with triggers
TriggJ - Axis-wise robot movements with events on
page 597
Move the robot circularly
MoveC - Moves the robot circularly on page 236
Definition of triggers
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
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggSpeed - Defines TCP speed proportional analog
output with fixed position-time scale event on page
622
Writes to a corrections entry
CorrWrite - Writes to a correction generator on page
77
Circular movement
Technical reference manual - RAPID overview,
section Motion and I/O principles - Positioning during
program execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
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1.206. TriggC - Circular robot movement with events
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Continued
See
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work objects
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview,
section Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
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1.207. TriggCheckIO - Defines IO check at a fixed position
RobotWare - OS
1.207. TriggCheckIO - Defines IO check at a fixed position
Usage
TriggCheckIO is used to define conditions for testing the value of a digital, a group of
digital, or an analog input or output signal at a fixed position along the robot’s movement
path. If the condition is fulfilled then there will be no specific action. But if it is not then an
interrupt routine will be run after the robot has optionally stopped on path as fast as possible.
To obtain a fixed position I/O check, TriggCheckIO compensates for the lag in the control
system (lag between servo and robot).
The data defined is used for implementation in one or more subsequent TriggL, TriggC, or
TriggJ instructions.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggCheckIO are illustrated below.
See also More examples on page 580.
Example 1
VAR triggdata checkgrip;
VAR intnum intno1;
CONNECT intno1 WITH trap1;
TriggCheckIO checkgrip, 100, airok, EQ, 1, intno1;
TriggL p1, v500, checkgrip, z50, grip1;
© Copyright 2004-2010 ABB. All rights reserved.
The digital input signal airok is checked to have the value 1 when the TCP is 100 mm
before the point p1. If it is set then normal execution of the program continues. If it is not set
then the interrupt routine trap1 is run.
The figure shows an example of fixed position I/O check.
xx0500002254
Arguments
TriggCheckIO TriggData Distance [\Start] | [\Time] Signal Relation
CheckValue |CheckDvalue [\StopMove] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL, TriggC, or TriggJ instructions.
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1.207. TriggCheckIO - Defines IO check at a fixed position
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Continued
Distance
Data type: num
Defines the position on the path where the I/O check shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
Signal
Data type: signalxx
The name of the signal that will be tested. May be any type of IO signal.
Relation
Data type: opnum
Defines how to compare the actual value of the signal with the one defined by the argument
CheckValue. Refer to the opnum data type for the list of the predefined constants to be used.
CheckValue
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. Max value that can be used in the CheckValue argument is 8388608,
and that is the value a 23 bit digital group signal can have as maximum value (see ranges for
num).
CheckDvalue
Data type: dnum
Value to which the actual value of the input or output signal is to be compared (within the
allowed range for the current signal). If the signal is a digital signal, it must be an integer
value.
If the signal is a digital group signal, the permitted value is dependent on the number of
signals in the group. The maximal amout of signal bits a digital group signal can have is 32.
With a dnum variable it is possible to cover the value range 0-4294967295, which is the value
range a 32 bits digital signal can have.
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Data type: num
1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
RobotWare - OS
Continued
[ \StopMove ]
Data type: switch
Specifies that if the condition is not fulfilled then the robot will stop on path as quickly as
possible before the interrupt routine is run.
Interrupt
Data type: intnum
Variable used to identify the interrupt routine to run.
Program execution
When running the instruction TriggCheckIO, the trigger condition is stored in a specified
variable for the argument TriggData.
Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the
following are applicable with regard to the definitions in TriggCheckIO:
The table describes distance specified in the argument Distance:
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
The figure shows fixed position I/O check on a corner path.
© Copyright 2004-2010 ABB. All rights reserved.
xx0500002256
The fixed position I/O check will be done when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction (TriggL...).
When the TCP of the robot is at specified place on the path, the following I/O check will be
done by the system:
•
Read the value of the I/O signal.
•
Compare the read value with CheckValue according specified Relation.
•
If the comparison is TRUE then nothing more is done.
•
If the comparison is FALSE then following is done:
•
If optional parameter \StopMove is present then the robot is stopped on the path as
quickly as possible.
•
Generate and execute the specified TRAP routine.
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1.207. TriggCheckIO - Defines IO check at a fixed position
RobotWare - OS
Continued
More examples
More examples of how to use the instruction TriggCheckIO are illustrated below.
Example 1
VAR triggdata checkgate;
VAR intnum gateclosed;
CONNECT gateclosed WITH waitgate;
TriggCheckIO checkgate, 150, gatedi, EQ, 1 \StopMove, gateclosed;
TriggL p1, v600, checkgate, z50, grip1;
...
TRAP waitgate
! log some information
...
WaitDI gatedi,1;
StartMove;
ENDTRAP
The gate for the next workpiece operation is checked to be open (digital input signal gatedi
is checked to have the value 1) when the TCP is 150 mm before the point p1. If it is open
then the robot will move on to p1 and continue. If it is not open then the robot is stopped on
path and the interrupt routine waitgate is run. This interrupt routine logs some information
and typically waits for the conditions to be OK to execute a StartMove instruction in order
to restart the interrupted path.
Error handling
The following recoverable error can be generated. The error can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_GO_LIM
ERR_AO_LIM
if the programmed CheckValue or CheckDvalue argument for the specified analog output
signal Signal is outside limits.
Limitations
I/O checks with distance (without the argument \Time) is intended for flying points (corner
path). I/O checks with distance, using stop points, results in worse accuracy than specified
below.
I/O checks with time (with the argument \Time) is intended for stop points. I/O checks with
time, using flying points, results in worse accuracy than specified below.
I/O checks with time can only be specified from the end point of the movement. This time
cannot exceed the current braking time of the robot, which is max. approx. 0.5 s (typical
values at speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time
is greater that the current braking time then the I/O check will be generated anyway but not
until braking is started (later than specified). However, the whole of the movement time for
the current movement can be utilized during small and fast movements.
Continues on next page
580
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© Copyright 2004-2010 ABB. All rights reserved.
if the programmed CheckValue or CheckDvalue argument for the specified digital group
output signal Signal is outside limits.
1 Instructions
1.207. TriggCheckIO - Defines IO check at a fixed position
RobotWare - OS
Continued
Typical absolute accuracy values for testing of digital inputs +/- 5 ms. Typical repeat accuracy
values for testing of digital inputs +/- 2 ms.
Syntax
TriggCheckIO
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ´,’
[ Distance’ :=’ ] < expression (IN) of num>
[ ’\’ Start ] | [ ’\’ Time ] ´,’
[ Signal ’:=’ ] < variable (VAR) of anytype> ´,’
[ Relation’ :=’ ] < expression (IN) of opnum> ´,’
[ CheckValue’ :=’ ] < expression (IN) of num>
| [ CheckDvalue’ :=’ ] < expression (IN) of dnum>
[ ’\’ StopMove] ´,’
[ Interrupt’ :=’ ] < variable(VAR) of intnum> ´;’
Related information
See
Use of triggers
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
Definition of position-time I/O event
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
Definition of position related
interrupts
TriggInt - Defines a position related interrupt on page
588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Definition of comparison operators
opnum - Comparison operator on page 1149I
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
581
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
1.208. TriggEquip - Define a fixed position and time I/O event on the path
Usage
TriggEquip (Trigg Equipment) is used to define conditions and actions for setting a digital,
a group of digital, or an analog output signal at a fixed position along the robot’s movement
path with possibility to do time compensation for the lag in the external equipment.
TriggIO (not TriggEquip) should always be used if there is need for good accuracy of the
I/O settings near a stop point.
The data defined is used for implementation in one or more subsequent TriggL, TriggC, or
TriggJ instructions.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggEquip are illustrated below.
See also More examples on page 585.
Example 1
VAR triggdata gunon;
...
TriggEquip gunon, 10, 0.1 \DOp:=gun, 1;
TriggL p1, v500, gunon, z50, gun1;
The tool gun1 starts to open when its TCP is 0,1 s before the fictitious point p2 (10 mm
before point p1). The gun is full open when TCP reach point p2.
xx0500002260
Arguments
TriggEquip TriggData Distance [\Start] EquipLag [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\Inhib]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL, TriggC, or TriggJ instructions.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of a fixed position time I/O event.
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
Continued
Distance
Data type: num
Defines the position on the path where the I/O equipment event shall occur.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start is not set).
See the section Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument 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
argument 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 argument 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.
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows use of argument EquipLag.
xx0500002262
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
Continues on next page
3HAC 16581-1 Revision: J
583
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
Continued
[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue.)
SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num).
SetDvalue
Data type: dnum
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \Inhib ]
Data type: bool
The name of a persistent variable flag for inhibiting the setting of the signal at runtime.
If this optional argument is used and the actual value of the specified flag is TRUE at the
position-time for setting of the signal then the specified signal (DOp, GOp or AOp) will be set
to 0 instead of a specified value.
Program execution
When running the instruction TriggEquip, the trigger condition is stored in the specified
variable for the argument TriggData.
Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed then the
following are applicable with regard to the definitions in TriggEquip:
The table describes the distance specified in the argument Distance:
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
Inhibit
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
Continued
The figure shows fixed position time I/O on a corner path.
xx0500002263
The position-time related event will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction (TriggL...). With use of argument EquipLag with negative time
(delay), the I/O signal can be set after the end point.
More examples
More examples of how to use the instruction TriggEquip are illustrated below.
Example 1
VAR triggdata glueflow;
...
TriggEquip glueflow, 1 \Start, 0.05 \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the TCP passes a point located
1 mm after the start point p1 with compensation for equipment lag 0.05 s.
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
© Copyright 2004-2010 ABB. All rights reserved.
The analog output signal glue is set once more to the value 5.3 when the TCP passes a
point located 1 mm after the start point p2.
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
Continues on next page
3HAC 16581-1 Revision: J
585
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
Continued
Limitations
I/O events with distance is intended for flying points (corner path). I/O events with distance,
using stop points, results in worse accuracy than specified below.
Regarding the accuracy for I/O events with distance and using flying points, the following is
applicable when setting a digital output at a specified distance from the start point or end point
in the instruction TriggL or TriggC:
•
Accuracy specified below is valid for positive EquipLag parameter < 40 ms,
equivalent to the lag in the robot servo (without changing the system parameter Event
Preset Time ). The lag can vary between different robot types. For example it is
lower for IRB140.
•
Accuracy specified below is valid for positive EquipLag parameter < configured
Event Preset Time (system parameter).
•
Accuracy specified below is not valid for positive EquipLag parameter >
configured Event Preset Time (system parameter). In this case, an approximate
method is used in which the dynamic limitations of the robot are not taken into
consideration. SingArea \Wrist must be used in order to achieve an acceptable
accuracy.
•
Accuracy specified below is valid for negative EquipLag.
Typical absolute accuracy values for set of digital outputs +/- 5 ms.
Typical repeat accuracy values for set of digital outputs +/- 2 ms.
Syntax
TriggEquip
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ´,’
[ Distance’ :=’ ] < expression (IN) of num>
[ ’\’ Start ] ´,’
[ EquipLag’ :=’ ] < expression (IN) of num>
| [ ’\’ GOp’ :=’ < variable (VAR) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable (VAR) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression (IN) of num> ] ´,’
[ SetValue’ :=’ ] < expression (IN) of num>
| [ SetDvalue’ :=’ ] < expression (IN) of dnum>
[ ’\’ Inhib’ :=’ < persistent (PERS) of bool> ] ´,’
Related information
For information about
See
Use of triggers
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
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ DOp’ :=’ < variable (VAR) of signaldo> ]
1 Instructions
1.208. TriggEquip - Define a fixed position and time I/O event on the path
RobotWare - OS
Continued
See
Definition of other triggs
TriggIO - Define a fixed position or time I/O event
near a stop point on page 592
TriggInt - Defines a position related interrupt on
page 588
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
Configuration of Event preset time
Technical reference manual - System parameters,
section Motion
© Copyright 2004-2010 ABB. All rights reserved.
For information about
3HAC 16581-1 Revision: J
587
1 Instructions
1.209. TriggInt - Defines a position related interrupt
RobotWare - OS
1.209. TriggInt - Defines a position related interrupt
Usage
TriggInt is used to define conditions and actions for running an interrupt routine at a
specified position on the robot’s movement path.
The data defined is used for implementation in one or more subsequent TriggL, TriggC, or
TriggJ instructions.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove System, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggInt are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 5, intno1;
...
TriggL p1, v500, trigg1, z50, gun1;
TriggL p2, v500, trigg1, z50, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the TCP is at a position 5 mm before the point p1
or p2 respectively.
xx0500002251
Arguments
TriggInt TriggData Distance [\Start] | [\Time] Interrupt
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL, TriggC, or TriggJ instructions.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of position related interrupt.
1 Instructions
1.209. TriggInt - Defines a position related interrupt
RobotWare - OS
Continued
Distance
Data type: num
Defines the position on the path where the interrupt shall be generated.
Specified as the distance in mm (positive value) from the end point of the movement path
(applicable if the argument \Start or \Time is not set).
See the section entitled Program execution for further details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement’s start point
instead of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Position related interrupts in time can only be used for short times (< 0.5 s) before the robot
reaches the end point of the instruction. See the section Limitations for more details.
Interrupt
Data type: intnum
Variable used to identify an interrupt.
Program execution
When running the instruction TriggInt, data is stored in a specified variable for the
argument TriggData and the interrupt that is specified in the variable for the argument
Interrupt is activated.
Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the
following are applicable with regard to the definitions in TriggInt:
© Copyright 2004-2010 ABB. All rights reserved.
The table describes the distance specified in the argument Distance:
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
The figure shows position related interrupt on a corner path.
xx0500002253
Continues on next page
3HAC 16581-1 Revision: J
589
1 Instructions
1.209. TriggInt - Defines a position related interrupt
RobotWare - OS
Continued
The position related interrupt will be generated when the start point (end point) is passed if
the specified distance from the end point (start point) is not within the length of movement of
the current instruction (TriggL...).
The interrupt is considered to be a safe interrupt. A safe interrupt can not be put in sleep with
instruction ISleep. The safe interrupt event will be queued at program stop and stepwise
execution, and when starting in continious mode again, the interrupt will be executed. The
only time a safe interrupt will be thrown is when the interrupt queue is full. Then an error will
be reported. The interrupt will not survive program reset, e.g. PP to main.
More examples
More examples of how to use the instruction TriggInt are illustrated below.
Example 1
This example describes programming of the instructions that interact to generate position
related interrupts:
VAR intnum intno2;
VAR triggdata trigg2;
•
Declaration of the variables intno2 and trigg2 (shall not be initiated).
CONNECT intno2 WITH trap2;
•
Allocation of interrupt numbers that are stored in the variable intno2.
•
The interrupt number is coupled to the interrupt routine trap2.
TriggInt trigg2, 0, intno2;
•
The interrupt number in the variable intno2 is flagged as used.
•
The interrupt is activated.
•
Defined trigger conditions and interrupt numbers are stored in the variable trigg2
The robot is moved to the point p1.
•
When the TCP reaches the point p1 an interrupt is generated, and the interrupt routine
trap2 is run.
TriggL p2, v500, trigg2, z50, gun1;
•
The robot is moved to the point p2.
•
When the TCP reaches the point p2, an interrupt is generated and the interrupt routine
trap2 is run once more.
IDelete intno2;
•
The interrupt number in the variable intno2 is de-allocated.
Limitations
Interrupt events with distance (without the argument \Time) are intended for flying points
(corner path). Interrupt events with distance, using stop points results in worse accuracy than
specified below.
Interrupt events with time (with the argument \Time) are intended for stop points. Interrupt
events with time, using flying points, result in worse accuracy than specified below. I/O
events with time can only be specified from the end point of the movement. This time cannot
exceed the current braking time of the robot, which is max. approx. 0.5 s (typical values at
speed 500 mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
TriggL p1, v500, trigg2, z50, gun1;
•
1 Instructions
1.209. TriggInt - Defines a position related interrupt
RobotWare - OS
Continued
greater that the current braking time then the event will be generated anyhow but not until
braking is started (later than specified). However, the whole of the movement time for the
current movement can be utilized during small and fast movements.
Typical absolute accuracy values for generation of interrupts +/- 5 ms. Typical repeat
accuracy values for generation of interrupts +/- 2 ms. Normally there is a delay of 2 to 30 ms
between interrupt generation and response depending on the type of movement being
performed at the time of the interrupt. (Ref. to RAPID reference manual - RAPID overview,
section Basic characteristics - Interrupts).
To obtain the best accuracy when setting an output at a fixed position along the robot’s path,
use the instructions TriggIO or TriggEquip in preference to the instructions TriggInt
with SetDO/SetGO/SetAO in an interrupt routine.
Syntax
TriggInt
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ´,’
[ Distance’ :=’ ] < expression (IN) of num>
[ ’\’ Start ] | [ ’\’ Time ] ’,’
[ Interrupt’ :=’ ] < variable (VAR) ofintnum> ’;’
© Copyright 2004-2010 ABB. All rights reserved.
Related information
For information about
See
Use of triggers
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
Definition of position fix I/O
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
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed position
on page 577
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Interrupts
Technical reference manual - RAPID overview,
section Basic characteristics - Interrupts
3HAC 16581-1 Revision: J
591
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
Usage
TriggIO is used to define conditions and actions for setting a digital, a group of digital, or
an analog output signal at a fixed position along the robot’s movement path.
TriggIO (not TriggEquip) should always be used if needed for good accuracy of the I/O
settings near a stop point.
To obtain a fixed position I/O event, TriggIO compensates for the lag in the control system
(lag between robot and servo) but not for any lag in the external equipment. For compensation
of both lags use TriggEquip.
The data defined is used for implementation in one or more subsequent TriggL, TriggC, or
TriggJ instructions.
This instruction can only be used in the main T_ROB1 task or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic example of the instruction TriggIO are illustrated below.
See also More examples on page 595.
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0.2\Time\DOp:=gun, 1;
TriggL p1, v500, gunon, fine, gun1;
The digital output signal gun is set to the value 1 when the TCP is 0,2 seconds before the
point p1.
xx0500002247
Arguments
TriggIO TriggData Distance [\Start] | [\Time] [\DOp] | [\GOp]|
[\AOp] | [\ProcID] SetValue | SetDvalue [\DODelay]
TriggData
Data type: triggdata
Variable for storing the triggdata returned from this instruction. These triggdata are
then used in the subsequent TriggL, TriggC, or TriggJ instructions.
Continues on next page
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© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of fixed position I/O event.
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
Continued
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
(applicable if the argument \Start or \Time is not set).
See the sections Program execution on page 594, and Limitations on page 595 for further
details.
[ \Start ]
Data type: switch
Used when the distance for the argument Distance starts at the movement start point instead
of the end point.
[ \Time ]
Data type: switch
Used when the value specified for the argument Distance is in fact a time in seconds
(positive value) instead of a distance.
Fixed position I/O in time can only be used for short times (< 0.5 s) before the robot reaches
the end point of the instruction. See the section Limitations for more details.
[ \DOp ]
Digital Output
Data type: signaldo
The name of the signal when a digital output signal shall be changed.
[ \GOp ]
Group Output
Data type: signalgo
The name of the signal when a group of digital output signals shall be changed.
© Copyright 2004-2010 ABB. All rights reserved.
[ \AOp ]
Analog Output
Data type: signalao
The name of the signal when a analog output signal shall be changed.
[ \ProcID ]
Process Identity
Data type: num
Not implemented for customer use.
(The identity of the IPM process to receive the event. The selector is specified in the argument
SetValue.)
Continues on next page
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593
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
Continued
SetValue
Data type: num
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. Max value that can be
used in the SetValue argument is 8388608, and that is the value a 23 bit digital group signal
can have as maximum value (see ranges for num).
SetDvalue
Data type: dnum
The desired value of the signal (within the allowed range for the current signal). If the signal
is a digital signal, it must be an integer value. If the signal is a digital group signal, the
permitted value is dependent on the number of signals in the group. The maximal amout of
signal bits a digital group signal can have is 32. With a dnum variable it is possible to cover
the value range 0-4294967295, which is the value range a 32 bits digital signal can have.
[ \DODelay ]
Digital Output Delay
Data type: num
Time delay in seconds (positive value) for a digital, group, or analog output signal.
Only used to delay setting of output signals after the robot has reached the specified position.
There will be no delay if the argument is omitted.
The delay is not synchronized with the movement.
Program execution
When running the instruction TriggIO, the trigger condition is stored in a specified variable
in the argument TriggData.
The following table describes the distance specified in the argument Distance:
Linear movement
The straight line distance
Circular movement
The circle arc length
Non-linear movement
The approximate arc length along the path (to
obtain adequate accuracy, the distance should
not exceed one half of the arc length).
The figure shows fixed position I/O on a corner path.
xx0500002248
The fixed position I/O will be generated when the start point (end point) is passed if the
specified distance from the end point (start point) is not within the length of movement of the
current instruction (Trigg...).
Continues on next page
594
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© Copyright 2004-2010 ABB. All rights reserved.
Afterwards, when one of the instructions TriggL, TriggC, or TriggJ is executed, the
following are applicable with regard to the definitions in TriggIO:
1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
Continued
More examples
More examples of how to use the instruction TriggIO are illustrated below.
Example 1
VAR triggdata glueflow;
TriggIO glueflow, 1 \Start \AOp:=glue, 5.3;
MoveJ p1, v1000, z50, tool1;
TriggL p2, v500, glueflow, z50, tool1;
The analog output signal glue is set to the value 5.3 when the work point (TCP) passes a
point located 1 mm after the start point p1.
Example 2
...
TriggL p3, v500, glueflow, z50, tool1;
The analog output signal glue is set once more to the value 5.3 when the work point (TCP)
passes a point located 1 mm after the start point p2.
Error handling
If the programmed SetValue argument for the specified analog output signal AOp is out of
limit then the system variable ERRNO is set to ERR_AO_LIM. This error can be handled in
the error handler.
If the programmed SetValue or SetDvalue argument for the specified digital group output
signal GOp is out of limit then the system variable ERRNO is set to ERR_GO_LIM. This error
can be handled in the error handler.
© Copyright 2004-2010 ABB. All rights reserved.
Limitations
I/O events with distance (without the argument \Time) is intended for flying points (corner
path). I/O events with distance=0, using stop points, will delay the trigg until the robot has
reached the point with accuracy +/-24 ms.
I/O events with time (with the argument \Time) are intended for stop points. I/O events with
time, using flying points result in worse accuracy than specified below. I/O events with time
can only be specified from the end point of the movement. This time cannot exceed the
current braking time of the robot, which is max. approx. 0.5 s (typical values at speed 500
mm/s for IRB2400 150 ms and for IRB6400 250 ms). If the specified time is greater than the
current braking time then the event will be generated anyway but not until braking is started
(later than specified). However, the whole of the movement time for the current movement
can be utilized during small and fast movements.
Typical absolute accuracy values for set of digital outputs +/- 5 ms. Typical repeat accuracy
values for set of digital outputs +/- 2 ms.
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1 Instructions
1.210. TriggIO - Define a fixed position or time I/O event near a stop point
RobotWare - OS
Continued
Syntax
TriggIO
[ TriggData ’:=’ ] < variable (VAR) of triggdata> ´,’
[ Distance’ :=’ ] < expression (IN) of num>
[ ’\’ Start ] | [ ’\’ Time ]
[ ’\’ DOp’ :=’ < variable (VAR) of signaldo> ]
| [ ’\’ GOp’ :=’ < variable (VAR) of signalgo> ]
| [ ’\’ AOp’ :=’ < variable (VAR) of signalao> ]
| [ ’\’ ProcID’ :=’ < expression (IN) of num> ] ´,’
[ SetValue’ :=’ ] < expression (IN) of num>
| [ SetDvalue’ :=’ ] < expression (IN) of dnum>
[ ’\’ DODelay’ :=’ < expression (IN) of num> ] ´;’
596
For information about
See
Use of triggers
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
Definition of position-time I/O event
TriggEquip - Define a fixed position and time I/O
event on the path on page 582
Definition of position related interrupts
TriggInt - Defines a position related interrupt on
page 588
Storage of trigg data
triggdata - Positioning events, trigg on page 1213
Define I/O check at a fixed position
TriggCheckIO - Defines IO check at a fixed
position on page 577
Set of I/O
SetDO - Changes the value of a digital output
signal on page 440
SetGO - Changes the value of a group of digital
output signals on page 442
SetAO - Changes the value of an analog output
signal on page 431
3HAC 16581-1 Revision: J
© Copyright 2004-2010 ABB. All rights reserved.
Related information
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
1.211. TriggJ - Axis-wise robot movements with events
Usage
TriggJ (TriggJoint) is used to set output signals and/or run interrupt routines at roughly fixed
positions at the same time that the robot is moving quickly from one point to another when
that movement does not have be in a straight line.
One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip,
TriggInt, TriggCheckIO , TriggSpeed, or TriggRampAO and afterwards these
definitions are referred to in the instruction TriggJ.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggJ are illustrated below.
See also More examples on page 600.
Example 1
VAR triggdata gunon;
...
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveL p1, v500, z50, gun1;
TriggJ p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1.
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of fixed position I/O event.
xx0500002272
Arguments
TriggJ [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [ \T2 ] [ \T3 ]
[\T4] [\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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Continued
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath, movement instructions with
the argument \Conc are not permitted.
If this argument is omitted then the subsequent instruction is executed after the robot has
reached the specified stop point or 100 ms before the specified zone.
This argument can not be used in coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove System, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the tool reorientation, and the external axes.
[ \T ]
Time
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed,
or TriggRampAO.
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed,
or TriggRampAO.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
Continued
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed,
or TriggRampAO.
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO , TriggSpeed,
or TriggRampAO.
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T7 ]
© Copyright 2004-2010 ABB. All rights reserved.
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggCheckIO, TriggSpeed,
or TriggRampAO.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
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Continued
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified for a joint movement relative to the work object to be performed.
Program execution
See the instruction MoveJ for information about joint movement.
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
More examples
More examples of how to use the instruction TriggJ are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggJ p1, v500, trigg1, fine, gun1;
TriggJ p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the stop
point p1 or p2 respectively.
Continues on next page
600
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© Copyright 2004-2010 ABB. All rights reserved.
During the stepping execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backwards, no trigger activities at all are
carried out.
1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
Continued
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions results in out of limit for the analog signal
together with the programmed Speed in this instruction, then the system variable ERRNO is
set to ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the Event Preset Time used in System Parameters then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
These errors can be handled in the error handler.
Limitations
If the current start point deviates from the usual so that the total positioning length of the
instruction TriggJ is shorter than usual (e.g. at the start of TriggJ with the robot position
at the end point), it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried will be undefined. The program logic in the user program may not be
based on a normal sequence of trigger activities for an “incomplete movement”.
Syntax
TriggJ
[ ’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ]’,’
[Trigg_1 ’:=’ ] < variable (VAR) of triggdata >
© Copyright 2004-2010 ABB. All rights reserved.
[ ’\’ T2 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T3 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T4 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T5 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T6 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T7 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T8 ’:=’ < variable (VAR) of triggdata > ] ´,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Inpos ’:=’ < expression (IN) of stoppointdata > ]´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’< persistent (PERS) of wobjdata > ] ’;’
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1 Instructions
1.211. TriggJ - Axis-wise robot movements with events
RobotWare - OS
Continued
Related information
See
Linear movement with triggers
TriggL - Linear robot movements with events on page
603
Circular movement with triggers
TriggC - Circular robot movement with events on page
570
Definition of triggers
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
TriggRampAO - Define a fixed position ramp AO event
on the path on page 616
TriggInt - Defines a position related interrupt on page
588
TriggCheckIO - Defines IO check at a fixed position on
page 577
Moves the robot by joint movement
MoveJ - Moves the robot by joint movement on page
253
Joint movement
Technical reference manual - RAPID overview, section
Motion and I/O principles - Positioning during program
execution
Definition of velocity
speeddata - Speed data on page 1185
Definition of zone data
zonedata - Zone data on page 1232
Definition of stop point data
stoppointdata - Stop point data on page 1189
Definition of tools
tooldata - Tool data on page 1207
Definition of work object
wobjdata - Work object data on page 1224
Motion in general
Technical reference manual - RAPID overview, section
Motion and I/O principles
© Copyright 2004-2010 ABB. All rights reserved.
For information about
602
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1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
1.212. TriggL - Linear robot movements with events
Usage
TriggL (Trigg Linear) is used to set output signals and/or run interrupt routines at fixed
positions at the same time that the robot is making a linear movement.
One or more (max. 8) events can be defined using the instructions TriggIO, TriggEquip,
TriggInt, TriggSpeed, TriggCheckIO, or TriggRampAO. Afterwards these definitions
are referred to in the instruction TriggL.
This instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in
Motion tasks.
Basic examples
Basic examples of the instruction TriggL are illustrated below.
See also More examples on page 607.
Example 1
VAR triggdata gunon;
TriggIO gunon, 0 \Start \DOp:=gun, 1;
MoveJ p1, v500, z50, gun1;
TriggL p2, v500, gunon, fine, gun1;
The digital output signal gun is set when the robot’s TCP passes the midpoint of the corner
path of the point p1.
© Copyright 2004-2010 ABB. All rights reserved.
The figure shows an example of fixed position I/O event.
xx0500002291
Arguments
TriggL [\Conc] ToPoint [\ID] Speed [\T] Trigg_1 [\T2] [\T3] [\T4]
[\T5] [\T6] [\T7] [\T8] Zone [\Inpos] Tool [\WObj] [\Corr]
[ \Conc ]
Concurrent
Data type: switch
Subsequent instructions are executed while the robot is moving. The argument can be used to
avoid unwanted stops, caused by overloaded CPU, when using fly-by points. This is useful
when the programmed points are very close together at high speeds.
The argument is also useful when, for example, communicating with external equipment and
synchronization between the external equipment and robot movement is not required. It can
also be used to tune the execution of the robot path, to avoid warning 50024 Corner path
failure or error 40082 Deceleration limit.
Continues on next page
3HAC 16581-1 Revision: J
603
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
Continued
Using the argument \Conc, the number of movement instructions in succession is limited to
5. In a program section that includes StorePath-RestoPath, movement instructions with
the argument \Conc are not permitted.
If this argument is omitted and the ToPoint is not a stop point then the subsequent instruction
is executed some time before the robot has reached the programmed zone.
This argument cannot be used in a coordinated synchronized movement in a MultiMove
System.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named position or stored
directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
This argument must be used in a MultiMove system, if it is a coordinated synchronized
movement, and is not allowed in any other cases.
The specified ID number must be the same in all cooperating program tasks. The ID number
gives a guarantee that the movements are not mixed up at runtime.
Speed
Data type: speeddata
The speed data that applies to movements. Speed data defines the velocity of the tool center
point, the external axes, and of the tool reorientation.
[ \T ]
Time
This argument is used to specify the total time in seconds during which the robot moves. It is
then substituted for the corresponding speed data.
Trigg_1
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO or
TriggRampAO.
[ \T2 ]
Trigg 2
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
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© Copyright 2004-2010 ABB. All rights reserved.
Data type: num
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
Continued
[ \T3 ]
Trigg 3
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
[ \T4 ]
Trigg 4
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
[ \T5 ]
Trigg 5
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
[ \T6 ]
Trigg 6
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
[ \T7 ]
© Copyright 2004-2010 ABB. All rights reserved.
Trigg 7
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
[ \T8 ]
Trigg 8
Data type: triggdata
Variable that refers to trigger conditions and trigger activity defined earlier in the program
using the instructions TriggIO, TriggEquip, TriggInt, TriggSpeed, TriggCheckIO,
or TriggRampAO.
Zone
Data type: zonedata
Zone data for the movement. Zone data describes the size of the generated corner path.
Continues on next page
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1.212. TriggL - Linear robot movements with events
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Continued
[ \Inpos ]
In position
Data type: stoppointdata
This argument is used to specify the convergence criteria for the position of the robot’s TCP
in the stop point. The stop point data substitutes the zone specified in the Zone parameter.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is moved to the
specified destination position.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (coordinate system) to which the robot position in the instruction is related.
This argument can be omitted and if so then the position is related to the world coordinate
system. If, on the other hand, a stationary TCP or coordinated external axes are used then this
argument must be specified for a linear movement relative to the work object to be performed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be added to
the path and destination position if this argument is present.
Program execution
As the trigger conditions are fulfilled when the robot is positioned closer and closer to the end
point, the defined trigger activities are carried out. The trigger conditions are fulfilled either
at a certain distance before the end point of the instruction, or at a certain distance after the
start point of the instruction, or at a certain point in time (limited to a short time) before the
end point of the instruction.
During stepping the execution forward, the I/O activities are carried out but the interrupt
routines are not run. During stepping the execution backwards, no trigger activities at all are
carried out.
Continues on next page
606
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© Copyright 2004-2010 ABB. All rights reserved.
See the instruction MoveL for information about linear movement.
1 Instructions
1.212. TriggL - Linear robot movements with events
RobotWare - OS
Continued
More examples
More examples of how to use the instruction TriggL are illustrated below.
Example 1
VAR intnum intno1;
VAR triggdata trigg1;
...
CONNECT intno1 WITH trap1;
TriggInt trigg1, 0.1 \Time, intno1;
...
TriggL p1, v500, trigg1, fine, gun1;
TriggL p2, v500, trigg1, fine, gun1;
...
IDelete intno1;
The interrupt routine trap1 is run when the work point is at a position 0.1 s before the point
p1 or p2 respectively.
Error handling
If the programmed ScaleValue argument for the specified analog output signal AOp in some
of the connected TriggSpeed instructions results in out of limit for the analog signal
together with the programmed Speed in this instruction, then the system variable ERRNO is
set to ERR_AO_LIM.
If the programmed DipLag argument in some of the connected TriggSpeed instructions is
too big in relation to the Event Preset Time used in System Parameters, then the system
variable ERRNO is set to ERR_DIPLAG_LIM.
The system variable ERRNO can be set to ERR_NORUNUNIT if there is no contact with the
I/O unit when entering instruction and the used triggdata depends on a running I/O unit, i.e.
a signal is used in the triggdata.
© Copyright 2004-2010 ABB. All rights reserved.
These errors can be handled in the error handler.
Limitations
If the current start point deviates from the usual so that the total positioning length of the
instruction TriggL is shorter than usual (e.g. at the start of TriggL with the robot position
at the end point) it may happen that several or all of the trigger conditions are fulfilled
immediately and at the same position. In such cases, the sequence in which the trigger
activities are carried out will be undefined. The program logic in the user program may not
be based on a normal sequence of trigger activities for an “incomplete movement”.
Continues on next page
3HAC 16581-1 Revision: J
607
1 Instructions
1.212. TriggL - Linear robot movements with events
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Continued
Syntax
TriggL
[’\’ Conc ’,’]
[ ToPoint’ :=’ ] < expression (IN) of robtarget >
[ ’\’ ID ’:=’ < expression (IN) of identno >] ’,’
[ Speed ’:=’ ] < expression (IN) of speeddata >
[ ’\’ T ’:=’ < expression (IN) of num > ]’,’
[Trigg_1 ’:=’ ] < variable (VAR) of triggdata >
[ ’\’ T2 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T3 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T4 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T5 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T6 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T7 ’:=’ < variable (VAR) of triggdata > ]
[ ’\’ T8 ’:=’ < variable (VAR) of triggdata > ] ´,’
[Zone ’:=’ ] < expression (IN) of zonedata >
[ ’\’ Inpos’ :=’ < expression (IN) of stoppointdata > ] ´,’
[ Tool ’:=’ ] < persistent (PERS) of tooldata >
[ ’\’ WObj’ :=’ < persistent (PERS) of wobjdata > ]
[ ’\’ Corr ] ’;